fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

Link fixes and removal of dead docs (#25239)

Browse Source 
* Remove Zubax Orel - not available and no other presence

* Fix up zubax product links

* Snapdragon flight - delete as no longer relevant hardware

* Delete intel aero docs

* Brushless whoop - remove docs except for link to old version

* Many link fixes
This commit is contained in:
Hamish Willee 2025-07-17 15:30:56 +10:00 committed by GitHub
parent 06d25b9400
commit 8e0f223b3a
No known key found for this signature in database
GPG Key ID: B5690EEEBB952194
60 changed files with 151 additions and 299 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
docs/en/SUMMARY.md
View File

@ -194,7 +194,6 @@
- [Discontinued Autopilots/Vehicles](flight_controller/autopilot_discontinued.md)
- [Drotek Dropix (FMUv2)](flight_controller/dropix.md)
- [Omnibus F4 SD](flight_controller/omnibus_f4_sd.md)
- [BetaFPV Beta75X 2S Brushless Whoop](complete_vehicles_mc/betafpv_beta75x.md)
- [Bitcraze Crazyflie 2.0 ](complete_vehicles_mc/crazyflie2.md)
- [Aerotenna OcPoC-Zynq Mini](flight_controller/ocpoc_zynq.md)
- [CUAV X7](flight_controller/cuav_x7.md)
@ -209,8 +208,6 @@
- [mRo AUAV-X2](flight_controller/auav_x2.md)
- [NXP RDDRONE-FMUK66 FMU](flight_controller/nxp_rddrone_fmuk66.md)
- [3DR Pixhawk 1](flight_controller/pixhawk.md)
- [Snapdragon Flight](flight_controller/snapdragon_flight.md)
- [Intel® Aero RTF Drone](complete_vehicles_mc/intel_aero.md)
- [Pixhawk Autopilot Bus (PAB) & Carriers](flight_controller/pixhawk_autopilot_bus.md)
- [ARK Electronics Pixhawk Autopilot Bus Carrier](flight_controller/ark_pab.md)
- [Mounting the Flight Controller](assembly/mount_and_orient_controller.md)
@ -302,7 +299,6 @@
- [Zubax Telega](dronecan/zubax_telega.md)
- [PX4 Sapog ESC Firmware](dronecan/sapog.md)
- [Holybro Kotleta](dronecan/holybro_kotleta.md)
- [Zubax Orel](dronecan/zubax_orel.md)
- [Vertiq](peripherals/vertiq.md)
- [VESC](peripherals/vesc.md)
- [Radio Control (RC)](getting_started/rc_transmitter_receiver.md)

12
docs/en/advanced_config/compass_power_compensation.md
View File

@ -12,8 +12,6 @@ Moving the compass away from power-carrying cables is the easiest and most effec
The process is demonstrated for a multicopter, but is equally valid for other vehicle types.
:::
<a id="when"></a>
## When is Power Compensation Applicable?
Performing this power compensation is advisable only if all the following statements are true:
@ -25,8 +23,6 @@ Performing this power compensation is advisable only if all the following statem
1. The drone cables are all fixed in place/do not move (calculated compensation parameters will be invalid if the current-carrying cables can move).
<a id="how"></a>
## How to Compensate the Compass
1. Make sure your drone runs a Firmware version supporting power compensation (current master, or releases from v.1.11.0).
@ -39,7 +35,6 @@ Performing this power compensation is advisable only if all the following statem
![strap](../../assets/advanced_config/strap.png)
1. Power the vehicle and switch into [ACRO flight mode](../flight_modes_mc/acro.md) (using this mode ensures the vehicle won't attempt to compensate for movement resulting from the straps).
- Arm the vehicle and slowly raise the throttle to the maximum
- Slowly lower the throttle down to zero
- Disarm the vehicle
@ -54,10 +49,9 @@ Performing this power compensation is advisable only if all the following statem
python mag_compensation.py ~/path/to/log/logfile.ulg <type> [--instance <number>]
```
where:
- `<type>`: `current` or `thrust` (power signal used for compensation)
- `--instance <number>` (optional): The number is `0` (default) or `1`, the instance of the current or thrust signal to use.
where:
- `<type>`: `current` or `thrust` (power signal used for compensation)
- `--instance <number>` (optional): The number is `0` (default) or `1`, the instance of the current or thrust signal to use.
::: info
If your log does not contain battery current measurements, you will need to comment out the respective lines in the Python script, such that it does the calculation for thrust only.

23
docs/en/advanced_config/sensor_thermal_calibration.md
View File

@ -14,9 +14,7 @@ Any subsequent standard calibration will therefore update `TC_*` parameters and
Releases up to PX4 v1.14, do not support thermal calibration of the magnetometer.
:::
<a id="test_setup"></a>
## Test Setup/Best Practice
## Test Setup/Best Practice {#test_setup}
The [calibration procedures](#calibration_procedures) described in the following sections are ideally run in an _environmental chamber_ (a temperature and humidity controlled environment) as the board is heated from the lowest to the highest operating/calibration temperature.
Before starting the calibration, the board is first _cold soaked_ (cooled to the minimum temperature and allowed to reach equilibrium).
@ -46,9 +44,7 @@ If in doubt, check the safe operating range with your manufacturer.
To check the status of the onboard thermal calibration use the MAVlink console (or NuttX console) to check the reported internal temp from the sensor.
:::
<a id="calibration_procedures"></a>
## Calibration Procedures
## Calibration Procedures {#calibration_procedures}
PX4 supports two calibration procedures:
@ -57,9 +53,7 @@ PX4 supports two calibration procedures:
The offboard approach is more complex and slower, but requires less knowledge of the test setup and is easier to validate.
<a id="onboard_calibration"></a>
### Onboard Calibration Procedure
### Onboard Calibration Procedure {#onboard_calibration}
Onboard calibration is run entirely on the device. It require knowledge of the amount of temperature rise that is achievable with the test setup.
@ -76,9 +70,7 @@ To perform and onboard calibration:
9. Perform a 6-point accel calibration via the system console using `commander calibrate accel` or via _QGroundControl_. If the board is being set-up for the first time, the gyro and magnetometer calibration will also need to be performed.
10. The board should always be re-powered before flying after any sensor calibration, because sudden offset changes from calibration can upset the navigation estimator and some parameters are not loaded by the algorithms that use them until the next startup.
<a id="offboard_calibration"></a>
### Offboard Calibration Procedure
### Offboard Calibration Procedure {#offboard_calibration}
Offboard calibration is run on a development computer using data collected during the calibration test. This method provides a way to visually check the quality of data and curve fit.
@ -104,9 +96,7 @@ To perform an offboard calibration:
1. After parameters have finished loading, set `SDLOG_MODE` to 1 to re-enable normal logging and remove power.
1. Power the board and perform a normal accelerometer sensor calibration using _QGroundControl_. It is important that this step is performed when board is within the calibration temperature range. The board must be repowered after this step before flying as the sudden offset changes can upset the navigation estimator and some parameters are not loaded by the algorithms that use them until the next startup.
<a id="implementation"></a>
## Implementation Detail
## Implementation Detail {#implementation}
Calibration refers to the process of measuring the change in sensor value across a range of internal temperatures, and performing a polynomial fit on the data to calculate a set of coefficients (stored as parameters) that can be used to correct the sensor data. Compensation refers to the process of using the internal temperature to calculate an offset that is subtracted from the sensor reading to correct for changing offset with temperature
@ -133,7 +123,6 @@ Where:
- `type`: is a single character indicating the type of sensor where `A` = accelerometer, `G` = rate gyroscope, `M` = magnetometer, and `B` = barometer.
- `instance`: is an integer 0,1 or 2 allowing for calibration of up to three sensors of the same `type`.
- `cal_name`: is a string identifying the calibration value. It has the following possible values:
- `Xn`: Polynomial coefficient where n is the order of the coefficient, e.g. `X3 * (temperature - reference temperature)**3`.
- `SCL`: scale factor.
- `TREF`: reference temperature (deg C).
@ -193,5 +182,7 @@ Scale factors are assumed to be temperature invariant due to the difficulty asso
---
[^1]: The [SYS_CAL_ACCEL](../advanced_config/parameter_reference.md#SYS_CAL_ACCEL), [SYS_CAL_BARO](../advanced_config/parameter_reference.md#SYS_CAL_BARO) and [SYS_CAL_GYRO](../advanced_config/parameter_reference.md#SYS_CAL_GYRO) parameters are reset to 0 when the calibration is started.
[^2]: Calibration of the barometric pressure sensor offsets requires a stable air pressure environment. The air pressure will change slowly due to weather and inside buildings can change rapidly due to external wind fluctuations and HVAC system operation.
[^3]: Care must be taken when warming a cold soaked board to avoid formation of condensation on the board that can cause board damage under some circumstances.

4
docs/en/advanced_config/tuning_the_ecl_ekf.md
View File

@ -441,9 +441,7 @@ Airspeed data will be used when it exceeds the threshold set by a positive value
Fixed-wing platforms can take advantage of an assumed sideslip observation of zero to improve wind speed estimation and also enable wind speed estimation without an airspeed sensor.
This is enabled by setting the [EKF2_FUSE_BETA](../advanced_config/parameter_reference.md#EKF2_FUSE_BETA) parameter to 1.
<a id="mc_wind_estimation_using_drag"></a>
### Multicopter Wind Estimation using Drag Specific Forces
### Multicopter Wind Estimation using Drag Specific Forces {#mc_wind_estimation_using_drag}
Multi-rotor platforms can take advantage of the relationship between airspeed and drag force along the X and Y body axes to estimate North/East components of wind velocity.
This can be enabled using [EKF2_DRAG_CTRL](../advanced_config/parameter_reference.md#EKF2_DRAG_CTRL).

4
docs/en/advanced_features/precland.md
View File

@ -56,9 +56,7 @@ A flow diagram showing the phases can be found in [landing phases flow Diagram](
Precision landing can be used in missions, during the landing phase in _Return mode_, or by entering the _Precision Land_ mode.
<a id="mission"></a>
### Mission Precision Landing
### Mission Precision Landing {#mission}
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:

4
docs/en/assembly/quick_start_cuav_v5_nano.md
View File

@ -110,9 +110,7 @@ The other radio is connected to your ground station computer or mobile device (u
![quickstart](../../assets/flight_controller/cuav_v5_nano/connection/v5_nano_quickstart_07.png)
<a id="sd_card"></a>
## SD Card (Optional)
## SD Card (Optional) {#sd_card}
An [SD card](../getting_started/px4_basic_concepts.md#sd-cards-removable-memory) is inserted in the factory (you do not need to do anything).

4
docs/en/assembly/quick_start_cuav_v5_plus.md
View File

@ -110,9 +110,7 @@ The other radio is connected to your ground station computer or mobile device (u
![V5+ AutoPilot](../../assets/flight_controller/cuav_v5_plus/connection/v5+_quickstart_06.png)
<a id="sd_card"></a>
## SD Card (Optional)
## SD Card (Optional) {#sd_card}
An [SD card](../getting_started/px4_basic_concepts.md#sd-cards-removable-memory) is inserted in the factory (you do not need to do anything).

