New Crowdin translations - zh-CN (#25890)

Co-authored-by: Crowdin Bot <support+bot@crowdin.com>
2026-04-14 10:07:39 +08:00 · 2025-11-19 15:56:43 +11:00 · 2025-11-19 15:56:43 +11:00 · 9c850b1594
commit 9c850b1594
parent ad2279adb5
9 changed files with 297 additions and 7 deletions
--- a/docs/zh/SUMMARY.md
+++ b/docs/zh/SUMMARY.md
@ -182,6 +182,7 @@
        - [Wiring Quickstart](assembly/quick_start_durandal.md)
      - [Holybro Pix32 v5](flight_controller/holybro_pix32_v5.md)
        - [Wiring Quickstart](assembly/quick_start_holybro_pix32_v5.md)
+      - [MicoAir H743 Lite](flight_controller/micoair743-lite.md)
      - [ModalAI VOXL 2](flight_controller/modalai_voxl_2.md)
      - [mRo Control Zero F7](flight_controller/mro_control_zero_f7.md)
      - [Radiolink PIX6](flight_controller/radiolink_pix6.md)
@ -504,6 +505,7 @@
      - [UART/串口](uart/index.md)
        - [可配置的串口驱动](uart/user_configurable_serial_driver.md)
    - [RTK GPS (集成)](advanced/rtk_gps.md)
+    - [PPS Time Synchronization](advanced/pps_time_sync.md)
  - [中间件](middleware/index.md)
    - [uORB 通讯](middleware/uorb.md)
    - [uORB 图](middleware/uorb_graph.md)
--- a/docs/zh/advanced/pps_time_sync.md
+++ b/docs/zh/advanced/pps_time_sync.md
@ -0,0 +1,135 @@
+# PPS Time Synchronization (PX4 Integration)
+
+[Pulse Per Second](https://en.wikipedia.org/wiki/Pulse-per-second_signal) (PPS) time synchronization provides high-precision timing for GNSS receivers.
+This page explains how PPS is integrated into PX4 and how to configure it.
+
+## 综述
+
+PPS (Pulse Per Second) is a timing signal provided by GNSS receivers that outputs an electrical pulse once per second, synchronized to UTC time.
+The PPS signal provides a highly accurate timing reference that PX4 can use to:
+
+- Refine GNSS time measurements and compensate for clock drift
+- Provide precise UTC timestamps for camera capture events (for photogrammetry and mapping applications)
+- Enable offline position refinement through accurate time correlation
+
+## 支持的硬件
+
+PPS time synchronization can be supported on flight controllers that have a hardware timer input pin that can be configured for PPS capture, by [enabling the PPS capture driver](#enable-pps-driver-in-board-configuration) in the board configuration.
+
+Supported boards include (at time of writing):
+
+- [Ark FMUv6x](../flight_controller/ark_v6x.md)
+- Auterion FMUv6x
+- Auterion FMUv6s
+
+## 设置
+
+### Enable PPS Driver in Board Configuration
+
+The [PPS capture driver](../modules/modules_driver.md#pps-capture) must be enabled in the board configuration.
+This is done by adding the following to your board's configuration:
+
+```ini
+CONFIG_DRIVERS_PPS_CAPTURE=y
+```
+
+### Configure PPS Parameters
+
+The configuration varies depending on your flight controller hardware.
+
+#### FMUv6X
+
+For FMUv6X-based flight controllers, configure PWM AUX Timer 3 and Function 9:
+
+```sh
+param set PWM_AUX_TIM3 -2
+param set PWM_AUX_FUNC9 2064
+param set PPS_CAP_ENABLE 1
+```
+
+#### FMUv6S
+
+For FMUv6S-based flight controllers, configure PWM MAIN Timer 3 and Function 10:
+
+```sh
+param set PWM_MAIN_TIM3 -2
+param set PWM_MAIN_FUNC10 2064
+param set PPS_CAP_ENABLE 1
+```
+
+### 布线
+
+The wiring configuration depends on your specific flight controller.
