fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-27 02:13:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

New Crowdin translations - ko (#25659)

Browse Source 
Co-authored-by: Crowdin Bot <support+bot@crowdin.com>
This commit is contained in:
PX4 Build Bot
2025-10-01 13:53:06 +10:00
committed by GitHub
co-authored by Crowdin Bot
parent 4dab1108c3
commit bd71881f8a
11 changed files with 415 additions and 109 deletions
Download Patch File Download Diff File Expand all files Collapse all files
docs/ko/ros2/px4_ros2_control_interface.md
+37
View File
@@ -347,6 +347,7 @@ The following sections provide a list of supported setpoint types:
- [MulticopterGotoSetpointType](#go-to-setpoint-multicoptergotosetpointtype): <Badge type="warning" text="MC only" /> Smooth position and (optionally) heading control
- [FwLateralLongitudinalSetpointType](#fixed-wing-lateral-and-longitudinal-setpoint-fwlaterallongitudinalsetpointtype): <Badge type="warning" text="FW only" /> <Badge type="tip" text="main (planned for: PX4 v1.17)" /> Direct control of lateral and longitudinal fixed wing dynamics
- [DirectActuatorsSetpointType](#direct-actuator-control-setpoint-directactuatorssetpointtype): Direct control of motors and flight surface servo setpoints
- [Rover Setpoints](#rover-setpoints): <Badge type="tip" text="main (planned for: PX4 v1.17)" /> Direct access to rover control setpoints (Position, Speed, Attitude, Rate, Throttle and Steering).
:::tip
The other setpoint types are currently experimental, and can be found in: [px4_ros2/control/setpoint_types/experimental](https://github.com/Auterion/px4-ros2-interface-lib/tree/main/px4_ros2_cpp/include/px4_ros2/control/setpoint_types/experimental).
@@ -358,6 +359,8 @@ You can add your own setpoint types by adding a class that inherits from `px4_ro
<Badge type="warning" text="MC only" />
<Badge type="warning" text="Multicopter only" />
:::info
This setpoint type is currently only supported for multicopters.
:::
@@ -551,6 +554,40 @@ For example to control a quadrotor, you need to set the first 4 motors according
If you want to control an actuator that does not control the vehicle's motion, but for example a payload servo, see [below](#controlling-an-independent-actuator-servo).
:::
#### Rover Setpoints
<Badge type="tip" text="main (planned for: PX4 v1.17)" /> <Badge type="warning" text="Experimental" />
The rover modules use a hierarchical structure to propagate setpoints:
![Rover Control Structure](../../assets/middleware/ros2/px4_ros2_interface_lib/rover_control_structure.svg)
:::info
The "highest" setpoint that is provided will be used within the PX4 rover modules to generate the setpoints that are below it (Overriding them!).
With this hierarchy there are clear rules for providing a valid control input:
- Provide a position setpoint, **or**
- One of the setpoints on the "left" (speed **or** throttle) **and** one of the setpoints on the "right" (attitude, rate **or** steering). All combinations of "left" and "right" setpoints are valid.
For ease of use we expose these valid combinations as new SetpointTypes.
:::
The RoverSetpointTypes exposed through the control interface are combinations of these setpoints that lead to a valid control input:
| SetpointType | Position | Speed | 스로틀 | Attitude | 주파수 | Steering | Control Flags |
| ----------------------------------------------------------------------------------------------------------------------------------- | --------------------------- | ------------------------------------------------ | ------------------------------------------------ | ------------------------------------------------ | ------------------------------------------------ | ------------------------------------------------ | ------------------------------------------------------ |
| [RoverPosition](https://auterion.github.io/px4-ros2-interface-lib/classpx4__ros2_1_1RoverPositionSetpointType.html#details) | &check; | (&check;) | (&check;) | (&check;) | (&check;) | (&check;) | Position, Velocity, Attitude, Rate, Control Allocation |
| [RoverSpeedAttitude](https://auterion.github.io/px4-ros2-interface-lib/classpx4__ros2_1_1RoverSpeedAttitudeSetpointType.html) | | &check; | (&check;) | &check; | (&check;) | (&check;) | Velocity, Attitude, Rate, Control Allocation |
| [RoverSpeedRate](https://auterion.github.io/px4-ros2-interface-lib/classpx4__ros2_1_1RoverSpeedRateSetpointType.html) | | &check; | (&check;) | | &check; | (&check;) | Velocity, Rate, Control Allocation |
| [RoverSpeedSteering](https://auterion.github.io/px4-ros2-interface-lib/classpx4__ros2_1_1RoverSpeedSteeringSetpointType.html) | | &check; | (&check;) | | | &check; | Velocity, Control Allocation |
| [RoverThrottleAttitude](https://auterion.github.io/px4-ros2-interface-lib/classpx4__ros2_1_1RoverThrottleAttitudeSetpointType.html) | | | &check; | &check; | (&check;) | (&check;) | Attitude, Rate, Control Allocation |
| [RoverThrottleRate](https://auterion.github.io/px4-ros2-interface-lib/classpx4__ros2_1_1RoverThrottleRateSetpointType.html) | | | &check; | | &check; | (&check;) | Rate, Control Allocation |
| [RoverThrottleSteering](https://auterion.github.io/px4-ros2-interface-lib/classpx4__ros2_1_1RoverThrottleSteeringSetpointType.html) | | | &check; | | | &check; | Control Allocation |
&check; are the setpoints we publish, and (&check;) are generated internally by the PX4 rover modules according to the hierarchy above.
An example for a rover specific drive mode using the `RoverSpeedAttitudeSetpointType` is provided [here](https://github.com/Auterion/px4-ros2-interface-lib/tree/main/examples/cpp/modes/rover_velocity).
### Controlling a VTOL
<Badge type="tip" text="main (planned for: PX4 v1.17)" /> <Badge type="warning" text="Experimental" />