6
docs/en/assembly/quick_start_pixhawk4.md
View File

@ -147,9 +147,7 @@ The vehicle-based radio should be connected to the **TELEM1** port as shown belo
![Pixhawk 4/Telemetry Radio](../../assets/flight_controller/pixhawk4/pixhawk4_telemetry_radio.jpg)
<a id="sd_card"></a>
## SD Card (Optional)
## SD Card (Optional) {#sd_card}
SD cards are highly recommended as they are needed to [log and analyse flight details](../getting_started/flight_reporting.md), to run missions, and to use UAVCAN-bus hardware.
Insert the card (included in Pixhawk 4 kit) into _Pixhawk 4_ as shown below.
@ -193,4 +191,4 @@ QuadPlane specific configuration is covered here: [QuadPlane VTOL Configuration]
- [Pixhawk 4](../flight_controller/pixhawk4.md) (Overview page)
- [Pixhawk 4 Technical Data Sheet](https://github.com/PX4/PX4-Autopilot/blob/main/docs/assets/flight_controller/pixhawk4/pixhawk4_technical_data_sheet.pdf)
- [Pixhawk 4 Pinouts](https://cdn.shopify.com/s/files/1/0604/5905/7341/files/Pixhawk4-Pinouts.pdf) (Holybro)
- [Pixhawk 4 Quick Start Guide (Holybro)](https://holybro.com/manual/Pixhawk4-quickstartguide.pdf)
- [Pixhawk 4 Quick Start Guide (Holybro)](https://cdn.shopify.com/s/files/1/0604/5905/7341/files/Pixhawk4-quickstartguide.pdf)

2
docs/en/assembly/quick_start_pixhawk5x.md
View File

@ -52,7 +52,7 @@ You can press the safety switch again to enable safety and disarm the vehicle (t
## Power
Connect the output of the _PM02D Power Module_ (PM board) that comes with the Standard Set to one of the **POWER** port of _Pixhawk 5X_ using the 6-wire cable.
The PM02D and Power ports on the Pixhawk 5X uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/molex/products/part-detail/pcb_receptacles/5024430670) & [Housing](https://www.molex.com/molex/products/part-detail/crimp_housings/5024390600).
The PM02D and Power ports on the Pixhawk 5X uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/en-us/products/part-detail/5024430670) & [Housing](https://www.molex.com/molex/products/part-detail/crimp_housings/5024390600).
The PM02D Power Module supports **2~6S** battery, the board input should be connected to your LiPo battery. Note that the PM board does not supply power to the + and - pins of **FMU PWM OUT** and **I/O PWM OUT**.

2
docs/en/assembly/quick_start_pixhawk6x.md
View File

@ -65,7 +65,7 @@ You can press the safety switch again to enable safety and disarm the vehicle (t
## Power
Connect the output of the _PM02D Power Module_ (PM board) that comes with the Standard Set to one of the **POWER** port of _Pixhawk 6X_ using the 6-wire cable.
The PM02D and Power ports on the Pixhawk 6X uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/molex/products/part-detail/pcb_receptacles/5024430670) & [Housing](https://www.molex.com/molex/products/part-detail/crimp_housings/5024390600).
The PM02D and Power ports on the Pixhawk 6X uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/en-us/products/part-detail/5024430670) & [Housing](https://www.molex.com/molex/products/part-detail/crimp_housings/5024390600).
The PM02D Power Module supports **2~6S** battery, the board input should be connected to your LiPo battery. Note that the PM board does not supply power to the + and - pins of **FMU PWM OUT** and **I/O PWM OUT**.

2
docs/en/camera/fc_connected_camera.md
View File

@ -117,7 +117,7 @@ The camera trigger driver supports several backends - each for a specific applic
| 1 | Enables the GPIO interface. The AUX outputs are pulsed high or low (depending on the `TRIG_POLARITY` parameter) every [TRIG_INTERVAL](../advanced_config/parameter_reference.md#TRIG_INTERVAL) duration. This can be used to trigger most standard machine vision cameras directly. Note that on PX4FMU series hardware (Pixhawk, Pixracer, etc.), the signal level on the AUX pins is 3.3v. |
| 2 | Enables the Seagull MAP2 interface. This allows the use of the [Seagull MAP2](https://www.seagulluav.com/product/seagull-map2/) to interface to a multitude of supported cameras. Pin/Channel 1 (camera trigger) and Pin/Channel 2 (mode selector) of the MAP2 should be connected to the lower and higher mapped [camera trigger pins](#trigger-output-pin-configuration). Using Seagull MAP2, PX4 also supports automatic power control and keep-alive functionalities of Sony Multiport cameras like the QX-1. |
| 3 | This mode enables MAVLink cameras that used the legacy [MAVLink interface listed above](#mavlink-command-interface). The messages are automatically emitted on the MAVLink `onboard` channel when found in missions. PX4 emits the `CAMERA_TRIGGER` MAVLink message when a camera is triggered, by default to the `onboard` channel (if this is not used, custom stream will need to be enabled). [Simple MAVLink cameras](../camera/mavlink_v1_camera.md) explains this use case in more detail. |
| 4 | Enables the generic PWM interface. This allows the use of [infrared triggers](https://hobbyking.com/en_us/universal-remote-control-infrared-shutter-ir-rc-1g.html) or servos to trigger your camera. |
| 4 | Enables the generic PWM interface. This allows the use of [infrared triggers](https://www.seagulluav.com/product/seagull-ir/) or servos to trigger your camera. |
### Trigger Output Pin Configuration

4
docs/en/companion_computer/companion_computer_peripherals.md
View File

@ -54,8 +54,8 @@ They are in no way guaranteed to be plug and play with your companion computer.
Popular stereo cameras include:
- [Intel® RealSense™ Depth Camera D435](https://www.intelrealsense.com/depth-camera-d435/)
- [Intel® RealSense™ Depth Camera D415](https://www.intelrealsense.com/depth-camera-d415/)
- [Intel® RealSense™ Depth Camera D435](https://realsenseai.com/stereo-depth-cameras/stereo-depth-camera-d435/)
- [Intel® RealSense™ Depth Camera D415](https://realsenseai.com/stereo-depth-cameras/stereo-depth-camera-d415/)
- [DUO MLX](https://duo3d.com/product/duo-minilx-lv1)
### VIO Cameras/Sensors

58
docs/en/complete_vehicles_mc/betafpv_beta75x.md
View File

@ -1,58 +0,0 @@
# BetaFPV Beta75X 2S Brushless Whoop
<Badge type="info" text="Discontinued" />
:::warning
This frame has been [discontinued](../flight_controller/autopilot_experimental.md) and is no longer commercially available.
:::
The [BetaFPV Beta75X](https://betafpv.com/products/beta75x-2s-whoop-quadcopter) is a very small quadrotor that can be flown indoors or outdoors, FPV or line-of-sight.
![BetaFPV Beta75X](../../assets/hardware/betafpv_beta75x.jpg)
## Where to Buy
The _Beta75X_ can be bought from a number of vendors, including:
- [GetFPV](https://www.getfpv.com/beta75x-2s-brushless-whoop-micro-quadcopter-xt30-frsky.html)
- [Amazon](https://www.amazon.com/BETAFPV-Beta75X-Brushless-Quadcopter-Smartaudio/dp/B07H86XSPW)
In addition you will need:
- An RC transmitter. _Beta75X_ can ship with a number of receivers. PX4 is compatible with all of them, but make sure to select the version that matches your transmitter.
- LiPo battery charger (vehicle ships with one battery, but you may want spares).
- FPV goggles if you want to fly FPV.
There are many compatible options, including these ones from [Fatshark](https://www.fatshark.com/product-page/dominator-v3).
::: info
FPV support is completely independent of PX4/flight controller.
:::
## Flashing PX4 Bootloader
The _Beta75X_ comes preinstalled with Betaflight.
Before loading PX4 firmware you must first install the PX4 bootloader.
Instructions for installing the bootloader can be found in the [Omnibus F4](../flight_controller/omnibus_f4_sd.md#bootloader) topic (this is the flight controller board on the _Beta75X_).
:::tip
You can always [reinstall Betaflight](../advanced_config/bootloader_update_from_betaflight.md#reinstall-betaflight) later if you want!
:::
## Installation/Configuration
Once the bootloader is installed, you should be able to connect the vehicle to _QGroundControl_ via a USB cable.
::: info
At time of writing _Omnibus F4_ is supported on the QGroundControl _Daily Build_, and prebuilt firmware is provided for the master branch only (stable releases are not yet available).
:::
To install and configure PX4:
- [Load PX4 Firmware](../config/firmware.md).
- [Set the Airframe](../config/airframe.md) to _BetaFPV Beta75X 2S Brushless Whoop_.
- Continue with [basic configuration](../config/index.md), including sensor calibration and radio setup.
## Video
<lite-youtube videoid="_-O0kv0Qsh4" title="PX4 running on the BetaFPV Whoop"/>

6
docs/en/complete_vehicles_mc/crazyflie2.md
View File

@ -37,7 +37,7 @@ The main hardware documentation is here: https://wiki.bitcraze.io/projects:crazy
- [Crazyflie 2.0](https://store.bitcraze.io/collections/kits/products/crazyflie-2-0).
- [Crazyradio PA 2.4 GHz USB dongle](https://store.bitcraze.io/products/crazyradio-pa): used for wireless communication between _QGroundControl_ and Crazyflie 2.0.
- [Breakout deck](https://store.bitcraze.io/collections/decks/products/breakout-deck): breakout expansion board for connecting new peripherals.
- [Flow deck](https://store.bitcraze.io/collections/decks/products/flow-deck): contains an optical flow sensor to measure movements of the ground and a distance sensor to measure the distance to the ground.
- [Flow deck](https://store.bitcraze.io/products/flow-deck): contains an optical flow sensor to measure movements of the ground and a distance sensor to measure the distance to the ground.
This will be useful for precise altitude and position control.
- [Z-ranger deck](https://store.bitcraze.io/collections/decks/products/z-ranger-deck) has the same distance sensor as the Flow deck to measure the distance to the ground.
This will be useful for precise altitude control.
@ -225,7 +225,7 @@ This is the rate at which Joystick commands are sent from QGroundControl to Craz
Crazyflie 2.0 is able to fly with precise control in [Stabilized mode](../flight_modes_mc/manual_stabilized.md), [Altitude mode](../flight_modes_mc/altitude.md) and [Position mode](../flight_modes_mc/position.md).
- You will need the [Z-ranger deck](https://store.bitcraze.io/collections/decks/products/z-ranger-deck) to fly in _Altitude_ mode.
If you also want to fly in the _Position_ mode, it is recommended you buy the [Flow deck](https://store.bitcraze.io/collections/decks/products/flow-deck) which also has the integrated Z-ranger sensor.
If you also want to fly in the _Position_ mode, it is recommended you buy the [Flow deck](https://store.bitcraze.io/products/flow-deck) which also has the integrated Z-ranger sensor.
- The onboard barometer is highly susceptible to any external wind disturbances including those created by Crazyflie's own propellers. Hence, we isolated the barometer with a piece of foam, and then mounted the distance sensor on top of it as shown below:
![Crazyflie barometer](../../assets/flight_controller/crazyflie/crazyflie_barometer.jpg)
@ -257,7 +257,7 @@ Since the onboard barometer is highly susceptible to wind disturbances created b
## Position Control
With [Flow deck](https://store.bitcraze.io/collections/decks/products/flow-deck), you can fly Crazyflie 2.0 in _Position mode_.
With [Flow deck](https://store.bitcraze.io/products/flow-deck), you can fly Crazyflie 2.0 in _Position mode_.
