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docs/zh/SUMMARY.md
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@ -184,6 +184,7 @@
- [Wiring Quickstart](assembly/quick_start_holybro_pix32_v5.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)
- [Sky-Drones AIRLink](flight_controller/airlink.md)
- [SPRacing SPRacingH7EXTREME](flight_controller/spracingh7extreme.md)
- [ThePeach FCC-K1](flight_controller/thepeach_k1.md)

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@ -491,6 +491,7 @@ Since the Definitions and Data Sections use the same message header format, they
- [replay module](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/replay)
- [hardfault_log module](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/hardfault_log): append hardfault crash data.
- [pyulog](https://github.com/PX4/pyulog): python, ULog reader and writer library with CLI scripts.
The project also has tools to convert ULog to rosbag and other formats.
- [ulog_cpp](https://github.com/PX4/ulog_cpp): C++, ULog reader and writer library.
- [FlightPlot](https://github.com/PX4/FlightPlot): Java, log plotter.
- [MAVLink](https://github.com/mavlink/mavlink): Messages for ULog streaming via MAVLink (note that appending data is not supported, at least not for cut off messages).

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@ -32,6 +32,7 @@ The boards in this category are:
- [Holybro Pix32 v5](../flight_controller/holybro_pix32_v5.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)
- [Sky-Drones AIRLink](../flight_controller/airlink.md)
- [SPRacing SPRacingH7EXTREME](../flight_controller/spracingh7extreme.md)
- [ThePeach FCC-K1](../flight_controller/thepeach_k1.md)

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# RadiolinkPIX6 Flight Controller
<Badge type="tip" text="main (planned for: PX4 v1.17)" />
:::warning
PX4 does not manufacture this (or any) autopilot.
Contact the [manufacturer](https://radiolink.com.cn/) for hardware support or compliance issues.
:::
The autopilot is recommended for commercial systems integration, but is also suitable for academic research and any other use.
![RadiolinkPIX6](http://www.radiolink.com.cn/firmware/wiki/RadiolinkPIX6/RadiolinkPIX6.png)
The Radiolink PIX6 is a high-performance flight controller.
Featuring STM32F7 CPU, vibration isolation of IMUs, redundant IMUs, integrated OSD chip, IMU heating, and DShot.
:::info
This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
:::
## 总览
- 处理器
- 32-bit ARM Cortex M7 core with DPFPU - STM32F765VIT6
- 216 MHz/512 KB RAM/2 MB Flash
- 32-bit IOMCU co-processor - STM32F100
- 32KB FRAM - FM25V02A
- AT7456E OSD
- 传感器
- Bosh BMI088 IMU (accel, gyro)
- InvenSense ICM-42688 IMU (accel, gyro)
- SPA06 barometer
- IST8310 magnetometer
- 电源
- SMBUS/I2C Power Module Inputs (I2C)
- voltage and current monitor inputs (Analog)
- 接口
- 16 PWM Outputs with independent power rail for external power source
- 5x UART serial ports, 2 with HW flow control
- Camera Input and Video Output
- PPM/SBUS input, DSM/SBUS input
- RSSI (PWM or voltage) input
- I2C, SPI, 2x CAN, USB
- 3.3V and 6.6V ADC inputs
- 蜂鸣器与安全开关
- microSD card
- 重量和尺寸:
- Weight 80g
- Size 94mm x 51.5mm x 14.5mm
## 购买渠道
[Radiolink Amazon](https://www.radiolink.com.cn/pix6_where_to_buy)（International users）
[Radiolink Taobao](https://item.taobao.com/item.htm?spm=a21dvs.23580594.0.0.1d292c1bNMdSqV&ft=t&id=815993357068&skuId=5515756705284)（China Mainland user）
## Connector assignments
### Top View
![Pix6 top view](../../assets/flight_controller/radiolink_pix6/top_view.png)
### Left View
![Pix6 left view](../../assets/flight_controller/radiolink_pix6/left_view.png)
### Right View
![Pix6 right view](../../assets/flight_controller/radiolink_pix6/right_view.png)
### Rear View
![Pix6 rear view](../../assets/flight_controller/radiolink_pix6/rear_view.png)
## 针脚定义
Unless noted otherwise all connectors are JST GH.
