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docs(i18n): PX4 guide translations (Crowdin) - ko (#26688)
Co-authored-by: Crowdin Bot <support+bot@crowdin.com>
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@@ -12,13 +12,15 @@ These are covered in [Application/Module Template](../modules/module_template.md
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다음과 같은 것이 필요합니다.
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- [PX4 SITL Simulator](../simulation/index.md) _or_ a [PX4-compatible flight controller](../flight_controller/index.md).
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- [Gazebo Simulator](../sim_gazebo_gz/index.md) (or another [PX4 SITL Simulator](../simulation/index.md)) _or_ a [PX4-compatible flight controller](../flight_controller/index.md).
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- [PX4 Development Toolchain](../dev_setup/dev_env.md) for the desired target.
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- [Download the PX4 Source Code](../dev_setup/building_px4.md#download-the-px4-source-code) from Github
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The source code [PX4-Autopilot/src/examples/px4_simple_app](https://github.com/PX4/PX4-Autopilot/tree/main/src/examples/px4_simple_app) directory contains a completed version of this tutorial that you can review if you get stuck.
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- Rename (or delete) the **px4_simple_app** directory.
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:::tip
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Rename (or delete) the **px4_simple_app** directory.
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:::
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## 간단한 어플리케이션
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@@ -34,7 +36,7 @@ This consists of a single _C_ file and a _cmake_ definition (which tells the too
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```c
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/****************************************************************************
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*
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* Copyright (c) 2012-2022 PX4 Development Team. All rights reserved.
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* Copyright (c) 2012-2026 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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@@ -67,7 +69,7 @@ This consists of a single _C_ file and a _cmake_ definition (which tells the too
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```
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- 기본 헤더 아래에 다음 코드를 복사합니다.
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이것은 기여한 모든 파일에 첨부하여야 합니다.
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Similar code should be present in all contributed files!
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```c
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/**
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@@ -150,6 +152,9 @@ This consists of a single _C_ file and a _cmake_ definition (which tells the too
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)
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```
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Note that in your own modules you'd use the current copyright year!
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We're using `2015` here to match the example.
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The `px4_add_module()` method builds a static library from a module description.
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- The `MODULE` block is the Firmware-unique name of the module (by convention the module name is prefixed by parent directories back to `src`).
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@@ -170,7 +175,7 @@ This consists of a single _C_ file and a _cmake_ definition (which tells the too
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4. Create and open a new _Kconfig_ definition file named **Kconfig** and define your symbol for naming (see [Kconfig naming convention](../hardware/porting_guide_config.md#px4-kconfig-symbol-naming-convention)).
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아래 텍스트를 복사하십시오.
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```text
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```txt
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menuconfig EXAMPLES_PX4_SIMPLE_APP
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bool "px4_simple_app"
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default n
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@@ -185,27 +190,34 @@ This consists of a single _C_ file and a _cmake_ definition (which tells the too
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Applications are added to the build/firmware in the appropriate board-level _px4board_ file for your target:
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- PX4 SITL (Simulator): [PX4-Autopilot/boards/px4/sitl/default.px4board](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/sitl/default.px4board)
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- Pixhawk v1/2: [PX4-Autopilot/boards/px4/fmu-v2/default.px4board](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v2/default.px4board)
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- Pixracer (px4/fmu-v4): [PX4-Autopilot/boards/px4/fmu-v4/default.px4board](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v4/default.px4board)
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- Pixhawk 6X (px4/fmu-v6x): [PX4-Autopilot/boards/px4/fmu-v6x/default.px4board](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v6x/default.px4board)
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- _px4board_ files for other boards can be found in [PX4-Autopilot/boards/](https://github.com/PX4/PX4-Autopilot/tree/main/boards)
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To enable the compilation of the application into the firmware add the corresponding Kconfig key `CONFIG_EXAMPLES_PX4_SIMPLE_APP=y` in the _px4board_ file or run [boardconfig](../hardware/porting_guide_config.md#px4-menuconfig-setup) `make px4_fmu-v4_default boardconfig`:
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To enable the compilation of the application into the firmware add the corresponding Kconfig key `CONFIG_EXAMPLES_PX4_SIMPLE_APP=y` in the _px4board_ file or run [boardconfig](../hardware/porting_guide_config.md#px4-menuconfig-setup).