Unlike [PX4FLOW](../sensor/px4flow.md), the flow deck does not house a gyro, hence the onboard gyro is used for flow fusion to find the local position estimates.
Moreover, the flow deck shares the same SPI bus as the SD card deck, therefore logging at high rate on SD card is not recommended when flying in _Position mode_.

4
docs/en/complete_vehicles_mc/crazyflie21.md
View File

@ -12,7 +12,7 @@ Crazyflie 2.1 is only able to fly in [Stabilized mode](../flight_modes_mc/manual
:::
The Crazyflie line of micro quads was created by Bitcraze AB.
An overview of the Crazyflie 2.1 can be [found here](https://www.bitcraze.io/products/crazyflie-2-1/).
An overview of the Crazyflie 2.1 can be [found here](https://www.bitcraze.io/products/crazyflie-2-1-brushless/).
![Crazyflie2 Image](../../assets/flight_controller/crazyflie21/crazyflie_2.1.jpg)
@ -42,7 +42,7 @@ Useful peripheral hardware includes:
- [Crazyradio PA 2.4 GHz USB dongle](https://store.bitcraze.io/products/crazyradio-pa): Wireless communication between _QGroundControl_ and Crazyflie 2.0
- [Breakout deck](https://store.bitcraze.io/collections/decks/products/breakout-deck): Breakout expansion board for connecting new peripherals.
- [Flow deck v2](https://store.bitcraze.io/collections/decks/products/flow-deck-v2): Optical flow sensor and a distance sensor for altitude and position control.
- [Flow deck v2](https://store.bitcraze.io/products/flow-deck-v2): Optical flow sensor and a distance sensor for altitude and position control.
- [Z-ranger deck v2](https://store.bitcraze.io/collections/decks/products/z-ranger-deck-v2): Distance sensor for altitude control (same sensor as the Flow deck).
- [Multi-ranger deck](https://store.bitcraze.io/collections/decks/products/multi-ranger-deck) Multi-direction object detection
- [Buzzer deck](https://store.bitcraze.io/collections/decks/products/buzzer-deck) Audio feedback on system events, like low battery or charging completed.

9
docs/en/complete_vehicles_mc/intel_aero.md
View File

@ -1,9 +0,0 @@
# Intel Aero Ready to Fly Drone
<Badge type="info" text="Discontinued" />
:::warning
This flight controller has been [discontinued](../flight_controller/autopilot_experimental.md) and is no longer commercially available.
PX4 v1.11 is the last release that supports this platform ([see here for legacy docs](https://docs.px4.io/v1.12/en/complete_vehicles/intel_aero.html)).
:::

2
docs/en/concept/control_allocation.md
View File

@ -46,7 +46,7 @@ Notes:
The driver defines a parameter prefix, e.g. `PWM_MAIN` that the library then uses for configuration.
Its main task is to select from the input topics and assign the right data to the outputs based on the user set `<param_prefix>_FUNCx` parameter values.
For example if `PWM_MAIN_FUNC3` is set to **Motor 2**, the 3rd output is set to the 2nd motor from `actuator_motors`.
- output functions are defined under [src/lib/mixer_module/output_functions.yaml](https://github.com/PX4/PX4-Autopilot/tree/main/src/lib/mixer_module/output_functions.yaml).
- output functions are defined under [src/lib/mixer_module/output_functions.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/lib/mixer_module/output_functions.yaml).
- if you want to control an output from MAVLink, set the relevant output function to **Offboard Actuator Set x**, and then send the [MAV_CMD_DO_SET_ACTUATOR](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_SET_ACTUATOR) MAVLink command.
## Adding a new Geometry or Output Function

2
docs/en/config/actuators.md
View File

@ -377,7 +377,7 @@ The following functions can only be applied to FMU outputs:
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/tree/main/src/lib/mixer_module/output_functions.yaml).
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.
:::

2
docs/en/config/index.md
View File

@ -69,7 +69,7 @@ The video below shows most of the calibration process (it uses an older version
## Support
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).
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/18).
## See Also

2
docs/en/config_mc/pid_tuning_guide_multicopter.md
View File

@ -64,7 +64,7 @@ The derivative term (**D**) is on the feedback path in order to avoid an effect
:::tip
For more information see:
- [Not all PID controllers are the same](https://www.controleng.com/articles/not-all-pid-controllers-are-the-same/) (www.controleng.com)
- [Not all PID controllers are the same](https://www.controleng.com/not-all-pid-controllers-are-the-same/) (www.controleng.com)
- [PID controller > Standard versus parallel (ideal) PID form](<https://en.wikipedia.org/wiki/PID_controller#Standard_versus_parallel_(ideal)_form>) (Wikipedia)
:::

2
docs/en/dronecan/ark_mosaic__rtk_gps.md
View File

@ -12,7 +12,7 @@ Order this module from:
## Hardware Specifications
- [Open Source Schematic and BOM](https://github.com/ARK-Electronics/ARK_MosaicX5_GPS)
- [Open Source Schematic and BOM](https://github.com/ARK-Electronics/ARK_MOSAIC-X5_GPS)
- Sensors
- [Septentrio Mosaic-X5 GPS](https://www.septentrio.com/en/products/gnss-receivers/gnss-receiver-modules/mosaic-x5)
- Triple Band L1/L2/L5

2
docs/en/dronecan/cuav_can_pmu.md
View File

@ -9,7 +9,7 @@ It is recommended for use in large commercial vehicles, but might also be used f
## Where to Buy
- [CUAV store](https://store.cuav.net/index.php)
- [CUAV store](https://store.cuav.net/)
- [CUAV aliexpress ](https://www.aliexpress.com/item/4000369700535.html)
## Hardware Specifications

1
docs/en/dronecan/escs.md
View File

@ -4,7 +4,6 @@ PX4 supports DroneCAN compliant ESCs.
For more information, see the following articles for specific hardware/firmware:
- [PX4 Sapog ESC Firmware](sapog.md)
- [Zubax Orel 20/21](zubax_orel.md)
- [Holybro Kotleta 20](holybro_kotleta.md)
- [Zubax Telega](zubax_telega.md)
- [Vertiq](../peripherals/vertiq.md) (larger modules)

18
docs/en/dronecan/index.md
View File

@ -134,8 +134,8 @@ Sensor parameters may not exist (be visible in QGC) until you have enabled the a
For example, [SENS_FLOW_MINHGT](../advanced_config/parameter_reference.md#SENS_FLOW_MINHGT) does not exist until [UAVCAN_SUB_FLOW](../advanced_config/parameter_reference.md#UAVCAN_SUB_FLOW) is enabled.
:::
For example, to use a connected DroneCAN smart battery you would enable the [UAVCAN_SUB_BAT](../advanced_config/parameter_reference.md#UAVCAN_SUB_BAT) parameter, which would subscribe PX4 to receive [BatteryInfo](https://dronecan.github.io/Specification/1._Introduction//7._List_of_standard_data_types/#batteryinfo) DroneCAN messages.
If using a peripheral that needs to know if PX4 is armed, you would need to set the [UAVCAN_PUB_ARM](../advanced_config/parameter_reference.md#UAVCAN_PUB_ARM) parameter so that PX4 starts publishing [ArmingStatus](https://dronecan.github.io/Specification/1._Introduction//7._List_of_standard_data_types/#armingstatus) messages.
For example, to use a connected DroneCAN smart battery you would enable the [UAVCAN_SUB_BAT](../advanced_config/parameter_reference.md#UAVCAN_SUB_BAT) parameter, which would subscribe PX4 to receive [BatteryInfo](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#batteryinfo) DroneCAN messages.
If using a peripheral that needs to know if PX4 is armed, you would need to set the [UAVCAN_PUB_ARM](../advanced_config/parameter_reference.md#UAVCAN_PUB_ARM) parameter so that PX4 starts publishing [ArmingStatus](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#armingstatus) messages.
The parameter names are prefixed with `UAVCAN_SUB_` and `UAVCAN_PUB_` to indicate whether they enable PX4 subscribing or publishing.
The remainder of the name indicates the specific message/feature being set.
@ -159,7 +159,7 @@ The DroneCAN sensor parameters/subscriptions that you can enable are (in PX4 v1.
- [UAVCAN_SUB_DPRES](../advanced_config/parameter_reference.md#UAVCAN_SUB_DPRES): Differential pressure
- [UAVCAN_SUB_FLOW](../advanced_config/parameter_reference.md#UAVCAN_SUB_FLOW): Optical flow
- [UAVCAN_SUB_GPS](../advanced_config/parameter_reference.md#UAVCAN_SUB_GPS): GPS
- [UAVCAN_SUB_GPS_R](../advanced_config/parameter_reference.md#UAVCAN_SUB_GPS_R)<Badge type="tip" text="PX4 v1.15" />: Subscribes to GNSS relative message ([RelPosHeading](https://dronecan.github.io/Specification/1._Introduction//7._List_of_standard_data_types/#relposheading)).
- [UAVCAN_SUB_GPS_R](../advanced_config/parameter_reference.md#UAVCAN_SUB_GPS_R)<Badge type="tip" text="PX4 v1.15" />: Subscribes to GNSS relative message ([RelPosHeading](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#relposheading)).
Only used for logging in PX4 v1.15.
- [UAVCAN_SUB_HYGRO](../advanced_config/parameter_reference.md#UAVCAN_SUB_HYGRO): Hygrometer
- [UAVCAN_SUB_ICE](../advanced_config/parameter_reference.md#UAVCAN_SUB_ICE): Internal combustion engine (ICE).
@ -195,15 +195,15 @@ Position of rover is established using RTCM messages from the RTK base module (t
PX4 DroneCAN parameters:
- [UAVCAN_PUB_RTCM](../advanced_config/parameter_reference.md#UAVCAN_PUB_RTCM):
- Makes PX4 publish RTCM messages ([RTCMStream](https://dronecan.github.io/Specification/1._Introduction//7._List_of_standard_data_types/#rtcmstream)) to the bus (which it gets from the RTK base module via QGC).
- Makes PX4 publish RTCM messages ([RTCMStream](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#rtcmstream)) to the bus (which it gets from the RTK base module via QGC).
Rover module parameters (also [set using QGC](#qgc-cannode-parameter-configuration)):
- [CANNODE_SUB_RTCM](../advanced_config/parameter_reference.md#CANNODE_SUB_RTCM) tells the rover that it should subscribe to [RTCMStream](https://dronecan.github.io/Specification/1._Introduction//7._List_of_standard_data_types/#rtcmstream) RTCM messages on the bus (from the moving base).
- [CANNODE_SUB_RTCM](../advanced_config/parameter_reference.md#CANNODE_SUB_RTCM) tells the rover that it should subscribe to [RTCMStream](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#rtcmstream) RTCM messages on the bus (from the moving base).
::: info
You could instead use [UAVCAN_PUB_MBD](../advanced_config/parameter_reference.md#UAVCAN_PUB_MBD) and [CANNODE_SUB_MBD](../advanced_config/parameter_reference.md#CANNODE_SUB_MBD), which also publish RTCM messages (these are newer).
Using the [RTCMStream](https://dronecan.github.io/Specification/1._Introduction//7._List_of_standard_data_types/#rtcmstream) message means that you can implement moving base (see below) at the same time.
Using the [RTCMStream](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#rtcmstream) message means that you can implement moving base (see below) at the same time.