### TELEM1，TELEM2 接口
| 针脚 | 信号 | 电压 |
| -- | -------------------------- | --------------------- |
| 1 | VCC | +5V |
| 2 | TX(OUT) | +3.3V |
| 3 | RX(IN) | +3.3V |
| 4 | CTS | +3.3V |
| 5 | RTS: | +3.3V |
| 6 | GND | GND |
### OSD
| 针脚 | 信号 | 电压 |
| -- | ---- | --------------------- |
| 1 | GND | GND |
| 2 | VOUT | +3.3V |
| 3 | VCC | +5V |
| 4 | GND | GND |
| 5 | VCC | +5V |
| 6 | VIN | +3.3V |
### I2C port
| 针脚 | 信号 | 电压 |
| -- | --- | -------------------------------------------------- |
| 1 | VCC | +5V |
| 2 | SCL | +3.3V (pullups) |
| 3 | SDA | +3.3V (pullups) |
| 4 | GND | GND |
### CAN1, CAN2 ports
| 针脚 | 信号 | 电压 |
| -- | -------------------------- | ---- |
| 1 | VCC | +5V |
| 2 | CAN_H | +12V |
| 3 | CAN_L | +12V |
| 4 | GND | GND |
### GPS1 port
| 针脚 | 信号 | 电压 |
| -- | -------------------------- | --------------------- |
| 1 | VCC | +5V |
| 2 | TX(OUT) | +3.3V |
| 3 | RX(IN) | +3.3V |
| 4 | SCL | +3.3V |
| 5 | SDA | +3.3V |
| 6 | GND | GND |
### GPS2 Port
| 针脚 | 信号 | 电压 |
| -- | -------------------------- | --------------------- |
| 1 | VCC | +5V |
| 2 | TX(OUT) | +3.3V |
| 3 | RX(IN) | +3.3V |
| 4 | SCL | +3.3V |
| 5 | SDA | +3.3V |
| 6 | GND | GND |
### SPI
| 针脚 | 信号 | 电压 |
| -- | ------------------------------ | --------------------- |
| 1 | VCC | +5V |
| 2 | SPI_SCK | +3.3V |
| 3 | SPI_MISO | +3.3V |
| 4 | SPI_MOSI | +3.3V |
| 5 | !SPI_NSS1 | +3.3V |
| 6 | !SPI_NSS2 | +3.3V |
| 7 | DRDY | +3.3V |
| 8 | GND | GND |
### POWER1 (HY2.0-6P)
Port for analog power monitors.
| 针脚 | 信号 | 电压 |
| -- | --- | --------------------------- |
| 1 | VCC | +5V |
| 2 | VCC | +5V |
| 3 | 电流 | up to +3.3V |
| 4 | 电压 | up to +3.3V |
| 5 | GND | GND |
| 6 | GND | GND |
### POWER2 (HY2.0-6P)
Port for digital (I2C) power monitor.
| 针脚 | 信号 | 电压 |
| -- | --- | --------------------- |
| 1 | VCC | +5V |
| 2 | VCC | +5V |
| 3 | SCL | +3.3V |
| 4 | SDA | +3.3V |
| 5 | GND | GND |
| 6 | GND | GND |
### ADC 3.3V
| 针脚 | 信号 | 电压 |
| -- | ------- | --------------------------- |
| 1 | VCC | +5V |
| 2 | ADC IN1 | up to +3.3V |
| 3 | GND | GND |
| 4 | ADC IN2 | up to +3.3v |
| 5 | GND | GND |
### ADC 6.6V
| 针脚 | 信号 | 电压 |
| -- | ------ | -------------------------- |
| 1 | VCC | +5V |
| 2 | ADC IN | up to 6.6V |
| 3 | GND | GND |
### USB remote port
| 针脚 | 信号 | 电压 |
| -- | ------- | --------------------- |
| 1 | USB VDD | +5V |
| 2 | DM | +3.3V |
| 3 | DP | +3.3V |
| 4 | GND | GND |
### SWITCH
| 针脚 | 信号 | 电压 |
| -- | -------------------------------------------------------- | --------------------- |
| 1 | VCC | +3.3V |
| 2 | !IO_LED_SAFETY | GND |
| 3 | SAFETY | GND |
### Buzzer port
| 针脚 | 信号 | 电压 |
| -- | ------- | --- |
| 1 | VCC | +5V |
| 2 | BUZZER- | +5V |
### Spektrum/DSM Port (PH1.25-3P)
| 针脚 | 信号 | 电压 |
| -- | --- | --------------------- |
| 1 | VCC | +3.3V |
| 2 | GND | GND |
| 3 | 信号 | +3.3V |
### Debug port (SH1.0-8P)
| 针脚 | 信号 | 电压 |
| -- | ------------------------------ | --------------------- |
| 1 | VCC | +5V |
| 2 | FMU_SWCLK | +3.3V |
| 3 | FMU_SWDIO | +3.3V |
| 4 | TX(UART7) | +3.3V |
| 5 | RX(UART7) | +3.3V |
| 6 | IO_SWCLK | +3.3V |
| 7 | IO_SWDIO | +3.3V |
| 8 | GND | GND |
## 编译固件
To [build PX4](../dev_setup/building_px4.md) for this target:
```sh
make radiolink_PIX6_default
```
## Installing PX4 Firmware
The firmware can be installed in any of the normal ways:
- Build and upload the source
```sh
make radiolink_PIX6_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.
:::
## PX4 配置
In addition to the [basic configuration](../config/index.md), the following parameters are important:
| 参数 | 设置 |
| -------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------- |
| [SYS_HAS_MAG](../advanced_config/parameter_reference.md#SYS_HAS_MAG) | This should be disabled since the board does not have an internal mag. You can enable it if you attach an external mag. |
### Powering the PIX6
The PIX6 has 2 dedicated power monitor ports, each with a 6 pin connector.
One is the Analog power monitor (`POWER1`), and the others is the I2C power monitor (`POWER2`).
The power module that comes with the flight controller with a wide voltage input range of 2-12S (7.4-50.4V), a maximum detection current of 90A (single ESC maximum detection current is 22.5A), a BEC output voltage of 5.3±0.2V, and a BEC output current of 2A.
![Radiolink power modules MODULES](../../assets/flight_controller/radiolink_pix6/radiolink_power_modules.png)
The PIX6 also supports power modules from other manufacturers, such as [holybro_pm02d](../power_module/holybro_pm02d.md).
