fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-21 10:53:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

docs(i18n): PX4 guide translations (Crowdin) - ko (#26849)

Browse Source 
Co-authored-by: Crowdin Bot <support+bot@crowdin.com>
This commit is contained in:
PX4 Build Bot
2026-03-27 13:33:08 +11:00
committed by GitHub
co-authored by Crowdin Bot
parent 274e9e3ee8
commit 9784fcbb8e
56 changed files with 1138 additions and 564 deletions
Download Patch File Download Diff File Expand all files Collapse all files
docs/ko/peripherals/dshot.md
+55 -102
View File
@@ -47,74 +47,12 @@ You should set the parameter to the highest speed supported by your ESC (accordi
ESC가 초기화되고 모터가 올바른 방향으로 회전하여야 합니다.
- If the motors do not spin in the correct direction (for the [selected airframe](../airframes/airframe_reference.md)) you can reverse them in the UI using the **Set Spin Direction** option (this option appears after you select DShot and assign motors).
You can also reverse motors by sending an [ESC Command](#commands).
## ESC Commands {#commands}
Commands can be sent to the ESC via the [MAVLink shell](../debug/mavlink_shell.md).
See [here](../modules/modules_driver.md#dshot) for a full reference of the supported commands.
가장 중요한 것은 다음과 같습니다.
- Make a motor connected to FMU output pin 1 beep (helps with identifying motors)
```sh
dshot beep1 -m 1
```
- Retrieve ESC information (requires telemetry, see below):
```sh
nsh> dshot esc_info -m 2
INFO [dshot] ESC Type: #TEKKO32_4in1#
INFO [dshot] MCU Serial Number: xxxxxx-xxxxxx-xxxxxx-xxxxxx
INFO [dshot] Firmware version: 32.60
INFO [dshot] Rotation Direction: normal
INFO [dshot] 3D Mode: off
INFO [dshot] Low voltage Limit: off
INFO [dshot] Current Limit: off
INFO [dshot] LED 0: unsupported
INFO [dshot] LED 1: unsupported
INFO [dshot] LED 2: unsupported
INFO [dshot] LED 3: unsupported
```
- Permanently set the spin direction of a motor connected to FMU output pin 1 (while motors are _not_ spinning):
- Set spin direction to `reversed`:
```sh
dshot reverse -m 1
dshot save -m 1
```
Retrieving ESC information will then show:
```sh
Rotation Direction: reversed
```
- Set spin direction to `normal`:
```sh
dshot normal -m 1
dshot save -m 1
```
Retrieving ESC information will then show:
```sh
Rotation Direction: normal
```
:::note
- The commands will have no effect if the motors are spinning, or if the ESC is already set to the corresponding direction.
- The ESC will revert to its last saved direction (normal or reversed) on reboot if `save` is not called after changing the direction.
:::
## ESC Telemetry
Some ESCs are capable of sending telemetry back to the flight controller through a UART RX port.
@@ -133,61 +71,76 @@ The provided telemetry includes:
1. 모든 ESC의 모든 원격 측정 와이어를 함께 연결한 다음, 사용하지 않는 비행 콘트롤러 직렬 포트의 RX핀 중 하나에 연결합니다.
2. Enable telemetry on that serial port using [DSHOT_TEL_CFG](../advanced_config/parameter_reference.md#DSHOT_TEL_CFG).
재부팅 후 다음을 사용하여 텔레메트리 작동 여부를 확인할 수 있습니다 (배터리가 연결되어 있는 지 확인).
```sh
dshot esc_info -m 1
```
:::tip
You may have to configure [MOT_POLE_COUNT](../advanced_config/parameter_reference.md#MOT_POLE_COUNT) to get the correct RPM values.
You may have to configure the per-motor pole count parameters ([`DSHOT_MOT_POL1`–`DSHOT_MOT_POL12`](../advanced_config/parameter_reference.md#DSHOT_MOT_POL1)) to get correct RPM values.
The default value for these is 14 poles, which is typical for 5-inch prop motors.
:::
:::tip
Not all DSHOT-capable ESCs support `[esc_info]`(e.g. APD 80F3x), even when telemetry is supported and enabled.
결과 오류는 다음과 같습니다.
```sh
ERROR [dshot] No data received. If telemetry is setup correctly, try again.
```
세부 사항은 제조업체 문서를 확인하십시오.
[Extended DShot Telemetry (EDT)](#extended-dshot-telemetry-edt) can provide temperature, voltage, and current through the BDShot signal — no serial telemetry wire needed.
