mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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New Crowdin translations - ko (#26551)
Co-authored-by: Crowdin Bot <support+bot@crowdin.com>
This commit is contained in:
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30b6938f5e
commit
94c3765712
+16
-25
@@ -153,15 +153,11 @@
|
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- [Wiring Quickstart](assembly/quick_start_pixhawk5x.md)
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- [Holybro Pixhawk 4 (FMUv5)](flight_controller/pixhawk4.md)
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- [Wiring Quickstart](assembly/quick_start_pixhawk4.md)
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- [Holybro Pixhawk 4 Mini (FMUv5) - Discontinued](flight_controller/pixhawk4_mini.md)
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- [Wiring Quickstart](assembly/quick_start_pixhawk4_mini.md)
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- [Drotek Pixhawk 3 Pro (FMUv4pro) - Discontinued](flight_controller/pixhawk3_pro.md)
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- [mRo Pixracer (FMUv4)](flight_controller/pixracer.md)
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- [Wiring Quickstart](assembly/quick_start_pixracer.md)
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- [Hex Cube Black (FMUv3)](flight_controller/pixhawk-2.md)
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- [mRo Pixhawk (FMUv3)](flight_controller/mro_pixhawk.md)
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- [mRo (3DR) Pixhawk 배선 퀵 스타트](assembly/quick_start_pixhawk.md)
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- [Holybro Pixhawk Mini (FMUv3) - Discontinued](flight_controller/pixhawk_mini.md)
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- [Manufacturer-Supported Autopilots](flight_controller/autopilot_manufacturer_supported.md)
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- [Accton Godwit GA1](flight_controller/accton-godwit_ga1.md)
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- [AirMind MindPX](flight_controller/mindpx.md)
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@@ -175,6 +171,7 @@
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- [CUAV V5 nano (FMUv5)](flight_controller/cuav_v5_nano.md)
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- [CUAV V5 nano 배선 퀵 스타트](assembly/quick_start_cuav_v5_nano.md)
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- [CUAV X25 EVO](flight_controller/cuav_x25-evo.md)
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- [CUAV X25 SUPER](flight_controller/cuav_x25-super.md)
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- [CubePilot Cube Orange+ (CubePilot)](flight_controller/cubepilot_cube_orangeplus.md)
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- [CubePilot Cube Orange (CubePilot)](flight_controller/cubepilot_cube_orange.md)
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- [CubePilot Cube Yellow (CubePilot)](flight_controller/cubepilot_cube_yellow.md)
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@@ -205,22 +202,6 @@
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- [PilotPi with Raspberry Pi OS](flight_controller/raspberry_pi_pilotpi_rpios.md)
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- [PilotPi with Ubuntu Server](flight_controller/raspberry_pi_pilotpi_ubuntu_server.md)
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- [Discontinued Autopilots/Vehicles](flight_controller/autopilot_discontinued.md)
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- [Drotek Dropix (FMUv2)](flight_controller/dropix.md)
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- [Omnibus F4 SD](flight_controller/omnibus_f4_sd.md)
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- [Bitcraze Crazyflie 2.0 ](complete_vehicles_mc/crazyflie2.md)
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- [Aerotenna OcPoC-Zynq Mini](flight_controller/ocpoc_zynq.md)
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- [CUAV X7](flight_controller/cuav_x7.md)
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- [CUAV v5](flight_controller/cuav_v5.md)
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- [CUAV Pixhack v3 (FMUv3)](flight_controller/pixhack_v3.md)
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- [Holybro Kakute F7](flight_controller/kakutef7.md)
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- [Holybro Pixfalcon](flight_controller/pixfalcon.md)
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- [Holybro pix32 (FMUv2)](flight_controller/holybro_pix32.md)
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- [ModalAI Flight Core v1](flight_controller/modalai_fc_v1.md)
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- [ModalAI VOXL Flight](flight_controller/modalai_voxl_flight.md)
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- [mRo X2.1 (FMUv2)](flight_controller/mro_x2.1.md)
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- [mRo AUAV-X2](flight_controller/auav_x2.md)
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- [NXP RDDRONE-FMUK66 FMU](flight_controller/nxp_rddrone_fmuk66.md)
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- [3DR Pixhawk 1](flight_controller/pixhawk.md)
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- [Pixhawk Autopilot Bus (PAB) & Carriers](flight_controller/pixhawk_autopilot_bus.md)
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- [ARK Electronics Pixhawk Autopilot Bus Carrier](flight_controller/ark_pab.md)
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- [Mounting the Flight Controller](assembly/mount_and_orient_controller.md)
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@@ -258,6 +239,7 @@
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- [Lidar-Lite](sensor/lidar_lite.md)
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- [Lightware Lidars (SF/LW/GRF)](sensor/sfxx_lidar.md)
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- [Lightware SF45 Rotary Lidar](sensor/sf45_rotating_lidar.md)
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- [Lightware GRF250/GRF500 Gimbal Lidar](sensor/grf_lidar.md)
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- [TeraRanger ](sensor/teraranger.md)
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- [✘ Lanbao PSK-CM8JL65-CC5](sensor/cm8jl65_ir_distance_sensor.md)
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- [Avionics Anonymous Laser Altimeter UAVCAN Interface (CAN)](dronecan/avanon_laser_interface.md)
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@@ -332,11 +314,11 @@
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- [VESC Project ESCs](peripherals/vesc.md)
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- [Zubax Telega ESCs](dronecan/zubax_telega.md)
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- [Radio Control (RC)](getting_started/rc_transmitter_receiver.md)
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- [무선 조종기 설정](config/radio.md)
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- [비행 모드](config/flight_mode.md)
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- [Joysticks](config/joystick.md)
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- [Manual Control](config/manual_control.md)
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- [Radio Control (RC)](getting_started/rc_transmitter_receiver.md)
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- [무선 조종기 설정](config/radio.md)
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- [비행 모드](config/flight_mode.md)
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- [Joysticks](config/joystick.md)
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- [Data Links](data_links/index.md)
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- [MAVLink 텔레메트리(OSD/GCS) ](peripherals/mavlink_peripherals.md)
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@@ -412,6 +394,7 @@
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- [PX4 DroneCAN Firmware](dronecan/px4_cannode_fw.md)
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- [ARK CANnode](dronecan/ark_cannode.md)
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- [RaccoonLab CAN Nodes](dronecan/raccoonlab_nodes.md)
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- [DroneCAN Lights](dronecan/lights.md)
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- [배선 개요](assembly/cable_wiring.md)
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@@ -439,6 +422,7 @@
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- [고급 설정](advanced_config/index.md)
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- [Using PX4's Navigation Filter (EKF2)](advanced_config/tuning_the_ecl_ekf.md)
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- [GNSS-Denied & Degraded Flight](advanced_config/gnss_degraded_or_denied_flight.md)
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- [매개변수 검색 및 수정](advanced_config/parameters.md)
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- [전체 매개변수 정의서](advanced_config/parameter_reference.md)
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@@ -547,6 +531,8 @@
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- [LongitudinalControlConfiguration](msg_docs/LongitudinalControlConfiguration.md)
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- [ManualControlSetpoint](msg_docs/ManualControlSetpoint.md)
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- [ModeCompleted](msg_docs/ModeCompleted.md)
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- [RaptorInput](msg_docs/RaptorInput.md)
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- [RaptorStatus](msg_docs/RaptorStatus.md)
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- [RegisterExtComponentReply](msg_docs/RegisterExtComponentReply.md)
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- [RegisterExtComponentRequest](msg_docs/RegisterExtComponentRequest.md)
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- [TrajectorySetpoint](msg_docs/TrajectorySetpoint.md)
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@@ -575,6 +561,7 @@
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- [Airspeed](msg_docs/Airspeed.md)
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- [AirspeedWind](msg_docs/AirspeedWind.md)
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- [AutotuneAttitudeControlStatus](msg_docs/AutotuneAttitudeControlStatus.md)
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- [AuxGlobalPosition](msg_docs/AuxGlobalPosition.md)
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- [BatteryInfo](msg_docs/BatteryInfo.md)
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- [ButtonEvent](msg_docs/ButtonEvent.md)
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- [CameraCapture](msg_docs/CameraCapture.md)
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@@ -768,6 +755,7 @@
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- [VehicleThrustSetpoint](msg_docs/VehicleThrustSetpoint.md)
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- [VehicleTorqueSetpoint](msg_docs/VehicleTorqueSetpoint.md)
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- [VelocityLimits](msg_docs/VelocityLimits.md)
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- [Vtx](msg_docs/Vtx.md)
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- [WheelEncoders](msg_docs/WheelEncoders.md)
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- [Wind](msg_docs/Wind.md)
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- [YawEstimatorStatus](msg_docs/YawEstimatorStatus.md)
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@@ -781,8 +769,11 @@
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- [RegisterExtComponentReplyV0](msg_docs/RegisterExtComponentReplyV0.md)
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- [RegisterExtComponentRequestV0](msg_docs/RegisterExtComponentRequestV0.md)
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- [VehicleAttitudeSetpointV0](msg_docs/VehicleAttitudeSetpointV0.md)
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- [VehicleCommandAckV0](msg_docs/VehicleCommandAckV0.md)
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- [VehicleGlobalPositionV0](msg_docs/VehicleGlobalPositionV0.md)
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- [VehicleLocalPositionV0](msg_docs/VehicleLocalPositionV0.md)
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- [VehicleStatusV0](msg_docs/VehicleStatusV0.md)
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- [VehicleStatusV1](msg_docs/VehicleStatusV1.md)
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- [MAVLink Messaging](mavlink/index.md)
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- [Adding Messages](mavlink/adding_messages.md)
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- [Streaming Messages](mavlink/streaming_messages.md)
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@@ -67,7 +67,7 @@ The consensus [appears to be](https://discuss.px4.io/t/vio-vs-optical-flow/34680
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Optical flow:
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- Downward facing optical flow gives you a planar velocity thats corrected for angular velocity with the gyro.
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- Downward facing optical flow gives you a planar velocity that's corrected for angular velocity with the gyro.
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- Requires an accurate distance to the ground and assumes a planar surface.
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Given those conditions it can be just as accurate/reliable as VIO (such as indoor flight)
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- Is more robust than VIO as it has fewer states.
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@@ -20,7 +20,7 @@ By default this is set to `Disabled (-1)` and the driver does not run.
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After selecting the input mode, reboot the vehicle to start the mount driver.
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You should set `MNT_MODE_IN` to one of: `RC (1)`, `MAVlink gimbal protocol v2 (4)` or `Auto (0)` (the other options are deprecated).
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If you select `Auto (0)`, the gimbal will automatically select either RC or or MAVLink input based on the latest input.
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If you select `Auto (0)`, the gimbal will automatically select either RC or MAVLink input based on the latest input.
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Note that the auto-switch from MAVLink to RC requires a large stick motion!
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The output is set using the [MNT_MODE_OUT](../advanced_config/parameter_reference.md#MNT_MODE_OUT) parameter.
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@@ -45,7 +45,7 @@ Events metadata is also added to the log files, allowing log analysis tools (suc
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Binaries for flight controller targets with constrained memory do not store the parameter metadata in the binary, but instead reference the same data stored on `px4-travis.s3.amazonaws.com`.
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This applies, for example, to the [Omnibus F4 SD](../flight_controller/omnibus_f4_sd.md).
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The metadata is uploaded via [github CI](https://github.com/PX4/PX4-Autopilot/blob/main/.github/workflows/metadata.yml) for all build targets (and hence will only be available once parameters have been merged into main).
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The metadata is uploaded via the [build_all_targets](https://github.com/PX4/PX4-Autopilot/blob/main/.github/workflows/build_all_targets.yml) GitHub CI workflow for all build targets (and hence will only be available once parameters have been merged into main).
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:::info
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You can identify memory constrained boards because they specify `CONFIG_BOARD_CONSTRAINED_FLASH=y` in their [px4board definition file](https://github.com/PX4/PX4-Autopilot/blob/main/boards/omnibus/f4sd/default.px4board).
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@@ -60,6 +60,7 @@ The metadata JSON files for CI builds of `main` are also copied to the github re
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This integrates with Crowdin to get translations, which are stored in the [translated](https://github.com/PX4/PX4-Metadata-Translations/tree/main/translated) folder as xz-compressed translation files for each language.
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These are referenced by the vehicle component metadata, and are downloaded when needed.
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For more information see [PX4-Metadata-Translations](https://github.com/PX4/PX4-Metadata-Translations/) and [Component Metadata Protocol > Translation](https://mavlink.io/en/services/component_information.html#translation).
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This is orchestrated by the [docs-orchestrator](https://github.com/PX4/PX4-Autopilot/blob/main/.github/workflows/docs-orchestrator.yml) GitHub CI workflow, which also regenerates auto-generated documentation such as parameter reference, airframe reference, and uORB message docs.
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:::info
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The parameter XML file of the main branch is copied into the QGC source tree via CI and is used as a fallback in cases where no metadata is available via the component metadata protocol (this approach predates the existence of the component metadata protocol).
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@@ -1,6 +1,6 @@
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# Bootloader Update Pixhawk V6X-RT via USB
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This topic explains explains to flash [Pixhawk FMUv6X-RT](../flight_controller/pixhawk6x-rt.md) bootloader via USB _without needing a debug probe_.
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This topic explains how to flash [Pixhawk FMUv6X-RT](../flight_controller/pixhawk6x-rt.md) bootloader via USB _without needing a debug probe_.
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## 개요
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@@ -33,7 +33,7 @@ arm-none-eabi-objcopy -O ihex build/px4_fmu-v6xrt_bootloader/px4_fmu-v6xrt_bootl
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## Flashing the bootloader through USB
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The Pixhawk V6X-RT comes with a build-in bootloader located on the ROM.
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The Pixhawk V6X-RT comes with a built-in bootloader located on the ROM.
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To flash a new bootloader through USB you've got to download the [NXP MCUXpresso Secure Provisioning tool](https://www.nxp.com/design/design-center/software/development-software/mcuxpresso-software-and-tools-/mcuxpresso-secure-provisioning-tool:MCUXPRESSO-SECURE-PROVISIONING).
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The tool is available for Windows, Linux and macOS.
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@@ -80,7 +80,7 @@ The tool is available for Windows, Linux and macOS.
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4. When the Target Memory configuration is succesful you can press the the **Erase All** button
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4. When the Target Memory configuration is successful you can press the **Erase All** button
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@@ -0,0 +1,78 @@
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# GNSS-Degraded & Denied Flight ("Dead-Reckoning" Mode)
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<Badge type="tip" text="PX4 v1.17" /> <Badge type="warning" text="Experimental" />
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:::warning
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실험
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This is a new feature with limited real-world testing.
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It is intended for GNSS dropout scenarios (not pure GNSS-denied from takeoff), and requires that alternative velocity/position sensors are available.
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Please [share your related test logs](../getting_started/flight_reporting.md#sharing-the-log-files-for-review-by-px4-developers) to help us verify and harden it.
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:::
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PX4 is default-configured for outdoor flight with a reliable GNSS signal, but it can also be set up in "dead-reckoning mode" to more gracefully handle environments where GNSS is intermittently degraded or denied during flight.
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This section describes the differences between automatic and dead-reckoning modes, the circumstances in which each should be used, and how dead-reckoning is configured.
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## 개요
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PX4's EKF2 navigation has two modes for handling when GNSS data is determined to be unreliable:
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- **Automatic mode** (the default): Used for flying outdoors in environments where a GNSS signal is expected to be largely reliable.
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- **Dead-reckoning mode**: Recommended when you want to fly missions or other position controlled modes when there is intermittent GNSS loss, such as when flying under a bridge, from outdoors into an indoor setting, or when there is GNSS jamming (it is not suitable for pure-indoor use, as a GNSS signal is required before arming).
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:::info
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Dead-reckoning mode helps for both Fixed-Wing and Multicopter vehicles.
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MC vehicles benefit more because they can hover when transitioning between sensor regimes.
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FW needs continuous accurate velocity/position during the entire mission arc, making sensor transitions trickier.
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:::
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## Mode Comparison
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The following sections provide more detail about each of the modes and when they should be used.
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### Automatic Mode
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In Automatic mode the EKF2 resets if GNSS is lost and no other sources of position are available.
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This can result in a [position loss failsafe](../config/safety.md#position-loss-failsafe) and may trigger a shift into a mode that does not require global position, including stopping missions.
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This is desirable if the GNSS signal is likely to be recovered quickly and there are no mechanisms to estimate position when GNSS is unavailable.
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Use Automatic (default) when:
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- Flying in open sky with reliable GNSS throughout the mission.
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- You want the EKF to reset to GNSS when it becomes available again.
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- Operating in environments where GNSS is either good or completely unavailable (binary state).
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### Dead-Reckoning Mode
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In dead-reckoning mode, EKF2 stops fusing GNSS data when it becomes unreliable and prevents EKF2 resets — provided there are other sources of position or velocity data that can be fused.
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This ensures that the vehicle can continue flying missions and other position controlled modes when GNSS is lost.
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When GNSS is recovered it will be fused with other measurements when tests indicate it can be trusted.
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This may cause jerky movements in position controlled modes if the estimate has drifted.
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This mode relies on having additional position or velocity sensors and must also have a reliable GNSS signal at boot.
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Use Dead-Reckoning when:
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- **Transitioning between GNSS and non-GNSS environments** (flying into buildings, under bridges, through tree cover).
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- You have **redundant sensors** (optical flow, VIO, rangefinder, quality baro) that can maintain position estimation.
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- Flying **missions that cross GPS-denied areas** where you want continuous operation rather than failsafe.
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- **Urban environments** or other areas with intermittent GNSS quality.
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- You want to **avoid EKF resets and jumps** when GNSS recovers (smoother transitions).
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## 설정
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To use dead-reckoning mode, the vehicle must have an alternative source of position or velocity information, such as an [Optical Flow](../sensor/optical_flow.md) sensor or [VIO](../computer_vision/visual_inertial_odometry.md) setup.
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To enable the mode:
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1. Set [EKF2_GPS_MODE](../advanced_config/parameter_reference.md#EKF2_GPS_MODE) to `1`.
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2. Ensure that GNSS arming checks are enabled (a reliable GNSS signal is required before arming):
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- [COM_ARM_WO_GPS](../advanced_config/parameter_reference.md#COM_ARM_WO_GPS) - set to `0`
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- [EKF2_GPS_CHECK](../advanced_config/parameter_reference.md#EKF2_GPS_CHECK) - set to default.
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## See Also
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- [GNSS Fault Detection](../advanced_config/tuning_the_ecl_ekf.md#gnss-fault-detection) in _Using PX4's Navigation Filter (EKF2)_
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- [Fuse, Reset, or Reject? Handling Various Data-sources in EKF2](https://www.youtube.com/watch?v=CMGQJNPiTJg) - _PX4 Developer Summit 2025_, Marco Hauswirth, Auterion AG
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@@ -10,6 +10,7 @@ This topic lists configuration topics that are not particularly vehicle specific
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## Feature configuration
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- [Using PX4's Navigation Filter (EKF2)](../advanced_config/tuning_the_ecl_ekf.md)
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- [GNSS-Denied and Degraded Flight](../advanced_config/gnss_degraded_or_denied_flight.md)
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- [Flight Termination Configuration](../advanced_config/flight_termination.md)
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- [Land Detector Configuration](../advanced_config/land_detector.md)
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- [Prearm/Arm/Disarm Configuration](../advanced_config/prearm_arm_disarm.md)
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@@ -40,7 +40,7 @@ Information about how the parameters affect landing can be found below in [Land
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센서 손실로 인해 조건이 만족되지 않는다면, 기본값으로 그 조건은 참이 됩니다.
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For instance, in [Acro mode](../flight_modes_mc/acro.md) and no sensor is active except for the gyro sensor, then the detection solely relies on thrust output and time.
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In order to proceed to the next state, each condition has to be true for a third of the configured total land detector trigger time [LNDMC_TRIG_TIME](../advanced_config/parameter_reference.md#LNDMC_TRIG_TIME).
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In order to proceed to the next state, each condition has to be true for 300ms.
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If the vehicle is equipped with a distance sensor, but the distance to ground is currently not measurable (usually because it is too large), the trigger time is increased by a factor of 3.
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만약에 조건중 하나라도 만족하지 않으면, 착륙 감지기는 즉시 현재 상태를 벗어납니다.
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|
||||
@@ -364,6 +364,10 @@ The mode is set using the [EKF2_GPS_MODE](../advanced_config/parameter_reference
|
||||
EKF2 may reset if no other sources of position or velocity are available.
|
||||
If GNSS altitude OR horizontal position data drifts, the system disables fusion of both measurements simultaneously (even if one would still pass validation) and avoids performing resets.
|
||||
|
||||
:::tip
|
||||
See also [Fault Detection](https://youtu.be/CMGQJNPiTJg?si=sFtdf4AQbcOH8-u8) in "Fuse, Reset, or Reject? Handling Various Data-sources in EKF2" _PX4 Developer Summit 2025_, Marco Hauswirth, Auterion AG
|
||||
:::
|
||||
|
||||
##### Detection Logic
|
||||
|
||||
Horizontal Position:
|
||||
@@ -596,7 +600,7 @@ When this has been done, the performance metadata files can be processed to prov
|
||||
- Attitude output data is found in the [VehicleAttitude](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleAttitude.msg) message.
|
||||
- Local position output data is found in the [VehicleLocalPosition](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleLocalPosition.msg) message.
|
||||
- Global \(WGS-84\) output data is found in the [VehicleGlobalPosition](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleGlobalPosition.msg) message.
|
||||
- Wind velocity output data is found in the [Wind.msg](https://github.com/PX4/PX4-Autopilot/blob/main/msg/Wind.msg) message.
|
||||
- Wind velocity output data is found in the [AirspeedWind.msg](https://github.com/PX4/PX4-Autopilot/blob/main/msg/AirspeedWind.msg) message.
|
||||
|
||||
### 상태
|
||||
|
||||
@@ -898,3 +902,4 @@ If no terrain estimate is available this parameter will have no effect and the s
|
||||
## 추가 정보
|
||||
|
||||
- [PX4 State Estimation Overview](https://youtu.be/HkYRJJoyBwQ), _PX4 Developer Summit 2019_, Dr. Paul Riseborough): Overview of the estimator, and major changes from 2018/19, and the expected improvements through 2019/20.
|
||||
- [Fuse, Reset, or Reject? Handling Various Data-sources in EKF2](https://www.youtube.com/watch?v=CMGQJNPiTJg) - _PX4 Developer Summit 2025_, Marco Hauswirth, Auterion AG
|
||||
|
||||
@@ -9,7 +9,7 @@
|
||||
|
||||
위성 통신에는 다음의 요소들이 필요합니다.
|
||||
|
||||
- A [RockBlock 9603 Iridium Satellite Modem](https://www.iridium.com/products/ground-control-rockblock-9603/) module connected to a Pixhawk flashed with the PX4 Autopilot.
|
||||
- A [RockBlock 9603 Iridium Satellite Modem](https://www.iridium.com/products/rockblock-9603) module connected to a Pixhawk flashed with the PX4 Autopilot.
|
||||
- Ubuntu Linux를 실행하는 메시지 릴레이 서버
|
||||
- A ground station computer running _QGroundControl_ on Ubuntu Linux
|
||||
|
||||
@@ -58,13 +58,13 @@ To [switch between the two antennas modes](https://docs.groundcontrol.com/iot/ro
|
||||
|
||||
2. baudrate 속도를 변경합니다.
|
||||
|
||||
```
|
||||
```sh
|
||||
AT+IPR=9
|
||||
```
|
||||
|
||||
3. 이제 115200/8-N-1 설정을 사용하여 모델에 다시 연결하고 다음을 사용하여 설정을 저장합니다.
|
||||
|
||||
```
|
||||
```sh
|
||||
AT&W0
|
||||
```
|
||||
|
||||
@@ -78,7 +78,7 @@ To [switch between the two antennas modes](https://docs.groundcontrol.com/iot/ro
|
||||
:::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):
|
||||
|
||||
```
|
||||
```txt
|
||||
drivers/telemetry/iridiumsbd
|
||||
```
|
||||
|
||||
|
||||
@@ -403,7 +403,7 @@ div.frame_variant td, div.frame_variant th {
|
||||
<td>유지보수: Lorenz Meier <lorenz@px4.io><p><code>SYS_AUTOSTART</code> = 4050</p></td>
|
||||
</tr>
|
||||
<tr id="copter_quadrotor_x_holybro_qav250">
|
||||
<td><a href="https://docs.px4.io/main/en/frames_multicopter/holybro_qav250_pixhawk4_mini.html">HolyBro QAV250</a></td>
|
||||
<td><a href="https://docs.px4.io/main/en/frames_multicopter/holybro_qav250_pixhawk4_mini">HolyBro QAV250</a></td>
|
||||
<td>유지보수: Beat Kueng <beat-kueng@gmx.net><p><code>SYS_AUTOSTART</code> = 4052</p></td>
|
||||
</tr>
|
||||
<tr id="copter_quadrotor_x_holybro_kopis_2">
|
||||
@@ -607,7 +607,7 @@ div.frame_variant td, div.frame_variant th {
|
||||
<td>유지보수: John Doe <john@example.com><p><code>SYS_AUTOSTART</code> = 50000</p></td>
|
||||
</tr>
|
||||
<tr id="rover_rover_aion_robotics_r1_ugv">
|
||||
<td><a href="https://docs.px4.io/main/en/complete_vehicles_rover/aion_r1.html">Aion Robotics R1 UGV</a></td>
|
||||
<td><a href="https://docs.px4.io/main/en/complete_vehicles_rover/aion_r1">Aion Robotics R1 UGV</a></td>
|
||||
<td>유지보수: John Doe <john@example.com><p><code>SYS_AUTOSTART</code> = 50001</p></td>
|
||||
</tr>
|
||||
<tr id="rover_rover_generic_rover_ackermann">
|
||||
|
||||
@@ -338,7 +338,7 @@ Any outputs on either PWM output bus can be connected to any actuators, motor, o
|
||||
Note that the PWM outputs are often labeled `AUX` or `MAIN`.
|
||||
Use the `AUX` bus if both are present, and `MAIN` otherwise.
|
||||
- [DShot ESC](../peripherals/dshot.md) (recommended) can only be used on the FMU PWM outputs.
|
||||
- Motor outputs should be grouped together as much as possible rather than spread randomly across both the FMU and IO busses.
|
||||
- Motor outputs should be grouped together as much as possible rather than spread randomly across both the FMU and IO buses.
|
||||
This is because if you assign some function to an output, such as DShot ESC, you can't then assign adjacent unused pins for anything other than a DShot ESC.
|
||||
|
||||
### Servos
|
||||
@@ -364,7 +364,7 @@ If you don't use servos that all accept the same voltage, you'll need to separat
|
||||
Other peripherals, such as high-power radios, cameras, and so on have their own power requirements.
|
||||
These will usually be supplied off a separate BEC.
|
||||
|
||||
The wiring and configuration of optional/less common components is covered within the [Hardware Hardware Selection & Setup](../hardware/drone_parts.md) topics for individual peripherals.
|
||||
The wiring and configuration of optional/less common components is covered within the [Hardware Selection & Setup](../hardware/drone_parts.md) topics for individual peripherals.
|
||||
|
||||
## Build Tutorials
|
||||
|
||||
|
||||
@@ -33,7 +33,7 @@ This quick start guide shows how to power the [CUAV V5 nano](../flight_controlle
|
||||
| DSM/SBUS/RSSI | DSM, SBUS, RSSI 신호 입력 인터페이스, DSM 인터페이스는 DSM 위성 수신기에 연결 가능, SBUS 인터페이스는 SBUS 원격 제어 수신기에 연결 가능, 신호 강도 반환 모듈용 RSSI 포함. |
|
||||
|
||||
:::info
|
||||
For more interface information, please read [V5 nano Manual](http://manual.cuav.net/V5-nano.pdf).
|
||||
For more interface information, please read [V5 nano Manual](https://manual.cuav.net/V5-nano.pdf).
|
||||
:::
|
||||
|
||||
|
||||
@@ -131,6 +131,6 @@ Motors/servos are connected to the MAIN ports in the order specified for your ve
|
||||
|
||||
- [Airframe buildlog using CUAV v5 nano on a DJI FlameWheel450](../frames_multicopter/dji_f450_cuav_5nano.md)
|
||||
- [CUAV V5 nano](../flight_controller/cuav_v5_nano.md)
|
||||
- [V5 nano manual](http://manual.cuav.net/V5-nano.pdf) (CUAV)
|
||||
- [V5 nano manual](https://manual.cuav.net/V5-nano.pdf) (CUAV)
|
||||
- [FMUv5 reference design pinout](https://docs.google.com/spreadsheets/d/1-n0__BYDedQrc_2NHqBenG1DNepAgnHpSGglke-QQwY/edit#gid=912976165) (CUAV)
|
||||
- [CUAV Github](https://github.com/cuav) (CUAV)
|
||||
|
||||
@@ -33,7 +33,7 @@ This quick start guide shows how to power the [CUAV V5+](../flight_controller/cu
|
||||
| DSM/SBUS/RSSI | DSM, SBUS, RSSI 신호 입력 인터페이스, DSM 인터페이스는 DSM 위성 수신기에 연결 가능, SBUS 인터페이스는 SBUS 원격 제어 수신기에 연결 가능, 신호 강도 반환 모듈용 RSSI 포함. |
|
||||
|
||||
:::info
|
||||
For more interface information, please read [V5+ Manual](http://manual.cuav.net/V5-Plus.pdf).
|
||||
For more interface information, please read [V5+ Manual](https://manual.cuav.net/V5-Plus.pdf).
|
||||
:::
|
||||
|
||||
|
||||
@@ -126,12 +126,12 @@ Motors/servos are connected to the MAIN and AUX ports in the order specified for
|
||||
|
||||
## 핀배열
|
||||
|
||||
Download **V5+** pinouts from [here](http://manual.cuav.net/V5-Plus.pdf).
|
||||
See [CUAV V5+ Manual](https://manual.cuav.net/V5-Plus.pdf).
|
||||
|
||||
## 추가 정보
|
||||
|
||||
- [Airframe build-log using CUAV v5+ on a DJI FlameWheel450](../frames_multicopter/dji_f450_cuav_5plus.md)
|
||||
- [CUAV V5+ Manual](http://manual.cuav.net/V5-Plus.pdf) (CUAV)
|
||||
- [CUAV V5+ Manual](https://manual.cuav.net/V5-Plus.pdf) (CUAV)
|
||||
- [CUAV V5+ docs](https://doc.cuav.net/controller/v5-autopilot/en/v5+.html) (CUAV)
|
||||
- [FMUv5 reference design pinout](https://docs.google.com/spreadsheets/d/1-n0__BYDedQrc_2NHqBenG1DNepAgnHpSGglke-QQwY/edit#gid=912976165) (CUAV)
|
||||
- [CUAV Github](https://github.com/cuav) (CUAV)
|
||||
|
||||
@@ -18,7 +18,7 @@ Further/updated information may be available in the [Cube User Manual](https://d
|
||||
|
||||
## 소품
|
||||
|
||||
Cube comes with most (or all) of the accessories you will need when [purchased](../flight_controller/pixhawk-2.md#stores).
|
||||
Cube comes with most (or all) of the accessories you will need when [purchased](../flight_controller/pixhawk-2.md#store).