## Recommended Accessories
### GPS Modules
Radiolink manufactures a variety of high-performance GPS，Dual Anti-interference Technology Worry-free of UAV High-power Image Transmission, High-Voltage Lines, or Other Strong Signal Interference.
The PIX6 has 2 dedicated GPS ports, `GPS1` and `GPS2`, each with a 6 pin connector.
Recommended modules include:
- [Radiolink SE100](https://radiolink.com.cn/se100)
- [Radiolink TS100](https://radiolink.com.cn/ts100v2)
- [Radiolink RTK F9P](https://radiolink.com.cn/rtk_f9p)
## 串口映射
| UART | 设备 | Port |
| ------ | ---------- | ---------------------------------------- |
| UART1 | /dev/ttyS0 | GPS1 |
| USART2 | /dev/ttyS1 | TELEM1 (flow control) |
| USART3 | /dev/ttyS2 | TELEM2 (flow control) |
| UART4 | /dev/ttyS3 | GPS2 |
| UART7 | /dev/ttyS4 | Debug Console |
| UART8 | /dev/ttyS5 | PX4IO |
## Analog inputs
The Radiolink PIX6 has 3 analog inputs, one 6V tolerant and two 3.3V tolerant.
- ADC Pin12 -> ADC 6.6V Sense
- ADC Pin4 -> ADC IN1 3.3V Sense
- ADC Pin13 -> ADC IN2 3.3V Sense
## 遥控器
A [Radio Control (RC)](../getting_started/rc_transmitter_receiver.md) system is required if you want to _manually_ control your vehicle (PX4 does not require a radio system for autonomous flight modes).
You will need to [select a compatible transmitter/receiver](../getting_started/rc_transmitter_receiver.md) and then _bind_ them so that they communicate (read the instructions that come with your specific transmitter/receiver).
- Spektrum/DSM receivers connect to the **DSM/SBUS RC** input.
- PPM or SBUS receivers connect to the **RC IN** input port.
- CRSF receiver must be wired to a spare port (UART) on the Flight Controller.
Then you can bind the transmitter and receiver together.
#### CRSF Parameter Configuration
[Find and set](../advanced_config/parameters.md) the following parameters:
1. Set [RC_CRSF_PRT_CFG](../advanced_config/parameter_reference.md#RC_CRSF_PRT_CFG) to the port that is connected to the CRSF receiver (such as `TELEM1`).
This [configures the serial port](../peripherals/serial_configuration.md) to use the CRSF protocol.
Note that some serial ports may already have a [default serial port mapping](../peripherals/serial_configuration.md#default-serial-port-configuration) or [default MAVLink serial port mapping](../peripherals/mavlink_peripherals.md#default-mavlink-ports) that you will have to un-map before you can assign the port to CRSF.
For example, if you want to use `TELEM1` or `TELEM2` you first need to modify [MAV_0_CONFIG](../advanced_config/parameter_reference.md#MAV_0_CONFIG) or [MAV_1_CONFIG](../advanced_config/parameter_reference.md#MAV_1_CONFIG) to stop setting those ports.
There is no need to set the baud rate for the port, as this is configured by the driver.
2. Enable [RC_CRSF_TEL_EN](../advanced_config/parameter_reference.md#RC_CRSF_TEL_EN) to activate Crossfire telemetry.
For more information about selecting a radio system, receiver compatibility, and binding your transmitter/receiver pair, see: [Remote Control Transmitters & Receivers](../getting_started/rc_transmitter_receiver.md).

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@ -25,6 +25,11 @@ 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.

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@ -106,12 +106,19 @@ The development version, fetched using `--edge` above, does work.
### Build/Run within ROS 2 Workspace
The agent can be built and launched within a ROS 2 workspace (or build standalone and launched from a workspace.
The agent can be built and launched within a ROS 2 workspace (or build standalone and launched from a workspace).
You must already have installed ROS 2 following the instructions in: [ROS 2 User Guide > Install ROS 2](../ros2/user_guide.md#install-ros-2).
:::warning
This approach will use the existing ROS 2 versions of the Agent dependencies, such as `fastcdr` and `fastdds`.
This considerably speeds up the build process but requires that the Agent dependency versions match the ROS 2 ones.
This considerably speeds up the build process but requires that the Agent dependency versions match the ROS 2 ones:
| ROS 2 version | Micro-XRCE-DDS-Agent version |
| ------------- | -------------------------------------- |
| Foxy | v2.4.2 |
| Humble | v2.4.2 |
| Jazzy | v2.4.3 |
:::
To build the agent within ROS:
@ -124,15 +131,54 @@ To build the agent within ROS:
2. Clone the source code for the eProsima [Micro-XRCE-DDS-Agent](https://github.com/eProsima/Micro-XRCE-DDS-Agent) to the `/src` directory (the `main` branch is cloned by default):
::::tabs
::: tab jazzy
```sh
cd ~/px4_ros_uxrce_dds_ws/src
git clone -b v2.4.3 https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
```
:::
::: tab humble
```sh
cd ~/px4_ros_uxrce_dds_ws/src
git clone -b v2.4.2 https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
```
:::
::: tab foxy
```sh
cd ~/px4_ros_uxrce_dds_ws/src
git clone -b v2.4.2 https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
```
:::
::::
3. Source the ROS 2 development environment, and compile the workspace using `colcon`:
:::: tabs
::: tab jazzy
```sh
source /opt/ros/jazzy/setup.bash
colcon build
```
:::
::: tab humble
```sh
@ -155,7 +201,7 @@ To build the agent within ROS:
::::
This builds all the folders under `/src` using the sourced toolchain.