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For example, to edit the board config for FMUv6x you would do:
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```sh
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make fmu-v6x_default boardconfig
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```
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And then enable the app in the _boardconfig_ UI as shown:
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```txt
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examples --->
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[x] PX4 Simple app ----
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```
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:::info
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The line will already be present for most files, because the examples are included in firmware by default.
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Examples are opt-in and not included in firmware by default (although they are in SITL).
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You must explicitly enable them as shown above.
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:::
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보드별 명령어를 사용하여, 예제를 빌드합니다.
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- jMAVSim Simulator: `make px4_sitl_default jmavsim`
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- Pixhawk v1/2: `make px4_fmu-v2_default` (or just `make px4_fmu-v2`)
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- Pixhawk v3: `make px4_fmu-v4_default`
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- Other boards: [Building the Code](../dev_setup/building_px4.md#building-for-nuttx)
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- Gazebo Simulator: `make px4_sitl gz_x500`
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- Pixhawk 6X: `make px4_fmu-v6x_default`
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- Other boards: [Building the Code](../dev_setup/building_px4.md)
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## 앱 테스트(하드웨어)
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@@ -213,8 +225,7 @@ The line will already be present for most files, because the examples are includ
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업로더를 활성화한 다음 보드를 재설정합니다.
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- Pixhawk v1/2: `make px4_fmu-v2_default upload`
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- Pixhawk v3: `make px4_fmu-v4_default upload`
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- Pixhawk 6X: `make px4_fmu-v6x_default upload`
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보드 재설정전에 컴파일 메시지를 인쇄하고 마지막에 다음을 인쇄합니다.
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@@ -299,14 +310,14 @@ The benefits of the PX4 hardware abstraction comes into play here!
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센서 드라이버와 어떤 식으로든 상호 작용할 필요가 없으며, 보드 또는 센서가 업데이트된 경우 앱을 업데이트할 필요도 없습니다.
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:::
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Individual message channels between applications are called [topics](../middleware/uorb.md). For this tutorial, we are interested in the [SensorCombined](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorCombined.msg) topic, which holds the synchronized sensor data of the complete system.
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Individual message channels between applications are called [topics](../middleware/uorb.md). For this tutorial, we are interested in the [VehicleAcceleration](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleAcceleration.msg) topic, which holds the filtered vehicle acceleration data.
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주제 구독은 간단합니다.
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```cpp
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#include <uORB/topics/sensor_combined.h>
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#include <uORB/topics/vehicle_acceleration.h>
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..
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int sensor_sub_fd = orb_subscribe(ORB_ID(sensor_combined));
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int sensor_sub_fd = orb_subscribe(ORB_ID(vehicle_acceleration));
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```
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The `sensor_sub_fd` is a topic handle and can be used to very efficiently perform a blocking wait for new data.
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@@ -317,9 +328,9 @@ Adding `poll()` to the subscription looks like (_pseudocode, look for the full i
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```cpp
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#include <poll.h>
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#include <uORB/topics/sensor_combined.h>
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#include <uORB/topics/vehicle_acceleration.h>
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..
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int sensor_sub_fd = orb_subscribe(ORB_ID(sensor_combined));
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int sensor_sub_fd = orb_subscribe(ORB_ID(vehicle_acceleration));
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/* one could wait for multiple topics with this technique, just using one here */
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px4_pollfd_struct_t fds[] = {
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@@ -327,26 +338,26 @@ px4_pollfd_struct_t fds[] = {
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};
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while (true) {
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/* wait for sensor update of 1 file descriptor for 1000 ms (1 second) */
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int poll_ret = px4_poll(fds, 1, 1000);
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..