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -53,7 +53,7 @@ The GPS module's integrated safety switch is enabled _by default_ (when enabled,
|
||||
## 전원
|
||||
|
||||
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/en-us/products/part-detail/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/en-us/products/part-detail/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**.
|
||||
|
||||
|
||||
@@ -66,7 +66,7 @@ The GPS module's integrated safety switch is enabled _by default_ (when enabled,
|
||||
## 전원
|
||||
|
||||
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/en-us/products/part-detail/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/en-us/products/part-detail/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**.
|
||||
|
||||
|
||||
@@ -52,7 +52,7 @@ You will need to [select a compatible transmitter/receiver](../getting_started/r
|
||||
Pixracer has inbuilt WiFi, but also supports telemetry via external Wi-Fi or radio telemetry modules connected to the `TELEM1` or `TELEM2` ports.
|
||||
무선 다이어그램은 아래의 그림과 같습니다.
|
||||
|
||||
|
||||
|
||||
|
||||
:::info
|
||||
The `TELEM2` port must be configured as a second MAVLink instance using the [MAV_2_CONFIG](../advanced_config/parameter_reference.md#MAV_2_CONFIG) parameter.
|
||||
|
||||
@@ -36,7 +36,7 @@ The `camera_trigger`, `camera_capture` and `camera_feedback` modules are not use
|
||||
This work is handled by three PX4 components: [`camera_trigger` driver](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/camera_trigger), [`camera_capture` driver](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/camera_capture), [`camera-feedback` module](../modules/modules_system.md#camera-feedback).
|
||||
|
||||
`camera_trigger` subscribes to the [VehicleCommand](../msg_docs/VehicleCommand.md) topic and monitors for updates to its [supported commands](../camera/fc_connected_camera.md#mavlink-command-interface).
|
||||
Thes updates occur when either a command is received via MAVLink or when a [camera item is reached in a mission](#camera-commands-in-missions).
|
||||
These updates occur when either a command is received via MAVLink or when a [camera item is reached in a mission](#camera-commands-in-missions).
|
||||
|
||||
The commands enable and disable triggering, and configure triggering at time and distance intervals.
|
||||
The driver tracks these intervals, and when needed triggers the outputs.
|
||||
|
||||
@@ -18,17 +18,22 @@ No longer available.
|
||||
|
||||
At a high level:
|
||||
|
||||
- The [`realsense-ros` wrapper](https://github.com/IntelRealSense/realsense-ros) provided by Intel should be used to extract the raw data from the camera.
|
||||
- The [`realsense-ros` wrapper](https://github.com/realsenseai/realsense-ros) provided by Intel should be used to extract the raw data from the camera.
|
||||
|
||||
- The camera should be mounted with lenses facing down (default).
|
||||
Be sure to specify the camera orientation by publishing the static transform between the `base_link` and `camera_pose_frame` in a ROS launch file, for example:
|
||||
|
||||
```xml
|
||||
<node pkg="tf" type="static_transform_publisher" name="tf_baseLink_cameraPose"
|
||||
args="0 0 0 0 1.5708 0 base_link camera_pose_frame 1000"/>
|
||||
```
|
||||
|
||||
This is a static transform that links the camera ROS frame `camera_pose_frame` to the MAVROS drone frame `base_link`.
|
||||
|
||||
- the first three `args` specify _translation_ x,y,z in metres from the center of the flight controller to the camera.
|
||||
For example, if the camera is 10cm in front of the controller and 4cm up, the first three numbers would be : [0.1, 0, 0.04,...]
|
||||
- the next three `args` specify rotation in radians (yaw, pitch, roll).
|
||||
So `[... 0, 1.5708, 0]` means pitch down by 90° (facing the ground). Facing straight forward would be [... 0 0 0].
|
||||
|
||||
- The camera is sensitive to high-frequency vibrations!
|
||||
It should be soft-mounted with, for example, vibration isolation foam.
|
||||
|
||||
@@ -79,7 +79,7 @@ The shutter integration setting (`param2`) is only obeyed with a GPIO backend.
|
||||
|
||||
## Trigger Configuration
|
||||
|
||||
Cameras can be connected to the FC for triggering using different intefaces, such as PWM, and GPIO, by specifying the appropriate [trigger interface backend](#trigger-interface-backends).
|
||||
Cameras can be connected to the FC for triggering using different interfaces, such as PWM, and GPIO, by specifying the appropriate [trigger interface backend](#trigger-interface-backends).
|
||||
You can also indicate the camera [trigger mode](#trigger-modes).
|
||||
|
||||
This configuration can most easily be done from the _QGroundControl_ [Vehicle Setup > Camera](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/setup_view/camera.html#px4-camera-setup) section.
|
||||
@@ -308,7 +308,7 @@ Wire up your cameras to your AUX port by connecting the ground and signal pins t
|
||||
### Step 4
|
||||
|
||||
You will have to modify your driver to follow the sequence diagram above.
|
||||
Public reference implementations for [IDS Imaging UEye](https://github.com/ProjectArtemis/ueye_cam) cameras and for [IEEE1394 compliant](https://github.com/andre-nguyen/camera1394) cameras are available.
|
||||
Public reference implementations for [IDS Imaging UEye](https://github.com/anqixu/ueye_cam) cameras and for [IEEE1394 compliant](https://github.com/andre-nguyen/camera1394) cameras are available.
|
||||
|
||||
## See Also
|
||||
|
||||
|
||||
@@ -1,4 +1,4 @@
|
||||
# Simple MAVLink Cameras (Camera Protcol v1)
|
||||
# Simple MAVLink Cameras (Camera Protocol v1)
|
||||
|
||||
This topic explains how to use PX4 with a MAVLink [camera](../camera/index.md) that implements the [Camera Protocol v1 (Simple Trigger Protocol)](https://mavlink.io/en/services/camera_v1.html) with PX4 and a Ground Station.
|
||||
|
||||
@@ -18,7 +18,7 @@ This approach is retained for use with older MAVLink cameras.
|
||||
PX4 supports this command set for triggering cameras with native support for the protocol (as described in this topic), and also for [cameras attached to flight controller outputs](../camera/fc_connected_camera.md).
|
||||
|
||||
Ground stations and MAVLink SDKs generally address camera commands to the autopilot, which then forwards them to a connected MAVLink channel of type `onboard`.
|
||||
PX4 also re-emits any camera mission items it encouters in a mission as camera commands: commands that aren't accepted are logged.
|
||||
PX4 also re-emits any camera mission items it encounters in a mission as camera commands: commands that aren't accepted are logged.
|
||||
In all cases the commands are sent with the system id of the autopilot and the component ID of 0 (i.e. addressed to all components, including cameras).
|
||||
|
||||
PX4 will also emit a [CAMERA_TRIGGER](https://mavlink.io/en/messages/common.html#CAMERA_TRIGGER) whenever an image capture is triggered (the camera itself may also emit this message on triggering).
|
||||
|
||||
@@ -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://realsenseai.com/stereo-depth-cameras/stereo-depth-camera-d435/)
|
||||
- [Intel® RealSense™ Depth Camera D415](https://realsenseai.com/stereo-depth-cameras/stereo-depth-camera-d415/)
|
||||
- [Intel® RealSense™ Depth Camera D435](https://www.realsenseai.com/products/stereo-depth-camera-d435/)
|
||||
- [Intel® RealSense™ Depth Camera D415](https://www.realsenseai.com/products/stereo-depth-camera-d415/)
|
||||
- [DUO MLX](https://duo3d.com/product/duo-minilx-lv1)
|
||||
|
||||
### VIO Cameras/Sensors
|
||||
|
||||
@@ -786,7 +786,7 @@ sudo apt install build-essential cmake git genromfs kconfig-frontends libncurses
|
||||
## Building/Flashing the Pixhawk
|
||||
|
||||
The recommended way to update PX4 is on the Pixhawk part of the board is to use your development computer.
|
||||
You can either install install prebuilt binaries with QGroundControl, or first build and then upload custom firmware.
|
||||
You can either install prebuilt binaries with QGroundControl, or first build and then upload custom firmware.
|
||||
|
||||
Alternatively, you can build and deploy PX4 firmware to the Pixhawk part from the Jetson.
|
||||
|
||||
|
||||
@@ -33,7 +33,7 @@ They are listed here as they can be updated with "vanilla" PX4 firmware for test
|
||||
|
||||
## Companion Computer Options
|
||||
|
||||
PX4 can be used with computers that can be configured to communicate via MAVLink or microROS/uXRCE-DDS over over a serial port (or Ethernet port, if present).
|
||||
PX4 can be used with computers that can be configured to communicate via MAVLink or microROS/uXRCE-DDS over a serial port (or Ethernet port, if present).
|
||||
A small subset of possible alternatives are listed below.
|
||||
|
||||
Larger high power examples:
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
# Raspberry Pi Companion with Pixhawk
|
||||
|
||||
This topic describes how to setup a Raspberry Pi ("RPi") companion companion running [ROS 2](../ros2/user_guide.md) on Linux Ubuntu OS, connecting to a [Pixhawk](../flight_controller/autopilot_pixhawk_standard.md) flight controller using a serial connection between the Pixhawk `TELEM2` port and the RPi's TX/RX pins.
|
||||
This topic describes how to setup a Raspberry Pi ("RPi") companion running [ROS 2](../ros2/user_guide.md) on Linux Ubuntu OS, connecting to a [Pixhawk](../flight_controller/autopilot_pixhawk_standard.md) flight controller using a serial connection between the Pixhawk `TELEM2` port and the RPi's TX/RX pins.
|
||||
|
||||
These instructions should be readily extensible to other RPi and flight controller configurations.
|
||||
|
||||
|
||||
@@ -20,7 +20,7 @@ For a Ubuntu companion, a minimal set might be:
|
||||
sudo apt install gstreamer1.0-plugins-bad gstreamer1.0-libav gstreamer1.0-gl -y
|
||||
```
|
||||
|
||||
For the full set you can mirror the QGC dependencies installed by [/tools/setup/install-dependencies-debian.sh](https://github.com/mavlink/qgroundcontrol/blob/master/tools/setup/install-dependencies-debian.sh).
|
||||
For the full set you can mirror the QGC dependencies installed by [/tools/setup/install_dependencies.py](https://github.com/mavlink/qgroundcontrol/blob/master/tools/setup/install_dependencies.py).
|
||||
At time of writing this is:
|
||||
|
||||
```sh
|
||||
|
||||
@@ -1,319 +1,7 @@
|
||||
<Redirect to="../flight_controller/autopilot_discontinued" />
|
||||
|
||||
<!--
|
||||
# Crazyflie 2.0 (Discontinued)
|
||||
|
||||
<Badge type="info" text="Discontinued" />
|
||||
|
||||
:::warning
|
||||
_Crazyflie 2.0_ has been [discontinued/superseded](../flight_controller/autopilot_experimental.md).
|
||||
Try [Bitcraze Crazyflie 2.1](../complete_vehicles_mc/crazyflie21.md) instead!
|
||||
:::
|
||||
|
||||
:::warning
|
||||
|
||||
- PX4 does not manufacture this (or any) autopilot.
|
||||
Contact the [manufacturer](https://www.bitcraze.io/) for hardware support or compliance issues.
|
||||
- PX4 support for this flight controller is [experimental](../flight_controller/autopilot_experimental.md).
|
||||
|
||||
:::
|
||||
|
||||
The Crazyflie line of micro quads was created by Bitcraze AB.
|
||||
An overview of the Crazyflie 2.0 can be [found here](https://www.bitcraze.io/crazyflie-2/).
|
||||
|
||||
|
||||
|
||||
## 요약
|
||||
|
||||
:::info
|
||||
The main hardware documentation is here: https://wiki.bitcraze.io/projects:crazyflie2:index
|
||||
:::
|
||||
|
||||
- Main System-on-Chip: STM32F405RG
|
||||
- CPU : 단정밀도 FPU의 168MHz ARM Cortex M4
|
||||
- RAM : 192KB SRAM
|
||||
- nRF51822 radio and power management MCU
|
||||
- MPU9250 Accel / Gyro / Mag
|
||||
- LPS25H barometer
|
||||
|
||||
## 구매처
|
||||
|
||||
- [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/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.
|
||||
- [SD-card deck](https://store.bitcraze.io/collections/decks/products/sd-card-deck): used for high speed onboard logging to a micro SD card.
|
||||
- [Logitech Joystick](https://support.logi.com/hc/en-us/articles/360024326793--Getting-Started-Gamepad-F310).
|
||||
|
||||
## Flashing PX4
|
||||
|
||||
After setting up the PX4 development environment, follow these steps to install the PX4 Autopilot on the Crazyflie 2.0:
|
||||
|
||||
1. Download the source code of the PX4 Bootloader:
|
||||
|
||||
```sh
|
||||
git clone https://github.com/PX4/PX4-Bootloader.git
|
||||
```
|
||||
|
||||
2. Navigate into the top directory of the source code and compile it using:
|
||||
|
||||
```sh
|
||||
make crazyflie_bl
|
||||
```
|
||||
|
||||
3. Put the Crazyflie 2.0 into DFU mode by following these steps:
|
||||
- Ensure it is initially unpowered.
|
||||
- Hold down the reset button (see figure below...).
|
||||
|
||||
- Plug into computer's USB port.
|
||||
- After a second, the blue LED should start blinking and after 5 seconds should start blinking faster.
|
||||
- Release button.
|
||||
|
||||
4. Install _dfu-util_:
|
||||
|
||||
```sh
|
||||
sudo apt-get update
|
||||
sudo apt-get install dfu-util
|
||||
```
|
||||
|
||||
5. Flash bootloader using _dfu-util_ and unplug Crazyflie 2.0 when done:
|
||||
|
||||
```sh
|
||||
sudo dfu-util -d 0483:df11 -a 0 -s 0x08000000 -D ./build/crazyflie_bl/crazyflie_bl.bin
|
||||
```
|
||||
|
||||
When powering on the Crazyflie 2.0 the yellow LED should blink.
|
||||
|
||||
6. Download the source code of the PX4 autopilot:
|
||||
|
||||
```sh
|
||||
git clone https://github.com/PX4/PX4-Autopilot.git
|
||||
```
|
||||
|
||||
7. Navigate into the top directory of the source code and compile it using:
|
||||
|
||||
```sh
|
||||
make bitcraze_crazyflie_default upload
|
||||
```
|
||||
|
||||
8. When prompted to plug in device, plug in Crazyflie 2.0.
|
||||
The yellow LED should start blinking indicating bootloader mode.
|
||||
Then the red LED should turn on indicating that the flashing process has started.
|
||||
|
||||
9. Wait for completion.
|
||||
|
||||
10. Done! Calibrate the sensors using [QGroundControl](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/setup_view/sensors.html).
|
||||
|
||||
:::info
|
||||
If QGroundControl does not connect with the vehicle, ensure that in [nuttx-config](https://github.com/PX4/PX4-Autopilot/blob/main/boards/bitcraze/crazyflie/nuttx-config/nsh/defconfig) for crazyflie `# CONFIG_DEV_LOWCONSOLE is not set` is replaced by `CONFIG_DEV_LOWCONSOLE=y`.
|
||||
This should be done using _menuconfig_:
|
||||
|
||||
```sh
|
||||
make bitcraze_crazyflie_default menuconfig
|
||||
```
|
||||
|
||||
or _qconfig_ (Check _Low-level console support_ under _Serial Driver Support_ in GUI):
|
||||
|
||||
```sh
|
||||
make bitcraze_crazyflie_default qconfig
|
||||
```
|
||||
|
||||
:::
|
||||
|
||||
## Wireless Setup Instructions
|
||||
|
||||
The onboard nRF module allows connecting to the board via Bluetooth or through the proprietary 2.4GHz Nordic ESB protocol.
|
||||
|
||||
- A [Crazyradio PA](https://www.bitcraze.io/crazyradio-pa/) is recommended.
|
||||
- To fly the Crazyflie 2.0 right away, the Crazyflie phone app is supported via Bluetooth.
|
||||
|
||||
Using the official Bitcraze **Crazyflie phone app**:
|
||||
|
||||
- Connect via Bluetooth.
|
||||
- Change mode in settings to 1 or 2.
|
||||
- Calibrate via QGroundControl.
|
||||
|
||||
Connecting via **MAVLink**:
|
||||
|
||||
- Use a Crazyradio PA alongside a compatible GCS.
|
||||
- Download the _crazyflie-lib-python_ source code:
|
||||
|
||||
```sh
|
||||
git clone https://github.com/bitcraze/crazyflie-lib-python.git
|
||||
```
|
||||
|
||||
:::info
|
||||
We will use [cfbridge.py](https://github.com/bitcraze/crazyflie-lib-python/blob/master/examples/cfbridge.py) to setup a wireless MAVlink communication link between Crazyflie 2.0 (flashed with PX4) and QGroundControl. _Cfbridge_ enables QGroundControl to communicate with the crazyradio PA.
|
||||
The [C based cfbridge](https://github.com/dennisss/cfbridge) is currently experiencing data loss issues, which is why we have chosen to use **cfbridge.py**.
|
||||
:::
|
||||
|
||||
- Make sure you have set the udev permissions to use the USB Radio. To do this, follow the steps listed [here](https://www.bitcraze.io/documentation/repository/crazyflie-lib-python/master/installation/usb_permissions/) and **restart** your computer.
|
||||
|
||||
- Connect a Crazyradio PA via USB.
|
||||
|
||||
- Build a [virtual environment (local python environment)](https://virtualenv.pypa.io/en/latest/) with package dependencies using the following method:
|
||||
|
||||
```sh
|
||||
pip install tox --user
|
||||
```
|
||||
|
||||
- Navigate to the crazyflie-lib-python folder and type:
|
||||
|
||||
```sh
|
||||
make venv
|
||||
```
|
||||
|
||||
- Activate the virtual environment:
|
||||
|
||||
```sh
|
||||
source venv-cflib/bin/activate
|
||||
```
|
||||
|
||||
- Install required dependencies:
|
||||
|
||||
```sh
|
||||
pip install -r requirements.txt --user
|
||||
```
|
||||
|
||||
To connect Crazyflie 2.0 with crazyradio, **launch cfbridge** by following these steps:
|
||||
|
||||
- Power off and power on Crazyflie 2.0 and wait for it to boot up.
|
||||
|
||||
- Connect a Crazyflie radio device via USB.
|
||||
|
||||
- Navigate to the crazyflie-lib-python folder.
|
||||
|
||||
- Activate the environment:
|
||||
|
||||
```sh
|
||||
source venv-cflib/bin/activate
|
||||
```
|
||||
|
||||
- Navigate to the examples folder:
|
||||
|
||||
```sh
|
||||
cd examples
|
||||
```
|
||||
|
||||
- Launch cfbridge:
|
||||
|
||||
```sh
|
||||
python cfbridge.py
|
||||
```
|
||||
|
||||
:::info
|
||||
_Cfbridge_ by default tries to initiate the radio link communication on channel 80 and with crazyflie address 0xE7E7E7E7E7.
|
||||
If you are using [multiple crazyflies and/or crazyradios](https://github.com/dennisss/cfbridge/blob/master/README.md#advanced-swarming) in the same room and want to use a different channel and/or address for each, first connect the crazyflie with QGroundControl via a USB cable and change the syslink parameters (channel, address) in QGroundControl.
|
||||
Next, launch the cfbridge by giving the same channel and address as the first and second arguments respectively, e.g: `python cfbridge.py 90 0x0202020202`
|
||||
:::
|
||||
|
||||
- Open QGroundControl.
|
||||
- After using _cfbridge_, you can deactivate the virtualenv if you activated it by pressing `CTRL+z`.
|
||||
Most of the time, launching _cfbridge_ again from the same terminal doesn't connect to crazyflie, this can be solved by closing the terminal and relaunching _cfbridge_ in a new terminal.
|
||||
|
||||
:::tip
|
||||
If you change any driver in [crazyflie-lib-python](https://github.com/bitcraze/crazyflie-lib-python) or if launching _cfbridge_ in a new terminal does not find crazyflie, you can try navigating to the crazyflie-lib-python folder and run the script below to rebuild cflib.
|
||||
|
||||
```sh
|
||||
make venv
|
||||
```
|
||||
|
||||
:::
|
||||
|
||||
:::info
|
||||
To use Joystick, set `COM_RC_IN_MODE` in QGroundControl to "Joystick/No RC Checks".
|
||||
Calibrate the Joystick and set the Joystick message frequency in QGroundControl to any value between 5 to 14 Hz (10 Hz is recommended).
|
||||
To be able to set the frequency, the advanced option should be enabled.
|
||||
This is the rate at which Joystick commands are sent from QGroundControl to Crazyflie 2.0 (to do this, you will need to follow the instructions [here](https://github.com/mavlink/qgroundcontrol) to obtain the latest QGroundControl source code (master) and build it).
|
||||
:::
|
||||
|
||||
|
||||
|
||||
## 하드웨어 설정
|
||||
|
||||
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/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:
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
In order to log flight details, you can mount SD card deck on top of crazyflie as shown below:
|
||||
|
||||
|
||||
|
||||
Then, you need to stick the battery on top of the SD card deck using a double sided tape:
|
||||
|
||||
|
||||
|
||||
## Altitude Control
|
||||
|
||||
Crazyflie is able to fly in _Altitude_ mode if you use a [Z-ranger deck](https://store.bitcraze.io/collections/decks/products/z-ranger-deck).
|
||||
According to the datasheet, the maximum height (above ground) the range finder can sense is 2 m. However, when tested on dark surfaces this value decreases to 0.5 m. On a light floor, it goes up to max 1.3 m. This means you cannot hold altitudes above this value in _Altitude_ or _Position_ flight modes.
|
||||
|
||||
:::tip
|
||||
If the Crazyflie 2.0 height drifts at mid-throttle command in _Altitude mode_ or _Position mode_, first try rebooting the vehicle. If this does not fix the problem, recalibrate the accel and mag (compass).
|
||||
:::
|
||||
|
||||
:::info
|
||||
Since the onboard barometer is highly susceptible to wind disturbances created by the Crazyflie's own propellers, you cannot rely on it to hold altitude.
|
||||
:::
|
||||
|
||||
## Position Control
|
||||
|
||||
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_.
|
||||
|
||||
## Using FrSky Taranis RC Transmitter as Joystick
|
||||
|
||||
If you already own a Taranis RC transmitter and want to use it as a controller, it can be configured as a USB Joystick:
|
||||
|
||||
- Create a new model in Taranis.
|
||||
|
||||
|
||||
|
||||
- In _MODEL SETUP_ menu page, turn off both internal and external TX modules.
|
||||
|
||||
|
||||
|
||||
- In _OUTPUTS_ menu page (also called “SERVOS” page in some Taranis transmitters), invert Throttle (CH1) and Aileron (CH3).
|
||||
|
||||
|
||||
|
||||
To use Taranis switches to arm/disarm and switch to different flight modes:
|
||||
|
||||
- In Taranis UI _MIXER_ menu page, you can assign the switches to any channel in the range channel 9-16 which map to the buttons 0-7 in the QGroundControl Joystick setup. For example, Taranis “SD” switch can be set to channel 9 in Taranis UI:
|
||||
|
||||
|
||||
|
||||
- Connect Taranis to PC with a USB cable and Open QGroundControl.
|
||||
|
||||
- In QGroundControl Joystick Setup, you can see the buttons turning yellow when you switch them on. For example, channel 9 in Taranis maps to button 0 in QGroundControl Joystick setup. You can assign any mode to this button e.g. _Altitude_ mode. Now when you lower the switch "SD", flight mode will change to _Altitude_.
|
||||
|
||||
|
||||
|
||||
### ROS
|
||||
|
||||
To connect to Crazyflie 2.0 via MAVROS:
|
||||
|
||||
- Start up _cfbridge_ using the above instructions.
|
||||
|
||||
- Change the UDP port QGroundControl listens to:
|
||||
- In QGroundControl, navigate to **Application Settings > General** and uncheck all the boxes under _Autoconnect to the following devices_.
|
||||
- Add in **Comm Links** a link of type _UDP_, check the _Automatically Connect on Start_ option, change the _Listening Port_ to 14557, add Target Hosts: 127.0.0.1 and then press **OK**.
|
||||
|
||||
- Make sure you have [MAVROS](https://github.com/mavlink/mavros/tree/master/mavros#installation) installed.
|
||||
|
||||
- Start MAVROS with command:
|
||||
|
||||
```sh
|
||||
roslaunch mavros px4.launch fcu_url:="udp://:14550@127.0.0.1:14551" gcs_url:="udp://@127.0.0.1:14557"
|
||||
```
|
||||
|
||||
- Restart QGroundControl if it doesn't connect.
|
||||
DOC REMOVED: 202603
|
||||
-->
|
||||
|
||||
@@ -70,7 +70,7 @@ Difference between the PX4 Vision V1 and V1.5 can be found [here](https://docs.h
|
||||
|
||||
|
||||
|
||||
What's inside the PX4 Vision V1 can be found here in the [PX4 v1.13 Docs here](https://docs.px4.io/v1.13/en/complete_vehicles/px4_vision_kit.html#what-is-inside).
|
||||
What's inside the PX4 Vision V1 can be found here in the [PX4 v1.13 Docs here](https://docs.px4.io/v1.13/en/complete_vehicles/px4_vision_kit#what-is-inside).
|
||||
|
||||
The PX4 Vision DevKit contains following components:
|
||||
|
||||
@@ -403,7 +403,7 @@ The carrier board pinouts and other information are in the [downloads section](h
|
||||
## Other Development Resources
|
||||
|
||||
- [_UP Core_ Wiki](https://github.com/up-board/up-community/wiki/Ubuntu) - _Up Core_ companion computer technical information
|
||||
- [Occipital Developer Forum](https://structure.io/developers/) - _Structure Core_ camera information
|
||||
- [Occipital Developer Forum](https://structure.io/structure-sdk/) - _Structure Core_ camera information
|
||||
- [Pixhawk 4 Overview](../flight_controller/pixhawk4.md)
|
||||
- [Pixhawk 6C Overview](../flight_controller/pixhawk6c.md)
|
||||
|
||||
|
||||
@@ -33,7 +33,7 @@ For this build this includes an [Auterion Skynode](../companion_computer/auterio
|
||||
If using a standard Pixhawk you could connect the RoboClaw to the Autopilot without an Adapter Board.
|
||||
:::
|
||||
|
||||
The RoboClaw should be connected to a suitable suitable serial (UART) port on the flight controller, such as `GPS2` or `TELEM1`.
|
||||
The RoboClaw should be connected to a suitable serial (UART) port on the flight controller, such as `GPS2` or `TELEM1`.
|
||||
Other RoboClaw wiring is detailed in the [RoboClaw User Manual](https://downloads.basicmicro.com/docs/roboclaw_user_manual.pdf) 'Packet Serial Wiring' section and shown below (this setup has been validated for compatibility).
|
||||
|
||||
|
||||
|
||||
@@ -143,7 +143,7 @@ If you wish to move freely into directions without sensor coverage, this can be
|
||||
|
||||
### Acceleration Constraining
|
||||
|
||||
For this we split out the acceleration setpoint into two components, one parallel to the closest distance to the obstacle and one normal to it. Then we scale each of these components according the the figure below.
|
||||
For this we split out the acceleration setpoint into two components, one parallel to the closest distance to the obstacle and one normal to it. Then we scale each of these components according to the figure below.