该操作会使用已加载的工具链对 /src 目录下的所有文件夹进行构建。
To run the micro XRCE-DDS agent in the workspace:
@ -163,6 +209,16 @@ To run the micro XRCE-DDS agent in the workspace:
:::: tabs
::: tab jazzy
```sh
source /opt/ros/jazzy/setup.bash
source install/local_setup.bash
```
:::
::: tab humble
```sh
@ -235,7 +291,6 @@ The configuration can be done using the [UXRCE-DDS parameters](../advanced_confi
- [UXRCE_DDS_CFG](../advanced_config/parameter_reference.md#UXRCE_DDS_CFG): Set the port to connect on, such as `TELEM2`, `Ethernet`, or `Wifi`.
- If using an Ethernet connection:
- [UXRCE_DDS_PRT](../advanced_config/parameter_reference.md#UXRCE_DDS_PRT):
Use this to specify the agent UDP listening port.
The default value is `8888`.
@ -259,14 +314,12 @@ The configuration can be done using the [UXRCE-DDS parameters](../advanced_confi
```
- If using a serial connection:
- [SER_TEL2_BAUD](../advanced_config/parameter_reference.md#SER_TEL2_BAUD), [SER_URT6_BAUD](../advanced_config/parameter_reference.md#SER_URT6_BAUD) (and so on):
Use the `_BAUD` parameter associated with the serial port to set the baud rate.
For example, you'd set a value for `SER_TEL2_BAUD` if you are connecting to the companion using `TELEM2`.
For more information see [Serial port configuration](../peripherals/serial_configuration.md#serial-port-configuration).
- Some setups might also need these parameters to be set:
- [UXRCE_DDS_KEY](../advanced_config/parameter_reference.md#UXRCE_DDS_KEY): The uXRCE-DDS key.
If you're working in a multi-client, single agent configuration, each client should have a unique non-zero key.
This is primarily important for multi-vehicle simulations, where all clients are connected in UDP to the same agent.

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# ROS 2
ROS 2 是ROS (机器人操作系统)最新版本 ， 一个通用的机器人库，可以与 PX4 自驾仪一起创建强大的无人机应用。
[ROS 2](https://docs.ros.org/en/humble/#)是一款功能强大的通用机器人开发库，可与 PX4 自动驾驶仪搭配使用，以开发功能丰富的无人机应用程序。
:::warning
小提示
PX4开发团队强烈建议您使用/迁移到此版本的 ROS！
PX4 开发团队强烈建议您使用此 ROS 版本，或将现有系统迁移至此 ROS 版本！
这是最新版本的 [ROS](https://www.ros.org/) (机器人操作系统)。
它大大改进了ROS1，特别是允许与PX4更深、更低的延迟结合。
它在 ROS “1” 的基础上进行了显著改进，尤其能够实现与 PX4 更深度、更低延迟的集成。
:::
ROS得益于一个活跃的生态系统，在这个生态系统里，开发者会解决常见的机器人问题，他们也为Linux编写软件库。
例如，它可以用于[计算机视觉](../computer_vision/index.md)解决方案。
ROS的优势在于拥有活跃的开发者生态系统 —— 该生态系统致力于解决各类常见的机器人技术问题，同时还能调用其他为 Linux 系统编写的软件库。
例如，它可以用于 [computer vision](../computer_vision/index.md)解决问题。
ROS 2深度与 PX4 集成， 在某种程度上，您能够在 ROS 2 中创建与内部 PX4 模式无法区分的飞行模式， 并高效率的直接订阅uORB内部的话题。
建议（尤其是）从同伴计算机进行控制和通信，因为这种计算机的延迟率很低。 当利用来自Linux的现有库时，或在编写新的高层飞行模式时。
ROS 2 能够实现与 PX4 极深度的集成，你可以在 ROS 2 中创建飞行模式，这些模式与 PX4 内部原生飞行模式毫无区别；同时还能以高速率直接读取和写入 PX4 内部的 uORB 主题。
（尤其）建议在以下场景中使用：从伴飞计算机进行控制与通信（且低延迟至关重要时）、需借助 Linux 系统的现有库时，或编写新的高级飞行模式时。
ROS 2 和 PX4 之间的通信使用中间件实现[XRCE-DDS] (../middleware/uxrce_dds.md)。
这个中间件将以 ROS 2 消息和类型显示 PX4 [uORB 消息](../msg_docs/index.md)， 有效地允许从 ROS 2 工作流和节点直接访问 PX4。
ROS 2 与 PX4 之间的通信使用的中间件需实现 [XRCE-DDS protocol](../middleware/uxrce_dds.md).