:::
##### Rover and Moving Base
@ -213,8 +213,8 @@ In this setup the vehicle has a _moving base_ RTK GPS and a _rover_ RTK GPS.
These parameters can be [set on moving base and rover RTK CAN nodes](#qgc-cannode-parameter-configuration), respectively:
- [CANNODE_PUB_MBD](../advanced_config/parameter_reference.md#CANNODE_PUB_MBD) causes a moving base GPS unit to publish [MovingBaselineData](https://dronecan.github.io/Specification/1._Introduction//7._List_of_standard_data_types/#movingbaselinedata)RTCM messages onto the bus (for the rover)
- [CANNODE_SUB_MBD](../advanced_config/parameter_reference.md#CANNODE_SUB_MBD) tells the rover that it should subscribe to [MovingBaselineData](https://dronecan.github.io/Specification/1._Introduction//7._List_of_standard_data_types/#movingbaselinedata) RTCM messages on the bus (from the moving base).
- [CANNODE_PUB_MBD](../advanced_config/parameter_reference.md#CANNODE_PUB_MBD) causes a moving base GPS unit to publish [MovingBaselineData](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#movingbaselinedata)RTCM messages onto the bus (for the rover)
- [CANNODE_SUB_MBD](../advanced_config/parameter_reference.md#CANNODE_SUB_MBD) tells the rover that it should subscribe to [MovingBaselineData](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#movingbaselinedata) RTCM messages on the bus (from the moving base).
For PX4 you will also need to set [GPS_YAW_OFFSET](../advanced_config/parameter_reference.md#GPS_YAW_OFFSET) to indicate the relative position of the moving base and rover: 0 if your Rover is in front of your Moving Base, 90 if Rover is right of Moving Base, 180 if Rover is behind Moving Base, or 270 if Rover is left of Moving Base.
@ -264,7 +264,7 @@ If the rangefinder is connected via DroneCAN (whether inbuilt or separate), you
PX4 DroneCAN parameters:
- [UAVCAN_PUB_ARM](../advanced_config/parameter_reference.md#UAVCAN_PUB_ARM) ([Arming Status](https://dronecan.github.io/Specification/1._Introduction//7._List_of_standard_data_types/#armingstatus)): Publish when using DroneCAN components that require the PX4 arming status as a precondition for use.
- [UAVCAN_PUB_ARM](../advanced_config/parameter_reference.md#UAVCAN_PUB_ARM) ([Arming Status](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#armingstatus)): Publish when using DroneCAN components that require the PX4 arming status as a precondition for use.
### ESC & Servos

2
docs/en/dronecan/sapog.md
View File

@ -100,4 +100,4 @@ See [DroneCAN Troubleshooting](index.md#troubleshooting)
- [PX4/Sapog](https://github.com/PX4/sapog#px4-sapog) (Github)
- [Sapog v2 Reference Manual](https://files.zubax.com/products/io.px4.sapog/Sapog_v2_Reference_Manual.pdf)
- [Using Sapog based ESC with PX4](https://kb.zubax.com/display/MAINKB/Using+Sapog-based+ESC+with+PX4) (Zubax KB)
- [Using Telega-based controllers with PX4 autopilots](https://wiki.zubax.com/public/telega/telega-v0-legacy/Using-Telega-based-controllers-with-PX4-autopilots) (Zubax KB)

13
docs/en/dronecan/zubax_orel.md
View File

@ -1,13 +0,0 @@
# Zubax Orel 20/21
The Zubax Orel 20 is an CAN ESC designed to run the open source [PX4 Sapog ESC Firmware](../dronecan/sapog.md).
While it can be controlled using traditional PWM input, it is designed to operate over CAN bus using [DroneCAN](index.md).
## Where to Buy
[Zubax Orel](https://zubax.com/products/orel_20)
## Setup
Follow the [Sapog ESC Setup](../dronecan/sapog.md) instructions.

6
docs/en/dronecan/zubax_telega.md
View File

@ -15,9 +15,9 @@ Questions on this matter should be addressed to: [support@zubax.com](mailto:supp
## Where to Buy
- [Zubax Myxa](https://shop.zubax.com/products/zubax-myxa): High-end PMSM/BLDC motor controller (FOC ESC) for light unmanned aircraft and watercraft.
- [Zubax Mitochondrik](https://shop.zubax.com/products/mitochondrik): Integrated sensorless PMSM/BLDC motor controller chip (used in ESCs and integrated drives)
- [Zubax Komar](https://shop.zubax.com/products/zubax-ad0510-komar-esc?variant=32931555868771): Open hardware reference design for Mitochondrik
- [Zubax AmpDrive AD0505A/B "Myxa" ESC](https://shop.zubax.com/products/zubax-myxa): High-end PMSM/BLDC motor controller (FOC ESC) for light unmanned aircraft and watercraft.
- [Zubax BoolDrive BD1D50 "Mitochondrik"](https://shop.zubax.com/products/mitochondrik): Integrated sensorless PMSM/BLDC motor controller chip (used in ESCs and integrated drives)
- [Zubax AmpDrive AD0510 "Komar" ESC](https://shop.zubax.com/products/zubax-ad0510-komar-esc): Open hardware reference design for Mitochondrik
## Hardware Setup

4
docs/en/flight_controller/ark_fpv.md
View File

@ -23,9 +23,9 @@ See the documentation [Ark Electronics GitBook](https://arkelectron.gitbook.io/a
## Sensors
- [Invensense IIM-42653 Industrial IMU](https://invensense.tdk.com/products/motion-tracking/6-axis/iim-42653/)
- [Invensense IIM-42653 Industrial IMU](https://invensense.tdk.com/products/smartindustrial/iim-42653/)
- [Bosch BMP390 Barometer](https://www.bosch-sensortec.com/products/environmental-sensors/pressure-sensors/bmp390/)
- [ST IIS2MDC Magnetometer](https://www.st.com/en/magnetic-sensors/iis2mdc.html)
- [ST IIS2MDC Magnetometer](https://www.st.com/en/mems-and-sensors/iis2mdc.html)
## Microprocessor

2
docs/en/flight_controller/ark_v6x.md
View File

@ -25,7 +25,7 @@ Order From [Ark Electronics](https://arkelectron.com/product/arkv6x/) (US)
- [Dual Invensense ICM-42688-P IMUs](https://invensense.tdk.com/products/motion-tracking/6-axis/icm-42688-p/)
- [Invensense IIM-42652 Industrial IMU](https://invensense.tdk.com/products/smartindustrial/iim-42652/)
- [Bosch BMP390 Barometer](https://www.bosch-sensortec.com/products/environmental-sensors/pressure-sensors/bmp390/)
- [Bosch BMM150 Magnetometer](https://www.bosch-sensortec.com/products/motion-sensors/magnetometers/bmm150/)
- [Bosch BMM150 Magnetometer](https://www.bosch-sensortec.com/media/boschsensortec/downloads/datasheets/bst-bmm150-ds001.pdf)
## Microprocessor

6
docs/en/flight_controller/autopilot_discontinued.md
View File

@ -26,6 +26,6 @@ They are listed because you may be using them in an existing drone, and because
## Complete Vehicles
- [BetaFPV Beta75X 2S Brushless Whoop](../complete_vehicles_mc/betafpv_beta75x.md)
- [Intel® Aero RTF Drone](../complete_vehicles_mc/intel_aero.md) ([Complete Vehicle](../complete_vehicles_mc/index.md))
- [Qualcomm Snapdragon Flight](../flight_controller/snapdragon_flight.md) ([Complete Vehicle](../complete_vehicles_mc/index.md))
- [BetaFPV Beta75X 2S Brushless Whoop](https://docs.px4.io/v1.14/en/complete_vehicles/betafpv_beta75x.html#betafpv-beta75x-2s-brushless-whoop) (circa PX4 v1.14)
- [Intel® Aero RTF Drone](https://docs.px4.io/v1.12/en/complete_vehicles/intel_aero.html) (circa PX4 v1.12)
- [Qualcomm Snapdragon Flight](https://docs.px4.io/v1.11/en/flight_controller/snapdragon_flight.html) (circa PX4 v1.11)

2
docs/en/flight_controller/cuav_v5_plus.md
View File

@ -60,8 +60,6 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo
## Where to Buy
<!-- [CUAV Store](https://store.cuav.net/index.php?id_product=95&id_product_attribute=0&rewrite=cuav-new-pixhack-v5-autopilot-m8n-gps-for-fpv-rc-drone-quadcopter-helicopter-flight-simulator-free-shipping-whole-sale&controller=product&id_lang=1) -->
[CUAV Aliexpress](https://www.aliexpress.com/item/32890380056.html?spm=a2g0o.detail.1000060.1.7a7233e7mLTlVl&gps-id=pcDetailBottomMoreThisSeller&scm=1007.13339.90158.0&scm_id=1007.13339.90158.0&scm-url=1007.13339.90158.0&pvid=d899bfab-a7ca-46e1-adf2-72ad1d649822) (International users)
[CUAV Taobao](https://item.taobao.com/item.htm?spm=a1z10.5-c.w4002-21303114052.37.a28f697aeYzQx9&id=594262853015) (China Mainland users)

6
docs/en/flight_controller/mro_control_zero_f7.md
View File

@ -29,8 +29,8 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo
- Sensors:
- [Bosch BMI088](https://www.bosch-sensortec.com/products/motion-sensors/imus/bmi088/) 3-axis accelerometer/gyroscope (internally vibration dampened)
- [Invensense ICM-20602](https://invensense.tdk.com/products/motion-tracking/6-axis/icm-20602/) 3-axis accelerometer/gyroscope
- [Invensense ICM-20948](https://www.invensense.com/products/motion-tracking/9-axis/icm-20948/) 3-axis accelerometer/gyroscope/magnetometer
- [Infineon DPS310 barometer](https://www.infineon.com/cms/en/product/sensor/pressure-sensors/pressure-sensors-for-iot/dps310/) (So smooth and NO more light sensitivity)
- [Invensense ICM-20948](https://invensense.tdk.com/products/motion-tracking/9-axis/icm-20948/) 3-axis accelerometer/gyroscope/magnetometer
- [Infineon DPS310 barometer](https://www.infineon.com/assets/row/public/documents/24/49/infineon-dps310-datasheet-en.pdf) - [Discontinued](https://www.infineon.com/part/DPS310) (So smooth and NO more light sensitivity)
- Interfaces:
- 6x UART (serial ports total), 3x with HW flow control, 1x FRSky Telemetry (D or X types), 1x Console and 1x GPS+I2C
@ -92,7 +92,7 @@ The [SWD port](../debug/swd_debug.md) (JTAG) for FMU debugging is a TC2030 debug
![mro swd port](../../assets/flight_controller/mro_control_zero_f7/mro_control_zero_f7_swd.jpg)
You can use the [Tag Connect](https://www.tag-connect.com/) cable [TC2030 IDC NL](https://www.tag-connect.com/product/tc2030-idc-nl) below (with associated [retaining clip](https://www.tag-connect.com/product/tc2030-clip-retaining-clip-board-for-tc2030-nl-cables)) to attach to either a BlackMagic probe or a ST-LINK V2 debugger.
You can use the [Tag Connect](https://www.tag-connect.com/) cable [TC2030 IDC NL](https://www.tag-connect.com/product/tc2030-idc-nl) below (with associated [retaining clip](https://www.tag-connect.com/product/tc2030-retaining-clip-board-3-pack)) to attach to either a BlackMagic probe or a ST-LINK V2 debugger.