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -18,4 +18,4 @@ This interface allows PX4 to stream a proposed path to a companion computer, and
|
||||
This enables features such obstacle avoidance in missions and safer landing to be provided by a planner on a companion computer.
|
||||
|
||||
This actual code is still present in code at time of writing (PX4 v1.15).
|
||||
Information about the API and associated features can be found in the [PX4 v1.14 docs](https://docs.px4.io/v1.14/en/computer_vision/path_planning_interface.html).
|
||||
Information about the API and associated features can be found in the [PX4 v1.14 docs](https://docs.px4.io/v1.14/en/computer_vision/path_planning_interface).
|
||||
|
||||
@@ -2,7 +2,7 @@
|
||||
|
||||
:::info
|
||||
Control allocation replaces the legacy mixing approach used in PX4 v1.13 and earlier.
|
||||
For PX4 v1.13 documentation see: [Mixing & Actuators](https://docs.px4.io/v1.13/en/concept/mixing.html), [Geometry Files](https://docs.px4.io/v1.13/en/concept/geometry_files.html) and [Adding a New Airframe Configuration](https://docs.px4.io/v1.13/en/dev_airframes/adding_a_new_frame.html).
|
||||
For PX4 v1.13 documentation see: [Mixing & Actuators](https://docs.px4.io/v1.13/en/concept/mixing), [Geometry Files](https://docs.px4.io/v1.13/en/concept/geometry_files) and [Adding a New Airframe Configuration](https://docs.px4.io/v1.13/en/dev_airframes/adding_a_new_frame).
|
||||
:::
|
||||
|
||||
PX4 takes desired torque and thrust commands from the core controllers and translates them to actuator commands which control motors or servos.
|
||||
|
||||
@@ -94,7 +94,7 @@ Explanations and requirements:
|
||||
```
|
||||
|
||||
- Above we specify a separate external and internal log level, which are the levels displayed to GCS users and in the log file, respectively: `{events::Log::Error, events::LogInternal::Info}`.
|
||||
For the majority of cases you can pass a single log level, and this will be used for both exernal and internal cases.
|
||||
For the majority of cases you can pass a single log level, and this will be used for both external and internal cases.
|
||||
There are cases it makes sense to have two different log levels.
|
||||
For example an RTL failsafe action: the user should see it as Warning/Error, whereas in the log, it is an expected system response, so it can be set to `Info`.
|
||||
|
||||
|
||||
@@ -116,7 +116,7 @@ The instructions below might be used to create a task named _MyTask_:
|
||||
::: tip
|
||||
|
||||
The task added above will be built on all boards, including those with constrained flash such as Pixhawk FMUv2.
|
||||
If your task is not indended for use on boards with constrained flash it should instead be added to the conditional block shown below (as shown).
|
||||
If your task is not intended for use on boards with constrained flash it should instead be added to the conditional block shown below (as shown).
|
||||
|
||||
```cmake
|
||||
...
|
||||
|
||||
@@ -21,7 +21,7 @@ On POSIX, the system shell is used as script interpreter (e.g. /bin/sh, being sy
|
||||
- PX4 모듈은 시스템에서 개별적으로 실행할 수 있어야합니다.
|
||||
이 동작은 심볼릭 링크로 처리합니다.
|
||||
For each module a symbolic link `px4-<module> -> px4` is created in the `bin` directory of the build folder.
|
||||
When executed, the binary path is checked (`argv[0]`), and if it is a module (starts with `px4-`), it sends the command to the main px4 instance (see below).
|
||||
When executed, the binary path is checked (`argv[0]`), and if it is a module (starts with `px4-`), it sends the command to the main PX4 instance (see below).
|
||||
|
||||
:::tip
|
||||
The `px4-` prefix is used to avoid conflicts with system commands (e.g. `shutdown`), and it also allows for simple tab completion by typing `px4-<TAB>`.
|
||||
@@ -32,7 +32,7 @@ On POSIX, the system shell is used as script interpreter (e.g. /bin/sh, being sy
|
||||
For that the `bin` directory with the symbolic links is added to the `PATH` variable right before executing the startup scripts.
|
||||
|
||||
- 쉘은 각 모듈을 새로운(클라이언트) 프로세스로 시작합니다.
|
||||
각 클라이언트 프로세스는 실제 모듈이 스레드로 실행되는 px4(서버)의 기본 인스턴스와 통신합니다.
|
||||
Each client process needs to communicate with the main instance of PX4 (the server), where the actual modules are running as threads.
|
||||
This is done through a [UNIX socket](https://man7.org/linux/man-pages/man7/unix.7.html).
|
||||
서버는 클라이언트가 연결하고 명령을 보낼 수 있는 소켓으로 수신 대기합니다.
|
||||
그런 다음 서버는 출력과 반환 코드를 다시 클라이언트로 전송합니다.
|
||||
@@ -40,7 +40,7 @@ On POSIX, the system shell is used as script interpreter (e.g. /bin/sh, being sy
|
||||
- The startup scripts call the module directly, e.g. `commander start`, rather than using the `px4-` prefix.
|
||||
This works via aliases: for each module an alias in the form of `alias <module>=px4-<module>` is created in the file `bin/px4-alias.sh`.
|
||||
|
||||
- The `rcS` script is executed from the main px4 instance.
|
||||
- The `rcS` script is executed from the main PX4 instance.
|
||||
It does not start any modules, but first updates the `PATH` variable and then simply runs a shell with the `rcS` file as argument.
|
||||
|
||||
- 그 외에도, 다중 기체 시뮬레이션을 위하여 여러 서버 인스턴스를 시작할 수 있습니다.
|
||||
|
||||
@@ -126,7 +126,7 @@ Additional notes:
|
||||
<div v-if="$frontmatter.frame === 'Multicopter'">
|
||||
|
||||
- The instructions above tune the vehicle in [Altitude mode](../flight_modes_mc/altitude.md).
|
||||
You can instead takeoff in [Takeoff mode](../flight_modes_mc/takeoff.md) and tune in [Position mode](../flight_modes_mc/position.md) if the vehicle is is _known_ to be stable in these modes.
|
||||
You can instead takeoff in [Takeoff mode](../flight_modes_mc/takeoff.md) and tune in [Position mode](../flight_modes_mc/position.md) if the vehicle is _known_ to be stable in these modes.
|
||||
|
||||
</div>
|
||||
<div v-else-if="$frontmatter.frame === 'Plane'">
|
||||
@@ -243,7 +243,7 @@ To map a switch:
|
||||
2. Set [RC_MAP_AUX1](../advanced_config/parameter_reference.md#RC_MAP_AUX1) to match the RC channel for your switch (you can use any of `RC_MAP_AUX1` to `RC_MAP_AUX6`).
|
||||
3. Set [FW_AT_MAN_AUX](../advanced_config/parameter_reference.md#FW_AT_MAN_AUX) to the selected channel (i.e. `1: Aux 1` if you mapped `RC_MAP_AUX1`).
|
||||
|
||||
The auto tuner will be disabled when the switch is below `0.5` (on the manual control setpoint range of of `[-1, 1]`) and enabled when the switch channel is above `0.5`.
|
||||
The auto tuner will be disabled when the switch is below `0.5` (on the manual control setpoint range of `[-1, 1]`) and enabled when the switch channel is above `0.5`.
|
||||
|
||||
If using an RC AUX switch to enable autotuning, make sure to [select the tuning axes](#select-tuning-axis) before flight.
|
||||
|
||||
|
||||
@@ -23,8 +23,7 @@ Information about how to set up a joystick is covered in: [QGroundControl > Joys
|
||||
요약
|
||||
|
||||
- Open _QGroundControl_
|
||||
- Set the parameter [COM_RC_IN_MODE=1](../advanced_config/parameter_reference.md#COM_RC_IN_MODE) - `Joystick`
|
||||
- See [Parameters](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/setup_view/parameters.html) for information about setting parameters
|
||||
- Setting the parameter to `2` or `3` also enables Joystick under some circumstances.
|
||||
- [Enable a `COM_RC_IN_MODE` mode that allows Joystick](../config/manual_control.md#px4-configuration).
|
||||
The default `RC or MAVLink keep first` should work if you plan to only have a Joystick connected.
|
||||
- 조이스틱을 연결합니다.
|
||||
- Configure the connected joystick in: **Vehicle Setup > Joystick**.
|
||||
|
||||
@@ -0,0 +1,58 @@
|
||||
# Manual Control
|
||||
|
||||
Pilots can control a vehicle manually using either a [Radio Control (RC) System](../getting_started/rc_transmitter_receiver.md) or a [Joystick/Gamepad](../config/joystick.md) controller connected via QGroundControl.
|
||||
PX4 also supports using RC and/or multiple Joysticks, with fallback from one type to the other.
|
||||
|
||||
 <img src="../../assets/peripherals/joystick/micronav.jpg" alt="Photo of MicroNav, a ground controller with integrated joysticks" width="400px">
|
||||
|
||||
## 개요
|
||||
|
||||
_Joystick_ setups use QGroundControl to encode the control information from a "standard" computer gaming joystick into [MAVLink messages](https://mavlink.io/en/services/manual_control.html) that are sent to the vehicle over the (shared) telemetry radio channel.
|
||||
They are often used in integrated GCS/manual control systems because it is cheaper and easier to integrate a joystick than a separate radio system.
|
||||
|
||||
Joysticks are suitable for most applications provided your telemetry channel has a high enough bandwidth/low latency.
|
||||
They are perfect for flying the PX4 simulator, because you can plug them directly into your ground control computer and start flying.
|
||||
|
||||
_RC systems_ use a dedicated ground-based radio transmitter and vehicle-based receiver for sending control information.
|
||||
They offer lower latency than Joysticks, and are very highly recommended when first tuning/testing a new frame design, when flying racers/acrobatically, and in other cases where low latency is important.
|
||||
They can also be useful as a robust backup link for safety.
|
||||
Note RC systems usually require significantly more configuration and calibration, much of which may be brand or model-specific.
|
||||
|
||||
:::info
|
||||
PX4 does not _require_ a manual control system for autonomous flight modes.
|
||||
:::
|
||||
|
||||
## PX4 설정
|
||||
|
||||
:::tip
|
||||
This section explains how to configure PX4 to use and prioritise various manual control sources (other configuration is covered in the guides for each type of manual control).
|
||||
:::
|
||||
|
||||
If you only have one manual control system, either RC or Joystick, then by default no manual control selection is required.
|
||||
In this case PX4 locks to the first valid manual control source it detects and uses that source until the vehicle is rebooted.
|
||||
|
||||
If you have multiple control sources, such as an RC system and/or one or more Joysticks, then you can use the [COM_RC_IN_MODE](../advanced_config/parameter_reference.md#COM_RC_IN_MODE) parameter to determine which source is active, specifying selection priorities and fallback behavior ([parameters can be set](../advanced_config/parameters.md#finding-a-parameter) using QGC):
|
||||
|
||||
- `0`: RC only.
|
||||
- `1`: MAVLink only.
|
||||
- `2`: RC or MAVLink with fallback (switches if current source becomes invalid).
|
||||
- `3`: RC or MAVLink keep first (locks to the first valid source until reboot).
|
||||
- `4`: Disable manual control (ignores all sources).
|
||||
- `5`: RC priority, then MAVLink (lower instance before higher) — `RC > MAVLink 1 > MAVLink 2`
|
||||
- `6`: MAVLink priority (lower instance before higher), then RC — `MAVLink 1 > MAVLink 2 > RC`
|
||||
- `7`: RC priority, then MAVLink (higher instance before lower) — `RC > MAVLink 2 > MAVLink 1`
|
||||
- `8`: MAVLink priority (higher instance before lower), then RC — `MAVLink 2 > MAVLink 1 > RC`
|
||||
|
||||
The [MAVLink instance](../peripherals/mavlink_peripherals.md#mavlink-instances) refers to an instance assigned to a serial port, such as [MAV_0_CONFIG](../advanced_config/parameter_reference.md#MAV_0_CONFIG).
|
||||
|
||||
참고:
|
||||
|
||||
- RC checks are run for any option that uses RC (so not for `MAVLink only` or `Disable manual control`).
|
||||
- When using priority sources, sources are evaluated as soon as they become valid and may trigger an immediate switch (if higher priority than the currently active source).
|
||||
- A [Manual Control Loss Failsafe](../config/safety.md#manual-control-loss-failsafe) is triggered when none of the manual control inputs allowed by the `COM_RC_IN_MODE` mode are available for a time that is greater than the RC Loss Timeout.
|
||||
As long as there is a fallback input source available, the failsafe is not triggered.
|
||||
|
||||
## See Also
|
||||
|
||||
- [Radio Control (RC)](../getting_started/rc_transmitter_receiver.md)
|
||||
- [Joysticks](../config/joystick.md)
|
||||
@@ -1,10 +1,12 @@
|
||||
# Radio Control (RC) Setup
|
||||
|
||||
The _Radio Setup_ screen is used to configure the mapping of your RC controller's main attitude control sticks (roll, pitch, yaw, throttle) to channels, and to calibrate the minimum, maximum, trim and reverse settings for all other transmitter controls/RC channels.
|
||||
The _Radio Setup_ screen is used to configure the mapping of your [RC controller's](../getting_started/rc_transmitter_receiver.md) main attitude control sticks (roll, pitch, yaw, throttle) to channels, and to calibrate the minimum, maximum, trim and reverse settings for all other transmitter controls/RC channels.
|
||||
|
||||
:::info
|
||||
A [Joystick](../config/joystick.md) can be used instead of RC for manual control.
|
||||
The [COM_RC_IN_MODE](../advanced_config/parameter_reference.md#COM_RC_IN_MODE) parameter [can be set](../advanced_config/parameters.md) to define what kind of manual controller(s) are enabled.
|
||||
A [Joystick](../config/joystick.md) can also be used for [Manual Control](../config/manual_control.md).
|
||||
|
||||
By default PX4 will latch the first valid controller it discovers and use it until the vehicle reboots.
|
||||
If you have multiple controllers and you want to define their priority see [Manual Control > PX4 Configuration](../config/manual_control.md#px4-configuration).
|
||||
:::
|
||||
|
||||
## 수신기 바인딩
|
||||
|
||||
+34
-21
@@ -111,19 +111,17 @@ There are several other "battery related" failsafe mechanisms that may be config
|
||||
|
||||
## Manual Control Loss Failsafe
|
||||
|
||||
The manual control loss failsafe may be triggered if the connection to the [RC transmitter](../getting_started/rc_transmitter_receiver.md) or [joystick](../config/joystick.md) is lost, and there is no fallback.
|
||||
If using an [RC transmitter](../getting_started/rc_transmitter_receiver.md) this is triggered if the RC [transmitter link is lost](../getting_started/rc_transmitter_receiver.md#set-signal-loss-behaviour).
|
||||
If using [joysticks](../config/joystick.md) connected over a MAVLink data link, this is triggered if the joysticks are disconnected or the data link is lost.
|
||||
|
||||
:::info
|
||||
PX4 and the receiver may also need to be configured in order to _detect RC loss_: [Radio Setup > RC Loss Detection](../config/radio.md#rc-loss-detection).
|
||||
:::
|
||||
A [Manual Control Loss Failsafe](../config/safety.md#manual-control-loss-failsafe) is triggered after a [manual control loss timeout](#COM_RC_LOSS_T) in which none of the configured [Manual Controllers](../config/manual_control.md) are available.
|
||||
|
||||
|
||||
|
||||
The QGCroundControl Safety UI allows you to set the [failsafe action](#failsafe-actions) and [manual control loss timeout](#COM_RC_LOSS_T).
|
||||
Users that want to disable this failsafe in specific modes can do so using the parameter [COM_RCL_EXCEPT](#COM_RCL_EXCEPT).
|
||||
|
||||
:::info
|
||||
PX4 and the receiver may also need to be configured in order to _detect RC loss_: [Radio Setup > RC Loss Detection](../config/radio.md#rc-loss-detection).
|
||||
:::
|
||||
|
||||
Additional (and underlying) parameter settings are shown below.
|
||||
|
||||
| 매개변수 | 설정 | 설명 |
|
||||
@@ -181,17 +179,22 @@ Due to the inherent danger of this, this function is disabled using [CBRK_FLIGHT
|
||||
| <a id="GF_PREDICT"></a>Preemptive geofence triggering | [GF_PREDICT](../advanced_config/parameter_reference.md#GF_PREDICT) | (Experimental) Trigger geofence if current motion of the vehicle is predicted to trigger the breach (rather than late triggering after the breach). |
|
||||
| <a id="CBRK_FLIGHTTERM"></a>Circuit breaker for flight termination | [CBRK_FLIGHTTERM](../advanced_config/parameter_reference.md#CBRK_FLIGHTTERM) | 비행 종료 작업을 활성화/비활성화합니다 (기본적으로 비활성화 됨). |
|
||||
|
||||
## Position (GNSS) Loss Failsafe
|
||||
## Position Estimation Failsafes
|
||||
|
||||
This section describes failsafes related to the quality of the vehicle's position estimate.
|
||||
|
||||
### Position Loss Failsafe
|
||||
|
||||
The _Position Loss Failsafe_ is triggered if the quality of the PX4 position estimate falls below acceptable levels (this might be caused by GPS loss) while in a mode that requires an acceptable position estimate.
|
||||
The sections below cover first the trigger and then the failsafe action taken by the controller.
|
||||
|
||||
### Position Loss Failsafe Trigger
|
||||
|
||||
There are basically two mechanisms in PX4 to trigger position failsafes:
|
||||
The position loss failsafe triggers if the position estimate becomes _invalid_. There are two mechanisms in PX4 to invalidate the position estimate:
|
||||
|
||||
- A timeout since the last sensor data was fused that provides direct speed or horizontal position measurements. Sensors that fall into that category are: GNSS, optical flow, airspeed, VIO, auxiliary global position.
|
||||
- The estimated horizontal position accuracy exceeds a certain threshold. This check is only done on hovering systems (rotary wing vehicles or VTOLs in hover phase).
|
||||
- A timeout since the last sensor data was fused that provides direct speed or horizontal position measurements.
|
||||
- Sensors that fall into that category are: GNSS, optical flow, airspeed, VIO, auxiliary global position.
|
||||
- The estimated horizontal position inaccuracy exceeds the threshold [COM_POS_LOW_EPH](../advanced_config/parameter_reference.md#COM_POS_LOW_EPH)
|
||||
- This check is only done on hovering systems (rotary-wing vehicles or VTOLs in hover phase). For fixed-wing vehicles, refer to the [Position Accuracy Low](#position-accuracy-low-failsafe) section.
|
||||
|
||||
The relevant parameters shown below.
|
||||
|
||||
@@ -207,14 +210,24 @@ Multicopters will switch to [Altitude mode](../flight_modes_mc/altitude.md) if a
|
||||
Fixed-wing planes, and VTOLs not configured to land in hover ([NAV_FORCE_VT](../advanced_config/parameter_reference.md#NAV_FORCE_VT)), have a parameter ([FW_GPSF_LT](../advanced_config/parameter_reference.md#FW_GPSF_LT)) that defines how long they will loiter (circle with a constant roll angle ([FW_GPSF_R](../advanced_config/parameter_reference.md#FW_GPSF_R)) at the current altitude) after losing position before attempting to land.
|
||||
If VTOLs have are configured to switch to hover for landing ([NAV_FORCE_VT](../advanced_config/parameter_reference.md#NAV_FORCE_VT)) then they will first transition and then descend.
|
||||
|
||||
The relevant parameters for all vehicles shown below.
|
||||
The relevant parameters are:
|
||||
|
||||
Parameters that only affect Fixed-wing vehicles:
|
||||
| 매개변수 | 설명 |
|
||||
| ----------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
|
||||
| <a id="FW_GPSF_LT"></a>[FW_GPSF_LT](../advanced_config/parameter_reference.md#FW_GPSF_LT) | Fixed-wing only: Loiter time (waiting at current altitude for position estimation recovery before starting to descend). 비활성화 하려면 0으로 설정하십시오. |
|
||||
| <a id="FW_GPSF_R"></a>[FW_GPSF_R](../advanced_config/parameter_reference.md#FW_GPSF_R) | 선회 비행시 고정 롤/뱅크 각도. |
|
||||
| <a id="NAV_FORCE_VT"></a>[NAV_FORCE_VT](../advanced_config/parameter_reference.md#NAV_FORCE_VT) | If true, force VTOL takeoff and landing, even in `Descend` failsafe. |
|
||||
|
||||
| 매개변수 | 설명 |
|
||||
| ----------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------- |
|
||||
| <a id="FW_GPSF_LT"></a>[FW_GPSF_LT](../advanced_config/parameter_reference.md#FW_GPSF_LT) | Loiter time (waiting for GPS recovery before it goes into land or flight termination). 비활성화 하려면 0으로 설정하십시오. |
|
||||
| <a id="FW_GPSF_R"></a>[FW_GPSF_R](../advanced_config/parameter_reference.md#FW_GPSF_R) | 선회 비행시 고정 롤/뱅크 각도. |
|
||||
### Position Accuracy Low Failsafe
|
||||
|
||||
In Fixed-wing, the position estimate is never strictly invalidated as long as we have a horizontal aiding source, such as an airspeed sensor. In that case, a separate failsafe can be configured that triggers if the position estimate inacuraccy exceeds the threshold [COM_POS_LOW_EPH](../advanced_config/parameter_reference.md#COM_POS_LOW_EPH). The failsafe action is taken if the vehicle is in mission or hold mode, otherwise it is only a warning. The relevant parameters are:
|
||||
|
||||
| 매개변수 | 설명 |
|
||||
| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------- |
|
||||
| <a id="COM_POS_LOW_EPH"></a>[COM_POS_LOW_EPH](../advanced_config/parameter_reference.md#COM_POS_LOW_EPH) | Position inaccuracy threshold above which COM_POS_LOW_ACT is taken. |
|
||||
| <a id="COM_POS_LOW_ACT"></a>[COM_POS_LOW_ACT](../advanced_config/parameter_reference.md#COM_POS_LOW_ACT) | Failsafe action taken when position inaccuracy is above configured threshold. |
|
||||
|
||||
Note that if there is no horizontal aiding source anymore, the position estimate is invalidated after `EKF2_NOAID_TOUT`, and the standard position loss failsafe applies.
|
||||
|
||||
## 오프 보드 안전 장치
|
||||
|
||||
@@ -261,7 +274,7 @@ The parameters that control when the quad-chute will trigger are listed in the t
|
||||
|
||||
## High Wind Failsafe
|
||||
|
||||
The high wind failsafe can trigger a warning and/or other mode change when the wind speed exceeds the warning and maximum wind-speed threshhold values.
|
||||
The high wind failsafe can trigger a warning and/or other mode change when the wind speed exceeds the warning and maximum wind-speed threshold values.
|
||||
The relevant parameters are listed in the table below.
|
||||
|
||||
| 매개변수 | 설명 |
|
||||
@@ -315,8 +328,8 @@ The failure detector can be configured to detect a motor failure while armed (an
|
||||
| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
|
||||
| <a id="FD_ACT_EN"></a>[FD_ACT_EN](../advanced_config/parameter_reference.md#FD_ACT_EN) | Enable/disable the motor failure trigger completely. |
|
||||
| <a id="FD_ACT_MOT_THR"></a>[FD_ACT_MOT_THR](../advanced_config/parameter_reference.md#FD_ACT_MOT_THR) | Minimum normalized [0,1] motor command below which motor under current is ignored. |
|
||||
| <a id="FD_ACT_MOT_C2T"></a>[FD_ACT_MOT_C2T](../advanced_config/parameter_reference.md#FD_ACT_MOT_C2T) | Scale between normalized [0,1] motor command and expected minimally reported currrent when the rotor is healthy. |
|
||||
| <a id="FD_ACT_MOT_TOUT"></a>[FD_ACT_MOT_TOUT](../advanced_config/parameter_reference.md#FD_ACT_MOT_TOUT) | Time in miliseconds for which the under current detection condition needs to stay true. |
|
||||
| <a id="FD_ACT_MOT_C2T"></a>[FD_ACT_MOT_C2T](../advanced_config/parameter_reference.md#FD_ACT_MOT_C2T) | Scale between normalized [0,1] motor command and expected minimally reported current when the rotor is healthy. |
|
||||
| <a id="FD_ACT_MOT_TOUT"></a>[FD_ACT_MOT_TOUT](../advanced_config/parameter_reference.md#FD_ACT_MOT_TOUT) | Time in milliseconds for which the under current detection condition needs to stay true. |
|
||||
| <a id="CA_FAILURE_MODE"></a>[CA_FAILURE_MODE](../advanced_config/parameter_reference.md#CA_FAILURE_MODE) | Configure to not only warn about a motor failure but remove the first motor that detects a failure from the allocation effectiveness which turns off the motor and tries to operate the vehicle without it until disarming the next time. |
|
||||
|
||||
### 외부 자동 작동 시스템 (ATS)
|
||||
|
||||
@@ -13,7 +13,7 @@ For example, different ESCs or motors change the optimal tuning gains.
|
||||
|
||||
## 소개
|
||||
|
||||
PX4 uses **P**roportional, **I**ntegral, **D**erivative (PID) controllers (these are the most widespread control technique).
|
||||
PX4 uses **P**roportional, **I**integral, **D**erivative (PID) controllers (these are the most widespread control technique).
|
||||
|
||||
The _QGroundControl_ **PID Tuning** setup provides real-time plots of the vehicle setpoint and response curves.
|
||||
The goal of tuning is to set the P/I/D values such that the _Response_ curve matches the _Setpoint_ curve as closely as possible (i.e. a fast response without overshoots).
|
||||
|
||||
@@ -16,7 +16,7 @@ Configure the following [parameters](../advanced_config/parameters.md) in QGroun
|
||||
Put the rover into stabilized mode and move the left stick of your controller up to drive forwards.
|
||||
Disarm the rover and from the flight log plot the `measured_yaw` and the `adjusted_yaw_setpoint` from the [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md) message over each other.
|
||||
Increase/Decrease the parameter until you are satisfied with the setpoint tracking.
|
||||
If you observe a steady state error in the yaw setpoint increase the the integrator of the rate controller: [RO_YAW_RATE_I](../advanced_config/parameter_reference.md#RO_YAW_RATE_I) .
|
||||
If you observe a steady state error in the yaw setpoint increase the integrator of the rate controller: [RO_YAW_RATE_I](../advanced_config/parameter_reference.md#RO_YAW_RATE_I) .
|
||||
|
||||
:::
|
||||
|
||||
@@ -30,7 +30,7 @@ The attitude controller uses the following structure:
|
||||
|
||||
|
||||
|
||||
The rate and attitude controllers are cascaded, therefor we only require one integrator in the structure to eliminate steady state errors.
|
||||
The rate and attitude controllers are cascaded, therefore we only require one integrator in the structure to eliminate steady state errors.
|
||||
We placed the integrator in the rate controller since it can run without the attitude controller but not the other way around.
|
||||
|
||||
## Parameter Overview
|
||||
|
||||
@@ -138,7 +138,7 @@ In [Manual mode](../flight_modes_rover/manual.md#manual-mode) we can additionall
|
||||
- Differential Rover: $r=$ [RD_YAW_STK_GAIN](#RD_YAW_STK_GAIN), which enables adjusting the slope of the input mapping. This leads to a normalized steering input $\hat{\delta} = \delta \cdot r \in$ [-[RD_YAW_STK_GAIN](#RD_YAW_STK_GAIN), [RD_YAW_STK_GAIN](#RD_YAW_STK_GAIN)].
|
||||
- Mecanum Rover: $r=$ [RM_YAW_STK_GAIN](#RM_YAW_STK_GAIN), which enables adjusting the slope of the input mapping. This leads to a normalized steering input $\hat{\delta} = \delta \cdot r \in$ [-[RM_YAW_STK_GAIN](#RM_YAW_STK_GAIN), [RM_YAW_STK_GAIN](#RM_YAW_STK_GAIN)].
|
||||
|
||||
This scaling is useful to limit the normalized steering setpoint, if it is too aggresive for your rover in manual mode.
|
||||
This scaling is useful to limit the normalized steering setpoint, if it is too aggressive for your rover in manual mode.
|
||||
|
||||
You can experiment with the relationships graphically using the [PX4 SuperExpo Rover calculator](https://www.desmos.com/calculator/gwm8lrlanx).
|
||||
|
||||
|
||||
@@ -39,7 +39,7 @@ make px4_fmu-v6x_rover
|
||||
|
||||
Note that configuration targets are constructed with the format "VENDOR_MODEL_VARIANT".
|
||||
|
||||
The built firmware can be installed as custom firmware, as shown above in in [Flashing the Rover Build](#flashing-the-rover-build).
|
||||
The built firmware can be installed as custom firmware, as shown above in [Flashing the Rover Build](#flashing-the-rover-build).
|
||||
|
||||
:::info
|
||||
You can also enable the modules in default builds by adding these lines to your [board configuration](../hardware/porting_guide_config.md) (e.g. for fmu-v6x you might add them to [`main/boards/px4/fmu-v6x/default.px4board`](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v6x/default.px4board)):
|
||||
|
||||
@@ -11,7 +11,7 @@ Configure the following [parameters](../advanced_config/parameters.md) in QGroun
|
||||
1. [RO_YAW_RATE_LIM](#RO_YAW_RATE_LIM): Maximum yaw rate you want to allow for your rover.
|
||||
|
||||
:::tip
|
||||
Limiting the yaw rate is necessary if the rover is prone rolling over, loosing traction at high speeds or if passenger comfort is important.
|
||||
Limiting the yaw rate is necessary if the rover is prone rolling over, losing traction at high speeds or if passenger comfort is important.
|
||||
Small rovers especially can be prone to rolling over when steering aggressively at high speeds.
|
||||
|
||||
If this is the case:
|
||||
|
||||
@@ -60,7 +60,7 @@ To tune the velocity controller configure the following [parameters](../advanced
|
||||
|
||||
## Manual Position Mode Parameters
|
||||
|
||||
These steps are only necessary if you are tuning/want to unlock the manual [Position mode](../flight_modes_rover/manual.md#position-mode). Othwerwise, you can continue with [position tuning](position_tuning.md) where these same parameters will also be configured.
|
||||
These steps are only necessary if you are tuning/want to unlock the manual [Position mode](../flight_modes_rover/manual.md#position-mode). Otherwise, you can continue with [position tuning](position_tuning.md) where these same parameters will also be configured.
|
||||
|
||||
1. [PP_LOOKAHD_GAIN](#PP_LOOKAHD_GAIN): When driving in a straight line (right stick centered) position mode leverages the same path following algorithm used in [auto modes](../flight_modes_rover/auto.md) called [pure pursuit](position_tuning.md#pure-pursuit-guidance-logic-info-only) to achieve the best possible straight line driving behaviour.
|
||||
This parameter determines how aggressive the controller will steer towards the path.
|
||||
@@ -109,7 +109,7 @@ The speed controller uses the following structure:
|
||||
|
||||
The feed forward mapping is done by interpolating the speed setpoint from [-[RO_MAX_THR_SPEED](../advanced_config/parameter_reference.md#RO_MAX_THR_SPEED), [RO_MAX_THR_SPEED](../advanced_config/parameter_reference.md#RO_MAX_THR_SPEED)] to [-1, 1].
|
||||
|
||||
For ackermann and differential rovers the bearing is aligned with the vehicle yaw. Therefor the bearing is simply sent as a yaw setpoint to the [yaw controller](attitude_tuning.md#attitude-controller-structure-info-only) and the speed setpoint is always defined in body x direction.
|
||||
For ackermann and differential rovers the bearing is aligned with the vehicle yaw. Therefore the bearing is simply sent as a yaw setpoint to the [yaw controller](attitude_tuning.md#attitude-controller-structure-info-only) and the speed setpoint is always defined in body x direction.
|
||||
|
||||
For mecanum vehicles, the bearing and yaw are decoupled. The direction is controlled by splitting the velocity vector into one speed component in body x direction and one in body y direction.
|
||||
Both these setpoint are then sent to their own closed loop speed controllers.