这个中间件将以 ROS 2 消息和类型显示 PX4 [uORB messages](../msg_docs/index.md) 会转换为 ROS 2 消息和数据类型，从而切实支持从 ROS 2 工作流与节点直接访问 PX4。
中间件使用 uORB 消息定义生成代码来序列化和反序列化来处理PX4 的收发消息。
在ROS 2 应用中使用相同的消息定义可直接进行解析。
这些相同的消息定义也用于 ROS 2 应用程序中以便能够解析这些消息。
:::info
ROS 2 也可以使用 [MAVROS](https://github.com/mavlink/mavros/tree/ros2/mavros而不是 XRCE-DDS连接到 PX4。
这一备选办法得到了MAVROS项目的支持(此处没有记录)。
该选项受 MAVROS 项目支持（本文档未对此进行说明）。
:::
在XRCE-DDS上有效使用[ROS2](../ros2/user_guide.md)。 (撰写本文时)你必须对PX4内部结构和公约有合理的理解，这些结构和公约不同于交战规则所用的内部结构和公约。
要通过 XRCE-DDS 有效使用 [ROS 2](../ros2/user_guide.md) ，（在撰写本文时）你必须对 PX4 的内部架构及约定有一定了解，而这些架构与约定和 ROS 所使用的存在差异。
我们计划近期提供ROS 2 API 以对 PX4 的特性进行封装，并举例说明它们的用途。
## Topics

4
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@ -33,7 +33,7 @@ ROS 与 PX4 存在若干不同的预设（假设），尤其是在坐标系约
构建并运行示例：
1. Open a new terminal.
1. 打开一个新的终端。
2. 使用以下方法创建并切换至新的 colcon工作目录：
@ -55,7 +55,7 @@ ROS 与 PX4 存在若干不同的预设（假设），尤其是在坐标系约
git clone https://github.com/PX4/px4_ros_com.git
```
5. Source the ROS 2 development environment into the current terminal and compile the workspace using `colcon`:
5. 在当前终端中加载 ROS 2 开发环境，并使用 colcon 工具编译工作空间：
:::: tabs

6
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View File

@ -474,7 +474,7 @@ _fw_lateral_longitudinal_setpoint->updateWithAltitude(altitude_msl,
lateral_acceleration);
```
等效的空速和横向加速参数定义为 `std::opulatory<float>`, 所以你可以通过 `std::nullopt` 省略其中任何一个。
等效的空速和横向加速参数定义为 `std::optional<float>`, 所以你可以通过 `std::nullopt` 省略其中任何一个。
:::tip
若同时提供了横向加速度设定值和航线角设定值，横向加速度设定值将被用作前馈（feedforward）
@ -483,7 +483,7 @@ _fw_lateral_longitudinal_setpoint->updateWithAltitude(altitude_msl,
##### 使用设定值结构体实现完全控制
为实现充分的灵活性，你可以创建并传递一个[`FwLateralLongitudinalSetpoint` ](https://auterion.github.io/px4-ros2-interface-lib/structpx4__ros2_1_1FwLateralLongitudinalSetpoint.html) 结构体。
每个字段都使用 "std::opulatory<float> "模板。
每个字段都使用 `std::optional<float>` 模板。
:::tip
若同时设置了航线角（course）和空速方向（airspeed direction），则空速方向优先，航线角不进行控制。
@ -530,7 +530,7 @@ config_s.withThrottleLimits(0.4F, 0.6F);
_fw_lateral_longitudinal_setpoint->update(setpoint_s, config_s);
```
所有配置字段都定义为 "std::opulatory<float>"。
所有配置字段都定义为 `std::optional<float>`。
未设置的值将默认采用 PX4 的配置。
更多关于配置选项的信息，请参阅 [LateralControlConfiguration](../msg_docs/LateralControlConfiguration.md) 和 [FixedWingLongitudinalConfiguration](../msg_docs/LongitudinalControlConfiguration.md)。

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@ -147,9 +147,9 @@ make px4_sitl
#### 设置代理(Agent)
代理可以安装在机载计算机上 [number of ways](../middleware/uxrce_dds.md#micro-xrce-dds-agent-installation)。
Below we show how to build the agent "standalone" from source and connect to a client running on the PX4 simulator.
下文将介绍如何从源代码 “独立” 构建代理，并连接到运行在 PX4 仿真器上的客户端。
To setup and start the agent:
设置并启动代理：
1. 打开一个终端。
@ -172,26 +172,26 @@ To setup and start the agent:
MicroXRCEAgent udp4 -p 8888
```
The agent is now running, but you won't see much until we start PX4 (in the next step).
代理现已启动，但在我们启动 PX4（下一步） 之前，你不会看到太多。
:::info
You can leave the agent running in this terminal!
Note that only one agent is allowed per connection channel.
你可以让代理在这个终端中保持运行状态！
需注意，每个连接通道仅允许运行一个代理
:::
#### 启动客户端(Client)
The PX4 simulator starts the uXRCE-DDS client automatically, connecting to UDP port 8888 on the local host.
PX4 仿真器会自动启动 uXRCE-DDS 客户端，并连接到本地主机上的 UDP 8888 端口。
To start the simulator (and client):
启动模拟器(和客户端)：
1. Open a new terminal in the root of the **PX4 Autopilot** repo that was installed above.
1. 在之前安装好的 PX4 自动驾驶仪 代码仓库的根目录下，打开一个新的终端。
:::: tabs
::: tab humble
- Start a PX4 [Gazebo](../sim_gazebo_gz/index.md) simulation using:
- 使用 PX4 [Gazebo](../sim_gazebo_gz/index.md) 模拟：
```sh
make px4_sitl gz_x500
@ -202,7 +202,7 @@ To start the simulator (and client):
::: tab foxy
- Start a PX4 [Gazebo Classic](../sim_gazebo_classic/index.md) simulation using:
- 使用 PX4 [Gazebo Classic](../sim_gazebo_classic/index.md) 模拟：
```sh
make px4_sitl gazebo-classic
@ -213,10 +213,10 @@ To start the simulator (and client):
::::
The agent and client are now running they should connect.