+
+#### Skynode X (FMUv6x)
+
+Connect the PPS signal from your GNSS module to the flight controller using the 11-pin or 6-pin GPS connector:
+
+For detailed pinout information, refer to:
+
+- [Skynode GPS Peripherals - Pinouts](https://docs.auterion.com/hardware-integration/skynode/peripherals/gps#pinouts)
+
+#### Skynode S (FMUv6S)
+
+For FMUv6S, you need to route the PPS signal separately:
+
+1. Connect your GNSS module using the standard 6-pin GPS connector: [Skynode S GPS Interface](https://docs.auterion.com/hardware-integration/skynode-s/interfaces#gps)
+2. Connect the PPS signal from your GNSS module to the **PPM_IN** pin: [Skynode S Extras 1 Interface](https://docs.auterion.com/hardware-integration/skynode-s/interfaces#extras-1)
+
+#### ARK Jetson Carrier Board (FMUv6x)
+
+For ARK FMUv6X on the Jetson carrier board:
+
+1. Connect your GNSS module using either the 10-pin or 6-pin GPS connector: [ARK PAB GPS1 Interface](../flight_controller/ark_pab#gps1)
+2. Connect the PPS signal to the **FMU_CAP** pin: [ARK PAB ADIO Interface](../flight_controller/ark_pab.md#adio)
+
+## 验证
+
+After configuring PPS, you can verify that it is working correctly:
+
+1. Connect to the [PX4 System Console](../debug/system_console.md) (via MAVLink shell or serial console).
+
+2. Wait for GNSS fix.
+
+3. Check the PPS capture status to confirm it is up and running:
+
+   ```sh
+   pps_capture status
+   ```
+
+4. You can also check the [PpsCapture](../msg_docs/PpsCapture.md) uORB topic
+
+   ```sh
+   listener pps_capture
+   ```
+
+   Where you should see: `timestamp`, `rtc_timestamp`, and `pps_rate_exceeded_counter`.
+
+### PPS Capture Driver
+
+The PPS capture driver is located in `src/drivers/pps_capture` and uses hardware timer input capture to precisely measure the arrival time of each PPS pulse.
+
+主要特性：
+
+- Sub-microsecond pulse capture precision (hardware-dependent)
+- Automatic drift calculation and compensation
+- Integration with the GNSS driver for refined time stamping
+
+See also:
+
+- [PPS Capture Driver Documentation](../modules/modules_driver.md#pps-capture)
+- [PpsCapture Message](../msg_docs/PpsCapture.md)
+
+### Time Synchronization Flow
+
+1. GNSS module sends position/time data at ~1-20 Hz.
+2. GNSS module outputs PPS pulse at 1 Hz, precisely aligned to UTC second boundary.
+3. PPS capture driver measures the exact time of the PPS pulse arrival using hardware timer.
+4. Driver calculates the offset between GNSS time (from UART data) and autopilot clock (from PPS measurement).
+5. This offset is used to correct GNSS timestamps and improve sensor fusion accuracy.
+
+The PPS signal provides much higher temporal precision than the transmitted time data, which has latency and jitter from serial communication.
+
+:::warning
+If the PPS driver does not sending any data for 5 seconds (despite having `PPS_CAP_ENABLE` set to 1), the `EKF2_GPS_DELAY` will be used instead for estimating the latency.
+:::
--- a/docs/zh/advanced_config/bootloader_update_from_betaflight.md
+++ b/docs/zh/advanced_config/bootloader_update_from_betaflight.md
@ -89,7 +89,7 @@ Flight controllers that have bootloader PX4-Autopilot `make` targets, can build
 The list of controllers for which this applies can be obtained by running the following `make` command, and noting the `make` targets that end in `_bootloader`

 ```
-$make list_config_targets
+$ make list_config_targets

 ...
 cuav_nora_bootloader
--- a/docs/zh/flight_controller/autopilot_manufacturer_supported.md
+++ b/docs/zh/flight_controller/autopilot_manufacturer_supported.md
@ -30,6 +30,7 @@ The boards in this category are:
 - [Holybro Kakute H7](../flight_controller/kakuteh7.md)
 - [Holybro Durandal](../flight_controller/durandal.md)
 - [Holybro Pix32 v5](../flight_controller/holybro_pix32_v5.md)
+- [MicoAir H743 Lite](../flight_controller/micoair743-lite.md)
 - [ModalAI VOXL 2](../flight_controller/modalai_voxl_2.md)
 - [mRo Control Zero](../flight_controller/mro_control_zero_f7.md)
 - [Radiolink PIX6](../flight_controller/radiolink_pix6.md)
--- a/docs/zh/flight_controller/micoair743-lite.md
+++ b/docs/zh/flight_controller/micoair743-lite.md
@ -0,0 +1,153 @@
+# MicoAir743-Lite
+
+<Badge type="tip" text="main (planned for: PX4 v1.17)" />
+
+:::warning
+PX4 does not manufacture this (or any) autopilot.
+Contact the [manufacturer](https://micoair.com/) for hardware support or compliance issues.
+:::
+
+MicoAir743-Lite is an ultra-high performance H743 flight controller with an unbeatable price, featuring the ICM45686 IMU sensor and integrated Bluetooth telemetry.