:::
## Bidirectional DShot (Telemetry)
<Badge type="tip" text="PX4 v1.16" />
Bidirectional DShot is a protocol that can provide telemetry including: high rate ESC RPM data, voltage, current, and temperature with a single wire.
Bidirectional DShot (BDShot) enables the ESC to send eRPM telemetry back to the flight controller on the same signal wire used for throttle commands — no additional telemetry wire is needed for RPM data.
High-rate eRPM data significantly improves the performance of [Dynamic Notch Filters](../config_mc/filter_tuning.md#dynamic-notch-filters) and enables more precise vehicle tuning.
The PX4 implementation currently enables only ESC RPM (eRPM) data collection from each ESC at high frequencies.
This telemetry significantly improves the performance of [Dynamic Notch Filters](../config_mc/filter_tuning.md#dynamic-notch-filters) and enables more precise vehicle tuning.
With [Extended DShot Telemetry (EDT)](#extended-dshot-telemetry-edt) enabled, BDShot can also provide temperature, voltage, and current data.
### Hardware Support
BDShot requires a flight controller with DMA-capable timers.
Any FMU output on a supported timer can be used for BDShot — multiple timers are supported through sequential burst/capture.
Supported processors:
- **STM32H7**: All FMU outputs on DMA-capable timers
- **i.MXRT** (V6X-RT & Tropic): All FMU outputs
:::info
The [ESC Telemetry](#esc-telemetry) described above is currently still necessary if you want voltage, current, or temperature information.
It's setup and use is independent of bidirectional DShot.
:::
### 하드웨어 설정
The ESC must be connected to FMU outputs only.
These will be labeled `MAIN` on flight controllers that only have one PWM bus, and `AUX` on controllers that have both `MAIN` and `AUX` ports (i.e. FCs that have an IO board).
:::warning
**Limited hardware support**
This feature is only supported on flight controllers with the following processors:
- STM32H7: First four FMU outputs
- Must be connected to the first 4 FMU outputs, and these outputs must also be mapped to the same timer.
- [KakuteH7](../flight_controller/kakuteh7v2.md) is not supported because the outputs are not mapped to the same timer.
- [i.MXRT](../flight_controller/nxp_mr_vmu_rt1176.md) (V6X-RT & Tropic): 8 FMU outputs.
No other boards are supported.
These are labeled `MAIN` on controllers with a single PWM bus, and `AUX` on controllers with both `MAIN` and `AUX` ports (i.e. those with an IO board).
:::
### Configuration {#bidirectional-dshot-configuration}
### PX4 Configuration {#bidirectional-dshot-configuration}
To enable bidirectional DShot, set the [DSHOT_BIDIR_EN](../advanced_config/parameter_reference.md#DSHOT_BIDIR_EN) parameter.
BDShot is enabled **per-timer** in the [Actuator Configuration](../config/actuators.md) UI.
Select **BDShot150**, **BDShot300**, or **BDShot600** as the output protocol instead of the corresponding DShot speed.
There is no separate enable parameter — choosing a BDShot protocol activates bidirectional telemetry on that timer's outputs.
The system calculates actual motor RPM from the received eRPM data using the [MOT_POLE_COUNT](../advanced_config/parameter_reference.md#MOT_POLE_COUNT) parameter.
This parameter must be set correctly for accurate RPM reporting.
The system calculates actual motor RPM from eRPM data using per-motor pole count parameters: `DSHOT_MOT_POL1` through `DSHOT_MOT_POL12` (one per motor output).
The default is 14 poles, which is typical for 5-inch prop motors.
If you are using AM32 ESCs, the motor pole count must also be set in the AM32 firmware configuration (e.g. via the AM32 configurator tool) to match.
### Extended DShot Telemetry (EDT)
EDT extends BDShot by interleaving temperature, voltage, and current data into the eRPM telemetry frames.
This allows ESC health monitoring through the same signal wire, without requiring a separate serial telemetry connection.
To enable EDT:
1. Configure BDShot on the desired outputs (see above).
2. Set `DSHOT_BIDIR_EDT` to `1` and reboot.
The ESC firmware must support EDT (e.g. [AM32](https://github.com/am32-firmware/AM32)).
When both serial telemetry and BDShot/EDT are enabled, the driver merges data from both sources.
## AM32 ESC Settings (EEPROM)
PX4 can read and write AM32 ESC firmware settings (EEPROM) via a ground station, enabling remote ESC configuration without connecting directly to each ESC.