![tc2030 idc nl cable](../../assets/flight_controller/mro_control_zero_f7/tc2030_idc_nl.jpg)

6
docs/en/flight_controller/nxp_mr_vmu_rt1176.md
View File

@ -51,8 +51,8 @@ Similar variants will be available from our licensees.
## Key Design Points
- High performance [NXP i.MX RT1170 1GHz Crossover MCU](https://www.nxp.com/products/processors-and-microcontrollers/arm-microcontrollers/i-mx-rt-crossover-mcus/i-mx-rt1170-1-ghz-crossover-mcu-with-arm-cortex-cores:i.MX-RT1170) with Arm® Cortex® cores
- Hardware secure element [NXP EdgeLock SE051](https://www.nxp.com/products/security-and-authentication/authentication/edgelock-se051-proven-easy-to-use-iot-security-solution-with-support-for-updatability-and-custom-applets:SE051).
- High performance [NXP i.MX RT1170 1GHz Crossover MCU](https://www.nxp.com/products/i.MX-RT1170) with Arm® Cortex® cores
- Hardware secure element [NXP EdgeLock SE051](https://www.nxp.com/products/SE051).
This is an extension to the widely trusted EdgeLock SE050 Plug & Trust secure element family, supports applet updates in the field and delivers proven security certified to CC EAL 6+, with AVA_VAN.5 up to the OS level, for strong protection against the most recent attack scenarios.
This can be used, for example, to securely store operator ID or certificates.
- Modular flight controller: separated IMU, FMU, and Base system connected by a 100-pin & a 50-pin Pixhawk® Autopilot Bus connector.
@ -187,7 +187,7 @@ TBD
_MR-VMU-RT1176_ can be triple-redundant on the power supply if three power sources are supplied.
The three power rails are: **POWER1**, **POWER2** and **USB**.
The **POWER1** & **POWER2** ports on the MR-VMU-RT1176 uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/molex/products/part-detail/pcb_receptacles/5024430670).
The **POWER1** & **POWER2** ports on the MR-VMU-RT1176 uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/en-us/products/part-detail/5024430670).
### Normal Operation Maximum Ratings

8
docs/en/flight_controller/nxp_rddrone_fmuk66.md
View File

@ -45,21 +45,21 @@ Telemetry radios ([HGD-TELEM433](https://www.nxp.com/part/HGD-TELEM433) and [HGD
![RDDRONE-FMUK66 FMU Kit](../../assets/flight_controller/nxp_rddrone_fmuk66/rddrone_fmu66_kit_img_contents.jpg)
A "Lite" version RDDRONE-FMUK66L is also available which does not include the power module, GPS, Jlink or USB-TTL-3V3 console cable or SDCard.[Scroll down to see FMUK66L in the buy section of the FMUK66 buy page](https://www.nxp.com/design/designs/px4-robotic-drone-fmu-rddrone-fmuk66:RDDRONE-FMUK66#buy)
A "Lite" version RDDRONE-FMUK66L is also available which does not include the power module, GPS, Jlink or USB-TTL-3V3 console cable or SDCard.[Scroll down to see FMUK66L in the buy section of the FMUK66 buy page](https://www.nxp.com/design/design-center/development-boards-and-designs/px4-robotic-drone-vehicle-flight-management-unit-vmu-fmu-rddrone-fmuk66:RDDRONE-FMUK66#buy)
Additional information can be found in the [Technical Data Sheet](https://www.nxp.com/design/designs/px4-robotic-drone-fmu-rddrone-fmuk66:RDDRONE-FMUK66). <!-- www.nxp.com/rddrone-fmuk66 -->
Additional information can be found in the [Technical Data Sheet](https://www.nxp.com/design/design-center/development-boards-and-designs/px4-robotic-drone-vehicle-flight-management-unit-vmu-fmu-rddrone-fmuk66:RDDRONE-FMUK66). <!-- www.nxp.com/rddrone-fmuk66 -->
## Where to Buy
**RDDRONE-FMUK66** reference design kit may be purchased direct from NXP or from any of NXP's authorised worldwide network of [electronics distributors](https://www.nxp.com/support/sample-and-buy/distributor-network:DISTRIBUTORS).
- [Purchase Link](https://www.nxp.com/design/designs/px4-robotic-drone-fmu-rddrone-fmuk66:RDDRONE-FMUK66#buy) (www.nxp.com)
- [Purchase Link](https://www.nxp.com/design/design-center/development-boards-and-designs/px4-robotic-drone-vehicle-flight-management-unit-vmu-fmu-rddrone-fmuk66:RDDRONE-FMUK66#buy) (www.nxp.com)
- Telemetry radios are purchased separately depending on frequency band:
- [HGD-TELEM433](https://www.nxp.com/part/HGD-TELEM433)
- [HGD-TELEM915](https://www.nxp.com/part/HGD-TELEM915)
::: info
_RDDRONE-FMUK66_ FMU is also included in the complete HoverGames drone kit: [KIT-HGDRONEK66](https://www.nxp.com/applications/solutions/industrial/aerospace-and-mobile-robotics/uavs-drones-and-rovers/nxp-hovergames-drone-kit-including-rddrone-fmuk66-and-peripherals:KIT-HGDRONEK66#buy)
_RDDRONE-FMUK66_ FMU is also included in the complete HoverGames drone kit: [KIT-HGDRONEK66](https://www.nxp.com/design/design-center/development-boards-and-designs/nxp-hovergames-drone-kit-including-flight-controller-and-peripherals:KIT-HGDRONEK66#buy)
:::
<!--

2
docs/en/flight_controller/omnibus_f4_sd.md
View File

@ -258,4 +258,4 @@ In addition to the [basic configuration](../config/index.md), the following para
## Further Info
[This page](https://blog.dronetrest.com/omnibus-f4-flight-controller-guide/) provides a good overview with pinouts and setup instructions.
[This page](https://blog.unmanned.tech/omnibus-f4-flight-controller-guide/) provides a good overview with pinouts and setup instructions.

8
docs/en/flight_controller/pixfalcon.md
View File

@ -1,6 +1,6 @@
# Pixfalcon Flight Controller (Discontinued)
<Badge type="info" text="Discontinued" />
<Badge type="info" text="Discontinued" px4_current="v1.15" year="2024"/>
:::warning
This flight controller has been [discontinued](../flight_controller/autopilot_experimental.md) and is no longer commercially available.
@ -34,14 +34,14 @@ The Pixfalcon autopilot (designed by [Holybro<sup>&reg;</sup>](https://holybro.c
## Availability:
From distributor [Hobbyking<sup>&reg;</sup>](https://hobbyking.com/en_us/pixfalcon-micro-px4-autopilot-plus-micro-m8n-gps-and-mega-pbd-power-module.html)
No longer available.
Optional hardware:
- Optical flow: PX4 Flow unit from manufacturer [Holybro](https://holybro.com/products/px4flow)
- Digital Airspeed sensor from manufacturer [Holybro](https://holybro.com/products/digital-air-speed-sensor-ms4525do) or distributor [Hobbyking](https://hobbyking.com/en_us/hkpilot-32-digital-air-speed-sensor-and-pitot-tube-set.html)
- Digital Airspeed sensor from manufacturer [Holybro](https://holybro.com/products/digital-air-speed-sensor-ms4525do)
- On screen display with integrated Telemetry:
- [Hobbyking OSD + EU Telemetry (433 MHz)](https://hobbyking.com/en_us/micro-hkpilot-telemetry-radio-module-with-on-screen-display-osd-unit-433mhz.html)
- Micro HKPilot Telemetry Radio Module with On Screen Display (OSD) unit - 433MHz. (Discontinued)
- Pure Telemetry options:
- [SIK Radios](../telemetry/sik_radio.md)

2
docs/en/flight_controller/pixhawk.md
View File

@ -323,7 +323,7 @@ make px4_fmu-v2_default
## Parts / Housings
- **ARM MINI JTAG (J6)**: 1.27 mm 10pos header (SHROUDED), for Black Magic Probe: FCI 20021521-00010D4LF ([Distrelec](https://www.distrelec.ch/en/minitek-127-straight-male-pcb-header-surface-mount-rows-10-contacts-27mm-pitch-amphenol-fci-20021521-00010d4lf/p/14352308), [Digi-Key](https://www.digikey.com/en/products/detail/20021521-00010T1LF/609-4054-ND/2414951),) or Samtec FTSH-105-01-F-DV-K (untested) or Harwin M50-3600542 ([Digikey](https://www.digikey.com/en/products/detail/harwin-inc/M50-3600542/2264370))
- **ARM MINI JTAG (J6)**: 1.27 mm 10pos header (SHROUDED), for Black Magic Probe: FCI 20021521-00010D4LF ([Digi-Key](https://www.digikey.com/en/products/detail/20021521-00010T1LF/609-4054-ND/2414951),) or Samtec FTSH-105-01-F-DV-K (untested) or Harwin M50-3600542 ([Digikey](https://www.digikey.com/en/products/detail/harwin-inc/M50-3600542/2264370))
- JTAG Adapter Option #1: [BlackMagic Probe](https://1bitsquared.com/products/black-magic-probe). Note, may come without cables (check with manufacturer).
If so, you will need the **Samtec FFSD-05-D-06.00-01-N** cable ([Samtec sample service](https://www.samtec.com/products/ffsd-05-d-06.00-01-n) or [Digi-Key Link: SAM8218-ND](https://www.digikey.com/en/products/detail/samtec-inc/ffsd-05-d-06-00-01-n/1106577)) or [Tag Connect Ribbon](https://www.tag-connect.com/product/10-pin-cortex-ribbon-cable-4-length-with-50-mil-connectors) and a Mini-USB cable.
- JTAG Adapter Option #2: [Digi-Key Link: ST-LINK/V2](https://www.digikey.com/product-detail/en/stmicroelectronics/ST-LINK-V2/497-10484-ND) / [ST USER MANUAL](https://www.st.com/resource/en/user_manual/dm00026748.pdf), needs an ARM Mini JTAG to 20pos adapter: [Digi-Key Link: 726-1193-ND](https://www.digikey.com/en/products/detail/texas-instruments/MDL-ADA2/1986451)

9
docs/en/flight_controller/pixhawk3_pro.md
View File

@ -36,14 +36,7 @@ This autopilot is [supported](../flight_controller/autopilot_pixhawk_standard.md
## Where to buy
From [Drotek store](https://store.drotek.com/) (EU) :
- [Pixhawk 3 Pro (Pack)](https://store.drotek.com/autopilots/844-pixhawk-3-pro-pack.html)
- [Pixhawk 3 Pro](https://store.drotek.com/autopilots/821-pixhawk-pro-autopilot-8944595120557.html)
From [readymaderc](https://www.readymaderc.com) (USA) :
- [Pixhawk 3 Pro](https://www.readymaderc.com/products/details/pixhawk-3-pro-flight-controller)
No longer available.
## Building Firmware

4
docs/en/flight_controller/pixhawk4_mini.md
View File

@ -1,5 +1,7 @@
# Holybro Pixhawk 4 Mini (Discontinued)
<Badge type="info" text="Discontinued" px4_current="v1.15" year="2024"/>
:::warning
PX4 does not manufacture this (or any) autopilot.
Contact the [manufacturer](https://holybro.com/) for hardware support or compliance issues.