|
||||
|
||||
@@ -6,7 +6,7 @@ Ice shedding is a feature that periodically spins unused motors in fixed-wing
|
||||
flight, to break off any ice that is starting to build up in the motors while it
|
||||
is still feasible to do so.
|
||||
|
||||
It is configured by the paramter `CA_ICE_PERIOD`. When it is 0, the feature is
|
||||
It is configured by the parameter `CA_ICE_PERIOD`. When it is 0, the feature is
|
||||
disabled, when it is above 0, it sets the duration of the ice shedding cycle in
|
||||
seconds. In each cycle, the rotors are spun for two seconds at a motor output of
|
||||
0.01.
|
||||
|
||||
@@ -95,7 +95,7 @@ It should be set to a value which ensures that the vehicle reaches a high enough
|
||||
[VT_TRANS_TIMEOUT](../advanced_config/parameter_reference.md#VT_TRANS_TIMEOUT)
|
||||
|
||||
This specifies the upper limit for the duration of the front transition. If the vehicle has not reached the transition airspeed after this time, then the transition will be aborted and a [Quadchute](../config/safety.md#quad-chute-failsafe) event will be triggered.
|
||||
:::note
|
||||
::: info
|
||||
Additionally, if an airspeed sensor is present, the transition will also be aborted if the airspeed has not reached [VT_ARSP_BLEND](../advanced_config/parameter_reference.md#VT_ARSP_BLEND) after the openloop transition time [VT_F_TR_OL_TM](../advanced_config/parameter_reference.md#VT_F_TR_OL_TM) has elapsed. This checks is used to avoid a scenario where the vehicle gains excessive speed when the airspeed sensor is faulty.
|
||||
:::
|
||||
|
||||
|
||||
@@ -7,7 +7,7 @@ const { site } = useData();
|
||||
|
||||
<div v-if="site.title !== 'PX4 Guide (main)'">
|
||||
<div class="custom-block danger">
|
||||
<p class="custom-block-title">This page may be out out of date. <a href="https://docs.px4.io/main/en/contribute/dev_call.html">See the latest version</a>.</p>
|
||||
<p class="custom-block-title">This page may be out of date. <a href="https://docs.px4.io/main/en/contribute/dev_call">See the latest version</a>.</p>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
@@ -36,4 +36,4 @@ Please add your topics for discussion to the agenda before the meeting begins, b
|
||||
## 일정
|
||||
|
||||
- TIME: Wednesday 17h00 CET ([subscribe to calendar](https://dronecode.org/calendar/))
|
||||
- **Join the call**: [https://discord.gg/BDYmr6FA6Q](https://discord.gg/BDYmr6FA6Q)
|
||||
- **Join the call**: [https://discord.com/invite/BDYmr6FA6Q](https://discord.com/invite/BDYmr6FA6Q)
|
||||
|
||||
@@ -56,7 +56,7 @@ If you already have a clone of the [PX4-Autopilot](https://github.com/PX4/PX4-Au
|
||||
라이브러리 소스를 로컬 컴퓨터로 가져오려면 git 명령어를 사용하여야 합니다.
|
||||
아래 지침은 git을 가져와 로컬 컴퓨터에서 사용하는 방법을 설명합니다.
|
||||
|
||||
1. Download git for your computer from [https://git-scm.com/downloads](https://git-scm.com/downloads)
|
||||
1. Download git for your computer from [https://git-scm.com/downloads/](https://git-scm.com/downloads/)
|
||||
|
||||
2. [Sign up](https://github.com/signup) for Github if you haven't already
|
||||
|
||||
@@ -84,10 +84,10 @@ If you already have a clone of the [PX4-Autopilot](https://github.com/PX4/PX4-Au
|
||||
6. Add a _remote_ called "upstream" to point to the "official" PX4 version of the library:
|
||||
|
||||
```sh
|
||||
git remote add upstream https://github.com/PX4/PX4-Autopilot.git
|
||||
git remote add upstream https://github.com/PX4/PX4-Autopilot
|
||||
```
|
||||
|
||||
:::tip
|
||||
::: tip
|
||||
A "remote" is a handle to a particular repository.
|
||||
The remote named _origin_ is created by default when you clone the repository, and points to _your fork_ of the guide.
|
||||
Above you create a new remote _upstream_ that points to the PX4 project version of the documents.
|
||||
@@ -167,7 +167,9 @@ Within the repository you created above:
|
||||
yarn install
|
||||
```
|
||||
|
||||
4. Preview and serve the library:
|
||||
4. (Optional) [Build the docs for PX4 metadata](#building-px4-docs-metadata) if your source contains changes to parameter or module docs that you want to check.
|
||||
|
||||
5. Preview and serve the library:
|
||||
|
||||
```sh
|
||||
yarn docs:dev
|
||||
@@ -177,7 +179,7 @@ Within the repository you created above:
|
||||
This will be something like: `http://localhost:5173/px4_user_guide/`.
|
||||
- Stop serving using **CTRL+C** in the terminal prompt.
|
||||
|
||||
5. Open previewed pages in your local editor:
|
||||
6. Open previewed pages in your local editor:
|
||||
|
||||
First specify a local text editor file using the `EDITOR` environment variable, before calling `yarn start` to preview the library.
|
||||
For example, you can enable VSCode as your default editor by entering:
|
||||
@@ -196,7 +198,7 @@ Within the repository you created above:
|
||||
|
||||
The **Open in your editor** link at the bottom of each page will then open the current page in the editor (this replaces the _Open in GitHub_ link).
|
||||
|
||||
6. 다음을 사용하여 라이브러리를 빌드합니다.
|
||||
7. 다음을 사용하여 라이브러리를 빌드합니다.
|
||||
|
||||
```sh
|
||||
# Ubuntu
|
||||
@@ -211,6 +213,32 @@ Use `yarn start` to preview changes _as you make them_ (documents are updated an
|
||||
Before submitting a PR you should also build it using `yarn docs:build`, as this can highlight issues that are not visible when using `yarn start`.
|
||||
:::
|
||||
|
||||
#### Building PX4 docs metadata
|
||||
|
||||
PX4 Metadata is not automatically updated in the local docs tree when you make changes to source.
|
||||
This can result in broken links showing up during testing if you link to new parameters, modules, airframes, or other content that is generated from source.
|
||||
|
||||
You can generate the metadata and copy it into the tree on _Ubuntu_ (only) using the convenient yarn command:
|
||||
|
||||
```sh
|
||||
# Ubuntu
|
||||
yarn build_docs_metadata_ubuntu
|
||||
```
|
||||
|
||||
:::info
|
||||
The generated metadata docs should not be included in PRs as they will complicate reveiwing (metadata is automatically generated when a PR merges in main).
|
||||
It is not a problem if you do add such metadata, as it will be swamped on merge.
|
||||
:::
|
||||
|
||||
#### Check for broken links
|
||||
|
||||
You can use the following command to check for broken links in the whole document:
|
||||
|
||||
```sh
|
||||
# Ubuntu
|
||||
yarn linkcheck
|
||||
```
|
||||
|
||||
### 소스 코드 구조
|
||||
|
||||
The guide uses the [Vitepress](https://vitepress.dev/) toolchain.
|
||||
|
||||
@@ -22,7 +22,7 @@ PX4 기능 추가 절차는 다음과 같습니다. 다음 예제를 따라 PX4
|
||||
```sh
|
||||
cd PX4-Autopilot
|
||||
git submodule update --init --recursive
|
||||
git remote add upstream https://github.com/PX4/PX4-Autopilot.git
|
||||
git remote add upstream https://github.com/PX4/PX4-Autopilot
|
||||
```
|
||||
|
||||
- You should have now two remote repositories: One repository is called `upstream` that points to PX4/PX4-Autopilot, and one repository `origin` that points to your forked copy of the PX4 repository.
|
||||
@@ -49,7 +49,7 @@ PX4 기능 추가 절차는 다음과 같습니다. 다음 예제를 따라 PX4
|
||||
git add <file name>
|
||||
```
|
||||
|
||||
If you prefer having a GUI to add your files see [Gitk](https://git-scm.com/book/en/v2/Git-in-Other-Environments-Graphical-Interfaces) or [`git add -p`](https://nuclearsquid.com/writings/git-add/).
|
||||
If you prefer having a GUI to add your files see [Gitk](https://git-scm.com/book/en/v2/Appendix-A:-Git-in-Other-Environments-Graphical-Interfaces) or [`git add -p`](https://nuclearsquid.com/writings/git-add/).
|
||||
|
||||
- 변경 사항을 설명하는 메시지와 함께 추가된 파일을 커밋합니다.
|
||||
|
||||
@@ -59,7 +59,7 @@ PX4 기능 추가 절차는 다음과 같습니다. 다음 예제를 따라 PX4
|
||||
|
||||
For a good commit message, please refer to the [Source Code Management](../contribute/code.md#commits-and-commit-messages) section.
|
||||
|
||||
- Some time might have passed and the [upstream main](https://github.com/PX4/PX4-Autopilot.git) has changed.
|
||||
- Some time might have passed and the [upstream main](https://github.com/PX4/PX4-Autopilot) has changed.
|
||||
PX4 prefers a linear commit history and uses [git rebase](https://git-scm.com/book/en/v2/Git-Branching-Rebasing).
|
||||
To include the newest changes from upstream in your local branch, switch to your main branch
|
||||
|
||||
@@ -139,7 +139,7 @@ To get the source code for a _specific older release_ (tag):
|
||||
1. Clone the PX4-Autopilot repo and navigate into _PX4-Autopilot_ directory:
|
||||
|
||||
```sh
|
||||
git clone https://github.com/PX4/PX4-Autopilot.git
|
||||
git clone https://github.com/PX4/PX4-Autopilot
|
||||
cd PX4-Autopilot
|
||||
```
|
||||
|
||||
@@ -179,7 +179,7 @@ To get a release branch:
|
||||
- Clone the PX4-Autopilot repo and navigate into _PX4-Autopilot_ directory:
|
||||
|
||||
```sh
|
||||
git clone https://github.com/PX4/PX4-Autopilot.git
|
||||
git clone https://github.com/PX4/PX4-Autopilot
|
||||
cd PX4-Autopilot
|
||||
```
|
||||
|
||||
|
||||
@@ -7,7 +7,7 @@ const { site } = useData();
|
||||
|
||||
<div v-if="site.title !== 'PX4 Guide (main)'">
|
||||
<div class="custom-block danger">
|
||||
<p class="custom-block-title">This page may be out out of date. <a href="https://docs.px4.io/main/en/contribute/">See the latest version</a>.</p>
|
||||
<p class="custom-block-title">This page may be out of date. <a href="https://docs.px4.io/main/en/contribute/">See the latest version</a>.</p>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -7,7 +7,7 @@ const { site } = useData();
|
||||
|
||||
<div v-if="site.title !== 'PX4 Guide (main)'">
|
||||
<div class="custom-block danger">
|
||||
<p class="custom-block-title">This page may be out out of date. <a href="https://docs.px4.io/main/en/contribute/support.html">See the latest version</a>.</p>
|
||||
<p class="custom-block-title">This page may be out of date. <a href="https://docs.px4.io/main/en/contribute/support">See the latest version</a>.</p>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
@@ -18,7 +18,7 @@ const { site } = useData();
|
||||
The core development team and community are active on the following channels:
|
||||
|
||||
- [PX4 Discuss Forum](https://discuss.px4.io/) - Post here first!
|
||||
- [PX4 Discord](https://discord.gg/dronecode) - Post here if you don't get a response in discuss within a few days (include a link to your forum topic).
|
||||
- [PX4 Discord](https://discord.com/invite/dronecode) - Post here if you don't get a response in discuss within a few days (include a link to your forum topic).
|
||||
|
||||
:::tip
|
||||
The Discuss Forum is much preferred because it is indexed by search engines and serves as a common knowledge base.
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
# Asset Tracking
|
||||
|
||||
<Badge type="tip" text="main (planned for: PX4 v1.18)" />
|
||||
<Badge type="tip" text="PX4 v1.18" />
|
||||
|
||||
PX4 can track and log detailed information about external hardware devices connected to the flight controller.
|
||||
This enables unique identification of vehicle parts throughout their operational lifetime using device IDs, serial numbers, and version information.
|
||||
|
||||
@@ -22,7 +22,7 @@ This tutorial shows how to send the MAVLink message `NAMED_VALUE_FLOAT` using th
|
||||
이 자습서의 코드는 다음에서 사용할 수 있습니다.
|
||||
|
||||
- [Debug Tutorial Code](https://github.com/PX4/PX4-Autopilot/blob/main/src/examples/px4_mavlink_debug/px4_mavlink_debug.cpp)
|
||||
- [Enable the tutorial app](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v5/default.px4board) by ensuring the MAVLink debug app (**CONFIG_EXAMPLES_PX4_MAVLINK_DEBUG**) is in the config of your board and set set to 'y'.
|
||||
- [Enable the tutorial app](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v5/default.px4board) by ensuring the MAVLink debug app (**CONFIG_EXAMPLES_PX4_MAVLINK_DEBUG**) is in the config of your board and set to 'y'.
|
||||
|
||||
디버그 게시를 설정에 필요한 것은 아래의 코드입니다.
|
||||
먼저 헤더 파일을 추가합니다.
|
||||
|
||||
@@ -122,7 +122,7 @@ To enable this feature for use in Eclipse:
|
||||
|
||||
2. Compile the **jlink-nuttx.so** library in the terminal by running the following command in the terminal: `make jlink-nuttx`
|
||||
|
||||
3. Modify Eclipse to use this libary.
|
||||
3. Modify Eclipse to use this library.
|
||||
In the _J-Link GDB Server Setup_ configuration, update **Other options** to include `-rtos /home/<PX4 path>/Tools/jlink-nuttx.so`, as shown in the image below.
|
||||
|
||||
|
||||
|
||||
@@ -72,7 +72,7 @@ cd ~/PX4-Autopilot
|
||||
make px4_sitl gz_x500
|
||||
```
|
||||
|
||||
Open another terminal and start the `MicroXRCEAgent` to connect to the the simulator:
|
||||
Open another terminal and start the `MicroXRCEAgent` to connect to the simulator:
|
||||
|
||||
```sh
|
||||
MicroXRCEAgent udp4 -p 8888; exec bash
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
# MCU-Link Debug Probe
|
||||
|
||||
The [MCU-Link Debug Probe](https://www.nxp.com/design/design-center/software/development-software/mcuxpresso-software-and-tools-/mcu-link-debug-probe:MCU-LINK) is a cheap, fast and highly capable debug probe that can serve as a stand-alone debug and console communicator whn working with Pixhawk boards.
|
||||
The [MCU-Link Debug Probe](https://www.nxp.com/design/design-center/software/development-software/mcuxpresso-software-and-tools-/mcu-link-debug-probe:MCU-LINK) is a cheap, fast and highly capable debug probe that can serve as a stand-alone debug and console communicator when working with Pixhawk boards.
|
||||
|
||||
주요 기능:
|
||||
|
||||
|
||||
@@ -106,7 +106,7 @@ You can also start your simulation, and _then_ attach `gdb`:
|
||||
```
|
||||
|
||||
As the script runs, note the **SITL COMMAND:** output text located right above the large "PX4" text.
|
||||
It will list the location of your px4 bin file for later use.
|
||||
It will list the location of your PX4 bin file for later use.
|
||||
|
||||
```sh
|
||||
SITL COMMAND: "<px4 bin file>" "<build dir>"/etc
|
||||
|
||||
+41
-35
@@ -1,6 +1,6 @@
|
||||
# SWD Debug Port
|
||||
|
||||
PX4 runs on ARM Cortex-M microcontrollers, which contain dedicated hardware for interactive debugging via the [_Serial Wire Debug (SWD)_][swd] interface and non-invasive profiling and high-bandwidth tracing via the [_Serial Wire Ouput (SWO)_][itm] and [_TRACE_ pins][etm].
|
||||
PX4 runs on ARM Cortex-M microcontrollers, which contain dedicated hardware for interactive debugging via the [_Serial Wire Debug (SWD)_][swd] interface and non-invasive profiling and high-bandwidth tracing via the [_Serial Wire Output (SWO)_][itm] and [_TRACE_ pins][etm].
|
||||
|
||||
The SWD debug interface allows direct, low-level, hardware access to the microcontroller's processor and peripherals, so it does not depend on any software on the device.
|
||||
Therefore it can be used to debug bootloaders and operating systems such as NuttX.
|
||||
@@ -27,9 +27,7 @@ The SWO pin can emit low-overhead, real-time profiling data with nanosecond time
|
||||
The TRACE pins require specialized debug probes to deal with the high bandwidth and subsequent datastream decoding.
|
||||
They are usually not accessible and are typically only used to debug very specific timing issues.
|
||||
|
||||
<a id="debug-ports"></a>
|
||||
|
||||
## 자동비행장치 디버그 포트
|
||||
## Autopilot Debug Ports {#debug-ports}
|
||||
|
||||
Flight controllers commonly provide a single debug port that exposes both the [SWD Interface](#debug-signals) and [System Console](system_console).
|
||||
|
||||
@@ -40,23 +38,35 @@ The debug port location and pinouts for a subset of autopilots are linked below:
|
||||
|
||||
<a id="port-information"></a>
|
||||
|
||||
| 오토파일럿 | 디버그 포트 |
|
||||
| :----------------------------------------------------------------------------------------------------- | :---------------------------------------------------------------------------------------------------------------------------------------------------------------- |
|
||||
| Holybro Pixhawk 6X-RT (FMUv6X-RT) | [Pixhawk Debug Full](#pixhawk-debug-full) |
|
||||
| Holybro Pixhawk 6X (FMUv6x) | [Pixhawk Debug Full](#pixhawk-debug-full) |
|
||||
| Holybro Pixhawk 5X (FMUv5x) | [Pixhawk Debug Full](#pixhawk-debug-full) |
|
||||
| [Holybro Durandal](../flight_controller/durandal.md#debug-port) | [Pixhawk Debug Mini](#pixhawk-debug-mini) |
|
||||
| [Holybro Kakute F7](../flight_controller/kakutef7.md#debug-port) | Solder pads |
|
||||
| [Holybro Pixhawk 4 Mini](../flight_controller/pixhawk4_mini.md#debug-port) (FMUv5) | [Pixhawk Debug Mini](#pixhawk-debug-mini) |
|
||||
| [Holybro Pixhawk 4](../flight_controller/pixhawk4.md#debug_port) (FMUv5) | [Pixhawk Debug Mini](#pixhawk-debug-mini) |
|
||||
| [Drotek Pixhawk 3 Pro](../flight_controller/pixhawk3_pro.md#debug-port) (FMU-v4pro) | [Pixhawk Debug Mini](#pixhawk-debug-mini) |
|
||||
| [CUAV V5+](../flight_controller/cuav_v5_plus.md#debug-port) | 6-pin JST GH<br>Digikey: [BM06B-GHS-TBT(LF)(SN)(N)][bm06b-ghs-tbt(lf)(sn)(n)] (vertical mount), [SM06B-GHS-TBT(LF)(SN)(N)][sm06b-ghs-tbt(lf)(sn)(n)] (side mount) |
|
||||
| [CUAV V5nano](../flight_controller/cuav_v5_nano.md#debug_port) | 6-pin JST GH<br>Digikey: [BM06B-GHS-TBT(LF)(SN)(N)][bm06b-ghs-tbt(lf)(sn)(n)] (vertical mount), [SM06B-GHS-TBT(LF)(SN)(N)][sm06b-ghs-tbt(lf)(sn)(n)] (side mount) |
|
||||
| [3DR Pixhawk](../flight_controller/pixhawk.md#swd-port) | ARM 10-pin JTAG Connector (also used for FMUv2 boards including: _mRo Pixhawk_, _HobbyKing HKPilot32_). |
|
||||
| 오토파일럿 | 디버그 포트 |
|
||||
| :------------------------------------------------------------------------------------------------------ | :----------------------------------------------------------------------- |
|
||||
| [Holybro Pixhawk 6X-RT](../flight_controller/pixhawk6x-rt.md#debug_port) (FMUv6X-RT) | [Pixhawk Debug Full](#pixhawk-debug-full) |
|
||||
| [Holybro Pixhawk 6X](../flight_controller/pixhawk6x.md#debug_port) (FMUv6x) | [Pixhawk Debug Full](#pixhawk-debug-full) |
|
||||
| [Holybro Pixhawk 5X](../flight_controller/pixhawk5x.md#debug_port) (FMUv5x) | [Pixhawk Debug Full](#pixhawk-debug-full) |
|
||||
| [Holybro Durandal](../flight_controller/durandal.md#debug-port) | [Pixhawk Debug Mini](#pixhawk-debug-mini) |
|
||||
| [Holybro Pixhawk 4](../flight_controller/pixhawk4.md#debug_port) (FMUv5) | [Pixhawk Debug Mini](#pixhawk-debug-mini) |
|
||||
| [Holybro Pixhawk 6X Pro](../flight_controller/pixhawk6x_pro.md#debug-port) | [Pixhawk Debug Full](#pixhawk-debug-full) |
|
||||
| [Holybro Pixhawk 6C](../flight_controller/pixhawk6c.md#debug_port) | [Pixhawk Debug Full](#pixhawk-debug-full) |
|
||||
| [Holybro Pixhawk 6C Mini](../flight_controller/pixhawk6c_mini.md#debug_port) | [Pixhawk Debug Mini](#pixhawk-debug-mini) |
|
||||
| [Holybro Pix32 v6](../flight_controller/holybro_pix32_v6.md#debug_port) | [Pixhawk Debug Full](#pixhawk-debug-full) |
|
||||
| [Holybro Pix32 v5](../flight_controller/holybro_pix32_v5.md#debug-port) | [Pixhawk Debug Mini](#pixhawk-debug-mini) |
|
||||
| [Holybro Kakute H7](../flight_controller/kakuteh7.md#debug-port) | SWD pads and system console |
|
||||
| [Holybro Kakute H7 mini](../flight_controller/kakuteh7mini.md#debug-port) | SWD pads and system console |
|
||||
| [Holybro Kakute H7 V2](../flight_controller/kakuteh7v2.md#debug-port) | SWD pads and system console |
|
||||
| [CUAV V5+](../flight_controller/cuav_v5_plus.md#debug-port) | Custom port but comes with adaptor cable |
|
||||
| [CUAV V5nano](../flight_controller/cuav_v5_nano.md#debug_port) | Custom port but comes with adaptor cable |
|
||||
| [CUAV Pixhawk V6X](../flight_controller/cuav_pixhawk_v6x.md#debug_port) | [Pixhawk Debug Full](#pixhawk-debug-full) |
|
||||
| [CUAV X25-SUPER](../flight_controller/cuav_x25-super.md#debug_port) | [Pixhawk Debug Mini] |
|
||||
| [CUAV X25-EVO](../flight_controller/cuav_x25-evo.md#debug_port) | [Pixhawk Debug Mini] |
|
||||
| [CUAV Nora](../flight_controller/cuav_nora.md#debug-port) | Custom port but comes with adaptor cable. |
|
||||
| [ARK Pixhawk Autopilot Bus Carrier](../flight_controller/ark_pab.md#debug-port) | [Pixhawk Debug Full](#pixhawk-debug-full) |
|
||||
| [NXP MR-VMU-RT1176](../flight_controller/nxp_mr_vmu_rt1176.md#debug_port) | [Pixhawk Debug Full](#pixhawk-debug-full) |
|
||||
| [mRo Pixracer](../flight_controller/pixracer.md#debug-port) | [Pixhawk Debug Mini](#pixhawk-debug-mini) |
|
||||
| [S-Vehicle E2](../flight_controller/svehicle_e2.md#debug-port) | [Pixhawk Debug Mini] |
|
||||
| [AP-H743-R1](../flight_controller/x-mav_ap-h743r1.md#debug-port) | 4-pin JST GH (SWD only) |
|
||||
| [mRo Control Zero F7](../flight_controller/mro_control_zero_f7.md#debug_port) | |
|
||||
|
||||
<a id="pixhawk-standard-debug-ports"></a>
|
||||
|
||||
## Pixhawk Connector Standard Debug Ports
|
||||
## Pixhawk Connector Standard Debug Ports {#pixhawk-standard-debug-ports}
|
||||
|
||||
The Pixhawk project has defines a standard pinout and connector type for different Pixhawk FMU releases:
|
||||
|
||||
@@ -64,16 +74,16 @@ The Pixhawk project has defines a standard pinout and connector type for differe
|
||||
Check your [specific board](#port-information) to confirm the port used.
|
||||
:::
|
||||
|
||||
| FMU 버전 | Pixhawk Version | 디버그 포트 |
|
||||
| :-------- | :-------------------------------------------------------------- | :---------------------------------------- |
|
||||
| FMUv2 | [Pixhawk / Pixhawk 1](../flight_controller/pixhawk.md#swd-port) | 10핀 ARM 디버그 |
|
||||
| FMUv3 | Pixhawk 2 | 6핀 SUR 디버그 |
|
||||
| FMUv4 | Pixhawk 3 | [Pixhawk Debug Mini](#pixhawk-debug-mini) |
|
||||
| FMUv5 | Pixhawk 4 FMUv5 | [Pixhawk Debug Mini](#pixhawk-debug-mini) |
|
||||
| FMUv5X | Pixhawk 5X | [Pixhawk Debug Full](#pixhawk-debug-full) |
|
||||
| FMUv6 | Pixhawk 6 | [Pixhawk Debug Full](#pixhawk-debug-full) |
|
||||
| FMUv6X | Pixhawk 6X | [Pixhawk Debug Full](#pixhawk-debug-full) |
|
||||
| FMUv6X-RT | Pixhawk 6X-RT | [Pixhawk Debug Full](#pixhawk-debug-full) |
|
||||
| FMU 버전 | Pixhawk Version | 디버그 포트 |
|
||||
| :-------- | :------------------ | :---------------------------------------- |
|
||||
| FMUv2 | Pixhawk / Pixhawk 1 | 10핀 ARM 디버그 |
|
||||
| FMUv3 | Pixhawk 2 | 6핀 SUR 디버그 |
|
||||
| FMUv4 | Pixhawk 3 | [Pixhawk Debug Mini](#pixhawk-debug-mini) |
|
||||
| FMUv5 | Pixhawk 4 FMUv5 | [Pixhawk Debug Mini](#pixhawk-debug-mini) |
|
||||
| FMUv5X | Pixhawk 5X | [Pixhawk Debug Full](#pixhawk-debug-full) |
|
||||
| FMUv6 | Pixhawk 6 | [Pixhawk Debug Full](#pixhawk-debug-full) |
|
||||
| FMUv6X | Pixhawk 6X | [Pixhawk Debug Full](#pixhawk-debug-full) |
|
||||
| FMUv6X-RT | Pixhawk 6X-RT | [Pixhawk Debug Full](#pixhawk-debug-full) |
|
||||
|
||||
:::info
|
||||
There FMU and Pixhawk versions are (only) consistent after FMUv5X.
|
||||
@@ -142,9 +152,7 @@ You can connect to the debug port using a [cable like this one](https://www.digi
|
||||
|
||||
|
||||
|
||||
<a id="debug-probes"></a>
|
||||
|
||||
## Debug Probes for PX4 Hardware
|
||||
## Debug Probes for PX4 Hardware {#debug-probes}
|
||||
|
||||
Flight controllers commonly provide a [single debug port](#autopilot-debug-ports) that exposes both the [SWD Interface](#debug-signals) and [System Console](system_console).
|
||||
|
||||
@@ -217,5 +225,3 @@ This reduces the risk or poor wiring contributing to debugging problems, and has
|
||||
[swd]: https://developer.arm.com/documentation/ihi0031/a/The-Serial-Wire-Debug-Port--SW-DP-
|
||||
[itm]: https://developer.arm.com/documentation/ddi0403/d/Appendices/Debug-ITM-and-DWT-Packet-Protocol?lang=en
|
||||
[etm]: https://developer.arm.com/documentation/ihi0064/latest/
|
||||
[bm06b-ghs-tbt(lf)(sn)(n)]: https://www.digikey.com/en/products/detail/jst-sales-america-inc/BM06B-GHS-TBT/807804
|
||||
[sm06b-ghs-tbt(lf)(sn)(n)]: https://www.digikey.com/en/products/detail/jst-sales-america-inc/SM06B-GHS-TB/807790
|
||||
|
||||
@@ -124,118 +124,79 @@ param set-default CA_ROTOR3_PY 0.15
|
||||
param set-default CA_ROTOR3_KM -0.05
|
||||
```
|
||||
|
||||
### Example - Babyshark VTOL Complete Vehicle
|
||||
### Example - HolyBro QAV250 Complete Vehicle
|
||||
|
||||
A more complicated configuration file for a complete vehicle is provided below.
|
||||
This is the configuration for the Baby Shark [Standard VTOL](../frames_vtol/standardvtol.md) ([original file here](https://github.com/PX4/PX4-Autopilot/blob/main/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark)).
|
||||
A more complete configuration file for a real vehicle is provided below.
|
||||
This is the configuration for the [HolyBro QAV250](../frames_multicopter/holybro_qav250_pixhawk4_mini.md) quadrotor ([original file here](https://github.com/PX4/PX4-Autopilot/blob/main/ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250)).
|
||||
|
||||
The shebang and documentation sections are similar to those for the generic frame, but here we also document what `outputs` are mapped to each motor and actuator.
|
||||
Note that these outputs are documentation only; the actual mapping is done using parameters.
|
||||
The shebang and documentation sections are similar to those for the generic frame.
|
||||
Here we also add a `@url` link to the vehicle documentation, a `@maintainer`, and additional board exclusions.
|
||||
|
||||
```sh
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name BabyShark VTOL
|
||||
# @name HolyBro QAV250
|
||||
#
|
||||
# @type Standard VTOL
|
||||
# @class VTOL
|
||||
# @url https://docs.px4.io/main/en/frames_multicopter/holybro_qav250_pixhawk4_mini
|
||||
#
|
||||
# @maintainer Silvan Fuhrer <silvan@auterion.com>
|
||||
# @type Quadrotor x
|
||||
# @class Copter
|
||||
#
|
||||
# @output Motor1 motor 1
|
||||
# @output Motor2 motor 2
|
||||
# @output Motor3 motor 3
|
||||
# @output Motor4 motor 4
|
||||
# @output Motor5 Pusher motor
|
||||
# @output Servo1 Ailerons
|
||||
# @output Servo2 A-tail left
|
||||
# @output Servo3 A-tail right
|
||||
# @maintainer Beat Kueng <beat-kueng@gmx.net>
|
||||
#
|
||||
# @board px4_fmu-v2 exclude
|
||||
# @board bitcraze_crazyflie exclude
|
||||
# @board holybro_kakutef7 exclude
|
||||
# @board px4_fmu-v6x exclude
|
||||
# @board ark_fmu-v6x exclude
|
||||
#
|
||||
```
|
||||
|
||||
As for the generic frame, we then include the generic VTOL defaults.