代理和客户端现已运行并二者应已建立连接。
The PX4 terminal displays the [NuttShell/PX4 System Console](../debug/system_console.md) output as PX4 boots and runs.
As soon as the agent connects the output should include `INFO` messages showing creation of data writers:
PX4 终端会显示 [NuttShell/PX4 System Console](../debug/system_console.md) 系统控制台 的输出内容，该输出会在 PX4 启动和运行过程中实时呈现。
代理一建立连接，输出内容中就应包含 INFO 级别的消息，这些消息会显示数据撰写器的创建情况：
```sh
...
@ -226,7 +226,7 @@ INFO [uxrce_dds_client] successfully created rt/fmu/out/sensor_combined data wr
INFO [uxrce_dds_client] successfully created rt/fmu/out/timesync_status data writer, topic id: 188
```
The micro XRCE-DDS agent terminal should also start to show output, as equivalent topics are created in the DDS network:
微型 XRCE-DDS 代理终端也应开始显示输出内容，因为在 DDS 网络中会创建对应的主题：
```sh
...
@ -235,29 +235,29 @@ The micro XRCE-DDS agent terminal should also start to show output, as equivalen
[1675929445.270412] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x00000001, topic_id: 0x0DF(2), participant_id: 0x001(1)
```
### Build ROS 2 Workspace
### 构建ROS 2 工作空间
This section shows how to create a ROS 2 workspace hosted in your home directory (modify the commands as needed to put the source code elsewhere).
本节介绍如何在你的主目录中创建一个 ROS 2 工作空间（可根据需要修改命令，将源代码放置到其他位置）。
The [px4_ros_com](https://github.com/PX4/px4_ros_com) and [px4_msgs](https://github.com/PX4/px4_msgs) packages are cloned to a workspace folder, and then the `colcon` tool is used to build the workspace.
The example is run using `ros2 launch`.
[px4_ros_com](https://github.com/PX4/px4_ros_com) 和 [px4_msgs](https://github.com/PX4/px4_msgs) 这两个功能包会被克隆到工作空间文件夹中，之后使用 colcon 工具对该工作空间进行构建
此示例使用 "ros2 launch" 运行。
You should use a version of the px4_msgs package with the \_same_ message definitions as the PX4 firmware you have installed in the step above.
Branches in the px4_msgs repo are named to correspond to the message definitions for different PX4 releases.
If for any reason you cannot ensure the same message definitions between your PX4 firmware and ROS 2 px4_msgs package, you will additionally need to [start the message translation node](#optional-starting-the-translation-node) as part of your setup process.
您应该使用一个 px4_msgs 包的版本与 \_same_ 消息定义作为您已经安装在上面步骤中的 PX4 固件。
px4_msgs 代码仓库中的分支均以特定名称命名，这些名称与不同 PX4 版本的消息定义一一对应。
如果出于任何原因，您不能确保您的 PX4 固件和 ROS 2 px4_msgs 包之间具有相同的消息定义。 您还需要 [start the message translation node](#optional-starting-the-translation-node)，作为您设置过程的一部分。
:::info
The example builds the [ROS 2 Listener](#ros-2-listener) example application, located in [px4_ros_com](https://github.com/PX4/px4_ros_com).
[px4_msgs](https://github.com/PX4/px4_msgs) is needed too so that the example can interpret PX4 ROS 2 topics.
该示例会构建 [ROS 2 Listener](#ros-2-listener) 示例应用程序，该程序位于 [px4_ros_com](https://github.com/PX4/px4_ros_com)中。
[px4_msgs](https://github.com/PX4/px4_msgs) 也是需要的，以便示例能够解释PX4 ROS 2 主题。
:::
#### Building the Workspace
#### 构建工作空间
To create and build the workspace:
要创建和构建工作空间：
1. Open a new terminal.
1. 打开一个新的终端。
2. Create and navigate into a new workspace directory using:
2. 使用以下方式创建并进入一个新的工作空间目录：
```sh
mkdir -p ~/ws_sensor_combined/src/
@ -265,18 +265,18 @@ To create and build the workspace:
```
::: info
A naming convention for workspace folders can make it easier to manage workspaces.
一个为工作空间文件夹制定命名规范，有助于更轻松地管理工作空间。
:::
3. Clone the example repository and [px4_msgs](https://github.com/PX4/px4_msgs) to the `/src` directory (the `main` branch is cloned by default, which corresponds to the version of PX4 we are running):
3. 将示例代码仓库和 [px4_msgs](https://github.com/PX4/px4_msgs) 克隆到 /src 目录下（默认克隆 main 分支，该分支与我们当前运行的 PX4 版本相对应）：
```sh
git clone https://github.com/PX4/px4_msgs.git
git clone https://github.com/PX4/px4_ros_com.git
```
4. Source the ROS 2 development environment into the current terminal and compile the workspace using `colcon`:
4. 在当前终端中加载 ROS 2 开发环境，并使用 colcon 工具编译工作空间：
:::: tabs
@ -304,21 +304,21 @@ To create and build the workspace:
::::
This builds all the folders under `/src` using the sourced toolchain.