@ -54,7 +56,7 @@ Additional information can be found in the [_Pixhawk 4 Mini_ Technical Data Shee
## Where to Buy
Order from [Holybro](https://holybro.com/collections/autopilot-flight-controllers/products/pixhawk4-mini).
No longer available.
## Interfaces

2
docs/en/flight_controller/pixhawk5x.md
View File

@ -154,7 +154,7 @@ Connector pin assignments are left to right (i.e. Pin 1 is the left-most pin).
## Voltage Ratings
_Pixhawk 5X_ can be triple-redundant on the power supply if three power sources are supplied. The three power rails are: **POWER1**, **POWER2** and **USB**.
The **POWER1** & **POWER2** ports on the Pixhawk 5X uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/molex/products/part-detail/pcb_receptacles/5024430670).
The **POWER1** & **POWER2** ports on the Pixhawk 5X uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/en-us/products/part-detail/5024430670).
**Normal Operation Maximum Ratings**

6
docs/en/flight_controller/pixhawk6x-rt.md
View File

@ -36,8 +36,8 @@ The Pixhawk®​ 6X-RT is perfect for developers at corporate research labs, sta
## Key Design Points
- High performance [NXP i.MX RT1170 1GHz Crossover MCU](https://www.nxp.com/products/processors-and-microcontrollers/arm-microcontrollers/i-mx-rt-crossover-mcus/i-mx-rt1170-1-ghz-crossover-mcu-with-arm-cortex-cores:i.MX-RT1170) with Arm® Cortex® cores
- Hardware secure element [NXP EdgeLock SE051](https://www.nxp.com/products/security-and-authentication/authentication/edgelock-se051-proven-easy-to-use-iot-security-solution-with-support-for-updatability-and-custom-applets:SE051) an extension to the widely trusted EdgeLock SE050 Plug & Trust secure element family, supports applet updates in the field and delivers proven security certified to CC EAL 6+, with AVA_VAN.5 up to the OS level, for strong protection against the most recent attack scenarios. E.g, to securely store operator ID or certificates.
- High performance [NXP i.MX RT1170 1GHz Crossover MCU](https://www.nxp.com/products/i.MX-RT1170) with Arm® Cortex® cores
- Hardware secure element [NXP EdgeLock SE051](https://www.nxp.com/products/SE051) an extension to the widely trusted EdgeLock SE050 Plug & Trust secure element family, supports applet updates in the field and delivers proven security certified to CC EAL 6+, with AVA_VAN.5 up to the OS level, for strong protection against the most recent attack scenarios. E.g, to securely store operator ID or certificates.
- Modular flight controller: separated IMU, FMU, and Base system connected by a 100-pin & a 50-pin Pixhawk®​ Autopilot Bus connector.
- Redundancy: 3x IMU sensors & 2x Barometer sensors on separate buses
- Triple redundancy domains: Completely isolated sensor domains with separate buses and separate power control
@ -163,7 +163,7 @@ Notes:
## Voltage Ratings
_Pixhawk 6X-RT_ can be triple-redundant on the power supply if three power sources are supplied. The three power rails are: **POWER1**, **POWER2** and **USB**.
The **POWER1** & **POWER2** ports on the Pixhawk 6X uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/molex/products/part-detail/pcb_receptacles/5024430670).
The **POWER1** & **POWER2** ports on the Pixhawk 6X uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/en-us/products/part-detail/5024430670).
**Normal Operation Maximum Ratings**

3
docs/en/flight_controller/pixhawk6x.md
View File

@ -142,7 +142,6 @@ The Pixhawk®​ 6X is perfect for developers at corporate research labs, startu
- 2 CAN Buses for CAN peripheral
- CAN Bus has individual silent controls or ESC RX-MUX control
- 2 Power input ports with SMBus
- 1 AD & IO port
- 2 additional analog input
- 1 PWM/Capture input
@ -195,7 +194,7 @@ Notes:
## Voltage Ratings
_Pixhawk 6X_ can be triple-redundant on the power supply if three power sources are supplied. The three power rails are: **POWER1**, **POWER2** and **USB**.
The **POWER1** & **POWER2** ports on the Pixhawk 6X uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/molex/products/part-detail/pcb_receptacles/5024430670).
The **POWER1** & **POWER2** ports on the Pixhawk 6X uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/en-us/products/part-detail/5024430670).
**Normal Operation Maximum Ratings**

2
docs/en/flight_controller/pixhawk6x_pro.md
View File

@ -161,7 +161,7 @@ Notes:
_Pixhawk 6X Pro_ can be triple-redundant on the power supply if three power sources are supplied.
The three power rails are: **POWER1**, **POWER2** and **USB**.
The **POWER1** & **POWER2** ports on the Pixhawk 6X uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/molex/products/part-detail/pcb_receptacles/5024430670).
The **POWER1** & **POWER2** ports on the Pixhawk 6X uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/en-us/products/part-detail/5024430670).
**Normal Operation Maximum Ratings**

4
docs/en/flight_controller/pixracer.md
View File

@ -32,12 +32,12 @@ This autopilot is [supported](../flight_controller/autopilot_pixhawk_standard.md
## Where to Buy
Pixracer is available from the [mRobotics.io](https://store.mrobotics.io/mRo-PixRacer-R15-Official-p/m10023a.htm).
Pixracer Pro is available from the [store.3dr.com](https://store.3dr.com/pixracer-pro/).
Accessories include:
- [Digital airspeed sensor](https://hobbyking.com/en_us/hkpilot-32-digital-air-speed-sensor-and-pitot-tube-set.html)
- [Hobbyking<sup>&reg;</sup> OSD + EU Telemetry (433 MHz)](https://hobbyking.com/en_us/micro-hkpilot-telemetry-radio-module-with-on-screen-display-osd-unit-433mhz.html)
- Hobbyking<sup>&reg;</sup> OSD + EU Telemetry (433 MHz) (Discontinued)
## Kit

2
docs/en/flight_controller/raccoonlab_fmu6x.md
View File

@ -116,7 +116,7 @@ This autopilot is [supported](../flight_controller/autopilot_pixhawk_standard.md
_RaccoonLab FMUv6X_ can be triple-redundant on the power supply if three power sources are supplied.
The three power rails are: **POWER1**, **POWER2** and **USB**.
The **POWER1** & **POWER2** ports on the RaccoonLab FMUv6X uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/molex/products/part-detail/pcb_receptacles/5024430670).
The **POWER1** & **POWER2** ports on the RaccoonLab FMUv6X uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/en-us/products/part-detail/5024430670).
**Normal Operation Maximum Ratings**

2
docs/en/flight_controller/raspberry_pi_navio2.md
View File

@ -14,7 +14,7 @@ It allows you to build PX4 and transfer to the RPi, or build natively.
## OS Image
Use the preconfigured [Emlid Raspberry Pi OS image for Navio 2](https://docs.emlid.com/navio2/configuring-raspberry-pi).
Use the preconfigured [Emlid Raspberry Pi OS image for Navio 2](https://docs.emlid.com/navio2/configuring-raspberry-pi/).
The default image will have most of the setup procedures shown below already done.
:::warning

2
docs/en/flight_controller/raspberry_pi_pilotpi_ubuntu_server.md
View File

@ -48,7 +48,7 @@ First install required package:
sudo apt-get install crda
```
Edit the file `/etc/default/crda` to change the correct WiFi region. [Reference List](https://www.arubanetworks.com/techdocs/InstantWenger_Mobile/Advanced/Content/Instant%20User%20Guide%20-%20volumes/Country_Codes_List.htm)
Edit the file `/etc/default/crda` to change the correct WiFi region. [Reference List](https://arubanetworking.hpe.com/techdocs/InstantWenger_Mobile/Advanced/Content/Instant%20User%20Guide%20-%20volumes/Country_Codes_List.htm)
```sh
sudo nano /etc/default/crda

16
docs/en/flight_controller/snapdragon_flight.md
View File

@ -1,16 +0,0 @@
# Snapdragon Flight Autopilot (Discontinued)
<Badge type="info" text="Discontinued" />
:::warning
The Snapdragon Flight Autopilot has been [discontinued](../flight_controller/autopilot_experimental.md) and is no longer commercially available.
For information about how it is/was used see [PX4 User Guide v1.11](https://docs.px4.io/v1.11/en/flight_controller/snapdragon_flight.html)
PX4 does not manufacture this (or any) autopilot.
Contact the [manufacturer](https://www.intrinsyc.com/) for hardware support or compliance issues.
:::
The _Qualcomm Snapdragon Flight_ platform is a high-end autopilot / onboard computer which runs the PX4 Flight Stack on the DSP on the QuRT real time operating system using the [DSPAL API](https://github.com/ATLFlight/dspal) for POSIX compatibility.
In comparison to [Pixhawk](../flight_controller/pixhawk.md) it adds a camera and WiFi and high-end processing power, and different IO.
![Snapdragon Hero Doc](../../assets/hardware/snapdragon/hardware-snapdragon.jpg)

2
docs/en/flight_controller/spracingh7extreme.md
View File

@ -83,7 +83,7 @@ Select the PX4 edition when purchasing!
## Manual, Pinouts and Connection Diagrams
The manual with pinouts can be downloaded from [here](http://seriouslypro.com/files/SPRacingH7EXTREME-Manual-latest.pdf).
See the [SPRacingH7EXTREME website](http://seriouslypro.com/spracingh7extreme) for other diagrams.
See the [SPRacingH7EXTREME website](http://seriouslypro.com/products/spracingh7extreme) for other diagrams.
## Credits

8
docs/en/flight_modes/offboard.md
View File

@ -84,7 +84,7 @@ Before using offboard mode with ROS 2, please spend a few minutes understanding
### Copter
- [px4_msgs::msg::TrajectorySetpoint](https://github.com/PX4/PX4-Autopilot/blob/main/msg/TrajectorySetpoint.msg)
- [px4_msgs::msg::TrajectorySetpoint](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/TrajectorySetpoint.msg)
- The following input combinations are supported:
- Position setpoint (`position` different from `NaN`). Non-`NaN` values of velocity and acceleration are used as feedforward terms for the inner loop controllers.
- Velocity setpoint (`velocity` different from `NaN` and `position` set to `NaN`). Non-`NaN` values acceleration are used as feedforward terms for the inner loop controllers.
@ -92,14 +92,14 @@ Before using offboard mode with ROS 2, please spend a few minutes understanding
- All values are interpreted in NED (Nord, East, Down) coordinate system and the units are \[m\], \[m/s\] and \[m/s^2\] for position, velocity and acceleration, respectively.
- [px4_msgs::msg::VehicleAttitudeSetpoint](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleAttitudeSetpoint.msg)
- [px4_msgs::msg::VehicleAttitudeSetpoint](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleAttitudeSetpoint.msg)
- The following input combination is supported:
- quaternion `q_d` + thrust setpoint `thrust_body`.
Non-`NaN` values of `yaw_sp_move_rate` are used as feedforward terms expressed in Earth frame and in \[rad/s\].
- The quaternion represents the rotation between the drone body FRD (front, right, down) frame and the NED frame. The thrust is in the drone body FRD frame and expressed in normalized \[-1, 1\] values.
- [px4_msgs::msg::VehicleRatesSetpoint](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleRatesSetpoint.msg)
- [px4_msgs::msg::VehicleRatesSetpoint](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleRatesSetpoint.msg)
- The following input combination is supported:
- `roll`, `pitch`, `yaw` and `thrust_body`.