|
||||
Next, we source the multicopter defaults.
|
||||
|
||||
```sh
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
```
|
||||
|
||||
Then we define configuration parameters and [tuning gains](#tuning-gains):
|
||||
|
||||
```sh
|
||||
param set-default MAV_TYPE 22
|
||||
# The set does not include a battery, but most people will probably use 4S
|
||||
param set-default BAT1_N_CELLS 4
|
||||
|
||||
param set-default BAT1_N_CELLS 6
|
||||
param set-default IMU_GYRO_CUTOFF 120
|
||||
param set-default IMU_DGYRO_CUTOFF 45
|
||||
|
||||
param set-default FW_AIRSPD_MAX 30
|
||||
param set-default FW_AIRSPD_MIN 19
|
||||
param set-default FW_AIRSPD_TRIM 23
|
||||
param set-default FW_PN_R_SLEW_MAX 40
|
||||
param set-default FW_PSP_OFF 3
|
||||
param set-default FW_P_LIM_MAX 18
|
||||
param set-default FW_P_LIM_MIN -25
|
||||
param set-default FW_RLL_TO_YAW_FF 0.1
|
||||
param set-default FW_RR_P 0.08
|
||||
param set-default FW_R_LIM 45
|
||||
param set-default FW_R_RMAX 50
|
||||
param set-default FW_THR_TRIM 0.65
|
||||
param set-default FW_THR_MIN 0.3
|
||||
param set-default FW_THR_SLEW_MAX 0.6
|
||||
param set-default FW_T_HRATE_FF 0
|
||||
param set-default FW_T_SINK_MAX 15
|
||||
param set-default FW_T_SINK_MIN 3
|
||||
param set-default FW_YR_P 0.15
|
||||
|
||||
param set-default IMU_DGYRO_CUTOFF 15
|
||||
param set-default MC_PITCHRATE_MAX 60
|
||||
param set-default MC_ROLLRATE_MAX 60
|
||||
param set-default MC_YAWRATE_I 0.15
|
||||
param set-default MC_YAWRATE_MAX 40
|
||||
param set-default MC_YAWRATE_P 0.3
|
||||
|
||||
param set-default MPC_ACC_DOWN_MAX 2
|
||||
param set-default MPC_ACC_HOR_MAX 2
|
||||
param set-default MPC_ACC_UP_MAX 3
|
||||
param set-default MC_AIRMODE 1
|
||||
param set-default MPC_JERK_AUTO 4
|
||||
param set-default MPC_LAND_SPEED 1
|
||||
param set-default MPC_MAN_TILT_MAX 25
|
||||
param set-default MPC_MAN_Y_MAX 40
|
||||
param set-default COM_SPOOLUP_TIME 1.5
|
||||
param set-default MPC_THR_HOVER 0.45
|
||||
param set-default MPC_TILTMAX_AIR 25
|
||||
param set-default MPC_TKO_RAMP_T 1.8
|
||||
param set-default MPC_TKO_SPEED 1
|
||||
param set-default MPC_VEL_MANUAL 3
|
||||
param set-default MPC_XY_CRUISE 3
|
||||
param set-default MPC_XY_VEL_MAX 3.5
|
||||
param set-default MPC_YAWRAUTO_MAX 40
|
||||
param set-default MPC_Z_VEL_MAX_UP 2
|
||||
param set-default MC_PITCHRATE_D 0.0012
|
||||
param set-default MC_PITCHRATE_I 0.35
|
||||
param set-default MC_PITCHRATE_MAX 1200
|
||||
param set-default MC_PITCHRATE_P 0.082
|
||||
param set-default MC_PITCH_P 8
|
||||
param set-default MC_ROLLRATE_D 0.0012
|
||||
param set-default MC_ROLLRATE_I 0.3
|
||||
param set-default MC_ROLLRATE_MAX 1200
|
||||
param set-default MC_ROLLRATE_P 0.076
|
||||
param set-default MC_ROLL_P 8
|
||||
param set-default MC_YAWRATE_I 0.3
|
||||
param set-default MC_YAWRATE_MAX 600
|
||||
param set-default MC_YAWRATE_P 0.25
|
||||
param set-default MC_YAW_P 4
|
||||
|
||||
param set-default NAV_ACC_RAD 3
|
||||
param set-default MPC_MANTHR_MIN 0
|
||||
param set-default MPC_MAN_TILT_MAX 60
|
||||
param set-default MPC_THR_CURVE 1
|
||||
param set-default MPC_THR_HOVER 0.25
|
||||
param set-default MPC_THR_MIN 0.05
|
||||
param set-default MPC_Z_VEL_I_ACC 1.7
|
||||
|
||||
param set-default SENS_BOARD_ROT 4
|
||||
|
||||
param set-default VT_ARSP_BLEND 10
|
||||
param set-default VT_ARSP_TRANS 21
|
||||
param set-default VT_B_DEC_MSS 1.5
|
||||
param set-default VT_B_TRANS_DUR 12
|
||||
param set-default VT_ELEV_MC_LOCK 0
|
||||
param set-default VT_FWD_THRUST_SC 1.2
|
||||
param set-default VT_F_TR_OL_TM 8
|
||||
param set-default VT_PSHER_SLEW 0.5
|
||||
param set-default VT_TRANS_MIN_TM 4
|
||||
param set-default VT_TYPE 2
|
||||
param set-default THR_MDL_FAC 0.3
|
||||
```
|
||||
|
||||
Last of all, the file defines the control allocation parameters for the geometry and the parameters that set which outputs map to different motors and servos.
|
||||
Last of all, the file defines the control allocation parameters for the geometry and the parameters that set which outputs map to different motors.
|
||||
|
||||
```sh
|
||||
param set-default CA_AIRFRAME 2
|
||||
param set-default CA_ROTOR_COUNT 5
|
||||
# Square quadrotor X PX4 numbering
|
||||
param set-default CA_ROTOR_COUNT 4
|
||||
param set-default CA_ROTOR0_PX 1
|
||||
param set-default CA_ROTOR0_PY 1
|
||||
param set-default CA_ROTOR1_PX -1
|
||||
@@ -246,34 +207,11 @@ param set-default CA_ROTOR2_KM -0.05
|
||||
param set-default CA_ROTOR3_PX -1
|
||||
param set-default CA_ROTOR3_PY 1
|
||||
param set-default CA_ROTOR3_KM -0.05
|
||||
param set-default CA_ROTOR4_AX 1.0
|
||||
param set-default CA_ROTOR4_AZ 0.0
|
||||
|
||||
param set-default CA_SV_CS_COUNT 3
|
||||
param set-default CA_SV_CS0_TYPE 15
|
||||
param set-default CA_SV_CS0_TRQ_R 1.0
|
||||
param set-default CA_SV_CS1_TRQ_P 0.5000
|
||||
param set-default CA_SV_CS1_TRQ_R 0.0000
|
||||
param set-default CA_SV_CS1_TRQ_Y -0.5000
|
||||
param set-default CA_SV_CS1_TYPE 13
|
||||
param set-default CA_SV_CS2_TRQ_P 0.5000
|
||||
param set-default CA_SV_CS2_TRQ_Y 0.5000
|
||||
param set-default CA_SV_CS2_TYPE 14
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 201
|
||||
param set-default PWM_MAIN_FUNC2 202
|
||||
param set-default PWM_MAIN_FUNC3 105
|
||||
param set-default PWM_MAIN_FUNC4 203
|
||||
param set-default PWM_MAIN_FUNC5 101
|
||||
param set-default PWM_MAIN_FUNC6 102
|
||||
param set-default PWM_MAIN_FUNC7 103
|
||||
param set-default PWM_MAIN_FUNC8 104
|
||||
|
||||
param set-default PWM_MAIN_TIM0 50
|
||||
param set-default PWM_MAIN_DIS1 1500
|
||||
param set-default PWM_MAIN_DIS2 1500
|
||||
param set-default PWM_MAIN_DIS3 1000
|
||||
param set-default PWM_MAIN_DIS4 1500
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
param set-default PWM_MAIN_FUNC3 103
|
||||
param set-default PWM_MAIN_FUNC4 104
|
||||
```
|
||||
|
||||
## 새 기체 그룹 추가
|
||||
|
||||
@@ -15,7 +15,7 @@ To use it you will need to build firmware with this feature enabled and then upl
|
||||
Log encryption was has been improved in PX4 v1.16 to generate a single encrypted log file that contains both encrypted log data, and an encrypted symmetric key that you can use to decrypt it (provided you can decrypt the symmetric key).
|
||||
|
||||
In earlier versions the encrypted symmetric key was stored in a separate file.
|
||||
For more information see the [Log Encryption (PX4 v1.15)](https://docs.px4.io/v1.15/en/dev_log/log_encryption.html).
|
||||
For more information see the [Log Encryption (PX4 v1.15)](https://docs.px4.io/v1.15/en/dev_log/log_encryption).
|
||||
:::
|
||||
|
||||
## How ULog Encryption Works
|
||||
@@ -142,7 +142,7 @@ Note that the value is generated fresh for each log, and any value specified in
|
||||
You can use choose different locations for your keys as long as they aren't used by anything else.
|
||||
:::
|
||||
|
||||
The key in `CONFIG_PUBLIC_KEY1` is the public key used to wrap the symmetric key in the the beginning of `.ulge` file (by default: see [SDLOG_EXCH_KEY](../advanced_config/parameter_reference.md#SDLOG_EXCH_KEY)).
|
||||
The key in `CONFIG_PUBLIC_KEY1` is the public key used to wrap the symmetric key in the beginning of `.ulge` file (by default: see [SDLOG_EXCH_KEY](../advanced_config/parameter_reference.md#SDLOG_EXCH_KEY)).
|
||||
You can use the `rsa2048.pub` key for testing, or replace it with the path to your own public key in the file (see [Generate RSA Public & Private Keys](#generate-rsa-public-private-keys)).
|
||||
|
||||
Build the firmware like this:
|
||||
|
||||
@@ -1,116 +1,122 @@
|
||||
# macOS Development Environment
|
||||
|
||||
아래에서 macOS용 PX4 개발 환경 설정 방법을 설명합니다.
|
||||
The following instructions set up a PX4 development environment on macOS.
|
||||
PX4 빌드에 사용되어 집니다.
|
||||
|
||||
- Pixhawk와 기타 NuttX 기반 하드웨어
|
||||
- [Gazebo Classic Simulation](../sim_gazebo_classic/index.md)
|
||||
- [Gazebo Simulation](../sim_gazebo_gz/index.md) (Gazebo Harmonic)
|
||||
|
||||
It works on both Intel and Apple Silicon Macs.
|
||||
|
||||
:::tip
|
||||
This setup is supported by the PX4 dev team.
|
||||
To build other targets you will need to use a [different OS](../dev_setup/dev_env.md#supported-targets) (or an [unsupported development environment](../advanced/community_supported_dev_env.md)).
|
||||
To build for [other targets](../dev_setup/dev_env.md#supported-targets) you will need to use a [different OS](../dev_setup/dev_env.md#supported-targets) or an [unsupported development environment](../advanced/community_supported_dev_env.md).
|
||||
:::
|
||||
|
||||
## 영상 가이드
|
||||
## Development Environment Setup
|
||||
|
||||
<lite-youtube videoid="tMbMGiMs1cQ" title="Setting up your PX4 development environment on macOS"/>
|
||||
### 준비 사항
|
||||
|
||||
## Base Setup
|
||||
|
||||
The "base" macOS setup installs the tools needed for building firmware, and includes the common tools that will be needed for installing/using the simulators.
|
||||
|
||||
### Environment Setup
|
||||
|
||||
:::details
|
||||
Apple Silicon MacBook users!
|
||||
If you have an Apple M1, M2 etc. MacBook, make sure to run the terminal as x86 by setting up an x86 terminal:
|
||||
|
||||
1. Locate the Terminal application within the Utilities folder (**Finder > Go menu > Utilities**)
|
||||
2. Select _Terminal.app_ and right-click on it, then choose **Duplicate**.
|
||||
3. Rename the duplicated Terminal app, e.g. to _x86 Terminal_
|
||||
4. Now select the renamed _x86 Terminal_ app and right-click and choose \*_Get Info_
|
||||
5. Check the box for **Open using Rosetta**, then close the window
|
||||
6. Run the _x86 Terminal_ as usual, which will fully support the current PX4 toolchain
|
||||
|
||||
:::
|
||||
|
||||
First set up the environment
|
||||
|
||||
1. Enable more open files by appending the following line to the `~/.zshenv` file (creating it if necessary):
|
||||
1. **Install Xcode Command Line Tools** — provides `git`, `make`, and the Apple `clang` compiler:
|
||||
|
||||
```sh
|
||||
echo ulimit -S -n 2048 >> ~/.zshenv
|
||||
xcode-select --install
|
||||
```
|
||||
|
||||
2. **Install Homebrew** by following the [installation instructions](https://brew.sh).
|
||||
|
||||
3. **Increase the open-file limit.** The PX4 build opens many files simultaneously and the macOS default limit (256) is too low — you may see `"LD: too many open files"` errors without this.
|
||||
|
||||
Add the following line to your shell startup file so it applies to every new terminal session.
|
||||
macOS defaults to **zsh** since Catalina, so add it to `~/.zshrc` (use `~/.bashrc` if you use bash):
|
||||
|
||||
```sh
|
||||
echo "ulimit -S -n 2048" >> ~/.zshrc
|
||||
```
|
||||
|
||||
Then **open a new terminal** (or run `source ~/.zshrc`) for the change to take effect.
|
||||
|
||||
4. **Ensure Python 3 is available.** Some PX4 build scripts require `python3` and `pip3` to be in your `PATH`. The Xcode Command Line Tools include Python 3 by default.
|
||||
|
||||
:::tip
|
||||
If you need to install or manage a different Python version, we recommend [pyenv](https://github.com/pyenv/pyenv), which lets you set global and per-directory Python versions.
|
||||
|
||||
:::
|
||||
|
||||
### Install Development Tools
|
||||
|
||||
1. **Download PX4 Source Code:**
|
||||
|
||||
```sh
|
||||
git clone https://github.com/PX4/PX4-Autopilot.git
|
||||
cd PX4-Autopilot
|
||||
git submodule update --init --recursive --force
|
||||
```
|
||||
|
||||
2. **Install development environment libraries** from the [macos.sh](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/setup/macos.sh) helper script:
|
||||
|
||||
```sh
|
||||
./Tools/setup/macos.sh --sim-tools
|
||||
```
|
||||
|
||||
This installs:
|
||||
|
||||
- **`px4-dev`** — ARM cross-compiler (`arm-gcc-bin@13`), `cmake`, `ninja`, `ccache`, and other build tools
|
||||
- **Python packages** from `requirements.txt`
|
||||
- **`px4-sim`** (via `--sim-tools`) — Gazebo Harmonic simulation (`gz-harmonic`) and related tools
|
||||
|
||||
::: info
|
||||
If you don't do this, the build toolchain may report the error: `"LD: too many open files"`
|
||||
Omit `--sim-tools` if you only need to build for NuttX hardware and don't need simulation.
|
||||
|
||||
Use `--reinstall` to force reinstallation of all Homebrew formulas (useful if something is broken).
|
||||
|
||||
:::
|
||||
|
||||
2. Enforce Python 3 by appending the following lines to `~/.zshenv`
|
||||
### Gazebo Simulation
|
||||
|
||||
```sh
|
||||
# Point pip3 to macOS system python 3 pip
|
||||
alias pip3=/usr/bin/pip3
|
||||
```
|
||||
The `--sim-tools` flag installs the `px4-sim` Homebrew formula, which pulls in Gazebo Harmonic.
|
||||
|
||||
### 공통 도구
|
||||
If you skipped `--sim-tools` during initial setup and want to add simulation later:
|
||||
|
||||
To setup the environment to be able to build for Pixhawk/NuttX hardware (and install the common tools for using simulators):
|
||||
```sh
|
||||
brew tap PX4/px4
|
||||
brew install px4-sim
|
||||
```
|
||||
|
||||
1. Install Homebrew by following these [installation instructions](https://brew.sh).
|
||||
:::info
|
||||
Gazebo requires **XQuartz** for display on macOS.
|
||||
If you don't already have it installed:
|
||||
|
||||
2. Run these commands in your shell to install the common tools:
|
||||
|
||||
```sh
|
||||
brew tap PX4/px4
|
||||
brew install px4-dev
|
||||
```
|
||||
|
||||
3. Install the required Python packages:
|
||||
|
||||
```sh
|
||||
# install required packages using pip3
|
||||
python3 -m pip install --user pyserial empty toml numpy pandas jinja2 pyyaml pyros-genmsg packaging kconfiglib future jsonschema
|
||||
# if this fails with a permissions error, your Python install is in a system path - use this command instead:
|
||||
sudo -H python3 -m pip install --user pyserial empty toml numpy pandas jinja2 pyyaml pyros-genmsg packaging kconfiglib future jsonschema
|
||||
```
|
||||
|
||||
## Gazebo Classic Simulation
|
||||
|
||||
To setup the environment for [Gazebo Classic](../sim_gazebo_classic/index.md) simulation:
|
||||
|
||||
1. Run the following commands in your shell:
|
||||
|
||||
```sh
|
||||
brew unlink tbb
|
||||
sed -i.bak '/disable! date:/s/^/ /; /disable! date:/s/./#/3' $(brew --prefix)/Library/Taps/homebrew/homebrew-core/Formula/tbb@2020.rb
|
||||
brew install tbb@2020
|
||||
brew link tbb@2020
|
||||
```
|
||||
|
||||
::: info
|
||||
September 2021: The commands above are a workaround to this bug: [PX4-Autopilot#17644](https://github.com/PX4/PX4-Autopilot/issues/17644).
|
||||
They can be removed once it is fixed (along with this note).
|
||||
```sh
|
||||
brew install --cask xquartz
|
||||
```
|
||||
|
||||
You may need to log out and back in after installing XQuartz.
|
||||
:::
|
||||
|
||||
2. To install SITL simulation with Gazebo Classic:
|
||||
### Verify Installation
|
||||
|
||||
```sh
|
||||
brew install --cask temurin
|
||||
brew install --cask xquartz
|
||||
brew install px4-sim-gazebo
|
||||
```
|
||||
After installation, verify the key tools are available:
|
||||
|
||||
3. Run the macOS setup script: `PX4-Autopilot/Tools/setup/macos.sh`
|
||||
The easiest way to do this is to clone the PX4 source, and then run the script from the directory, as shown:
|
||||
```sh
|
||||
# NuttX cross-compiler (from arm-gcc-bin@13)
|
||||
arm-none-eabi-gcc --version
|
||||
|
||||
```sh
|
||||
git clone https://github.com/PX4/PX4-Autopilot.git --recursive
|
||||
cd PX4-Autopilot/Tools/setup
|
||||
sh macos.sh
|
||||
```
|
||||
# Build tools
|
||||
cmake --version
|
||||
ninja --version
|
||||
|
||||
# Gazebo (if --sim-tools was used)
|
||||
gz sim --versions
|
||||
```
|
||||
|
||||
Quick smoke test — build and run a simulation target:
|
||||
|
||||
```sh
|
||||
make px4_sitl gz_x500
|
||||
```
|
||||
|
||||
If everything is set up correctly, this will build PX4 SITL and launch a Gazebo simulation with the x500 quadcopter.
|
||||
|
||||
## 다음 단계
|
||||
|
||||
@@ -120,7 +126,7 @@ To setup the environment for [Gazebo Classic](../sim_gazebo_classic/index.md) si
|
||||
|
||||
- Install the [QGroundControl Daily Build](../dev_setup/qgc_daily_build.md)
|
||||
|
||||
:::tip
|
||||
::: tip
|
||||
The _daily build_ includes development tools that are hidden in release builds.
|
||||
또한, 릴리스 빌드에서 아직 지원되지 않는 새로운 PX4 기능에 대한 액세스를 제공할 수도 있습니다.
|
||||
|
||||
|
||||
@@ -29,14 +29,14 @@ There is also an incomplete section for VirtualBox at the end (we'd welcome expa
|
||||
|
||||
VMWare performance is acceptable for basic usage (building Firmware) but not for running ROS or Gazebo Classic.
|
||||
|
||||
1. Download [VMWare Player Freeware](https://www.vmware.com/products/workstation-player/workstation-player-evaluation.html)
|
||||
1. Download [VMWare Workstation Pro](https://www.vmware.com/products/desktop-hypervisor/workstation-and-fusion) (the free player has been discontinued)
|
||||
|
||||
2. 윈도우 시스템에 설치합니다.
|
||||
|
||||
3. Download the desired version of [Ubuntu Desktop ISO Image](https://ubuntu.com/download/desktop).
|
||||
(see [Linux Instructions Page](../dev_setup/dev_env_linux.md) for recommended Ubuntu version).
|
||||
|
||||
4. Open _VMWare Player_.
|
||||
4. Open _Workstation Pro_.
|
||||
|
||||
5. Enable 3D acceleration in the VM's settings: **VM > Settings > Hardware > Display > Accelerate 3D graphics**
|
||||
|
||||
|
||||
@@ -8,7 +8,7 @@ Qt Creator has been replaced by [VSCode](../dev_setup/vscode.md) as the official
|
||||
See [Toolchain Installation](../dev_setup/dev_env.md) for information about the environments and tools supported by the core development team.
|
||||
:::
|
||||
|
||||
[Qt Creator](https://www.qt.io/download-open-source) is a popular cross-platform open-source IDE that can be used to compile and debug PX4.
|
||||
[Qt Creator](https://www.qt.io/development/download-open-source) is a popular cross-platform open-source IDE that can be used to compile and debug PX4.
|
||||
|
||||
## Qt Creator 기능
|
||||
|
||||
|
||||
@@ -28,7 +28,7 @@ Order this module from:
|
||||
- Pixhawk Standard SPI Connector
|
||||
- 7 Pin JST GH
|
||||
- PWM Connector
|
||||
- 10 Pin JST JST
|
||||
- 10 Pin JST
|
||||
- 8 PWM Outputs
|
||||
- Matches Pixhawk 4 PWM Connector Pinout
|
||||
- Pixhawk Standard Debug Connector
|
||||
@@ -77,7 +77,7 @@ DroneCAN configuration in PX4 is explained in more detail in [DroneCAN > Enablin
|
||||
|
||||
You will need to enable the subscriber appropriate for each of the sensors that are connected to the ARK CANnode.
|
||||
|
||||
This is done using the the parameters named like `UAVCAN_SUB_*` in the parameter reference (such as [UAVCAN_SUB_ASPD](../advanced_config/parameter_reference.md#UAVCAN_SUB_ASPD), [UAVCAN_SUB_BARO](../advanced_config/parameter_reference.md#UAVCAN_SUB_BARO) etc.).
|
||||
This is done using the parameters named like `UAVCAN_SUB_*` in the parameter reference (such as [UAVCAN_SUB_ASPD](../advanced_config/parameter_reference.md#UAVCAN_SUB_ASPD), [UAVCAN_SUB_BARO](../advanced_config/parameter_reference.md#UAVCAN_SUB_BARO) etc.).
|
||||
|
||||
## Ark CANNode Configuration
|
||||
|
||||
|
||||
@@ -103,7 +103,7 @@ You need to set necessary [DroneCAN](index.md) parameters and define offsets if
|
||||
|
||||
### Parameter references
|
||||
|
||||
This GPS is using ARK's private driver, the prameters below only exist on the firmware we ship the GPS with. You can set these params either in QGC or using the DroneCAN GUI Tool.
|
||||
This GPS is using ARK's private driver, the parameters below only exist on the firmware we ship the GPS with. You can set these params either in QGC or using the DroneCAN GUI Tool.
|
||||
|
||||
#### SEP_OFFS_YAW (float)
|
||||
|
||||
|
||||
@@ -86,7 +86,7 @@ DroneCAN configuration in PX4 is explained in more detail in [DroneCAN > Enablin
|
||||
|
||||
### Sensor Position Configuration
|
||||
|
||||
- For the the single Rover the module should be mounted with the included mast.
|
||||
- For the single Rover the module should be mounted with the included mast.
|
||||
- For the Dual ZED-F9P setup (moving baseline), the DroneCAN modules should be placed at least 30cm apart on the airframe and elevated on a mast also.
|
||||
See the following [mast](https://holybro.com/products/30-antenna-mount?_pos=20&_sid=67b49d76b&_ss=r).
|
||||
- F9P module arrow(s) should be pointing forward with respect to the autopilot orientation.
|
||||
|
||||
@@ -158,7 +158,7 @@ DroneCAN peripherals connected to PX4 can also be [configured using parameters v
|
||||
By convention, parameters named with the prefix [CANNODE\_](../advanced_config/parameter_reference.md#CANNODE_BITRATE) have prefined meaning, and may be documented in the parameter reference.
|
||||
`CANNODE_` parameters prefixed with `CANNODE_PUB_` and `CANNODE_SUB_` enable the peripheral to publish or subscribe the associated DroneCAN message.
|
||||
These allow DroneCAN peripherals to be configured to only subscribe and publish messages that they actually need (in the same way that PX4 uses the corresponding `UAVCAN_PUB_`/`UAVCAN_SUB_` parameters).
|
||||
Note that a peripheral might might not use `CANNODE_` parameters, in which case it may have to publish/subscribe to particular messages whether or not they are needed.
|
||||
Note that a peripheral might not use `CANNODE_` parameters, in which case it may have to publish/subscribe to particular messages whether or not they are needed.
|
||||
|
||||
The following sections provide additional detail on the PX4 and DroneCAN peripheral parameters used to enable particular features.
|
||||
|
||||
@@ -287,6 +287,14 @@ PX4 DroneCAN parameters:
|
||||
Select the specific CAN interface(s) used for ESC data output using the [UAVCAN_ESC_IFACE](../advanced_config/parameter_reference.md#UAVCAN_ESC_IFACE) parameter (all that all interfaces are selected by default).
|
||||
Note that DroneCAN ESCs should be on their own dedicated CAN interface(s) because ESC messages can saturate the bus and starve other nodes of bandwidth.
|
||||
|
||||
### Lights
|
||||
|
||||
PX4 can control external LEDs on a connected DroneCAN peripheral using the standard DroneCAN [LightsCommand](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#lightscommand) message.
|
||||
Up to 2 lights acan be controlled.
|
||||
Each light can independently show [system status colours](../getting_started/led_meanings.md#ui-led), a fixed colour (commonly used for indicating aircraft orientation), or switch between both depending on arm state.
|
||||
|
||||
See [DroneCAN Lights](lights.md) for full configuration details.
|
||||
|
||||
## QGC CANNODE Parameter Configuration
|
||||
|
||||
QGroundControl can inspect and modify parameters belonging to CAN devices attached to the flight controller, provided the device are connected to the flight controller before QGC is started.
|
||||
|
||||
@@ -0,0 +1,61 @@
|
||||
# DroneCAN Lights
|
||||
|
||||
PX4 can control external LEDs on a connected DroneCAN peripheral using the standard DroneCAN [LightsCommand](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#lightscommand) message.
|
||||
|
||||
Up to 2 lights are supported.
|
||||
These can show [system status colours](../getting_started/led_meanings.md#ui-led), a fixed colour (used for indicating aircraft orientation), or switch between both depending on arm state.
|
||||
|
||||
## 지원되는 RTK 장치
|
||||
|
||||
Any DroneCAN peripheral implementing the standard `LightsCommand` message type should work.
|
||||
|
||||
The following have been tested:
|
||||
|
||||
- **Vertiq ESC LED add-ons**: Each ESC exposes two light IDs — one RGB (for status) and one white.
|
||||
The `light_id` for each is calculated as `esc_index × 3 + BASE_ID`, where `BASE_ID` is 1 for RGB and 2 for white.
|
||||
See [Vertiq](../peripherals/vertiq.md) for other ESC setup details.
|
||||
|
||||
## PX4 설정
|
||||
|
||||
1. Set up DroneCAN as described in [DroneCAN](index.md) (`UAVCAN_ENABLE` ≥ 2).
|
||||
2. Set [UAVCAN_LGT_NUM](../advanced_config/parameter_reference.md#UAVCAN_LGT_NUM) to the number of lights (1 or 2).
|
||||
Then reboot and reopen the ground station so that parameters for the new instances become visible.
|
||||
3. Set the `light_id` and [light functions](#light_functions) of each light:
|
||||
- [UAVCAN_LGT_ID0](../advanced_config/parameter_reference.md#UAVCAN_LGT_ID0) / [UAVCAN_LGT_ID1](../advanced_config/parameter_reference.md#UAVCAN_LGT_ID1): Set to a `light_id` value (as defined by the specific product).
|
||||
- [UAVCAN_LGT_FN0](../advanced_config/parameter_reference.md#UAVCAN_LGT_FN0) / [UAVCAN_LGT_FN1](../advanced_config/parameter_reference.md#UAVCAN_LGT_FN1): Choose the desired [light function](#light_functions).
|
||||
4. Set [UAVCAN_LGT_MODE](#UAVCAN_LGT_MODE) to control when fixed "orientation" colours activate.
|
||||
5. Reboot for changes to take effect.
|
||||
|
||||
### Light Functions {#light_functions}
|
||||
|
||||
The functions of enabled lights are configured using [UAVCAN_LGT_FN0](../advanced_config/parameter_reference.md#UAVCAN_LGT_FN0) and [UAVCAN_LGT_FN1](../advanced_config/parameter_reference.md#UAVCAN_LGT_FN1), respectively.
|
||||
Each function is represented by a value that defines two behaviours: one when the activation mode is **inactive** and one when it is **active**.