+
+![MicoAir743-Lite Front View](../../assets/flight_controller/micoair743_lite/front_view.png)
+
+Equipped with a high-performance H7 processor, the MicoAir743-Lite features a compact form factor with SH1.0 connectors (which are more suitable than Pixhawk-standard GH1.25 for this board size).
+When paired with with Bluetooth telemetry, the board can be debugged with a phone or PC.
+
+:::info
+This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
+:::
+
+## MicoAir743-Lite (v1.1)
+
+![MicoAir743-Lite Back View](../../assets/flight_controller/micoair743_lite/back_view.png)
+
+## 总览
+
+### Processors & Sensors
+
+- FMU Processor: STM32H743
+  - 32 Bit Arm® Cortex®-M7, 480MHz, 2MB flash memory, 1MB RAM
+- On-board sensors
+  - Accel/Gyro: ICM-45686 (with BalancedGyro™ Technology)
+  - Barometer: SPA06
+- On-board Bluetooth Telemetry
+  - Connected to UART8 internally, baudrate 115200
+  - Connecting to QGC (PC or Android phone) via Bluetooth
+- 其它特性:
+  - Operating & storage temperature: -20 ~ 85°c
+
+### 接口
+
+- 8 UART (TELEM / GPS / RC)
+- 14 PWM outputs （10 supports DShot）
+- Support multiple RC inputs (SBUS / CRSF / DSM)
+- 1 GPS port
+- 1 I2C port
+- 2 ADC port2 (VBAT, Current)
+- 1 DJI O3/O4 VTX connector
+- 1 MicroSD Card Slot
+- 1 USB Type-C
+
+### Electrical data
+
+- VBAT Input:
+  - 2\~6S (6\~27V)
+- USB Power Input:
+  - 4.75\~5.25V
+- BEC Output:
+  - 5V 2A (for controller, receiver, GPS, optical flow or other devices)
+  - 9V 2A (for video transmitter, camera)
+
+### Mechanical data
+
+- Mounting: 30.5 x 30.5mm, Φ4mm
+- Dimensions: 36 x 36 x 8 mm
+- Weight: 10g
+
+![MicoAir743-Lite Size](../../assets/flight_controller/micoair743_lite/size.png)
+
+## 购买渠道
+
+Order from [MicoAir Tech Store](https://store.micoair.com/product/micoair743-lite/).
+
+## 针脚定义
+
+Pinouts definition can be found in the [MicoAir743-Lite_pinout.xlsx](https://raw.githubusercontent.com/PX4/PX4-Autopilot/refs/heads/main/docs/assets/flight_controller/micoair743_lite/micoair743_lite_pinout.xlsx) file.
+
+## 串口映射
+
+| UART   | 设备         | Port   |
+| ------ | ---------- | ------ |
+| USART1 | /dev/ttyS0 | TELEM1 |
+| USART2 | /dev/ttyS1 | GPS2   |
+| USART3 | /dev/ttyS2 | GPS1   |
+| UART4  | /dev/ttyS3 | TELEM2 |
+| UART5  | /dev/ttyS4 | TELEM3 |
+| USART6 | /dev/ttyS5 | RC     |
+| UART7  | /dev/ttyS6 | URT6   |
+| UART8  | /dev/ttyS7 | TELEM4 |
+
+## Interfaces Diagram
+
+:::note
+All the connectors used on the board are SH1.0
+:::
+
+![MicoAir743-Lite Interface Diagram](../../assets/flight_controller/micoair743_lite/interfaces_diagram.png)
+
+## Sample Wiring Diagram
+
+![MicoAir743-Lite Wiring Diagram](../../assets/flight_controller/micoair743_lite/wiring_diagram.png)
+
+## 编译固件
+
+To [build PX4](../dev_setup/building_px4.md) for this target:
+
+```sh
+make micoair_h743-lite_default
+```
+
+## Installing PX4 Firmware
+
+The firmware can be installed in any of the normal ways:
+
+- Build and upload the source
+
+  ```sh
+  make micoair_h743-lite_default upload
+  ```
+
+- [Load the firmware](../config/firmware.md) using _QGroundControl_.
+  You can use either pre-built firmware or your own custom firmware.
+
+  ::: info
+  At time of writing the only pre-built software is `PX4 main` (see [Installing PX4 Main, Beta or Custom Firmware](../config/firmware.md#installing-px4-main-beta-or-custom-firmware)).
+  Release builds will be supported for PX4 v1.17 and later.
+
+:::
+
+## 遥控器
+
+A [Radio Control (RC) system](../getting_started/rc_transmitter_receiver.md) is required if you want to manually control your vehicle (PX4 does not require a radio system for autonomous flight modes).