@ -114,7 +114,7 @@ The following offboard control modes bypass all internal PX4 control loops and s
- `xyz` for thrust and `xyz` for torque.
- All the values are in the drone body FRD frame and normalized in \[-1, 1\].
- [px4_msgs::msg::ActuatorMotors](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActuatorMotors.msg) + [px4_msgs::msg::ActuatorServos](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActuatorServos.msg)
- [px4_msgs::msg::ActuatorMotors](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ActuatorMotors.msg) + [px4_msgs::msg::ActuatorServos](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ActuatorServos.msg)
- You directly control the motor outputs and/or servo outputs.
- Currently works at lower level than then `control_allocator` module. Do not publish these messages when not in offboard mode.
- All the values normalized in \[-1, 1\]. For outputs that do not support negative values, negative entries map to `NaN`.

79
docs/en/frames_autogyro/thunderfly_auto_g2.md
View File

@ -1,6 +1,6 @@
# ThunderFly Auto-G2 Autogyro
The *ThunderFly Auto-G2* is an autopilot-controlled autogyro based on the [
The _ThunderFly Auto-G2_ is an autopilot-controlled autogyro based on the [
Durafly™ Auto-G2 Gyrocopter](https://hobbyking.com/en_us/duraflytm-auto-g2-gyrocopter-w-auto-start-system-821mm-pnf.html) RC model, with several parts of the original model substituted for 3D printable ones.
![Auto-G2](../../assets/airframes/autogyro/auto-g2/autog2_title.jpg)
@ -11,8 +11,7 @@ Check out our site for more information on the current [TF-G2 commercial airfram
:::
All the added parts are available on [GitHub](https://github.com/ThunderFly-aerospace/Auto-G2) as an open-source project.
Printed parts are designed in [OpenSCAD](https://www.openscad.org/).
Printed parts are designed in [OpenSCAD](https://openscad.org/).
## Modifications
@ -22,10 +21,11 @@ Autogyro is controlled by a rudder and an elevator.
Durafly Auto-G2 autogyro box contains the autogyro polystyrene body, ESC, motor (probably 800kV), 4 servos, tail airfoils, 3 blades with rotor center parts, wire chassis and a prerotator.
Modification of the Durafly model are as follows:
* Addition of an autopilot
* Rotor head with two axes of freedom (pitch, roll)
* Two-blade rotor with safely breakable rotor plate
* Larger landing gears
- Addition of an autopilot
- Rotor head with two axes of freedom (pitch, roll)
- Two-blade rotor with safely breakable rotor plate
- Larger landing gears
### Autopilot
@ -35,7 +35,6 @@ Therefore a low-weight flight controller is recommended (e.g. [Holybro pix32](..
The autopilot should be mounted on the bottom side of the autogyro on a 3D-printed damping pad.
We have used the damping platform found on [thingiverse](https://www.thingiverse.com/thing:160655)
### Rotor-head
The rotor head is (compared to the original autogyro) modified so that it allows a motion in both roll and pitch axes.
@ -62,15 +61,16 @@ The reasons are reduced vibration and easier construction.
Printed central parts are designed to be used both with Chinese Durafly blades or 3D printed blades.
The rotor's central part consists of several components, which have the following roles:
* They enable blade flapping.
* They have deformation zones that break upon impact with the ground.
Thanks to this, the rotor can usually be repaired quickly by replacing only one component.
* Easy setup of blades' angle-of-attack.
- They enable blade flapping.
- They have deformation zones that break upon impact with the ground.
Thanks to this, the rotor can usually be repaired quickly by replacing only one component.
- Easy setup of blades' angle-of-attack.
#### HobbyKing rotor blades
It is possible to use a printed central part of the rotor with the original blades.
These blades can be bought on [HobbyKing](https://hobbyking.com/en_us/duraflytm-auto-g-gyrocopter-821mm-replacement-main-blade-1pcs-bag.html).
The blades used were "Durafly™ Auto-G2 Gyrocopter 821mm - Replacement Main Blade" (Discontinued)
Hobbyking blades differ in the position of the center of gravity, and it is therefore necessary to balance them properly.
#### 3D printed rotor blades
@ -104,44 +104,43 @@ It can be handled, for example, by nulling the engine’s output in the transmit
### Electronic
* Autopilot ([Holybro pix32](../flight_controller/holybro_pix32.md), [CUAV nano](../flight_controller/cuav_v5_nano.md))
* GPS (GPS Module NEO-6M, with patch antenna)
* Airspeed sensor ([SDP3x](https://www.sensirion.com/en/flow-sensors/differential-pressure-sensors/worlds-smallest-differential-pressure-sensor/))
* Stronger servos as a substitution for the original ones (optional), ([BlueBird BMS-125WV](https://www.blue-bird-model.com/products_detail/411.htm))
* Additional servo for release device (optional)
- Autopilot ([Holybro pix32](../flight_controller/holybro_pix32.md), [CUAV nano](../flight_controller/cuav_v5_nano.md))
- GPS (GPS Module NEO-6M, with patch antenna)
- Airspeed sensor ([SDP3x series](https://sensirion.com/products/catalog?categories=differential-pressure&series=SDP3x&page=1&page_size=12))
- Stronger servos as a substitution for the original ones (optional), ([BlueBird BMS-125WV](https://www.blue-bird-model.com/products_detail/411.htm))
- Additional servo for release device (optional)
### Mechanical parts
* Rotor head Bearing (623 2Z C3)
* Propeller ([APC 10x7](https://www.apcprop.com/product/10x7e/))
* [Prop adapter](https://mpjet.com/shop/gb/prop-adapters/184-collet-prop-adapter-19-mm-4-mm-shaft-m629-standard.html)
- Rotor head Bearing (623 2Z C3)
- Propeller ([APC 10x7](https://www.apcprop.com/product/10x7e/))
- [Prop adapter](https://mpjet.com/shop/gb/prop-adapters/184-collet-prop-adapter-19-mm-4-mm-shaft-m629-standard.html)
### Printable parts
* Rotor head:
* [Pylon end](https://github.com/ThunderFly-aerospace/Auto-G2/blob/master/CAD/stl/111_1001.stl)
* [Pitch part](https://github.com/ThunderFly-aerospace/Auto-G2/blob/master/CAD/stl/111_1002.stl)
* [Roll part](https://github.com/ThunderFly-aerospace/Auto-G2/blob/master/CAD/stl/111_1003.stl)
- Rotor head:
- [Pylon end](https://github.com/ThunderFly-aerospace/Auto-G2/blob/master/CAD/stl/111_1001.stl)
- [Pitch part](https://github.com/ThunderFly-aerospace/Auto-G2/blob/master/CAD/stl/111_1002.stl)
- [Roll part](https://github.com/ThunderFly-aerospace/Auto-G2/blob/master/CAD/stl/111_1003.stl)
* Rotor:
* [center part washer top](https://github.com/ThunderFly-aerospace/Auto-G2/blob/master/CAD/stl/111_1008.stl)
* [center part washer bottom](https://github.com/ThunderFly-aerospace/Auto-G2/blob/master/CAD/stl/111_1004.stl)
* [center plate with deformation zones](https://github.com/ThunderFly-aerospace/Auto-G2/blob/master/CAD/stl/888_1001.stl)
* [washers for setting AoA of blades](https://github.com/ThunderFly-aerospace/Auto-G2/blob/master/CAD/stl/111_1005.stl)
* [Rotor nut](https://github.com/ThunderFly-aerospace/Auto-G2/blob/master/CAD/stl/888_1002.stl)
- Rotor:
- [center part washer top](https://github.com/ThunderFly-aerospace/Auto-G2/blob/master/CAD/stl/111_1008.stl)
- [center part washer bottom](https://github.com/ThunderFly-aerospace/Auto-G2/blob/master/CAD/stl/111_1004.stl)
- [center plate with deformation zones](https://github.com/ThunderFly-aerospace/Auto-G2/blob/master/CAD/stl/888_1001.stl)
- [washers for setting AoA of blades](https://github.com/ThunderFly-aerospace/Auto-G2/blob/master/CAD/stl/111_1005.stl)
- [Rotor nut](https://github.com/ThunderFly-aerospace/Auto-G2/blob/master/CAD/stl/888_1002.stl)
* Rotor blades (optional)
* Autopilot holder
* [Release device](https://github.com/ThunderFly-aerospace/Auto-G2/blob/master/CAD/stl/888_1010.stl)
* [Front wheels](https://github.com/ThunderFly-aerospace/Auto-G2/blob/master/CAD/stl/888_1011.stl)
- Rotor blades (optional)
- Autopilot holder
- [Release device](https://github.com/ThunderFly-aerospace/Auto-G2/blob/master/CAD/stl/888_1010.stl)
- [Front wheels](https://github.com/ThunderFly-aerospace/Auto-G2/blob/master/CAD/stl/888_1011.stl)
### Recommended spare parts
* Servos with improved quality (recommended [BlueBird BMS-125WV](https://www.blue-bird-model.com/products_detail/411.htm), original servos are not very durable))
* Propeller ([APC 10x7](https://www.apcprop.com/product/10x7e/))
* Rotor centre plate with deformation zones (3D printed)
* Rotor blades ([HobbyKing](https://hobbyking.com/en_us/duraflytm-auto-g-gyrocopter-821mm-replacement-main-blade-1pcs-bag.html) or 3D printed)
- Servos with improved quality (recommended [BlueBird BMS-125WV](https://www.blue-bird-model.com/products_detail/411.htm), original servos are not very durable))
- Propeller ([APC 10x7](https://www.apcprop.com/product/10x7e/))
- Rotor centre plate with deformation zones (3D printed)
- Rotor blades ("Durafly™ Auto-G2 Gyrocopter 821mm" (Discontinued on HobbyKing), similar blades, or 3D printed)
## Video

4
docs/en/frames_multicopter/dji_f450_cuav_5plus.md
View File

@ -14,8 +14,8 @@ Key information
The components needed for this build are:
- Flight controller: [CUAV V5+](https://store.cuav.net/index.php?id_product=95&id_product_attribute=0&rewrite=cuav-new-pixhack-v5-autopilot-m8n-gps-for-fpv-rc-drone-quadcopter-helicopter-flight-simulator-free-shipping-whole-sale&controller=product&id_lang=1):
- GPS: [CUAV NEO V2 GPS](https://store.cuav.net/index.php?id_product=97&id_product_attribute=0&rewrite=cuav-new-ublox-neo-m8n-gps-module-with-shell-stand-holder-for-flight-controller-gps-compass-for-pixhack-v5-plus-rc-parts-px4&controller=product&id_lang=1)
- Flight controller: [CUAV V5+](https://store.cuav.net/uav-flight-controller/):
- GPS: CUAV NEO V2 GPS (Discontined)
- Power Module
- Frame: [DJI F450](https://www.amazon.com/Flame-Wheel-Basic-Quadcopter-Drone/dp/B00HNMVQHY)
- Propellers: [DJI Phantom Built-in Nut Upgrade Propellers 9.4x5](https://www.masterairscrew.com/products/dji-phantom-built-in-nut-upgrade-propellers-in-black-mr-9-4x5-prop-set-x4-phantom)

8
docs/en/frames_multicopter/omnicopter.md
View File

@ -18,8 +18,8 @@ The components needed for this build are:
::: info
You can select your own flight controller of choice, it just needs to support 8 DShot outputs.