### Requirements
- ESCs running [AM32 firmware](https://github.com/am32-firmware/AM32) with serial telemetry connected ([DSHOT_TEL_CFG](../advanced_config/parameter_reference.md#DSHOT_TEL_CFG))
- `DSHOT_ESC_TYPE` set to `1` (AM32)
- Ground station with ESC EEPROM support (QGroundControl feature in development)
- MAVLink development dialect enabled on the flight controller
### How It Works
PX4 automatically reads the full EEPROM from each ESC on boot.
The ground station can then display individual settings and allow the user to modify them.
Changes are written back to the ESC one byte at a time using the DShot programming protocol.
docs/ko/peripherals/mavlink_peripherals.md
+3 -28
View File
@@ -26,38 +26,12 @@ The number in the name means nothing; you can assign any instance to any port.
- <a id="MAV_X_CONFIG"></a>[MAV_X_CONFIG](../advanced_config/parameter_reference.md#MAV_0_CONFIG) - Set the serial port (UART) for this instance "X", where X is 0, 1, 2.
It can be any unused port, e.g.: `TELEM2`, `TELEM3`, `GPS2` etc.
For more information see [Serial Port Configuration](../peripherals/serial_configuration.md).
- <a id="MAV_X_MODE"></a>[MAV_X_MODE](../advanced_config/parameter_reference.md#MAV_0_MODE) - Specify the telemetry mode/target (the set of messages to stream for the current instance and their rate).
기본값은 아래와 같습니다.
- _Normal_: Standard set of messages for a GCS.
- _Custom_ or _Magic_: Nothing (in the default PX4 implementation).
모드는 새 모드를 개발시 테스트용으로 사용할 수 있습니다.
- _Onboard_: Standard set of messages for a companion computer.
- _OSD_: Standard set of messages for an OSD system.
- _Config_: Standard set of messages and rate configuration for a fast link (e.g. USB).
- _Minimal_: Minimal set of messages for use with a GCS connected on a high latency link.
- _External Vision_: Messages for offboard vision systems.
- _Gimbal_: Messages for a gimbal. Note this also enables [message forwarding](#MAV_X_FORWARD)
- _Onboard Low Bandwidth_: Standard set of messages for a companion computer connected on a lower speed link.
- _uAvionix_: Messages for a uAvionix ADS-B beacon.
::: info
If you need to find the specific set of message for each mode search for `MAVLINK_MODE_` in [/src/modules/mavlink/mavlink_main.cpp](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mavlink/mavlink_main.cpp).
:::
:::tip
The mode defines the _default_ messages and rates.
A connected MAVLink system can still request the streams/rates that it wants using [MAV_CMD_SET_MESSAGE_INTERVAL](https://mavlink.io/en/messages/common.html#MAV_CMD_SET_MESSAGE_INTERVAL).
:::
- <a id="MAV_X_MODE"></a>[MAV_X_MODE](../advanced_config/parameter_reference.md#MAV_0_MODE) - Specify the [MAVLink profile](../mavlink/mavlink_profiles.md) for the instance, such as _Normal_ or _OSD_.
Profiles define a particular set of streamed messages and their rates — you should choose a profile that is appropriate for your channel and the peripheral.
- <a id="MAV_X_RATE"></a>[MAV_X_RATE](../advanced_config/parameter_reference.md#MAV_0_MODE) - Set the maximum _data rate_ for this instance (bytes/second).
- 이는 개별 메시지의 모든 스트림에 대한 결합 비율입니다 (총 비율이이 값을 초과하면 개별 메시지에 대한 비율이 감소됨).
- 기본 설정은 일반적으로 허용되지만 원격 분석 링크가 포화 상태가 되고, 너무 많은 메시지가 삭제되는 경우에는 감소할 수 있습니다.
- 값이 0이면 데이터 속도가 이론적인 값의 절반으로 설정됩니다.
- <a id="MAV_X_FORWARD"></a>[MAV_X_FORWARD](../advanced_config/parameter_reference.md#MAV_0_FORWARD) - Enable forwarding of MAVLink packets received by the current instance onto other interfaces.
예를 들어 GCS가 보조 컴퓨터에 연결된 MAVLink 지원 카메라와 통신할 수 있도록 GCS와 보조 컴퓨터간에 메시지를 전송에 사용할 수 있습니다.
@@ -121,6 +95,7 @@ Links to setup instructions for specific MAVLink components:
## See Also
- [MAVLink Profiles](../mavlink/mavlink_profiles.md)
- [Serial Port Configuration](../peripherals/serial_configuration.md)
- [PX4 Ethernet Setup > PX4 MAVLink Serial Port Configuration](../advanced_config/ethernet_setup.md#px4-mavlink-serial-port-configuration)
- [Serial Port Mapping](../hardware/serial_port_mapping.md)