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if (fds[0].revents & POLLIN) {
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/* obtained data for the first file descriptor */
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struct sensor_combined_s raw;
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/* copy sensors raw data into local buffer */
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orb_copy(ORB_ID(sensor_combined), sensor_sub_fd, &raw);
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PX4_INFO("Accelerometer:\t%8.4f\t%8.4f\t%8.4f",
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(double)raw.accelerometer_m_s2[0],
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(double)raw.accelerometer_m_s2[1],
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(double)raw.accelerometer_m_s2[2]);
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}
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/* wait for sensor update of 1 file descriptor for 1000 ms (1 second) */
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int poll_ret = px4_poll(fds, 1, 1000);
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..
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if (fds[0].revents & POLLIN) {
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/* obtained data for the first file descriptor */
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struct vehicle_acceleration_s accel;
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/* copy sensors raw data into local buffer */
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orb_copy(ORB_ID(vehicle_acceleration), sensor_sub_fd, &accel);
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PX4_INFO("Accelerometer:\t%8.4f\t%8.4f\t%8.4f",
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(double)accel.xyz[0],
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(double)accel.xyz[1],
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(double)accel.xyz[2]);
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}
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}
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```
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아래의 명령어로 앱을 다시 컴파일합니다.
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```sh
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make
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make px4_sitl_default
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```
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### uORB 구독 테스트
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@@ -405,7 +416,7 @@ The [complete example code](https://github.com/PX4/PX4-Autopilot/blob/main/src/e
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```c
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/****************************************************************************
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*
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* Copyright (c) 2012-2019 PX4 Development Team. All rights reserved.
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* Copyright (c) 2012-2026 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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@@ -454,7 +465,7 @@ The [complete example code](https://github.com/PX4/PX4-Autopilot/blob/main/src/e
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#include <math.h>
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#include <uORB/uORB.h>
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#include <uORB/topics/sensor_combined.h>
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#include <uORB/topics/vehicle_acceleration.h>
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#include <uORB/topics/vehicle_attitude.h>
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__EXPORT int px4_simple_app_main(int argc, char *argv[]);
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@@ -463,8 +474,8 @@ int px4_simple_app_main(int argc, char *argv[])
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{
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PX4_INFO("Hello Sky!");
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/* subscribe to sensor_combined topic */
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int sensor_sub_fd = orb_subscribe(ORB_ID(sensor_combined));
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/* subscribe to vehicle_acceleration topic */
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int sensor_sub_fd = orb_subscribe(ORB_ID(vehicle_acceleration));
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/* limit the update rate to 5 Hz */
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orb_set_interval(sensor_sub_fd, 200);
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@@ -505,20 +516,20 @@ int px4_simple_app_main(int argc, char *argv[])
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if (fds[0].revents & POLLIN) {
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/* obtained data for the first file descriptor */
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struct sensor_combined_s raw;
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struct vehicle_acceleration_s accel;
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/* copy sensors raw data into local buffer */
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orb_copy(ORB_ID(sensor_combined), sensor_sub_fd, &raw);
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orb_copy(ORB_ID(vehicle_acceleration), sensor_sub_fd, &accel);
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PX4_INFO("Accelerometer:\t%8.4f\t%8.4f\t%8.4f",
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(double)raw.accelerometer_m_s2[0],
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(double)raw.accelerometer_m_s2[1],
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(double)raw.accelerometer_m_s2[2]);
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(double)accel.xyz[0],
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(double)accel.xyz[1],
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(double)accel.xyz[2]);
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/* set att and publish this information for other apps
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the following does not have any meaning, it's just an example
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*/
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att.q[0] = raw.accelerometer_m_s2[0];
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att.q[1] = raw.accelerometer_m_s2[1];
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att.q[2] = raw.accelerometer_m_s2[2];
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att.q[0] = accel.xyz[0];
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att.q[1] = accel.xyz[1];
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att.q[2] = accel.xyz[2];
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orb_publish(ORB_ID(vehicle_attitude), att_pub, &att);
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}
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@@ -530,7 +541,6 @@ int px4_simple_app_main(int argc, char *argv[])
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}
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PX4_INFO("exiting");
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return 0;
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}
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```
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