:::
- GPS: [ZED-F9P](https://www.gnss.store/gnss-gps-modules/105-ublox-zed-f9p-rtk-gnss-receiver-board-with-sma-base-or-rover.html?search_query=ZED-F9P&results=11)
- [GPS helix antenna](https://www.gnss.store/rf-gps-antennas/28-high-performance-multi-band-gnss-active-quad-helix-antenna-for-rtk.html)
- GPS: [ZED-F9P](https://gnss.store/zed-f9p-gnss-modules/105-elt0092.html)
- [GPS helix antenna](https://gnss.store/gnss-rtk-multiband-antennas/28-elt0014.html)
::: info
Any other GPS may work as well, however a helix antenna is expected to perform better for inverted flights.
:::
@ -32,8 +32,8 @@ The components needed for this build are:
- Battery: we used a 6S 3300mAh LiPo. Make sure to check the dimensions so it fits the frame.
- Battery strap
- Frame:
- Carbon square tube R 8mm X 7mm X 1000mm, e.g. [here](https://shop.swiss-composite.ch/pi/Halbfabrikate/Rohre/Vierkant-Rohre/CFK-Vierkantrohr-8x8-7x7mm.html)
- Carbon Rods R 3mm X 2mm X 1000mm, e.g. [here](https://shop.swiss-composite.ch/pi/Halbfabrikate/Rohre/CFK-Rohre-pultrudiert-pullwinding/Carbon-Microtubes-100cm-x-20-3mm.html)
- Carbon square tube R 8mm X 7mm X 1000mm, e.g. [here on shop.swiss-composite.ch](https://shop.swiss-composite.ch/pi.php/Halbfabrikate/Rohre/Vierkant-Rohre/CFK-Vierkantrohr-8x8-7x7mm.html)
- Carbon Rods R 3mm X 2mm X 1000mm, e.g. [here on shop.swiss-composite.ch](https://shop.swiss-composite.ch/pi.php/Halbfabrikate/Rohre/CFK-Rohre-pultrudiert-pullwinding/Carbon-Microtubes-100cm-x-20-3mm.html)
- Required lengths:
- square tube: 8 pieces with length of 248mm
- rods: 12x328mm, 6x465mm

2
docs/en/frames_plane/reptile_dragon_2.md
View File

@ -49,7 +49,7 @@ Key build features
- [Holybro M9N GPS module](https://holybro.com/products/m9n-gps)
- Holybro PWM breakout board
- MS4525DO differential pressure module and pitot tube
- [Caddx Vista FPV air unit](https://caddxfpv.com/products/caddx-vista-kit)
- [Caddx Vista FPV air unit](https://caddxfpv.com/collections/vista-kit)
- [Emax ES08MA ii](https://emaxmodel.com/products/emax-es08ma-ii-12g-mini-metal-gear-analog-servo-for-rc-model-robot-pwm-servo)
- [DJI FPV Goggles](https://www.dji.com/fpv)
- [ExpressLRS Matek Diversity RX](https://www.mateksys.com/?portfolio=elrs-r24)

2
docs/en/frames_plane/turbo_timber_evolution.md
View File

@ -44,7 +44,7 @@ Key Build Features:
- [SIK telemetry radio](../telemetry/sik_radio.md)
- MS4525DO differential pressure module and pitot tube
- [Caddx Vista FPV air unit](https://caddxfpv.com/products/caddx-vista-kit)
- [Caddx Vista FPV air unit](https://caddxfpv.com/collections/vista-kit)
- [DJI FPV Goggles](https://www.dji.com/fpv)
- [ExpressLRS Matek Diversity RX](https://www.mateksys.com/?portfolio=elrs-r24)
- [Custom designed 3D printed parts](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/airframes/fw/turbo_timber_evolution/3d_printed_parts.zip)

26
docs/en/frames_plane/wing_wing_z84.md
View File

@ -14,21 +14,17 @@ Key information:
### Z-84 Plug n' Fly (PNF/PNP) or Kit
One of these:
- [Banggood](https://www.banggood.com/Wing-Wing-Z-84-Z84-EPO-845mm-Wingspan-Flying-Wing-PNP-p-973125.html)
- [Hobbyking US Warehouse](https://hobbyking.com/en_us/wing-wing-z-84-epo-845mm-kit.html)
:::tip
PNF (or "PNP") versions include motor, propeller and electronic speed controller.
The "kit" version does not include these components, which must be purchased separately.
:::
### Electronic Speed Controller (ESC)
One of these (any small (>=12A) ESC will do):
Any small (>=12A) ESC will do:
- [Turnigy 20A Brushed ESC ESC](https://hobbyking.com/en_us/turnigy-20a-brushed-esc.html) (Hobbyking)
- [Lumenier Regler 30A BLHeli_S ESC OPTO](https://www.getfpv.com/lumenier-30a-blheli-s-esc-opto-2-4s.html) (GetFPV)
### Autopilot and Essential Components
@ -39,7 +35,6 @@ One of these (any small (>=12A) ESC will do):
- [Digital airspeed sensor](../flight_controller/pixfalcon.md#availability) for Holybro pix32 / Pixfalcon
- 1800 mAh 2S LiPo Battery - e.g. [Team Orion 1800mAh 7.4V 50C 2S1P](https://teamorion.com/en/batteries-en/lipo/soft-case/team-orion-lipo-1800-2s-7-4v-50c-xt60-en/)
### Recommended spare parts
- 1 cm diameter O-ring for prop saver ([Hobbyking](https://hobbyking.com/en_us/wing-wing-z-84-o-ring-10pcs.html))
@ -51,14 +46,13 @@ Wire the servos and motors as shown.
Use the `MAIN` outputs (not the ones labeled with AUX).
The motor controller needs to have an in-built BEC, as the autopilot is not powering the servo rail.
Port | Connection
--- | ---
RC IN | PPM or S.BUS / S.BUS2 input
MAIN 1 | Left Aileron
MAIN 2 | Right Aileron
MAIN 3 | Empty
MAIN 4 | Motor 1
| Port | Connection |
| ------ | --------------------------- |
| RC IN | PPM or S.BUS / S.BUS2 input |
| MAIN 1 | Left Aileron |
| MAIN 2 | Right Aileron |
| MAIN 3 | Empty |
| MAIN 4 | Motor 1 |
## Build Log
@ -75,9 +69,9 @@ The images below give a rough idea about the assembly process, which is simple a
### Airframe Configuration
Select **Flying Wing > Generic Flying Wing** in the QGroundControl [Airframe Configuration](../config/airframe.md):
Select **Flying Wing > Generic Flying Wing** in the QGroundControl [Airframe Configuration](../config/airframe.md):
![QGC - select firmware for West Wing](../../assets/airframes/fw/wing_wing/qgc_firmware_flying_wing_west_wing.png)
![QGC - select firmware for West Wing](../../assets/airframes/fw/wing_wing/qgc_firmware_flying_wing_west_wing.png)
### Actuator Mapping

1
docs/en/getting_started/px4_basic_concepts.md
View File

@ -264,7 +264,6 @@ Flight controllers that do not include an SD Card slot may:
- Disable notification beeps are disabled using the parameter [CBRK_BUZZER](../advanced_config/parameter_reference.md#CBRK_BUZZER).
- [Stream logs](../dev_log/logging.md#log-streaming) to another component (companion).
- Store missions in RAM/FLASH.
<!-- Too low-level for this. But see FLASH_BASED_DATAMAN in Intel Aero: https://github.com/PX4/PX4-Autopilot/blob/main/boards/intel/aerofc-v1/src/board_config.h#L115 -->
## Payloads

2
docs/en/peripherals/parachute.md
View File

@ -66,7 +66,7 @@ You then need to ensure that the parachute pin will be set to a value that will
The output is automatically set to the maximum PWM value when a failsafe is triggered.
::: info
For the spring-loaded launcher from [Fruity Chutes](https://fruitychutes.com/buyachute/drone-and-uav-parachute-recovery-c-21/harrier-drone-parachute-launcher-c-21_33/) the minimum PWM value should be between 700 and 1000ms, and the maximum value between 1800 and 2200ms.
For the spring-loaded launcher from [Fruity Chutes](https://fruitychutes.com/uav_rpv_drone_recovery_parachutes/drone_multicopter_quadcopter_recovery_parachutes#Harrier) the minimum PWM value should be between 700 and 1000ms, and the maximum value between 1800 and 2200ms.
:::
### MAVLink Parachute Setup

4
docs/en/releases/1.12.md
View File

@ -54,8 +54,8 @@ The release includes new hardware support for the following boards, peripherals,
- CUAV X7 / X7Pro
- CUAV Nora
- CUAV CAN GPS (Neo-3-2)
- SP Racing H7 Extreme ([Read more about this product on the manufacturers site](http://seriouslypro.com/spracingh7extreme))
- Bitcraze Crazyflie v2.1 ([Read more about this product on the manufacturers site](https://www.bitcraze.io/products/crazyflie-2-1/))
- SP Racing H7 Extreme ([Read more about this product on the manufacturers site](http://seriouslypro.com/products/spracingh7extreme))
- Bitcraze Crazyflie v2.1 ([Read more about this product on the manufacturers site](https://www.bitcraze.io/products/crazyflie-2-1-brushless/))
- ARK CAN Flow ([Read more about this product on the manufacturers site](https://arkelectron.com/product/ark-flow/))
- mRo Ctrl Zero H7 (Experimental) ([Read more about this product on the manufacturers site](https://store.mrobotics.io/mRo-Control-Zero-F7-p/mro-ctrl-zero-f7.htm))

14
docs/en/ros/external_position_estimation.md
View File

@ -90,9 +90,7 @@ You can also disable GNSS, baro and range finder fusion using [EKF2_GPS_CTRL](..
Reboot the flight controller in order for parameter changes to take effect.
:::
<a id="tuning-EKF2_EV_DELAY"></a>
#### Tuning EKF2_EV_DELAY
#### Tuning EKF2_EV_DELAY {#tuning-EKF2_EV_DELAY}
[EKF2_EV_DELAY](../advanced_config/parameter_reference.md#EKF2_EV_DELAY) is the _Vision Position Estimator delay relative to IMU measurements_.
@ -171,9 +169,7 @@ VIO and MoCap systems have different ways of obtaining pose data, and have their
The setup for specific systems is covered [below](#setup_specific_systems).
For other systems consult the vendor setup documentation.
<a id="relaying_pose_data_to_px4"></a>
### Relaying Pose Data to PX4
### Relaying Pose Data to PX4 {#relaying_pose_data_to_px4}
MAVROS has plugins to relay a visual estimation from a VIO or MoCap system using the following pipelines:
@ -253,13 +249,11 @@ When using the MAVROS _odom_ plugin, it is important that no other node is publi
This might break the _tf_ tree.
:::
<a id="setup_specific_systems"></a>
## Specific System Setups
## Specific System Setups {#setup_specific_systems}
### OptiTrack MoCap
The following steps explain how to feed position estimates from an [OptiTrack](https://optitrack.com/motion-capture-robotics/) system to PX4.
The following steps explain how to feed position estimates from an [OptiTrack](https://optitrack.com/applications/robotics/) system to PX4.
It is assumed that the MoCap system is calibrated.
See [this video](https://www.youtube.com/watch?v=cNZaFEghTBU) for a tutorial on the calibration process.