该操作会使用已加载的工具链对 /src 目录下的所有文件夹进行构建。
#### Running the Example
#### 运行示例
To run the executables that you just built, you need to source `local_setup.bash`.
This provides access to the "environment hooks" for the current workspace.
In other words, it makes the executables that were just built available in the current terminal.
要运行你刚刚构建好的可执行文件，需加载local_setup.bash 。
这提供了当前工作空间的 "environment hooks"访问权限。
换句话说，它会让刚刚构建好的可执行文件在当前终端中可用。
:::info
The [ROS2 beginner tutorials](https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Creating-A-Workspace/Creating-A-Workspace.html#source-the-overlay) recommend that you _open a new terminal_ for running your executables.
[ROS2 beginner tutorials](https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Creating-A-Workspace/Creating-A-Workspace.html#source-the-overlay)建议您 _open a new terminal_来运行您的可执行文件。
:::
In a new terminal:
在新终端中：
1. Navigate into the top level of your workspace directory and source the ROS 2 environment (in this case "Humble"):
1. 进入工作空间目录的顶层，并加载 ROS 2 环境（本例中为 “Humble” 版本）：
:::: tabs
@ -344,20 +344,20 @@ In a new terminal:
::::
2. Source the `local_setup.bash`.
2. 加载 local_setup.bash
```sh
source install/local_setup.bash
```
3. Now launch the example.
Note here that we use `ros2 launch`, which is described below.
3. 现在启动示例。
请注意，此处我们使用的是 ros2 launch，其相关说明如下。
```sh
ros2 launch px4_ros_com sensor_combined_listener.launch.py
```
If this is working you should see data being printed on the terminal/console where you launched the ROS listener:
若此功能正常运行，你应能在启动 ROS 监听器的终端 / 控制台上看到数据正在打印输出
```sh
RECEIVED DATA FROM SENSOR COMBINED
@ -374,21 +374,21 @@ accelerometer_m_s2[2]: -9.76044
accelerometer_integral_dt: 4739
```
#### (Optional) Starting the Translation Node
#### (可选) 启动转化节点
<0/> <1/>
This example is built with PX4 and ROS2 versions that use the same message definitions.
If you were to use incompatible [message versions](../middleware/uorb.md#message-versioning) you would need to install and run the [Message Translation Node](./px4_ros2_msg_translation_node.md) as well, before running the example:
此示例由 PX4 和ROS 2 版本构建，它们使用相同的消息定义。
若你要使用不兼容的 [message versions](../middleware/uorb.md#message-versioning)，则在运行示例之前，还需要安装并运行[Message Translation Node](./px4_ros2_msg_translation_node.md)：
1. Include the [Message Translation Node](../ros2/px4_ros2_msg_translation_node.md) into the example workspace or a separate workspace by running the following script:
1. 通过运行以下脚本，将 [Message Translation Node](../ros2/px4_ros2_msg_translation_node.md) 纳入示例工作空间或单独的工作空间中
```sh
cd /path/to/ros_ws
/path/to/PX4-Autopilot/Tools/copy_to_ros_ws.sh .
```
2. Build and run the translation node:
2. 构建并运行转化节点：
```sh
colcon build
@ -396,50 +396,49 @@ If you were to use incompatible [message versions](../middleware/uorb.md#message
ros2 run translation_node translation_node_bin
```
## Controlling a Vehicle
## 控制机体
To control applications, ROS 2 applications:
要控制应用，ROS 2 应用程序：
- subscribe to (listen to) telemetry topics published by PX4
- publish to topics that cause PX4 to perform some action.
- 订阅 (聆听) PX4 发布的数传主题
- 发布到导致PX4执行某些操作的主题。
The topics that you can use are defined in [dds_topics.yaml](../middleware/dds_topics.md), and you can get more information about their data in the [uORB Message Reference](../msg_docs/index.md).
For example, [VehicleGlobalPosition](../msg_docs/VehicleGlobalPosition.md) can be used to get the vehicle global position, while [VehicleCommand](../msg_docs/VehicleCommand.md) can be used to command actions such as takeoff and land.
您可以使用的主题定义在[dds_topics.yaml](../middleware/dds_topics.md)， 并且您可以在 [uORB Message Reference](../msg_docs/index.md)获取更多关于他们数据的信息。
例如，[VehicleGlobalPosition](../msg_docs/VehicleGlobalPosition.md) 可以用来获得机体的全局位置。 [VehicleCommand](../msg_docs/VehicleCommand.md) 可以用于命令诸如起飞和降落等操作。
The [ROS 2 Example applications](#ros-2-example-applications) examples below provide concrete examples of how to use these topics.
下面的 [ROS 2 Example applications](#ros-2-example-applications) 示例提供了如何使用这些主题的具体例子。
## Compatibility Issues
## 兼容性问题
This section contains information that may affect how you write your ROS code.
本节包含的信息可能会影响你编写 ROS 代码的方式。
### ROS 2 Subscriber QoS Settings
### ROS 2 订阅者QoS 设置
ROS 2 code that subscribes to topics published by PX4 _must_ specify a appropriate (compatible) QoS setting in order to listen to topics.
