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New Crowdin translations - uk (#24548)

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docs/uk/middleware/mavlink.md
+43 -43
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@@ -40,12 +40,12 @@ MAVLink messages, commands and enumerations are defined in [XML definition files
The MAVLink project standardizes a number of messages, commands, enumerations, and microservices, for exchanging data using the following definition files (note that higher level files _include_ the definitions of the files below them):
- [development.xml](https://mavlink.io/en/messages/development.html) — Definitions that are proposed to be part of the standard.
The definitions move to `common.xml` if accepted following testing.
The definitions move to `common.xml` if accepted following testing.
- [common.xml](https://mavlink.io/en/messages/common.html) — A "library" of definitions meeting many common UAV use cases.
Вони підтримуються багатьма польотними стеками, наземними станціями та периферійними пристроями MAVLink.
Польотні стеки, які використовують ці визначення, з більшою ймовірністю будуть взаємодіяти.
Вони підтримуються багатьма польотними стеками, наземними станціями та периферійними пристроями MAVLink.
Польотні стеки, які використовують ці визначення, з більшою ймовірністю будуть взаємодіяти.
- [standard.xml](https://mavlink.io/en/messages/standard.html) — Definitions that are actually standard.
Вони присутні на переважній більшості польотних стеків і реалізовані однаково.
Вони присутні на переважній більшості польотних стеків і реалізовані однаково.
- [minimal.xml](https://mavlink.io/en/messages/minimal.html) — Definitions required by a minimal MAVLink implementation.
The project also hosts [dialect XML definitions](https://mavlink.io/en/messages/#dialects), which contain MAVLink definitions that are specific to a flight stack or other stakeholder.
@@ -79,7 +79,7 @@ This contains XML definition files in [/mavlink/messages/1.0/](https://github.co
The XML file for which headers files are generated may be defined in the [PX4 kconfig board configuration](../hardware/porting_guide_config.md#px4-board-configuration-kconfig) on a per-board basis, using the variable `CONFIG_MAVLINK_DIALECT`:
- For SITL `CONFIG_MAVLINK_DIALECT` is set to `development` in [boards/px4/sitl/default.px4board](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/sitl/default.px4board#L36).
You can change this to any other definition file, but the file must include `common.xml`.
You can change this to any other definition file, but the file must include `common.xml`.
- For other boards `CONFIG_MAVLINK_DIALECT` is not set by default, and PX4 builds the definitions in `common.xml` (these are build into the [mavlink module](../modules/modules_communication.md#mavlink) by default — search for `menuconfig MAVLINK_DIALECT` in [src/modules/mavlink/Kconfig](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mavlink/Kconfig#L10)).
The files are generated into the build directory: `/build/<build target>/mavlink/`.
@@ -246,55 +246,55 @@ Most streaming classes are very similar (see examples in [/src/modules/mavlink/s
- The streaming class derives from [`MavlinkStream`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mavlink/mavlink_stream.h) and is named using the pattern `MavlinkStream<CamelCaseMessageName>`.
- The `public` definitions are "near-boilerplate", allowing PX4 to get an instance of the class (`new_instance()`), and then to use it to fetch the name, id, and size of the message from the MAVLink headers (`get_name()`, `get_name_static()`, `get_id_static()`, `get_id()`, `get_size()`).
Для ваших власних потокових класів їх можна просто скопіювати і змінити, щоб вони відповідали значенням для вашого повідомлення MAVLink.
Для ваших власних потокових класів їх можна просто скопіювати і змінити, щоб вони відповідали значенням для вашого повідомлення MAVLink.
- The `private` definitions subscribe to the uORB topics that need to be published.
У цьому випадку тема uORB має кілька екземплярів: по одному для кожної батареї.
We use `uORB::SubscriptionMultiArray` to get an array of battery status subscriptions.
У цьому випадку тема uORB має кілька екземплярів: по одному для кожної батареї.
We use `uORB::SubscriptionMultiArray` to get an array of battery status subscriptions.
Тут ми також визначаємо конструктори, щоб уникнути копіювання визначення.
Тут ми також визначаємо конструктори, щоб уникнути копіювання визначення.
- The `protected` section is where the important work takes place!
Here we override the `send()` method, copying values from the subscribed uORB topic(s) into appropriate fields in the MAVLink message, and then send the message.