|
||||
|
||||
| Value | 명칭 | When mode inactive | When mode active |
|
||||
| ----- | ------------- | -------------------- | -------------------- |
|
||||
| 0 | Status/Status | System status colour | System status colour |
|
||||
| 1 | Off/White | Off | 흰색 |
|
||||
| 2 | Off/Red | Off | 빨강 |
|
||||
| 3 | Off/Green | Off | 녹색 |
|
||||
| 4 | Status/White | System status colour | 흰색 |
|
||||
| 5 | Status/Red | System status colour | 빨강 |
|
||||
| 6 | Status/Green | System status colour | 녹색 |
|
||||
| 7 | Status/Off | System status colour | Off |
|
||||
|
||||
참고:
|
||||
|
||||
- The [system status colours](../getting_started/led_meanings.md#ui-led) is the same LED pattern used by the flight controller's onboard status LED (e.g. red when disarmed, green when armed and ready).
|
||||
- A fixed colour, commonly used to indicate aircraft orientation. For example it is a common convention to have a red light on the port side, green on starboard, or white to the rear.
|
||||
These colours do not change with flight controller state.
|
||||
- For _hybrid_ functions, such as `Status/Red`, the light shows the Status colour while the activation mode is inactive, then switches to the "fixed" light colour once the mode becomes active.
|
||||
|
||||
### Activation Mode (`UAVCAN_LGT_MODE`) {#UAVCAN_LGT_MODE}
|
||||
|
||||
The activation mode parameter ([UAVCAN_LGT_MODE](#UAVCAN_LGT_MODE)) controls when each light switches from its _inactive_ to its _active_ behaviour (configured with the [Light function](#light_functions)):
|
||||
|
||||
| Value | 설명 |
|
||||
| ----- | --------------------------------------------------------------------------- |
|
||||
| 0 | Always inactive (lights always show the inactive column) |
|
||||
| 1 | Active when armed (default) |
|
||||
| 2 | Active when prearmed or armed |
|
||||
| 3 | Always active (lights always show the active column) |
|
||||
@@ -5,7 +5,7 @@ PX4 does not manufacture this (or any) autopilot.
|
||||
Contact the [manufacturer](https://cubepilot.org/#/home) for hardware support or compliance issues.
|
||||
:::
|
||||
|
||||
The G-A1 is a state-of-the-art flight controller developed derived from the [Pixhawk Autopilot v6X Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-012%20Pixhawk%20Autopilot%20v6X%20Standard.pdf).
|
||||
The G-A1 is a state-of-the-art flight controller derived from the [Pixhawk Autopilot v6X Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-012%20Pixhawk%20Autopilot%20v6X%20Standard.pdf).
|
||||
|
||||
It includes an STM32H753 double-precision floating-point FMU processor and an STM32F103 IO coprocessor, multiple IMUs with 6-axis inertial sensors, two pressure/temperature sensors, and a geomagnetic sensor.
|
||||
It also has independent buses and power supplies, and is designed for safety and rich expansion capabilities.
|
||||
@@ -65,7 +65,7 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo
|
||||
- 92.2 (L) x 51.2 (W) x 28.3 (H) mm
|
||||
- 77.6g (carrier board with IMU)
|
||||
|
||||
## 구매처
|
||||
## Where to Buy {#store}
|
||||
|
||||
- [Accton-IoT Godwit](https://www.accton-iot.com/godwit/)
|
||||
- [sales@accton-iot.com](sales@accton-iot.com)
|
||||
@@ -115,7 +115,7 @@ PPM receivers should be connected to the PPM interface. And other RC systems can
|
||||
|
||||
## GPS/나침반
|
||||
|
||||
The Godwit G-A1 has a built-in compass
|
||||
The Godwit G-A1 has a built-in compass.
|
||||
Due to potential interference, the autopilot is usually used with an external I2C compass as part of a GPS/Compass combination.
|
||||
|
||||
|
||||
|
||||
@@ -26,7 +26,7 @@ AIRLink has two computers and integrated LTE Module:
|
||||
## 사양
|
||||
|
||||
- **Sensors**
|
||||
- 3x Accelerometers, 3x Gyroscopes, 3x Magnetometers, 3x Pressure sensorss
|
||||
- 3x Accelerometers, 3x Gyroscopes, 3x Magnetometers, 3x Pressure sensors
|
||||
- GNSS, Rangefinders, Lidars, Optical Flow, Cameras
|
||||
- 3x-redundant IMU
|
||||
- Vibration dampening
|
||||
@@ -59,7 +59,7 @@ AIRLink has two computers and integrated LTE Module:
|
||||
- Ethernet 10/100/1000 Native Gigabit
|
||||
- WiFi 802.11a/b/g/n/ac, Bluetooth
|
||||
- USB 3.0 Type C
|
||||
- 2x Video: 4-Lane MIPI CSI (FPV Camera) and 4-Lane MIPI CSI with HMDI Input (Payload Camera)
|
||||
- 2x Video: 4-Lane MIPI CSI (FPV Camera) and 4-Lane MIPI CSI with HDMI Input (Payload Camera)
|
||||
|
||||
- **LTE/5G Connectivity Module**
|
||||
- Up to 600 Mbps bandwidth
|
||||
@@ -71,7 +71,7 @@ AIRLink has two computers and integrated LTE Module:
|
||||
- Antenna, 4x4 MIMO
|
||||
- Bands: Worldwide
|
||||
|
||||
## 구매처
|
||||
## Where to Buy {#store}
|
||||
|
||||
Purchase from the original Sky-Drones Store (worldwide shipping with 1-2 days order processing time):
|
||||
|
||||
@@ -92,7 +92,7 @@ The standard set contains:
|
||||
- 1x FPV camera with CSI cable
|
||||
- 1x WiFi antenna with MMCX connector
|
||||
- 2x/4x LTE/5G antenna with MMCX connector
|
||||
- 1x HDMI to mini HDMI cable1x set of cables (7 cables for all connectors)
|
||||
- 1x HDMI to mini HDMI cable, 1x set of cables (7 cables for all connectors)
|
||||
|
||||
[AIRLink Telemetry](https://sky-drones.com/sets/airlink-telemetry-set.html) based on the Microhard LAN/IP-based RF micromodule is available as an add-on and is fully compatible with AIRLink.
|
||||
|
||||
@@ -331,7 +331,7 @@ For PPM receivers please use RC Connector PPM pin located on the left side of th
|
||||
|
||||
## 출력
|
||||
|
||||
AIRLink has 16 PWM ouputs. Main outputs 1-8 and connected to IO MCU. AUX outputs 1-8 are connected to FMU.
|
||||
AIRLink has 16 PWM outputs. Main outputs 1-8 and connected to IO MCU. AUX outputs 1-8 are connected to FMU.
|
||||
|
||||
| 출력 | Timer | Channel |
|
||||
| ----- | -------- | --------- |
|
||||
@@ -355,7 +355,7 @@ It is pre-built and automatically installed by _QGroundControl_ when appropriate
|
||||
|
||||
To [build PX4](../dev_setup/building_px4.md) for this target:
|
||||
|
||||
```
|
||||
```sh
|
||||
make sky-drones_smartap-airlink
|
||||
```
|
||||
|
||||
|
||||
@@ -13,7 +13,7 @@ The USA-built ARK FPV flight controller is based on the [ARKV6X](https://arkelec
|
||||
This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
|
||||
:::
|
||||
|
||||
## Where To Buy
|
||||
## Where To Buy {#store}
|
||||
|
||||
Order from [Ark Electronics](https://arkelectron.com/product/arkv6x/) (US)
|
||||
|
||||
@@ -76,7 +76,7 @@ See the documentation [Ark Electronics GitBook](https://arkelectron.gitbook.io/a
|
||||
|
||||
## 추가 정보
|
||||
|
||||
- Weight: 7.5 g g with MicroSD card
|
||||
- Weight: 7.5 g with MicroSD card
|
||||
- Dimensions: 3.6 x 3.6 x 0.8 cm
|
||||
- USA Built - NDAA compliant
|
||||
- Heater: 1W for warming sensors in extreme cold
|
||||
|
||||
@@ -11,7 +11,7 @@ The PAB form factor enables the ARK PAB Carrier to be used with any [PAB-compati
|
||||
|
||||
|
||||
|
||||
### Where To Buy
|
||||
### Where To Buy {#store}
|
||||
|
||||
Order From [Ark Electronics](https://arkelectron.com/product/ark-pixhawk-autopilot-bus-carrier/) (US)
|
||||
|
||||
@@ -39,7 +39,7 @@ Order From [Ark Electronics](https://arkelectron.com/product/ark-pixhawk-autopil
|
||||
- 6 Pin JST-GH
|
||||
- Dual CAN Ports
|
||||
- 4 Pin JST-GH
|
||||
- Triple Telemetry Ports with Flow - Control
|
||||
- Triple Telemetry Ports with Flow Control
|
||||
- 6 Pin JST-GH
|
||||
- Eight PWM Outputs
|
||||
- 10 Pin JST-GH
|
||||
|
||||
@@ -1,10 +1,19 @@
|
||||
# ARK Pi6X Flow
|
||||
|
||||
:::warning
|
||||
PX4 does not manufacture this (or any) autopilot.
|
||||
Contact the [manufacturer](https://arkelectron.com/contact-us/) for hardware support or compliance issues.
|
||||
:::
|
||||
|
||||
The [ARK Pi6X Flow](https://arkelectron.gitbook.io/ark-documentation/flight-controllers/ark-pi6x-flow) integrates a Raspberry Pi Compute Module 4 (CM4) Carrier, [ARKV6X Flight Controller](../flight_controller/ark_v6x.md), [ARK Flow sensors](../dronecan/ark_flow.md) , [ARK PAB Power Module](../power_module/ark_pab_power_module.md), and a 4-in-1 ESC, all mounted onto one compact board.
|
||||
|
||||
|
||||
|
||||
## 구매처
|
||||
:::info
|
||||
This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
|
||||
:::
|
||||
|
||||
## Where to Buy {#store}
|
||||
|
||||
Order this module from:
|
||||
|
||||
|
||||
@@ -16,7 +16,7 @@ The Pixhawk Autopilot Bus (PAB) form factor enables the ARKV6X to be used on any
|
||||
This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
|
||||
:::
|
||||
|
||||
## Where To Buy
|
||||
## Where To Buy {#store}
|
||||
|
||||
Order From [Ark Electronics](https://arkelectron.com/product/arkv6x/) (US)
|
||||
|
||||
|
||||
@@ -1 +1,2 @@
|
||||
<Redirect to="../flight_controller/ark_pab" />
|
||||
<!-- 2025 -->
|
||||
|
||||
@@ -1 +1,2 @@
|
||||
<Redirect to="../flight_controller/ark_v6x" />
|
||||
<!-- 2025 -->
|
||||
|
||||
@@ -1,92 +1,8 @@
|
||||
# AUAV-X2 자동조종장치 (단종됨)
|
||||
<Redirect to="../flight_controller/autopilot_discontinued" />
|
||||
|
||||
<Badge type="info" text="Discontinued" />
|
||||
<!--
|
||||
# AUAV-X2 Autopilot (Discontinued)
|
||||
|
||||
:::warning
|
||||
This flight controller has been [discontinued](../flight_controller/autopilot_experimental.md) and is no longer commercially available.
|
||||
:::
|
||||
Doc removed 202603
|
||||
|
||||
:::warning
|
||||
PX4 does not manufacture this (or any) autopilot.
|
||||
Contact the [manufacturer](https://store.mrobotics.io/) for hardware support or compliance issues.
|
||||
:::
|
||||
|
||||
The AUAV-X2 autopilot is based on the [Pixhawk<sup>®</sup>-project](https://pixhawk.org/) **FMUv2** open hardware design. It runs PX4 on the [NuttX](https://nuttx.apache.org/) OS.
|
||||
|
||||
|
||||
|
||||
## 요약
|
||||
|
||||
- Main System-on-Chip: [STM32F427](https://www.st.com/en/microcontrollers-microprocessors/stm32f427-437.html)
|
||||
- CPU : STM32F427VIT6 ARM 마이크로 컨트롤러 - 개정판 3
|
||||
- IO: STM32F100C8T6 ARM 마이크로 컨트롤러
|
||||
- 센서:
|
||||
- 인벤센스 MPU9250 9DOF
|
||||
- 인벤센스 ICM-20608 6DOF
|
||||
- MEAS MS5611 기압계
|
||||
- 크기/중량
|
||||
- 크기: 36mm x 50mm
|
||||
- 장착 위치: 직경 30.5mm x 30.5mm 3.2mm
|
||||
- 중량: 10.9g
|
||||
- 역전압 보호 기능의 전원 OR-ing 회로도. 5V 전원 모듈이 필요합니다.
|
||||
|
||||
## 연결성
|
||||
|
||||
- 2.54mm 헤더 :
|
||||
- GPS (USART4)
|
||||
- i2c
|
||||
- RC 입력
|
||||
- PPM 입력
|
||||
- Spektrum 입력
|
||||
- RSSI 입력
|
||||
- sBus 입력
|
||||
- sBus 출력
|
||||
- 전원 입력
|
||||
- 부저 출력
|
||||
- LED 출력
|
||||
- Servo 출력 8개
|
||||
- Aux 출력 6개
|
||||
- USART7 (콘솔)
|
||||
- USART8 (OSD)
|
||||
|
||||
## 구매처
|
||||
|
||||
No longer in production.
|
||||
This has been superseded by the [mRo X2.1](mro_x2.1.md).
|
||||
mRobotics is the distributor for the AUAV Products from August 2017.
|
||||
|
||||
## 주요 링크
|
||||
|
||||
- [User Manual](http://arsovtech.com/wp-content/uploads/2015/08/AUAV-X2-user-manual-EN.pdf)
|
||||
- [DIY Drones Post](https://diydrones.com/profiles/blogs/introducing-the-auav-x2-1-flight-controller)
|
||||
|
||||
## 배선 가이드
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
## 회로도
|
||||
|
||||
The board is based on the [Pixhawk project](https://pixhawk.org/) **FMUv2** open hardware design.
|
||||
|
||||
- [FMUv2 + IOv2 schematic](https://raw.githubusercontent.com/PX4/Hardware/master/FMUv2/PX4FMUv2.4.5.pdf) -- Schematic and layout
|
||||
|
||||
:::info
|
||||
As a CC-BY-SA 3.0 licensed Open Hardware design, all schematics and design files are [available](https://github.com/pixhawk/Hardware).
|
||||
:::
|
||||
|
||||
## 시리얼 포트 매핑
|
||||
|
||||
| UART | 장치 | 포트 |
|
||||
| ------ | ---------- | --------------------------------- |
|
||||
| UART1 | /dev/ttyS0 | IO 디버그 |
|
||||
| USART2 | /dev/ttyS1 | TELEM1 (흐름 제어) |
|
||||
| USART3 | /dev/ttyS2 | TELEM2 (흐름 제어) |
|
||||
| UART4 | | |
|
||||
| UART7 | 콘솔 | |
|
||||
| UART8 | SERIAL4 | |
|
||||
-->
|
||||
|
||||
@@ -6,26 +6,28 @@ They are listed because you may be using them in an existing drone, and because
|
||||
|
||||
## 자동조종장치
|
||||
|
||||
- [Drotek DroPix](../flight_controller/dropix.md) (FMUv2)
|
||||
- [Omnibus F4 SD](../flight_controller/omnibus_f4_sd.md)
|
||||
- [CUAV X7](../flight_controller/cuav_x7.md)
|
||||
- [CUAV v5](../flight_controller/cuav_v5.md) (Pixhawk FMUv5)
|
||||
- [CUAV Pixhack v3](../flight_controller/pixhack_v3.md) (FMUv3)
|
||||
- [Aerotenna OcPoC-Zynq Mini](../flight_controller/ocpoc_zynq.md)
|
||||
- [Holybro Pixhawk 4 Mini](../flight_controller/pixhawk4_mini.md) (FMUv5)
|
||||
- [Holybro Kakute F7](../flight_controller/kakutef7.md)
|
||||
- [Holybro Pixhawk Mini](../flight_controller/pixhawk_mini.md) (FMUv3)
|
||||
- [Holybro Pixfalcon](../flight_controller/pixfalcon.md) (Pixhawk FMUv2)
|
||||
- [Holybro Pix32](../flight_controller/holybro_pix32.md) (FMUv2)
|
||||
- [ModalAI VOXL Flight](../flight_controller/modalai_voxl_flight.md)
|
||||
- [ModalAI Flight Core v1](../flight_controller/modalai_fc_v1.md)
|
||||
- [mRobotics-X2.1](../flight_controller/mro_x2.1.md) (FMUv2)
|
||||
- [mRo AUAV-X2](../flight_controller/auav_x2.md) (Pixhawk FMUv2)
|
||||
- [NXP FMUK66](../flight_controller/nxp_rddrone_fmuk66.md) (Discontinued)
|
||||
- [3DR Pixhawk 1](../flight_controller/pixhawk.md) (Pixhawk FMUv2)
|
||||
- _Drotek DroPix_ (FMUv2) — last published in [PX4 v1.13](https://docs.px4.io/v1.13/en/flight_controller/dropix) <!-- 202603 removed doc -->
|
||||
- _Drotek Pixhawk 3 Pro_ (FMUv4pro) — last published in [PX4 v1.15](https://docs.px4.io/v1.15/en/flight_controller/pixhawk3_pro) <!-- 202603 removed doc -->
|
||||
- _Omnibus F4 SD_ — last published in [PX4 v1.15](https://docs.px4.io/v1.15/en/flight_controller/omnibus_f4_sd) <!-- 202603 removed doc -->
|
||||
- _CUAV X7_ — last published in [PX4 v1.16](https://docs.px4.io/v1.16/en/flight_controller/cuav_x7) <!-- 202507 removed doc -->
|
||||
- _CUAV v5_ (Pixhawk FMUv5) — last published in [PX4 v1.16](https://docs.px4.io/v1.16/en/flight_controller/cuav_v5) <!-- 202507 removed doc -->
|
||||
- _CUAV Pixhack v3_ (FMUv3) — last published in [PX4 v1.15](https://docs.px4.io/v1.15/en/flight_controller/pixhack_v3) <!-- 202603 removed doc -->
|
||||
- _Aerotenna OcPoC-Zynq Mini_ — last published in [PX4v1.11](https://docs.px4.io/v1.11/en/flight_controller/ocpoc_zynq#aerotenna-ocpoc-zynq-mini-flight-controller) <!-- 202603 removed doc -->
|
||||
- _Holybro Pixhawk 4 Mini_ (FMUv5) -— last published in [PX4 v1.16](https://docs.px4.io/v1.16/en/flight_controller/pixhawk4_mini) <!-- 202603 removed doc -->
|
||||
- _Holybro Kakute F7_ — last published in [PX4 v1.15](https://docs.px4.io/v1.15/en/flight_controller/kakutef7) <!-- 202603 removed doc -->
|
||||
- _Holybro Pixhawk Mini_ (FMUv3) — last published in [PX4 v1.15](https://docs.px4.io/v1.15/en/flight_controller/pixhawk_mini) <!-- 202603 removed doc -->
|
||||
- _Holybro Pixfalcon_ (Pixhawk FMUv2) — last published in [PX4 v1.16](https://docs.px4.io/v1.16/en/flight_controller/pixfalcon) <!-- Discontinued around v1.15/2024. -->
|
||||
- _Holybro Pix32_ (FMUv2) — last published in [PX4 v1.15](https://docs.px4.io/v1.15/en/flight_controller/holybro_pix32) <!-- 202603 removed doc -->
|
||||
- _ModalAI VOXL Flight_ — last published in [PX4 v1.16](https://docs.px4.io/v1.16/en/flight_controller/modalai_voxl_flight) <!-- 202603 removed doc -->
|
||||
- _ModalAI Flight Core v1_ — last published in [PX4 v1.11](https://docs.px4.io/v1.11/en/flight_controller/modalai_fc_v1) <!-- 202603 removed doc -->
|
||||
- _mRobotics-X2.1_ (FMUv2) — last published in [PX4 v1.16](https://docs.px4.io/v1.16/en/flight_controller/mro_x2.1) <!-- 202507 removed doc -->
|
||||
- _mRo AUAV-X2_ (Pixhawk FMUv2) — last published in [PX4 v1.15](https://docs.px4.io/v1.15/en/flight_controller/auav_x2) <!-- 202603 removed doc -->
|
||||
- _NXP RDDRONE-FMUK66 FMU_ — last published in [PX4 v1.15 docs](https://docs.px4.io/v1.15/en/flight_controller/nxp_rddrone_fmuk66) <!-- 202603 removed doc -->
|
||||
- _3DR Pixhawk 1_ (Pixhawk FMUv2) — last published in [PX4 v1.15](https://docs.px4.io/v1.15/en/flight_controller/pixhawk) <!-- 202603 removed doc -->
|
||||
|
||||
## 완성 기체
|
||||
|
||||
- [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)
|
||||
- _Bitcraze Crazyflie 2.0_ — last published in [PX4 v1.15](https://docs.px4.io/v1.15/en/complete_vehicles_mc/crazyflie2) <!-- 202603 removed doc -->
|
||||
- _BetaFPV Beta75X 2S Brushless Whoop_ — last published in [PX4 v1.14](https://docs.px4.io/v1.14/en/complete_vehicles/betafpv_beta75x#betafpv-beta75x-2s-brushless-whoop) <!-- 202603 removed before -->
|
||||
- _Intel® Aero RTF Drone_ — last published in [PX4 v1.12](https://docs.px4.io/v1.12/en/complete_vehicles/intel_aero)
|
||||
- _Qualcomm Snapdragon Flight_ — last published in [PX4 v1.11](https://docs.px4.io/v1.11/en/flight_controller/snapdragon_flight)
|
||||
|
||||
@@ -18,10 +18,11 @@ This category includes boards that are not fully compliant with the pixhawk stan
|
||||
- [ARK Electronics ARKV6X](../flight_controller/ark_v6x.md) (and [ARK Electronics Pixhawk Autopilot Bus Carrier](../flight_controller/ark_pab.md))
|
||||
- [ARK FPV Flight Controller](../flight_controller/ark_fpv.md)
|
||||
- [ARK Pi6X Flow Flight Controller](../flight_controller/ark_pi6x.md)
|
||||
- [CUAV Nora](../flight_controller/cuav_nora.md)（CUAV X7 variant)
|
||||
- [CUAV Nora](../flight_controller/cuav_nora.md) (CUAV X7 variant)
|
||||
- [CUAV V5+](../flight_controller/cuav_v5_plus.md) (FMUv5)
|
||||
- [CUAV V5 nano](../flight_controller/cuav_v5_nano.md) (FMUv5)
|
||||
- [CUAV X25 EVO](../flight_controller/cuav_x25-evo.md)
|
||||
[CUAV X25 SUPER](../flight_controller/cuav_x25-super.md)
|
||||
- [CubePilot Cube Orange+](../flight_controller/cubepilot_cube_orangeplus.md)
|
||||
- [CubePilot Cube Orange](../flight_controller/cubepilot_cube_orange.md)
|
||||
- [CubePilot Cube Yellow](../flight_controller/cubepilot_cube_yellow.md)
|
||||
|
||||
@@ -4,10 +4,10 @@
|
||||
|
||||
:::warning
|
||||
PX4 does not manufacture this (or any) autopilot.
|
||||
Contact the [manufacturer](https://beagleboard.org/blue) for hardware support or compliance issues.
|
||||
Contact the [manufacturer](https://www.beagleboard.org/boards/beaglebone-blue) for hardware support or compliance issues.
|
||||
:::
|
||||
|
||||
[BeagleBone Blue](https://beagleboard.org/blue) is an all-in-one Linux-based computer.
|
||||
[BeagleBone Blue](https://www.beagleboard.org/boards/beaglebone-blue) is an all-in-one Linux-based computer.
|
||||
로봇 공학에 최적화되어 있지만, 이 작고 저렴한 보드에는 비행 콘트롤러에 필요한 모든 센서와 주변 장치가 있습니다.
|
||||
This topic shows how to set up the board to run PX4 with [librobotcontrol](https://github.com/beagleboard/librobotcontrol) robotics package.
|
||||
|
||||
@@ -17,7 +17,7 @@ This topic shows how to set up the board to run PX4 with [librobotcontrol](https
|
||||
|
||||
_BeagleBone Blue_ images can be found here:
|
||||
|
||||
- [Latest stable OS image](https://beagleboard.org/latest-images).
|
||||
- [Latest stable OS image](https://www.beagleboard.org/distros).
|
||||
- [Test OS images](https://rcn-ee.net/rootfs/bb.org/testing/) (updated frequently).
|
||||
|
||||
Information about flashing OS images can be found on [this page](https://github.com/beagleboard/beaglebone-blue/wiki/Flashing-firmware).
|
||||
@@ -79,7 +79,7 @@ echo "PermitRootLogin yes" >> /etc/ssh/sshd_config && systemctl restart sshd
|
||||
For _rsync_ over SSH with key authentication, follow the steps here (on the development machine):
|
||||
1. 이전에 생성하지 않은 경우 SSH 키를 생성합니다.
|
||||
|
||||
```
|
||||
```sh
|
||||
ssh-keygen -t rsa
|
||||
```
|
||||
|
||||
@@ -89,13 +89,13 @@ echo "PermitRootLogin yes" >> /etc/ssh/sshd_config && systemctl restart sshd
|
||||
|
||||
2. Define the BeagleBone Blue board as `beaglebone` in **/etc/hosts** and copy the public SSH key to the board for password-less SSH access:
|
||||
|
||||
```
|
||||
```sh
|
||||
ssh-copy-id debian@beaglebone
|
||||
```
|
||||
|
||||
3. 또는 beaglebone의 IP를 직접 사용할 수 있습니다.
|
||||
|
||||
```
|
||||
```sh
|
||||
ssh-copy-id debian@<IP>
|
||||
```
|
||||
|
||||
@@ -116,7 +116,7 @@ echo "PermitRootLogin yes" >> /etc/ssh/sshd_config && systemctl restart sshd
|
||||
|
||||
The ARM Cross Compiler for _BeagleBone Blue_ can be found at [Linaro Toolchain Binaries site](https://www.linaro.org/downloads/#gnu_and_llvm).
|
||||
|
||||
:::tip
|
||||
::: tip
|
||||
GCC in the toolchain should be compatible with kernel in _BeagleBone Blue_.
|
||||
General rule of thumb is to choose a toolchain where version of GCC is not higher than version of GCC which comes with the OS image on _BeagleBone Blue_.
|
||||
|
||||
@@ -131,7 +131,7 @@ echo "PermitRootLogin yes" >> /etc/ssh/sshd_config && systemctl restart sshd
|
||||
tar -xf gcc-linaro-13.0.0-2022.06-x86_64_arm-linux-gnueabihf.tar.xz
|
||||
```
|
||||
|
||||
:::tip
|
||||
::: tip
|
||||
The GCC version of the toolchain should be compatible with kernel in _BeagleBone Blue_.
|
||||
|
||||
:::
|
||||
@@ -151,7 +151,7 @@ echo "PermitRootLogin yes" >> /etc/ssh/sshd_config && systemctl restart sshd
|
||||
|
||||
3. Setup other dependencies by downloading the PX4 source code and then running the setup scripts:
|
||||
|
||||
````
|
||||
````sh
|
||||
git clone https://github.com/PX4/PX4-Autopilot.git --recursive
|
||||
ols
|
||||
```
|
||||
@@ -170,7 +170,7 @@ echo "PermitRootLogin yes" >> /etc/ssh/sshd_config && systemctl restart sshd
|
||||
|
||||
Compile and Upload
|
||||
|
||||
```
|
||||
```sh
|
||||
make beaglebone_blue_default upload
|
||||
```
|
||||
|
||||
@@ -189,9 +189,7 @@ sudo ./bin/px4 -s px4.config
|
||||
Currently _librobotcontrol_ requires root access.
|
||||
:::
|
||||
|
||||
<a id="native_builds"></a>
|
||||
|
||||
## 네이티브 빌드(선택 사항)
|
||||
## Native Builds (optional) {#native_builds}
|
||||
|
||||
You can also natively build PX4 builds directly on the BeagleBone Blue.
|
||||
|
||||
@@ -216,7 +214,7 @@ Run the following commands on the BeagleBone Blue (i.e. via SSH):
|
||||
|
||||
## Changes in config
|
||||
|
||||
All changes can be made in de px4.config file directly on beaglebone.
|
||||
All changes can be made in the px4.config file directly on beaglebone.
|
||||
For example, you can change the WIFI to wlan.
|
||||
|
||||
:::info
|
||||
@@ -295,8 +293,6 @@ For a quadcopter with GPS and an SBUS receiver, here are typical connections:
|
||||
|
||||
1. 비글본 블루에서 모터 1, 2, 3 및 4의 ESC를 서보 출력의 채널 1, 2, 3 및 4에 연결합니다.
|
||||
비글본 블루에서 ESC 커넥터에 전원 출력이 포함되어 있는 경우 핀, 제거 및 서보 채널의 전원 출력 핀에 연결하지 마십시오.
|
||||
|
||||
2. Connect the above mentioned converted SBUS signal to the dsm2 port if you have the matching connector for dsm2, otherwise connect it to any other available UART port and change the corresponding port in **/home/debian/px4/px4.config** accordingly.
|
||||
|
||||
3. GPS 모듈의 신호를 비글본 블루의 GPS 포트에 연결합니다
|
||||
BeagleBone Blue에있는 GPS 포트의 신호 핀은 3.3V만 허용하므로 이에 적합한 GPS 모듈을 선택하십시오.
|
||||
|
||||
@@ -5,7 +5,7 @@ PX4 does not manufacture this (or any) autopilot.
|
||||
Contact the [manufacturer](https://www.cuav.net) for hardware support or compliance issues.
|
||||
:::
|
||||
|
||||
The [Nora](https://doc.cuav.net/flight-controller/x7/en/nora.html)<sup>®</sup> flight controller is a high-performance autopilot.
|
||||
The [Nora](https://doc.cuav.net/controller/x7/en/nora-plus.html)<sup>®</sup> flight controller is a high-performance autopilot.
|
||||
산업용 드론과 대형 대형 드론에 적합합니다.
|
||||
주로 상용 제조업체에 공급됩니다.
|
||||
|
||||
@@ -31,7 +31,7 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo
|
||||
- 고성능 프로세서
|
||||
|
||||
:::tip
|
||||
The manufacturer [CUAV Docs](https://doc.cuav.net/flight-controller/x7/en/nora.html) are the canonical reference for Nora.