Specifically, nodes should subscribe using the ROS 2 predefined QoS sensor data (from the [listener example source code](#ros-2-listener)):
用于订阅 PX4 发布的话题的 ROS 2 代码，必须指定合适（兼容）的 QoS（服务质量）设置，才能监听这些话题。
具体而言，节点应使用 ROS 2 预定义的 QoS 传感器数据（可参考[listener example source code](#ros-2-listener)）进行订阅：
```cpp
...
rmw_qos_profile_t qos_profile = rmw_qos_profile_sensor_data;
auto qos = rclcpp::QoS(rclcpp::QoSInitialization(qos_profile.history, 5), qos_profile);
subscription_ = this->create_subscription<px4_msgs::msg::SensorCombined>("/fmu/out/sensor_combined", qos,
subscription_ = this->create_subscription<0>("/fmu/out/sensor_combined", qos,
...
```
This is needed because the ROS 2 default [Quality of Service (QoS) settings](https://docs.ros.org/en/humble/Concepts/About-Quality-of-Service-Settings.html#qos-profiles) are different from the settings used by PX4.
Not all combinations of publisher-subscriber [Qos settings are possible](https://docs.ros.org/en/humble/Concepts/About-Quality-of-Service-Settings.html#qos-compatibilities), and it turns out that the default ROS 2 settings for subscribing are not!
Note that ROS code does not have to set QoS settings when publishing (the PX4 settings are compatible with ROS defaults in this case).
需要这样做的原因是，ROS 2 的默认 [Quality of Service (QoS) settings](https://docs.ros.org/en/humble/Concepts/About-Quality-of-Service-Settings.html#qos-profiles)与 PX4 所使用的设置不同。
并非所有发布者 - 订阅者的 [Qos settings are possible](https://docs.ros.org/en/humble/Concepts/About-Quality-of-Service-Settings.html#qos-compatibilities)，而事实证明，ROS 2 默认的订阅者设置就属于不可行的情况！需注意，ROS 代码在发布时无需设置 QoS参数（在此场景下，PX4 的 QoS 设置与 ROS 的默认 QoS 设置是兼容的）。
<!-- From https://github.com/PX4/PX4-user_guide/pull/2259#discussion_r1099788316 -->
### ROS 2 & PX4 Frame Conventions
### ROS 2 & PX4 坐标系公约
The local/world and body frames used by ROS and PX4 are different.
ROS与 PX4所使用的本地 / 世界坐标系和机体坐标系存在差异。
| 框架 | ROS | ROS |
| ----- | ------------------------------------------------------------------- | ----------------------------------------------------------------- |
| 机体 | FRD (X **F**orward, Y **R**ight, Z **D**own) | FLU (X **F**orward, Y **L**eft, Z **U**p) |
| 世界坐标系 | FRD or NED (X **N**orth, Y **E**ast, Z **D**own) | FLU or ENU (X **E**ast, Y **N**orth, Z **U**p) |
| 框架 | ROS | ROS |
| ----- | ------------------------------------------------------------------- | ---------------------------------------------------------------- |
| 机体 | FRD (X **F**orward, Y **R**ight, Z **D**own) | FLU (X **F**orward, Y **L**eft, Z **U**p) |
| 世界坐标系 | FRD or NED (X **N**orth, Y **E**ast, Z **D**own) | FLU 或 ENU (X **E**ast, Y **N**orth, Z **U**p) |
:::tip
See [REP105: Coordinate Frames for Mobile Platforms](https://www.ros.org/reps/rep-0105.html) for more information about ROS frames.

11
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View File

@ -9,11 +9,12 @@ These are useful for applications including terrain following, precision hoverin
The following models are supported by PX4, and can be connected to either the I2C or Serial bus (the tables below indicates what bus can be used for each model).
| Model | Range (m) | Bus | 描述 |
| ---------------------------------------------------------- | ---------------------------- | ----------------- | ------------------------------------------------------------------------------------------------------------- |
| [SF11/C](https://lightwarelidar.com/products/sf11-c-100-m) | 100 | Serial or I2C bus | |
| [LW20/C](https://lightware.co.za/products/lw20-c-100-m) | 100 | I2C bus | Waterproofed (IP67) with servo for sense-and-avoid applications |
| [SF45/B](../sensor/sf45_rotating_lidar.md) | 50 | Serial | Rotary Lidar (Used for [Collision Prevention](../computer_vision/collision_prevention.md)) |
| Model | Range (m) | Bus | 描述 |
| ------------------------------------------------------- | ---------------------------- | ----------------- | ------------------------------------------------------------------------------------------------------------- |
| [SF11/C](https://lightwarelidar.com/shop/sf11-c-100-m/) | 100 | Serial or I2C bus | |
| [LW20/C](https://lightware.co.za/products/lw20-c-100-m) | 100 | I2C bus | Waterproofed (IP67) with servo for sense-and-avoid applications |
| [SF30/D](https://lightwarelidar.com/shop/sf30-d-200-m/) | 200 | I2C bus | Waterproofed (IP67) |
| [SF45/B](../sensor/sf45_rotating_lidar.md) | 50 | Serial | Rotary Lidar (Used for [Collision Prevention](../computer_vision/collision_prevention.md)) |
:::details
Discontinued