Here we override the `send()` method, copying values from the subscribed uORB topic(s) into appropriate fields in the MAVLink message, and then send the message.
In this particular example we have an array of uORB instances `_battery_status_subs` (because we have multiple batteries).
We iterate the array and use `update()` on each subscription to check if the associated battery instance has changed (and update a structure with the current data).
This allows us to send the MAVLink message _only_ if the associated battery uORB topic has changed:
In this particular example we have an array of uORB instances `_battery_status_subs` (because we have multiple batteries).
We iterate the array and use `update()` on each subscription to check if the associated battery instance has changed (and update a structure with the current data).
This allows us to send the MAVLink message _only_ if the associated battery uORB topic has changed:
```cpp
// Struct to hold current topic data.
battery_status_s battery_status;
```cpp
// Struct to hold current topic data.
battery_status_s battery_status;
// update() populates battery_status and returns true if the status has changed
if (battery_sub.update(&battery_status)) {
// Use battery_status to populate message and send
}
```
// update() populates battery_status and returns true if the status has changed
if (battery_sub.update(&battery_status)) {
// Use battery_status to populate message and send
}
```
If wanted to send a MAVLink message whether or not the data changed, we could instead use `copy()` as shown:
If wanted to send a MAVLink message whether or not the data changed, we could instead use `copy()` as shown:
```cpp
battery_status_s battery_status;
battery_sub.copy(&battery_status);
```
```cpp
battery_status_s battery_status;
battery_sub.copy(&battery_status);
```
::: info
For a single-instance topic like [VehicleStatus](../msg_docs/VehicleStatus.md) we would subscribe like this:
::: info
For a single-instance topic like [VehicleStatus](../msg_docs/VehicleStatus.md) we would subscribe like this:
```cpp
// Create subscription _vehicle_status_sub
uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
```
```cpp
// Create subscription _vehicle_status_sub
uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
```
І ми можемо використовувати отриману підписку так само, з оновленням або копіюванням.
І ми можемо використовувати отриману підписку так само, з оновленням або копіюванням.
```cpp
vehicle_status_s vehicle_status{}; // vehicle_status_s is the definition of the uORB topic
if (_vehicle_status_sub.update(&vehicle_status)) {
// Use the vehicle_status as it has been updated.
}
```
```cpp
vehicle_status_s vehicle_status{}; // vehicle_status_s is the definition of the uORB topic
if (_vehicle_status_sub.update(&vehicle_status)) {
// Use the vehicle_status as it has been updated.
}
```
:::
@@ -474,17 +474,17 @@ This approach can also be used to test incoming messages that publish a uORB top
Існує кілька підходів для перегляду трафіку MAVLink:
- Create a [Wireshark MAVLink plugin](https://mavlink.io/en/guide/wireshark.html) for your dialect.
This allows you to inspect MAVLink traffic on an IP interface - for example between _QGroundControl_ or MAVSDK and your real or simulated version of PX4.
This allows you to inspect MAVLink traffic on an IP interface - for example between _QGroundControl_ or MAVSDK and your real or simulated version of PX4.
:::tip
It is much easier to generate a wireshark plugin and inspect traffic in Wireshark, than to rebuild QGroundControl with your dialect and use MAVLink Inspector.
:::tip
It is much easier to generate a wireshark plugin and inspect traffic in Wireshark, than to rebuild QGroundControl with your dialect and use MAVLink Inspector.
:::
- [Log uORB topics](../dev_log/logging.md) associate with your MAVLink message.
- View received messages in the QGroundControl [MAVLink Inspector](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/analyze_view/mavlink_inspector.html).
You will need to rebuild QGroundControl with the custom message definitions, [as described below](#updating-qgroundcontrol)
You will need to rebuild QGroundControl with the custom message definitions, [as described below](#updating-qgroundcontrol)
### Встановити швидкість передачі за допомогою оболонки
docs/uk/middleware/uorb_graph.md
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@@ -28,3 +28,4 @@ import { withBase } from 'vitepress';
Ви також можете збільшити зображення.
- The _Preset_ selection list allows you to refine the list of modules that are shown.
- The _Search_ box can be used to find particular modules/topics (topics that are not selected by the search are greyed-out).