+
+The RC port is connected to the FMU and you can attach a receiver that uses the protocols `DSM`, `SBUS`, `CSRF`, `GHST`, or other protocol listed in [Radio Control modules](../modules/modules_driver_radio_control.md).
+You will need to enable the protocol by setting the corresponding parameter `RC_xxxx_PRT_CFG`, such as [RC_CRSF_PRT_CFG](../advanced_config/parameter_reference.md#RC_CRSF_PRT_CFG) for a [CRSF receiver](../telemetry/crsf_telemetry.md).
+
+## 支持的平台/机身
+
+Any multicopter / airplane / 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).
+
+## 外部设备
+
+- [MicoAir Telemetry Radio Modules](https://micoair.com/radio_telemetry/)
+- [MicoAir Optical & Range Sensor](https://micoair.com/optical_range_sensor/)
+- [MicoAir GPS](https://micoair.com/gps/)
+- [MicoAir ESC Modules](https://micoair.com/esc/)
+
+## 更多信息
+
+- [MicoAir Tech.](https://micoair.com/)
+- [Details about MicoAir743-Lite](https://micoair.com/flightcontroller_micoair743lite/)
+- [QGroundControl Download and Install](https://docs.qgroundcontrol.com/Stable_V5.0/en/qgc-user-guide/getting_started/download_and_install.html)
--- a/docs/zh/flight_modes_fw/return.md
+++ b/docs/zh/flight_modes_fw/return.md
@ -25,11 +25,6 @@ The default type is recommended.

 :::

-:::warning
-There is a known issue ([PX4-Autopilot#25436](https://github.com/PX4/PX4-Autopilot/issues/25436)) with fixed-wing approaches and landings while in RTL mode.
-Please review the issue and verify in simulation that the behavior you get is safe in an RTL landing scenario (if not, consider using rally points).
-:::
-
 ## 技术总结

 Fixed-wing vehicles use the _mission landing/rally point_ return type by default.
--- a/docs/zh/gps_compass/index.md
+++ b/docs/zh/gps_compass/index.md
@ -201,7 +201,9 @@ EPH/EPV values therefore provide a more immediate and practical estimate of the

 - GPS/RTK-GPS
  - [RTK-GPS](../advanced/rtk_gps.md)
+  - [PPS Time Synchronization](../advanced/pps_time_sync.md)
  - [GPS driver](../modules/modules_driver.md#gps)
+  - [PPS driver](../modules/modules_driver.md#pps-capture)
  - [DroneCAN Example](../dronecan/index.md)
 - 罗盘
  - [Driver source code](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/magnetometer) (Compasses)
--- a/docs/zh/gps_compass/magnetometer.md
+++ b/docs/zh/gps_compass/magnetometer.md
@ -40,6 +40,7 @@ This list contains stand-alone magnetometer modules (without GNSS).

 | 设备                                                                                                               |   罗盘   |           DroneCan          |
 | :--------------------------------------------------------------------------------------------------------------- | :----: | :-------------------------: |
+| [ARK MAG](https://arkelectron.com/product/ark-mag/)                                                              | RM3100 | &check; |
 | [Avionics Anonymous UAVCAN Magnetometer](https://www.tindie.com/products/avionicsanonymous/uavcan-magnetometer/) |    ?   |                             |
 | [Holybro DroneCAN RM3100 Compass/Magnetometer](https://holybro.com/products/dronecan-rm3100-compass)             | RM3100 | &check; |
 | [RaccoonLab DroneCAN/Cyphal Magnetometer RM3100](https://holybro.com/products/dronecan-rm3100-compass)           | RM3100 | &check; |
--- a/docs/zh/middleware/uxrce_dds.md
+++ b/docs/zh/middleware/uxrce_dds.md
@ -454,6 +454,7 @@ uxrce_dds_client start -n fancy_uav
 ```

 This can be included in `etc/extras.txt` as part of a custom [System Startup](../concept/system_startup.md).
+:::

 ## PX4 ROS 2 QoS Settings

@ -588,7 +589,7 @@ For a list of services, details and examples see the [service documentation](../
 These guidelines explain how to migrate from using PX4 v1.13 [Fast-RTPS](../middleware/micrortps.md) middleware to PX4 v1.14 `uXRCE-DDS` middleware.
 These are useful if you have [ROS 2 applications written for PX4 v1.13](https://docs.px4.io/v1.13/en/ros/ros2_comm.html), or you have used Fast-RTPS to interface your applications to PX4 [directly](https://docs.px4.io/v1.13/en/middleware/micrortps.html#agent-in-an-offboard-fast-dds-interface-ros-independent).

-::: info
+:::info
 This section contains migration-specific information.
 You should also read the rest of this page to properly understand uXRCE-DDS.
 :::