|
||||
The manufacturer [CUAV Docs](https://doc.cuav.net/controller/x7/en/nora-plus.html) are the canonical reference for Nora.
|
||||
가장 정확한 최신 정보를 포함하고 있습니다.
|
||||
:::
|
||||
|
||||
@@ -76,14 +76,14 @@ When it runs PX4 firmware, only 8 PWM outputs work.
|
||||
나머지 6 개의 PWM 포트는 여전히 조정중입니다(따라서 작성시 VOLT와 호환되지 않음).
|
||||
:::
|
||||
|
||||
## 구매처
|
||||
## Where to Buy {#store}
|
||||
|
||||
- [CUAV Store](https://store.cuav.net)<\br>
|
||||
- [CUAV Aliexpress](https://www.aliexpress.com/item/4001042501927.html?gps-id=8041884&scm=1007.14677.110221.0&scm_id=1007.14677.110221.0&scm-url=1007.14677.110221.0&pvid=3dc0a3ba-fa82-43d2-b0b3-6280e4329cef&spm=a2g0o.store_home.promoteRecommendProducts_7913969.58)
|
||||
|
||||
## 배선
|
||||
|
||||
[CUAV nora Wiring Quickstart](https://doc.cuav.net/flight-controller/x7/en/quick-start/quick-start-nora.html)
|
||||
[CUAV nora Wiring Quickstart](https://doc.cuav.net/controller/x7/en/quick-start/quick-start-nora.html)
|
||||
|
||||
## 크기와 핀배열
|
||||
|
||||
@@ -120,7 +120,7 @@ It is pre-built and automatically installed by _QGroundControl_ when appropriate
|
||||
|
||||
To [build PX4](../dev_setup/building_px4.md) for this target:
|
||||
|
||||
```
|
||||
```sh
|
||||
make cuav_nora_default
|
||||
```
|
||||
|
||||
@@ -171,6 +171,6 @@ The complete set of supported configurations can be seen in the [Airframes Refer
|
||||
|
||||
## 추가 정보
|
||||
|
||||
- [Quick start](https://doc.cuav.net/flight-controller/x7/en/quick-start/quick-start-nora.html)
|
||||
- [Quick start](https://doc.cuav.net/controller/x7/en/quick-start/quick-start-nora.html)
|
||||
- [CUAV docs](https://doc.cuav.net/)
|
||||
- [nora schematic](https://github.com/cuav/hardware/tree/master/X7_Autopilot)
|
||||
|
||||
@@ -61,7 +61,7 @@ The Pixhawk® V6X is ideal for corporate research labs, academic research and co
|
||||
- 16- PWM servo outputs
|
||||
- 1 Dedicated R/C input for Spektrum / DSM and S.Bus with analog / PWM RSSI input
|
||||
- 3 TELEM Ports（with full flow control）
|
||||
- 1 UART4(Seial and I2C)
|
||||
- 1 UART4(Serial and I2C)
|
||||
- 2 GPS ports
|
||||
- 1 full GPS plus Safety Switch Port(GPS1)
|
||||
- 1 basic GPS port(with I2C,GPS2)
|
||||
@@ -104,7 +104,7 @@ The Pixhawk® V6X is ideal for corporate research labs, academic research and co
|
||||
|
||||
|
||||
|
||||
## 구매처
|
||||
## Where to Buy {#store}
|
||||
|
||||
Order from [CUAV](https://store.cuav.net/).
|
||||
|
||||
@@ -173,13 +173,11 @@ It is pre-built and automatically installed by _QGroundControl_ when appropriate
|
||||
|
||||
To [build PX4](../dev_setup/building_px4.md) for this target:
|
||||
|
||||
```
|
||||
```sh
|
||||
make px4_fmu-v6x_default
|
||||
```
|
||||
|
||||
<a id="debug_port"></a>
|
||||
|
||||
## 디버그 포트
|
||||
## Debug Port {#debug_port}
|
||||
|
||||
The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debug/swd_debug.md) run on the **FMU Debug** port.
|
||||
|
||||
|
||||
@@ -1,149 +1,7 @@
|
||||
# CUAV v5 (단종)
|
||||
<Redirect to="../flight_controller/autopilot_discontinued" />
|
||||
|
||||
<Badge type="info" text="Discontinued" /> <!-- 202507 / PX4v1.16 -->
|
||||
<!--
|
||||
# CUAV v5 (Discontinued)
|
||||
|
||||
:::warning
|
||||
This flight controller has been [discontinued](../flight_controller/autopilot_experimental.md) and is no longer commercially available.
|
||||
:::
|
||||
|
||||
:::warning
|
||||
PX4 does not manufacture this (or any) autopilot.
|
||||
Contact the [manufacturer](https://store.cuav.net/) for hardware support or compliance issues.
|
||||
:::
|
||||
|
||||
_CUAV v5_<sup>®</sup> (previously "Pixhack v5") is an advanced autopilot designed and made by CUAV<sup>®</sup>.
|
||||
The board is based on the [Pixhawk-project](https://pixhawk.org/) **FMUv5** open hardware design.
|
||||
It runs PX4 on the [NuttX](https://nuttx.apache.org/) OS, and is fully compatible with PX4 firmware.
|
||||
It is intended primarily for academic and commercial developers.
|
||||
|
||||
|
||||
|
||||
## 요약
|
||||
|
||||
- 메인 FMU 프로세서: STM32F765
|
||||
- 32 비트 Arm® Cortex®-M7, 216MHz, 2MB 메모리, 512KB RAM
|
||||
|
||||
- IO 프로세서: STM32F100
|
||||
- 32 비트 Arm® Cortex®-M3, 24MHz, 8KB SRAM
|
||||
|
||||
- 내장 센서 :
|
||||
- 가속도계/자이로스코프 : ICM-20689
|
||||
- 가속도계/자이로스코프 : BMI055
|
||||
- 자력계 : IST8310
|
||||
- 기압계: MS5611
|
||||
|
||||
- 인터페이스:
|
||||
- PWM 출력 8-14개(IO 6개, FMU 8개)
|
||||
- FMU의 전용 PWM/캡처 입력 3 개
|
||||
- CPPM 전용 RC 입력
|
||||
- PPM 및 S.Bus 전용 RC 입력
|
||||
- 아날로그/PWM RSSI 입력
|
||||
- PWM Servo 출력
|
||||
- 범용 시리얼 포트 5개
|
||||
- I2C 포트 4개
|
||||
- SPI 버스 4개
|
||||
- 2 CANBuses with serial ESC
|
||||
- 배터리 2 개의 전압 및 전류에 대한 아날로그 입력
|
||||
|
||||
- 전원시스템
|
||||
- 전원: 4.3~5.4V
|
||||
- USB 입력: 4.75~5.25V
|
||||
- 서보 레일 입력: 0~36V
|
||||
|
||||
- 중량과 크기
|
||||
- 중량: 90g
|
||||
- 크기: 44x84x12mm
|
||||
|
||||
- 기타 특성:
|
||||
- 작동 온도: -20 ~ 80°c (측정치)
|
||||
|
||||
## 구매처
|
||||
|
||||
Order from [CUAV](https://cuav.taobao.com/index.htm?spm=2013.1.w5002-16371268426.2.411f26d9E18eAz).
|
||||
|
||||
## 연결
|
||||
|
||||
|
||||
|
||||
:::warning
|
||||
The RCIN interface is limited to powering the rc receiver and cannot be connected to any power/load.
|
||||
:::
|
||||
|
||||
## 정격 전압
|
||||
|
||||
_CUAV v5_ can be triple-redundant on the power supply if three power sources are supplied. The three power rails are: **POWER1**, **POWER2** and **USB**.
|
||||
|
||||
:::info
|
||||
The output power rails **FMU PWM OUT** and **I/O PWM OUT** (0V to 36V) do not power the flight controller board (and are not powered by it).
|
||||
You must supply power to one of **POWER1**, **POWER2** or **USB** or the board will be unpowered.
|
||||
:::
|
||||
|
||||
**Normal Operation Maximum Ratings**
|
||||
|
||||
이러한 조건에서 전원은 아래의 순서대로 시스템에 전원을 공급하여야합니다.
|
||||
|
||||
1. **POWER1** and **POWER2** inputs (4.3V to 5.4V)
|
||||
2. **USB** input (4.75V to 5.25V)
|
||||
|
||||
## 펌웨어 빌드
|
||||
|
||||
:::tip
|
||||
Most users will not need to build this firmware!
|
||||
It is pre-built and automatically installed by _QGroundControl_ when appropriate hardware is connected.
|
||||
:::
|
||||
|
||||
To [build PX4](../dev_setup/building_px4.md) for this target:
|
||||
|
||||
```
|
||||
make px4_fmu-v5_default
|
||||
```
|
||||
|
||||
## 디버그 포트
|
||||
|
||||
The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debug/swd_debug.md) operate on the **FMU Debug** port.
|
||||
Simply connect the FTDI cable to the Debug & F7 SWD connector.
|
||||
To access the I/O Debug port, the user must remove the CUAV v5 shell.
|
||||
Both ports have standard serial pins and can be connected to a standard FTDI cable (3.3V, but 5V tolerant).
|
||||
|
||||
The pinout is as shown.
|
||||
|
||||
|
||||
|
||||
| 핀 | CUAV v5 디버그 |
|
||||
| - | ----------------------------- |
|
||||
| 1 | GND |
|
||||
| 2 | FMU-SWCLK |
|
||||
| 3 | FMU-SWDIO |
|
||||
| 4 | UART7_RX |
|
||||
| 5 | UART7_TX |
|
||||
| 6 | VCC |
|
||||
|
||||
## 시리얼 포트 매핑
|
||||
|
||||
| UART | 장치 | 포트 |
|
||||
| ------ | ---------- | --------------------------------------------------------------- |
|
||||
| UART1 | /dev/ttyS0 | GPS |
|
||||
| USART2 | /dev/ttyS1 | TELEM1 (흐름 제어) |
|
||||
| USART3 | /dev/ttyS2 | TELEM2 (흐름 제어) |
|
||||
| UART4 | /dev/ttyS3 | TELEM4 |
|
||||
| USART6 | /dev/ttyS4 | TX는 SBUS_RC 커넥터의 RC 입력입니다. |
|
||||
| UART7 | /dev/ttyS5 | 디버그 콘솔 |
|
||||
| UART8 | /dev/ttyS6 | PX4IO |
|
||||
|
||||
<!-- Note: Got ports using https://github.com/PX4/PX4-user_guide/pull/672#issuecomment-598198434 -->
|
||||
|
||||
## 주변 장치
|
||||
|
||||
- [Digital Airspeed Sensor](https://item.taobao.com/item.htm?spm=a1z10.3-c-s.w4002-16371268452.37.6d9f48afsFgGZI&id=9512463037)
|
||||
- [Telemetry Radio Modules](https://cuav.taobao.com/category-158480951.htm?spm=2013.1.w5002-16371268426.4.410b7a821qYbBq&search=y&catName=%CA%FD%B4%AB%B5%E7%CC%A8)
|
||||
- [Rangefinders/Distance sensors](../sensor/rangefinders.md)
|
||||
|
||||
## 지원 플랫폼 및 기체
|
||||
|
||||
일반 RC 서보 또는 Futaba S-Bus 서보로 제어 가능한 모든 멀티콥터/비행기/로버 또는 보트.
|
||||
The complete set of supported configurations can be seen in the [Airframes Reference](../airframes/airframe_reference.md).
|
||||
|
||||
## 추가 정보
|
||||
|
||||
- [FMUv5 reference design pinout](https://docs.google.com/spreadsheets/d/1-n0__BYDedQrc_2NHqBenG1DNepAgnHpSGglke-QQwY/edit#gid=912976165).
|
||||
- [CUAV Github](https://github.com/cuav)
|
||||
DOC REMOVED: 202603
|
||||
-->
|
||||
|
||||
@@ -60,7 +60,7 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo
|
||||
- 기타 특성:
|
||||
- 작동 온도: -20 ~ 85°c (측정치)
|
||||
|
||||
## 구매처
|
||||
## Where to Buy {#store}
|
||||
|
||||
[CUAV Store](https://store.cuav.net/shop/v5-nano/)
|
||||
|
||||
@@ -91,13 +91,11 @@ It is pre-built and automatically installed by _QGroundControl_ when appropriate
|
||||
|
||||
To [build PX4](../dev_setup/building_px4.md) for this target:
|
||||
|
||||
```
|
||||
```sh
|
||||
make px4_fmu-v5_default
|
||||
```
|
||||
|
||||
<a id="debug_port"></a>
|
||||
|
||||
## 디버그 포트
|
||||
## Debug Port {#debug_port}
|
||||
|
||||
The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debug/swd_debug.md) operate on the **FMU Debug** port (`DSU7`).
|
||||
보드에는 I/O 디버그 인터페이스가 없습니다.
|
||||
|
||||
@@ -63,7 +63,7 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo
|
||||
- 기타 특성:
|
||||
- 작동 온도: -20 ~ 80°c (측정 값)
|
||||
|
||||
## 구매처
|
||||
## Where to Buy {#store}
|
||||
|
||||
[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)
|
||||
|
||||
@@ -119,7 +119,7 @@ It is pre-built and automatically installed by _QGroundControl_ when appropriate
|
||||
|
||||
To [build PX4](../dev_setup/building_px4.md) for this target:
|
||||
|
||||
```
|
||||
```sh
|
||||
make px4_fmu-v5_default
|
||||
```
|
||||
|
||||
@@ -210,7 +210,7 @@ The UAVCAN [NEO V2 PRO GNSS receiver](https://doc.cuav.net/gps/neo-series-gnss/e
|
||||
|
||||
`DSU7` FMU Debug Pin 1 is 5 volts - not the 3.3 volts of the CPU.
|
||||
|
||||
Some JTAG use this voltage to set the IO levels when communicating to the target.
|
||||
Some JTAG adapters use this voltage to set the IO levels when communicating to the target.
|
||||
|
||||
For direct connection to _Segger Jlink_ we recommended you use the 3.3 Volts of DSM/SBUS/RSSI pin 4 as Pin 1 on the debug connector (`Vtref`).
|
||||
|
||||
|
||||
@@ -85,7 +85,7 @@ The X25-EVO brings you ultimate performance, stability, and reliability in every
|
||||
|
||||
- Not provided.
|
||||
|
||||
## Purchase Channels
|
||||
## Purchase Channels {#store}
|
||||
|
||||
Order from [CUAV](https://store.cuav.net/).
|
||||
|
||||
@@ -135,13 +135,11 @@ It is pre-built and installed automatically by _QGroundControl_ when the appropr
|
||||
|
||||
To [build PX4](../dev_setup/building_px4.md) for this target, execute:
|
||||
|
||||
```
|
||||
```sh
|
||||
make cuav_x25-evo_default
|
||||
```
|
||||
|
||||
<a id="debug_port"></a>
|
||||
|
||||
## 디버그 포트
|
||||
## Debug Port {#debug_port}
|
||||
|
||||
The [PX4 System Console](../debug/system_console.md) and [SWD Interface](../debug/swd_debug.md) operate on the **FMU Debug** port.
|
||||
|
||||
|
||||
@@ -0,0 +1,173 @@
|
||||
# CUAV X25-SUPER
|
||||
|
||||
<Badge type="tip" text="PX4 v1.18)" />
|
||||
|
||||
:::warning
|
||||
PX4 does not manufacture this (or any) autopilot.
|
||||
Contact the [manufacturer](https://store.cuav.net/) for hardware support or compliance issues.
|
||||
:::
|
||||
|
||||
The _X25-SUPER_ is an advanced autopilot manufactured by CUAV<sup>®</sup>.
|
||||
|
||||
The autopilot is recommended for commercial system integration but is also suitable for academic research and any other applications.
|
||||
|
||||
|
||||
|
||||
The X25-SUPER brings you ultimate performance, stability, and reliability in every aspect.
|
||||
|
||||
:::info
|
||||
이 비행 컨트롤러는 [제조업체에서 지원](../flight_controller/autopilot_manufacturer_supported.md)합니다.
|
||||
:::
|
||||
|
||||
### 특징
|
||||
|
||||
- Arm® Cortex-M7® processor (STM32H743XI) with Floating-Point Unit (FPU), operating at 480MHz, and featuring 2MB Flash memory. Enables developers to enhance productivity and efficiency, allowing for more complex algorithms and models.
|
||||
- Automotive-grade RM3100 compass. Designed for better stability and anti-interference capability.
|
||||
- Triple-redundant IMUs and dual-redundant barometers located on separate buses. If the PX4 autopilot detects a sensor failure, the system seamlessly switches to another sensor to maintain flight control reliability.
|
||||
- Independent LDO power control supplies power to each sensor group. A vibration isolation system filters high-frequency vibrations and reduces noise to ensure accurate readings, enabling better overall flight performance for the vehicle.
|
||||
- Integrated Microchip Ethernet PHY for high-speed communication with onboard devices like mission computers via Ethernet.
|
||||
- Dual temperature compensation systems, located on the IMU board and FMU board respectively. Temperature is controlled by onboard heating resistors to achieve the optimal operating temperature for the IMUs.
|
||||
- PWM servo output voltage switchable between 3.3V or 5V.
|
||||
- Modular design for DIY carrier boards.
|
||||
|
||||
### Processors & Sensors
|
||||
|
||||
- Main Processor: STM32H743XI
|
||||
- 32-bit Arm® Cortex®-M7, 480MHz, 2MB Flash, 1MB RAM
|
||||
- Onboard Sensors:
|
||||
- Accel/Gyro: SCH16T
|
||||
- Accel/Gyro: IIM42652
|
||||
- Accel/Gyro: IIM42653
|
||||
- 자력계 : RM3100
|
||||
- Barometer: BMP581
|
||||
- Barometer: ICP-20100
|
||||
|
||||
### 전기 데이터
|
||||
|
||||
- Rated Voltage:
|
||||
- Input Voltage: 10~18V
|
||||
- USB 전원 입력: 4.75~5.25V
|
||||
- Servo Rail Input: 0~9.9V
|
||||
- Rated Current:
|
||||
- Total Output Max Current: 10A
|
||||
- TELEM1 and TELEM2 Output Current limiter: 4A
|
||||
- CAN1 and CAN2 Output Current limiter: 2.4A
|
||||
- Other Ports Output Current limiter: 1.5A
|
||||
|
||||
### 인터페이스
|
||||
|
||||
- 16x PWM Servo Outputs
|
||||
- 1x Dedicated R/C Input for Spektrum / DSM and S.Bus
|
||||
- 1x Analog/PWM RSSI Input
|
||||
- 2x TELEM Ports (with full flow control)
|
||||
- 1x UART4 Port
|
||||
- 2x GPS Ports
|
||||
- 1x Full GPS plus Safety Switch Port (GPS1)
|
||||
- 1x Basic GPS Port (with I2C, GPS2)
|
||||
- 1x USB Port (TYPE-C)
|
||||
- 1x Ethernet Port
|
||||
- Transformerless application
|
||||
- 100Mbps
|
||||
- 3x I2C Bus Ports
|
||||
- 1x SPI Bus
|
||||
- 1x Chip Select Line
|
||||
- 1x Data Ready Line
|
||||
- 1x SPI Reset Line
|
||||
- 5x CAN Ports for CAN Peripherals
|
||||
- 3x CAN1 Bus Multiplexed Ports
|
||||
- 2x CAN2 Bus Multiplexed Ports
|
||||
- 2x Power Input Ports
|
||||
- DroneCAN/UAVCAN Power Input
|
||||
- 2x AD Ports
|
||||
- Analog Input (3.3V)
|
||||
- Analog Input (6.6V - not supported)
|
||||
- 1x Dedicated Debug Port
|
||||
- FMU Debug
|
||||
|
||||
### 기계식 부품
|
||||
|
||||
- Size
|
||||
- Flight controller
|
||||
|
||||
|
||||
|
||||
## Purchase Channels {#store}
|
||||
|
||||
Order from [CUAV](https://store.cuav.net/).
|
||||
|
||||
## 조립 및 설정
|
||||
|
||||
- Not provided.
|
||||
|
||||
## 핀배열
|
||||
|
||||
|
||||
|
||||
|
||||
## 시리얼 포트 매핑
|
||||
|
||||
| UART | 장치 | 포트 |
|
||||
| ------ | ---------- | ------ |
|
||||
| USART1 | /dev/ttyS0 | GPS1 |
|
||||
| USART2 | /dev/ttyS1 | GPS2 |
|
||||
| USART3 | /dev/ttyS2 | 디버그 콘솔 |
|
||||
| UART4 | /dev/ttyS3 | UART4 |
|
||||
| UART5 | /dev/ttyS4 | TELEM2 |
|
||||
| USART6 | /dev/ttyS5 | RC |
|
||||
| UART7 | /dev/ttyS6 | TELEM1 |
|
||||
|
||||
## RC Input
|
||||
|
||||
The RC input pin is directly connected to the FMU UART6 TX.
|
||||
|
||||
## 정격 전압
|
||||
|
||||
The _X25-SUPER_ achieves triple redundancy on power supplies if three power sources are provided. The three power rails are POWERC1, POWERC2, and USB.
|
||||
|
||||
- **POWER C1** and **POWER C2** are DroneCAN/UAVCAN battery interfaces.
|
||||
|
||||
**Normal Operation Maximum Ratings**
|
||||
|
||||
Under these conditions, all power sources will be used to power the system in the following order:
|
||||
|
||||
1. **POWER C1** and **POWER C2** Inputs (10V to 18V)
|
||||
2. USB Input (4.75V to 5.25V)
|
||||
|
||||
**Voltage monitoring**
|
||||
|
||||
Digital DroneCAN/UAVCAN battery monitoring is enabled by default.
|
||||
|
||||
## 펌웨어 빌드
|
||||
|
||||
:::tip
|
||||
Most users will not need to build this firmware from PX4 v1.18.
|
||||
It is pre-built and automatically installed by _QGroundControl_ when appropriate hardware is connected.
|
||||
:::
|
||||
|
||||
To [build PX4](../dev_setup/building_px4.md) for this target, execute:
|
||||
|
||||
```
|
||||
make cuav_x25-super_default
|
||||
```
|
||||
|
||||
## Debug Port {#debug_port}
|
||||
|
||||
The [PX4 System Console](../debug/system_console.md) and [SWD Interface](../debug/swd_debug.md) operate on the **FMU Debug** port.
|
||||
|
||||
| 핀 | 신호 | 전압 |
|
||||
| ------------------------- | ------------------------------- | --------------------- |
|
||||
| 1(red) | 5V+ | +5V |
|
||||
| 2 (흑) | DEBUG TX(출력) | +3.3V |
|
||||
| 3 (흑) | DEBUG TX(입력) | +3.3V |
|
||||
| 4 (흑) | FMU_SWDIO | +3.3V |
|
||||
| 5 (흑) | FMU_SWCLK | +3.3V |
|
||||
| 6 (흑) | GND | GND |
|
||||
|
||||
## 지원 플랫폼 및 기체
|
||||
|
||||
일반 RC 서보 또는 Futaba S-Bus 서보로 제어 가능한 모든 멀티콥터/비행기/로버 또는 보트.
|
||||
The complete set of supported configurations can be seen in the [Airframes Reference](../airframes/airframe_reference.md).
|
||||
|
||||
## 추가 정보
|
||||
|
||||
- [CUAV Docs](https://doc.cuav.net/)
|
||||
@@ -1,186 +1,7 @@
|
||||
<Redirect to="../flight_controller/autopilot_discontinued" />
|
||||
|
||||
<!--
|
||||
# CUAV X7 Flight Controller (Discontinued)
|
||||
|
||||
<Badge type="info" text="Discontinued" /> <!-- 202507 / PX4v1.16 -->
|
||||
|
||||
:::warning
|
||||
This flight controller has been [discontinued](../flight_controller/autopilot_experimental.md) and is no longer commercially available.
|
||||
It has been superseded by the [CUAV X7+](https://doc.cuav.net/controller/x7/en/).
|
||||
:::
|
||||
|
||||
:::warning
|
||||
PX4 does not manufacture this (or any) autopilot.
|
||||
Contact the [manufacturer](https://www.cuav.net) for hardware support or compliance issues.
|
||||
:::
|
||||
|
||||
The [X7](https://doc.cuav.net/controller/x7/en/)<sup>®</sup> flight controller is a high-performance autopilot.
|
||||
산업용 드론과 대형 대형 드론에 적합합니다.
|
||||
주로 상용 제조업체에 공급됩니다.
|
||||
|
||||
|
||||
|
||||
모듈식 설계를 채택하였고, 다른베이스 플레이트와 일치시킬 수 있습니다.
|
||||
상용 시스템의 통합을 개선하고, 배선을 줄이며, 시스템 안정성을 개선하고, UAV 경쟁력을 향상시키기 위해 UAV용 전용 캐리어 보드를 설계할 수 있습니다 (예 : 캐리어 보드에 대기 속도 센서, 원격 측정 또는 보조 컴퓨터 통합).
|
||||
CUAV는 선택할 수있는 다양한 캐리어 보드를 제공합니다.
|
||||
|
||||
:::info
|
||||
This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
|
||||
:::
|
||||
|
||||
## 특징
|
||||
|
||||
- 내부 충격 흡수
|
||||
- 모듈식 설계, DIY 캐리어 보드 가능
|
||||
- USB_HS 지원, 로그 다운로드 속도 향상(PX4는 아직 지원되지 않음)
|
||||
- Support more DShot output
|
||||
- IMU 가열 지원, 센서 작동 개선
|
||||
- Dedicated CAN battery port
|
||||
- IMU 센서 3 세트
|
||||
- 자동차 등급 RM3100 나침반
|
||||
- 고성능 프로세서
|
||||
|
||||
:::tip
|
||||
The manufacturer [CUAV Docs](https://doc.cuav.net/flight-controller/x7/en/) are the canonical reference for the X7.
|
||||
가장 정확한 최신 정보를 포함하고 있습니다.
|
||||
:::
|
||||
|
||||
## 요약
|
||||
|
||||
- 메인 FMU 프로세서: STM32H743
|
||||
|
||||
- 내장 센서 :
|
||||
- 가속도계/자이로스코프 : ICM-20689
|
||||
- 가속도계/자이로스코프 : ICM-20649
|
||||
- 가속도계/자이로스코프 : BMI088
|
||||
- 자력계 : RM3100
|
||||
- Barometer: MS5611\*2
|
||||
|
||||
- 인터페이스:
|
||||
- PWM 출력 14개 (12개 Dshot 지원)
|
||||
- 다중 RC 입력 지원(SBU/CPPM/DSM)
|
||||
- 아날로그/PWM RSSI 입력
|
||||
- 2 개의 GPS 포트(GPS 및 UART4 포트)
|
||||
- i2c 버스 4 개(i2c 전용 포트 2 개)
|
||||
- CAN 버스 포트 2 개
|
||||
- 2 Power ports(Power A is common adc interface, Power C is DroneCAN battery interface)
|
||||
- 2 ADC input
|
||||
- USB 포트 1 개
|
||||
|
||||
- 전원시스템
|
||||
- 전원: 4.3~5.4V
|
||||
- USB 입력: 4.75~5.25V
|
||||
- 서보 레일 입력: 0~36V
|
||||
|
||||
- 중량과 크기
|
||||
- 무게 : 101g
|
||||
|
||||
- 기타 특성:
|
||||
- 작동 온도: -20 ~ 80°c (측정 값)
|
||||
- 3개의 imus
|
||||
- 온도 보상 지원
|
||||
- 내부 충격 흡수
|
||||
|
||||
:::info
|
||||
When it runs PX4 firmware, only 8 pwm works, the remaining 6 pwm are still being adapted, so it is not compatible with VOLT now.
|
||||
:::
|
||||
|
||||
## 구매처
|
||||
|
||||
[CUAV Store](https://store.cuav.net)
|
||||
|
||||
[CUAV aliexpress](https://www.aliexpress.com/item/4001042683738.html?spm=a2g0o.detail.1000060.2.1ebb2a9d3WDryi&gps-id=pcDetailBottomMoreThisSeller&scm=1007.13339.169870.0&scm_id=1007.13339.169870.0&scm-url=1007.13339.169870.0&pvid=f0df2481-1c0a-44eb-92a4-9c11c6cb3d06&_t=gps-id:pcDetailBottomMoreThisSeller,scm-url:1007.13339.169870.0,pvid:f0df2481-1c0a-44eb-92a4-9c11c6cb3d06,tpp_buckets:668%230%23131923%2320_668%23808%234094%23518_668%23888%233325%2319_668%234328%2319934%23630_668%232846%238115%23807_668%232717%237566%23827_668%231000022185%231000066058%230_668%233468%2315607%2376)
|
||||
|
||||
## 배선
|
||||
|
||||
[CUAV X7 Wiring Quickstart](https://doc.cuav.net/controller/x7/en/quick-start/quick-start-x7-plus.html)
|
||||
|
||||
## 크기와 핀배열
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
:::warning
|
||||
The `RCIN` port is limited to powering the RC receiver and cannot be connected to any power/load.
|
||||
:::
|
||||
|
||||
## 정격 전압
|
||||
|
||||
The _X7 AutoPilot_ can be triple-redundant on the power supply if three power sources are supplied.
|
||||
The power rails are: **POWERA**, **POWERC** and **USB**.
|
||||
|
||||
:::info
|
||||
The output power rails **PWM OUT** (0V to 36V) do not power the flight controller board (and are not powered by it).
|
||||
You must supply power to one of **POWERA**, **POWERC** or **USB** or the board will be unpowered.
|
||||
:::
|
||||
|
||||
**Normal Operation Maximum Ratings**
|
||||
|
||||
이러한 조건에서 전원은 아래의 순서대로 시스템에 전원을 공급하여야합니다.
|
||||
|
||||
1. **POWERA** and **POWERC** inputs (4.3V to 5.4V)
|
||||
2. **USB** input (4.75V to 5.25V)
|
||||
|
||||
## 펌웨어 빌드
|
||||
|
||||
:::tip
|
||||
Most users will not need to build this firmware!
|
||||
It is pre-built and automatically installed by _QGroundControl_ when appropriate hardware is connected.
|
||||
:::
|
||||
|
||||
To [build PX4](../dev_setup/building_px4.md) for this target:
|
||||
|
||||
```
|
||||
make cuav_x7pro_default
|
||||
```
|
||||
|
||||
## 과전류 보호
|
||||
|
||||
The _X7_ has over-current protection on the 5 Volt Peripheral and 5 Volt high power, which limits the current to 2.5A.
|
||||
The _X7_ has short circuit protection.
|
||||
|
||||
:::warning
|
||||
Up to 2.5 A can be delivered to the connectors listed as pin 1 (although these are only rated at 1 A).
|
||||
:::
|
||||
|
||||
## 디버그 포트
|
||||
|
||||
The system's serial console and SWD interface operate on the **DSU7** port.
|
||||
FTDI 케이블을 DSU7 커넥터에 연결하기만 하면됩니다. 제품 목록에는 CUAV FTDI 케이블이 포함되어 있습니다.
|
||||
|
||||
|
||||
|
||||
The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debug/swd_debug.md) operate on the **FMU Debug** port (`DSU7`).
|
||||
|
||||
The debug port (`DSU7`) uses a [JST BM06B](https://www.digikey.com.au/en/products/detail/jst-sales-america-inc/BM06B-GHS-TBT-LF-SN-N/807850) connector and has the following pinout:
|
||||
|
||||
| 핀 | 신호 | 전압 |
|
||||
| ------------------------- | ------------------------------- | --------------------- |
|
||||
| 1(red) | 5V+ | +5V |
|
||||
| 2 (흑) | DEBUG TX(출력) | +3.3V |
|
||||
| 3 (흑) | DEBUG TX(입력) | +3.3V |
|
||||
| 4 (흑) | FMU_SWDIO | +3.3V |
|
||||
| 5 (흑) | FMU_SWCLK | +3.3V |
|
||||
| 6 (흑) | GND | GND |
|
||||
|
||||
CUAV provides a dedicated debugging cable, which can be connected to the `DSU7` port.
|
||||
This splits out an FTDI cable for connecting the [PX4 System Console](../debug/system_console.md) to a computer USB port, and SWD pins used for SWD/JTAG debugging.
|
||||
The provided debug cable does not connect to the SWD port `Vref` pin (1).
|
||||
|
||||
|
||||
|
||||
:::warning
|
||||
The SWD Vref pin (1) uses 5V as Vref but the CPU is run at 3.3V!
|
||||
|
||||
일부 JTAG 어댑터 (SEGGER J-Link)는 Vref 전압을 사용하여 SWD 라인의 전압을 설정합니다.
|
||||
For direct connection to _Segger Jlink_ we recommended you use the 3.3 Volts from pin 4 of the connector marked `DSM`/`SBUS`/`RSSI` to provide `Vtref` to the JTAG (i.e. providing 3.3V and _NOT_ 5V).
|
||||
:::
|
||||
|
||||
## 지원 플랫폼 및 기체
|
||||
|
||||
Any multicopter / plane / rover or boat that can be controlled with normal RC servos or Futaba S-Bus servos.
|
||||
The complete set of supported configurations can be seen in the [Airframes Reference](../airframes/airframe_reference.md).
|
||||
|
||||
## 추가 정보
|
||||
|
||||
- [CUAV docs](https://doc.cuav.net/)
|
||||
- [x7 schematic](https://github.com/cuav/hardware/tree/master/X7_Autopilot)
|
||||
DOC REMOVED: 202603
|
||||
-->
|
||||
|
||||
@@ -10,7 +10,7 @@ The [Cube Orange](https://www.cubepilot.com/#/cube/features) flight controller i
|
||||
|
||||
|
||||
배선을 줄이고 신뢰성을 높이며 조립을 쉽게하기 위해 도메인별 캐리어 보드와 함께 사용하도록 설계되었습니다.
|
||||
예를 들어, 상용 검사 기체 캐리어보드에는 보조 컴퓨터용 연결이 포함될 수 있는 반면, 레이서 용 캐리어보드는 기체 프레임을 형성하는 ESC를 포함할 수 있습니다.
|
||||
For example, a carrier board for a commercial inspection vehicle might include connections for a companion computer, while a carrier board for a racer could include ESCs for the frame of the vehicle.
|
||||
|
||||
The ADS-B carrier board includes a customized 1090MHz ADSB-In receiver from uAvionix.
|
||||
This provides attitude and location of commercial manned aircraft within the range of Cube.
|
||||
@@ -22,6 +22,10 @@ Cube에는 2 개의 IMU에 진동 차단이 포함되어 있으며, 세 번째
|
||||
The manufacturer [Cube User Guide](https://docs.cubepilot.org/user-guides/autopilot/the-cube) contains detailed information, including an overview of the [Differences between Cube Colours](https://docs.cubepilot.org/user-guides/autopilot/the-cube/introduction/specifications).
|
||||
:::
|
||||
|
||||
:::info
|
||||
This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
|
||||
:::
|
||||
|
||||
## 주요 특징
|
||||
|
||||
- 32bit STM32H753VI (32bit [ARM Cortex M7](https://en.wikipedia.org/wiki/ARM_Cortex-M#Cortex-M7), 400 MHz, Flash 2MB, RAM 1MB).
|
||||
@@ -36,9 +40,7 @@ The manufacturer [Cube User Guide](https://docs.cubepilot.org/user-guides/autopi
|
||||
- 고전력 멀티톤 피에조 오디오 표시기
|
||||
- 장기간 고속 로깅용 microSD 카드
|
||||
|
||||
<a id="stores"></a>
|
||||
|
||||
## 구매처
|
||||
## Where to Buy {#store}
|
||||
|
||||
- [Reseller list](https://www.cubepilot.com/#/reseller/list)
|
||||
|
||||
@@ -232,7 +234,7 @@ It is pre-built and automatically installed by _QGroundControl_ when appropriate
|
||||
|
||||
To [build PX4](../dev_setup/building_px4.md) for this target, open up the terminal and enter:
|
||||
|
||||
```
|
||||
```sh
|
||||
make cubepilot_cubeorange
|
||||
```
|
||||
|
||||
|
||||
@@ -6,12 +6,12 @@ Contact the [manufacturer](https://cubepilot.org/#/home) for hardware support or
|
||||
:::
|
||||
|
||||
The [Cube Orange+](https://www.cubepilot.com/#/cube/features) flight controller is a flexible autopilot intended primarily for manufacturers of commercial systems.
|
||||
Cube Orange+ is similar to Cube Orange, but has a more powerful dual-core processor (STM32H757, and some different sensors parts.
|
||||
Cube Orange+ is similar to Cube Orange, but has a more powerful dual-core processor (STM32H757), and some different sensor parts.
|
||||
|
||||
|
||||
|
||||
배선을 줄이고 신뢰성을 높이며 조립을 쉽게하기 위해 도메인별 캐리어 보드와 함께 사용하도록 설계되었습니다.
|
||||
예를 들어, 상용 검사 기체 캐리어보드에는 보조 컴퓨터용 연결이 포함될 수 있는 반면, 레이서 용 캐리어보드는 기체 프레임을 형성하는 ESC를 포함할 수 있습니다.
|
||||
For example, a carrier board for a commercial inspection vehicle might include connections for a companion computer, while a carrier board for a racer could include ESCs for the frame of the vehicle.
|
||||
|
||||
The ADS-B carrier board includes a customized 1090MHz ADSB-In receiver from uAvionix.
|
||||
This provides attitude and location of commercial manned aircraft within the range of Cube.
|
||||
@@ -23,6 +23,10 @@ Cube에는 2 개의 IMU에 진동 차단이 포함되어 있으며, 세 번째
|
||||
The manufacturer [Cube User Guide](https://docs.cubepilot.org/user-guides/autopilot/the-cube) contains detailed information, including an overview of the [Differences between Cube Colours](https://docs.cubepilot.org/user-guides/autopilot/the-cube/introduction/specifications).
|
||||
:::
|
||||
|
||||
:::info
|
||||
This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
|
||||
:::
|
||||
|
||||
## 주요 특징
|
||||
|
||||
- 32bit STM32H757ZI (32bit [ARM Cortex M7](https://en.wikipedia.org/wiki/ARM_Cortex-M#Cortex-M7), 400 MHz, Flash 2MB, RAM 1MB).
|
||||
@@ -37,9 +41,7 @@ The manufacturer [Cube User Guide](https://docs.cubepilot.org/user-guides/autopi
|
||||
- 고전력 멀티톤 피에조 오디오 표시기
|
||||
- 장기간 고속 로깅용 microSD 카드
|
||||
|
||||
<a id="stores"></a>
|
||||
|
||||
## 구매처
|
||||
## Where to Buy {#store}
|
||||
|
||||
- [Reseller list](https://www.cubepilot.com/#/reseller/list)
|
||||
|
||||
@@ -232,7 +234,7 @@ The firmware for Orange+ will be present in releases from PX4 v1.14.
|
||||
|
||||
To [build PX4](../dev_setup/building_px4.md) for this target, open up the terminal and enter:
|
||||
|
||||
```
|
||||
```sh
|
||||
make cubepilot_cubeorangeplus
|
||||
```
|
||||
|
||||
|
||||
@@ -10,7 +10,7 @@ The Cube Yellow flight controller is a flexible autopilot intended primarily for
|
||||
|
||||
|
||||
배선을 줄이고 신뢰성을 높이며 조립을 쉽게하기 위해 도메인별 캐리어 보드와 함께 사용하도록 설계되었습니다.
|
||||
예를 들어, 상용 검사 기체 캐리어보드에는 보조 컴퓨터용 연결이 포함될 수 있는 반면, 레이서 용 캐리어보드는 기체 프레임을 형성하는 ESC를 포함할 수 있습니다.
|
||||
For example, a carrier board for a commercial inspection vehicle might include connections for a companion computer, while a carrier board for a racer could include ESCs for the frame of the vehicle.
|
||||
|
||||
Cube에는 2 개의 IMU에 진동 차단이 포함되어 있으며, 세 번째 고정 IMU는 참조 백업용으로 사용됩니다.
|
||||
|
||||
@@ -18,6 +18,10 @@ Cube에는 2 개의 IMU에 진동 차단이 포함되어 있으며, 세 번째
|
||||
The manufacturer [Cube User Guide](https://docs.cubepilot.org/user-guides/autopilot/the-cube) contains detailed information, including an overview of the [Differences between Cube Colours](https://docs.cubepilot.org/user-guides/autopilot/the-cube/introduction/specifications).
|
||||
:::
|
||||
|
||||
:::info
|
||||
This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
|
||||
:::
|
||||
|
||||
## 주요 특징
|
||||
|
||||
- 32bit STM32F777VI (32bit [ARM Cortex M7](https://en.wikipedia.org/wiki/ARM_Cortex-M#Cortex-M7), 400 MHz, Flash 2MB, RAM 512 KB).
|
||||
@@ -32,9 +36,7 @@ The manufacturer [Cube User Guide](https://docs.cubepilot.org/user-guides/autopi
|
||||
- 고전력 멀티톤 피에조 오디오 표시기
|
||||
- 장기간 고속 로깅용 microSD 카드
|
||||
|
||||
<a id="stores"></a>
|
||||
|
||||
## 구매처
|
||||
## Where to Buy {#store}
|
||||
|
||||
- [Reseller list](https://www.cubepilot.com/#/reseller/list)
|
||||
|
||||
@@ -47,7 +49,7 @@ The manufacturer [Cube User Guide](https://docs.cubepilot.org/user-guides/autopi
|
||||
- **Processor:**
|
||||
- STM32F777VI (32bit [ARM Cortex M7](https://en.wikipedia.org/wiki/ARM_Cortex-M#Cortex-M7))
|
||||
- 400 MHz
|
||||
- 512 KB MB RAM
|
||||
- 512 KB RAM
|
||||
- 2 MB Flash
|
||||
- **Failsafe co-processor:** <!-- inconsistent info on failsafe processor: 32 bit STM32F103 failsafe co-processor -->
|
||||
- STM32F100 (32bit _ARM Cortex-M3_)
|
||||
@@ -130,7 +132,7 @@ It is pre-built and automatically installed by _QGroundControl_ when appropriate
|
||||
|
||||
To [build PX4](../dev_setup/building_px4.md) for this target:
|
||||
|
||||
```
|
||||
```sh
|
||||
make cubepilot_cubeyellow
|
||||
```
|
||||
|
||||
|
||||
@@ -19,7 +19,7 @@ Holybro가 설계하고 개발하였습니다.
|
||||
- 내부 진동 차단 시스템.
|
||||
- 듀얼 고성능, 저잡음 IMU 온보드는 까다로운 안정화 애플리케이션을 위해 설계되었습니다.
|
||||
|
||||
A summary of the key features, [assembly](../assembly/quick_start_durandal.md), and [purchase](#purchase) links can be found below.
|
||||
A summary of the key features, [assembly](../assembly/quick_start_durandal.md), and [purchase](#store) links can be found below.
|
||||
|
||||
:::info
|
||||
This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
|
||||
@@ -86,9 +86,7 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo
|
||||
|
||||
For more information see: [Durandal Technical Data Sheet](https://cdn.shopify.com/s/files/1/0604/5905/7341/files/Durandal_technical_data_sheet_90f8875d-8035-4632-a936-a0d178062077.pdf).
|
||||
|
||||
<a id="purchase"></a>
|
||||
|
||||
## 구매처
|
||||
## Where to Buy {#store}
|
||||
|
||||
Order from [Holybro](https://holybro.com/products/durandal).
|
||||
|
||||
@@ -162,7 +160,7 @@ It is pre-built and automatically installed by _QGroundControl_ when appropriate
|
||||
|
||||
To [build PX4](../dev_setup/building_px4.md) for this target:
|
||||
|
||||
```
|
||||
```sh
|
||||
make holybro_durandal-v1_default
|
||||
```
|
||||
|
||||
|
||||
@@ -74,7 +74,7 @@ Download the [gearup_airbrainh743_bootloader.bin](https://github.com/PX4/PX4-Aut
|
||||
|
||||
To [build PX4](../dev_setup/building_px4.md) for this target:
|
||||
|
||||
```
|
||||
```sh
|
||||
make gearup_airbrainh743_default
|
||||
```
|
||||
|
||||
@@ -84,7 +84,7 @@ Firmware can be installed in any of the normal ways:
|
||||
|
||||
- Build and upload the source:
|
||||
|
||||
```
|
||||
```sh
|
||||
make gearup_airbrainh743_default upload
|
||||
```
|
||||
|
||||
|
||||
@@ -1,106 +1,8 @@
|
||||
<Redirect to="../flight_controller/autopilot_discontinued" />
|
||||
|
||||
<!--
|
||||
# Holybro pix32 Flight Controller (Discontinued)
|
||||
|
||||
<Badge type="info" text="Discontinued" />
|
||||
Doc removed 202603
|
||||
|
||||
:::warning
|
||||
PX4 does not manufacture this (or any) autopilot.
|
||||
Contact the [manufacturer](https://holybro.com/) for hardware support or compliance issues.
|
||||
:::
|
||||
|
||||
The Holybro<sup>®</sup> [pix32 autopilot](https://holybro.com/products/pix32pixhawk-flight-controller) (also known as "Pixhawk 2", and formerly as HKPilot32) is based on the [Pixhawk<sup>®</sup>-project](https://pixhawk.org/) **FMUv2** open hardware design.
|
||||
This board is based on hardware version Pixhawk 2.4.6.
|
||||
It runs the PX4 flight stack on the [NuttX](https://nuttx.apache.org/) OS.
|
||||
|
||||
|
||||
|
||||
As a CC-BY-SA 3.0 licensed Open Hardware design, schematics and design files should be [available here](https://github.com/pixhawk/Hardware).
|
||||
|
||||
:::tip
|
||||
The Holybro pix32 is software compatible with the [3DR Pixhawk 1](../flight_controller/pixhawk.md).
|
||||
It is not connector compatible, but is otherwise physically very similar to the 3DR Pixhawk or mRo Pixhawk.
|
||||
:::
|
||||
|
||||
:::info
|
||||
This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
|
||||
:::
|
||||
|
||||
## 주요 특징
|
||||
|
||||
- Main System-on-Chip: [STM32F427](https://www.st.com/en/microcontrollers-microprocessors/stm32f427-437.html)
|
||||
- CPU: FPU가있는 32 비트 STM32F427 코어 텍스<sup>®</sup> M4 코어
|
||||
- RAM: 168 MHz/256 KB
|
||||
- Flash: 2 MB
|
||||
- 페일세이프 시스템 온칩 : STM32F103
|
||||
- 센서:
|
||||
- ST Micro L3GD20 3축 16비트 자이로스코프
|
||||
- ST Micro LSM303D 3축 14비트 가속도계/자력계
|
||||
- Invensense<sup>®</sup> MPU 6000 3축 가속도계/자이로스코프
|
||||
- MEAS MS5611 기압계
|
||||
- 크기/중량
|
||||
- 크기: 81x44x15mm
|
||||
- 중량: 33.1g
|
||||
- GPS : 나침반 내장 u-blox<sup>®</sup> 초정밀 Neo-7M
|
||||
- 입력 전압 : 2 ~ 10s (7.4 ~ 37V)
|
||||
|
||||
### 연결성
|
||||
|
||||
- I2C 1개
|
||||
- CAN 2 개
|
||||
- 3.3 및 6.6V ADC 입력
|
||||
- UART (직렬 포트) 5개, 1 개의 고전력 지원, 2x (HW 흐름 제어 포함)
|
||||
- 최대 DX8의 Spektrum DSM/DSM2/DSM-X® Satellite 호환 입력(DX9 이상은 지원되지 않음)
|
||||
- Futaba<sup>®</sup> S.BUS 호환 입력 및 출력
|
||||
- PPM 합계 신호
|
||||
- RSSI(PWM 또는 전압) 입력
|
||||
- SPI
|
||||
- 외부 microUSB 포트
|
||||
- Molex PicoBlade 커넥터
|
||||
|
||||
## 구매처
|
||||
|
||||
[shop.holybro.com](https://holybro.com/products/pix32pixhawk-flight-controller)
|
||||
|
||||
### 소품
|
||||
|
||||
- [Digital airspeed sensor](https://holybro.com/products/digital-air-speed-sensor-ms4525do)
|
||||
- [HolyBro SiK Telemetry Radio (EU 433 MHz, US 915 MHz)](../telemetry/holybro_sik_radio.md)
|
||||
|
||||
## 펌웨어 빌드
|
||||
|
||||
:::tip
|
||||
Most users will not need to build this firmware!
|
||||
It is pre-built and automatically installed by _QGroundControl_ when appropriate hardware is connected.
|
||||
:::
|
||||
|
||||
To [build PX4](../dev_setup/building_px4.md) for this target:
|
||||
|
||||
```
|
||||
make px4_fmu-v2_default
|
||||
```
|
||||
|
||||
## 디버그 포트
|
||||
|
||||
See [3DR Pixhawk 1 > Debug Ports](../flight_controller/pixhawk.md#debug-ports).
|
||||
|
||||
## 핀배열과 회로도
|
||||
|
||||
The board is based on the [Pixhawk project](https://pixhawk.org/) **FMUv2** open hardware design.
|
||||
|
||||
- [FMUv2 + IOv2 schematic](https://raw.githubusercontent.com/PX4/Hardware/master/FMUv2/PX4FMUv2.4.5.pdf) -- Schematic and layout
|
||||
|
||||
:::info
|
||||
As a CC-BY-SA 3.0 licensed Open Hardware design, all schematics and design files are [available](https://github.com/pixhawk/Hardware).
|
||||
:::
|
||||
|
||||
## 시리얼 포트 매핑
|
||||
|
||||
| UART | 장치 | 포트 |
|
||||
| ------ | ---------- | --------------------------------- |
|
||||
| UART1 | /dev/ttyS0 | IO 디버그 |
|
||||
| USART2 | /dev/ttyS1 | TELEM1 (흐름 제어) |
|
||||
| USART3 | /dev/ttyS2 | TELEM2 (흐름 제어) |
|
||||
| UART4 | | |
|
||||
| UART7 | 콘솔 | |
|
||||
| UART8 | SERIAL4 | |
|
||||
|
||||
<!-- Note: Got ports using https://github.com/PX4/PX4-user_guide/pull/672#issuecomment-598198434 -->
|
||||
-->
|
||||
|
||||
@@ -71,7 +71,7 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo
|
||||
|
||||
Additional information can be found in the [Pix32 V5 Technical Data Sheet](https://cdn.shopify.com/s/files/1/0604/5905/7341/files/Holybro_PIX32-V5_technical_data_sheet_v1.1.pdf).
|
||||
|
||||
## 구매처
|
||||
## Where to Buy {#store}
|
||||
|
||||
Order from [Holybro website](https://holybro.com/products/pix32-v5).
|
||||
|
||||
@@ -125,7 +125,7 @@ It is pre-built and automatically installed by _QGroundControl_ when appropriate
|
||||
|
||||
To [build PX4](../dev_setup/building_px4.md) for this target:
|
||||
|
||||
```
|
||||
```sh
|
||||
make holybro_pix32v5_default
|
||||
```
|
||||
|
||||
|
||||
@@ -12,7 +12,7 @@ It is equipped with a high performance H7 Processor, and comes with IMU redundan
|
||||
<img src="../../assets/flight_controller/pix32v6/pix32v6_fc_only.png" width="550px" title="pix32v6 Upright Image" />
|
||||
|
||||
<!--
|
||||
:::tip
|
||||
::: tip
|
||||
This autopilot is [supported](../flight_controller/autopilot_pixhawk_standard.md) by the PX4 maintenance and test teams.
|
||||
:::
|
||||
-->
|
||||
@@ -93,7 +93,7 @@ This flight controller is perfect for people that is looking for a affordable an
|
||||
- 기타 특성:
|
||||
- Operating & storage temperature: -40 ~ 85°c
|
||||
|
||||
## 구매처
|
||||
## Where to Buy {#store}
|
||||
|
||||
Order from [Holybro](https://holybro.com/products/pix32-v6).
|
||||
|
||||
@@ -156,13 +156,11 @@ It is pre-built and automatically installed by _QGroundControl_ when appropriate
|
||||
|
||||
To [build PX4](../dev_setup/building_px4.md) for this target:
|
||||
|
||||
```
|
||||
```sh
|
||||
make px4_fmu-v6c_default
|
||||
```
|
||||
|
||||
<a id="debug_port"></a>
|
||||
|
||||
## 디버그 포트
|
||||
## Debug Port {#debug_port}
|
||||
|
||||
The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debug/swd_debug.md) run on the **FMU Debug** port.
|
||||
|
||||
|
||||
@@ -1,142 +1,7 @@
|
||||
<Redirect to="../flight_controller/autopilot_discontinued" />
|
||||
|
||||
<!--
|
||||
# Holybro Kakute F7 (Discontinued)
|
||||
|
||||
<Badge type="info" text="Discontinued" />
|
||||
|
||||
:::warning
|
||||
This frame has been [discontinued](../flight_controller/autopilot_experimental.md) and is no longer commercially available.
|
||||
:::
|
||||
|
||||
:::warning
|
||||
PX4 does not manufacture this (or any) autopilot.
|
||||
Contact the [manufacturer](https://holybro.com/) for hardware support or compliance issues.
|
||||
:::
|
||||
|
||||
The _Kakute F7_ from Holybro is a flight controller board designed for racers.
|
||||
|
||||
<img src="../../assets/flight_controller/kakutef7/board.jpg" width="400px" title="Kakute F7" />
|
||||
|
||||
:::info
|
||||
This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
|
||||
:::
|
||||
|
||||
## 주요 특징
|
||||
|
||||
- Main System-on-Chip: [STM32F745VGT6](https://www.st.com/en/microcontrollers-microprocessors/stm32f745vg.html)
|
||||
- CPU : 단정밀도 FPU의 216MHz ARM Cortex M7
|
||||
- RAM : 320KB SRAM
|
||||
- FLASH: 1 MB
|
||||
- 표준 레이서 폼 팩터 : 36x36mm, 표준 30.5mm 구멍 패턴
|
||||
- ICM20689 가속/자이로 (소프트 장착)
|
||||
- BMP280 기압계
|
||||
- microSD (로깅)
|
||||
- 6개의 UART
|
||||
- I2C 버스 1 개
|
||||
- 6 PWM 출력
|
||||
- 내장 OSD 칩(SPI를 통한 AB7456)
|
||||
|
||||
## 구매처
|
||||
|
||||
The board can be bought from one of the following shops (for example):
|
||||
|
||||
- [getfpv](https://www.getfpv.com/holybro-kakute-f7-tekko32-f3-metal-65a-4-in-1-esc-combo.html)
|
||||
|
||||
:::tip
|
||||
The _Kakute F7_ is designed to work with the _Tekko32_ 4-in-1 ESC and they can be bought in combination.
|
||||
:::
|
||||
|
||||
## 커넥터 및 핀
|
||||
|
||||
This is the silkscreen for the _Kakute F7_, showing the top of the board:
|
||||
|
||||
|
||||
|
||||
| 핀 | 기능 | 기본값 |
|
||||
| -------- | -------------------------------------------------------------------- | ------------ |
|
||||
| B+ | 배터리 양극 전압 (2S-6S) | |
|
||||
| 5V | 5V 출력 (최대 2A) | |
|
||||
| VO | 비디오 송신기로 비디오 출력 | |
|
||||
| VI | FPV 카메라의 비디오 입력 | |
|
||||
| G 또는 GND | 접지 | |
|
||||
| SDA, SCL | I2C 연결(주변장치용) | |
|
||||
| R1, T1 | UART1 RX 및 TX | TELEM1 |
|
||||
| R2, T2 | UART2 RX 및 TX | TELEM2 |
|
||||
| R3, T3 | UART3 RX 및 TX | NuttX 디버그 콘솔 |
|
||||
| R4, T4 | UART4 RX 및 TX | GPS1 |
|
||||
| R6, T6 | UART6 RX 및 TX | RC 포트 |
|
||||
| R7, T7 | UART7 RX 및 TX(RX는 4-in-1 ESC와 함께 사용하기 위해 플러그에 있음) | DShot 텔레메트리 |
|
||||
| LED | WS2182 주소 지정이 가능한 LED 신호 와이어(테스트되지 않음) | |
|
||||
| Buz- | 피에조 부저 네거티브 레그(부저 포지티브 레그를 5V 패드에 연결) | |
|
||||
| 3V3 | 3.3V 출력(최대 200mA) | |
|
||||
| M1에서 M4 | 모터 신호 출력 (4-in-1 ESC에서 사용하기 위해 플러그에 위치) | |
|
||||
| M5, M6 | 추가 모터 신호 출력(보드 측면에 위치) | |
|
||||
| RSI | 수신기에서 아날로그 RSSI(0-3.3V) 입력 | |
|
||||
| Boot | 부트로더 버튼 | |
|
||||
|
||||
<a id="bootloader"></a>
|
||||
|
||||
## 부트로더 업데이트
|
||||
|
||||
The board comes pre-installed with [Betaflight](https://github.com/betaflight/betaflight/wiki).
|
||||
Before PX4 firmware can be installed, the _PX4 bootloader_ must be flashed.
|
||||
Download the [kakutef7_bl.hex](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/flight_controller/kakutef7/kakutef7_bl_0b3fbe2da0.hex) bootloader binary and read [this page](../advanced_config/bootloader_update_from_betaflight.md) for flashing instructions.
|
||||
|
||||
## 펌웨어 빌드
|
||||
|
||||
To [build PX4](../dev_setup/building_px4.md) for this target:
|
||||
|
||||
```
|
||||
make holybro_kakutef7_default
|
||||
```
|
||||
|
||||
## 펌웨어 설치
|
||||
|
||||
펌웨어는 일반적인 방법으로 설치할 수 있습니다.
|
||||
|
||||
- 소스 빌드 및 업로드
|
||||
```
|
||||
make holybro_kakutef7_default upload
|
||||
```
|
||||
- [Load the firmware](../config/firmware.md) using _QGroundControl_.
|
||||
미리 빌드된 펌웨어나 사용자 지정 펌웨어를 사용할 수 있습니다.
|
||||
|
||||
## 설정
|
||||
|
||||
If you use a 4-in-1 ESC with Betaflight/Cleanflight motor assignment you can use the [Actuator](../config/actuators.md) configuration UI to set the motor ordering appropriately.
|
||||
|
||||
In addition to the [basic configuration](../config/index.md), the following parameters are important:
|
||||
|
||||
| 매개변수 | 설정 |
|
||||
| -------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------ |
|
||||
| [SYS_HAS_MAG](../advanced_config/parameter_reference.md#SYS_HAS_MAG) | 보드에 내부 자력계가 없기 때문에 비활성화하여야 합니다. 외부 자력계를 연결하여 활성화 할 수 있습니다. |
|
||||
|
||||
## 시리얼 포트 매핑
|
||||
|
||||
| UART | 장치 | 포트 |
|
||||
| ------ | ---------- | ----------------------------------- |
|
||||
| USART1 | /dev/ttyS0 | TELEM1 |
|
||||
| USART2 | /dev/ttyS1 | TELEM2 |
|
||||
| USART3 | /dev/ttyS2 | 디버그 콘솔 |
|
||||
| UART4 | /dev/ttyS3 | GPS1 |
|
||||
| USART6 | /dev/ttyS4 | RC SBUS |
|
||||
| UART7 | /dev/ttyS5 | ESC 텔레메트리(DShot) |
|
||||
|
||||
<!-- Note: Got ports using https://github.com/PX4/PX4-user_guide/pull/672#issuecomment-598198434 -->
|
||||
|
||||
## 디버그 포트
|
||||
|
||||
### 시스템 콘솔
|
||||
|
||||
UART3 RX and TX are configured for use as the [System Console](../debug/system_console.md).
|
||||
|
||||
### SWD
|
||||
|
||||
The [SWD interface](../debug/swd_debug.md) (JTAG) pins are:
|
||||
|
||||
- `SWCLK`: Test Point 2 (Pin 72 on the CPU)
|
||||
- `SWDIO`: Test Point 3 (Pin 76 on CPU)
|
||||
- `GND`: As marked on board
|
||||
- `VDD_3V3`: As marked on board
|
||||
|
||||
These are shown below.
|
||||
|
||||
 
|
||||
DOC REMOVED: 202603
|
||||
-->
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user