diff --git a/docs/zh/SUMMARY.md b/docs/zh/SUMMARY.md index 12ae20a873..12fc678e53 100644 --- a/docs/zh/SUMMARY.md +++ b/docs/zh/SUMMARY.md @@ -41,8 +41,9 @@ - [MindRacer BNF & RTF](complete_vehicles_mc/mindracer_BNF_RTF.md) - [MindRacer 210](complete_vehicles_mc/mindracer210.md) - [NanoMind 110](complete_vehicles_mc/nanomind110.md) - - [Holybro Kopis 2](complete_vehicles_mc/holybro_kopis2.md) - [Bitcraze Crazyflie 2.1](complete_vehicles_mc/crazyflie21.md) + - [Holybro Kopis 2](complete_vehicles_mc/holybro_kopis2.md) + - [Amov F410 Drone](complete_vehicles_mc/amov_F410_drone.md) - [套装](frames_multicopter/kits.md) - [X500 v2 (Pixhawk 6C)](frames_multicopter/holybro_x500v2_pixhawk6c.md) - [X500 v2 (Pixhawk 5X)](frames_multicopter/holybro_x500V2_pixhawk5x.md) diff --git a/docs/zh/complete_vehicles_mc/amov_F410_drone.md b/docs/zh/complete_vehicles_mc/amov_F410_drone.md new file mode 100644 index 0000000000..e22861000a --- /dev/null +++ b/docs/zh/complete_vehicles_mc/amov_F410_drone.md @@ -0,0 +1,120 @@ +# Amovlab F410 Drone + +The [Amovlab F410](https://amovlab.com/product/detail?pid=32) is a medium-small drone platform with a 410mm wheelbase, equipped with Pixhawk 6c open-source flight controller, M8N-GPS, brushless motors, customized hard-case battery, Minihomer data link, optical flow ranging module, camera and other devices. +It can be used immediately after receiving, capable of meeting indoor/outdoor stable flight and teaching development requirements. + +![Amovlab f410 Hero Image](../../assets/airframes/multicopter/amovlab_f410/hero.jpg) + +:::info +The vehicle comes with everything needed to fly, including the battery and a remote control. +It is pre-installed with PX4 v1.15.4 at time of writing (a more recent version may be used in future). +::: + +## 综述 + +1. Can serve as a basic flight platform, paired with Pixhawk 6C flight controller to achieve optical flow and GPS fusion positioning, enabling stable flight both indoors and outdoors. + It is one of the most stable basic flight platforms on the market. +2. Sturdy and reliable structure, with key parts made of aluminium alloy and carbon fibre, high strength and not easily damaged. +3. High stability, providing industrial-grade stability assurance, friendly to beginners, offering simplified version of interactive PC to enhance flight experience, can be initially used for outdoor aerial photography and image collection. +4. Has rich open-source code support, and can be used with PX4, FMT, and ArduPilot. +5. Video can be streamed from the UAV webcam to QGroundControl. +6. The drone has a lot of room and support for expansion, including for adding on-board computers, range sensors, and other payloads. + - Compatibility with many different components, providing platform for loading other user sensors, preparing for functional model development. + - Abundant power supply making it perfect for installing additional sensors and onboard computers (including 5 external output voltages, 3 channels of 5V, 2 channels of 12V). + - Pc-SDK support. + This is a PC-based Python SDK Library based on MAVSDK that significantly simplifies UAV development compared to other approaches, such as using ROS or using C++. All you need is a basic understanding of Python programming and some simple coordinate system principles! + - The [documentation](https://docs.amovlab.com/f450-v6c-wiki/#/en/) shows many of the options. +7. Quasi-smart battery. The battery has a hard housing design that makes easy to install and remove. + It provides accurate power estimates, but does not have some more advanced "smart battery" features. + +## 购买渠道 + +- [Amovlab F410 Drone](https://amovlab.com/product/detail?pid=32) + +## Datasheet + +### 产品规格 + +| 技术规范 | F410_V6C Flight Platform | +| :---------------------------------------------------: | :--------------------------------------------------------------------------------------------------------------------------------------------: | +| **Aircraft** | | +| 尺寸 | Length 290mm × Width 290mm × Height 240mm (Wheelbase 410mm) | +| Empty Weight | 1056g | +| Max Takeoff Weight | 2200g | +| Max Ascent Speed | 1.5m/s | +| Max Descent Speed | 0.7m/s | +| Max Horizontal Speed | 10m/s | +| Max Hovering Time | 21min | +| Max Tilt Angle | 30° | +| Operating Temperature | 6℃-40℃ | +| Hovering Accuracy | M8N GPS Vertical ±0.5m M8N GPS Horizontal ±0.8m | +| Hovering Accuracy | RTK Vertical ±0.1m RTK Horizontal ±0.15m | +| **Flight Control System** | | +| 处理器 | FMU: STM32H743; IO Processor: STM32F103 | +| Accelerometer | BMI055/ICM-42688-P | +| Gyroscope | BMI055/ICM-42688-P | +| 磁罗盘 | IST8310 | +| Barometer | MS5611 | +| 重量 | 59.3g | +| 尺寸 | Length 84.8mm × Width 44mm × Height 12.4mm | +| **Perception** | | +| Optical Flow & Rangefinder Module | | +| 重量 | 5.0g | +| 尺寸 | Length 29mm × Width 16.5mm × Height 15mm | +| Range Measurement | 0.01-8m | +| Ranging FOV | 6° | +| Optical Flow FOV | 42° | +| Power Consumption | 500mW | +| Operating Voltage | 4.0-5.5V | +| Optical Flow Working Distance | > 80mm | +| Output Interface | UART | +| **Data Link** | | +| Data Link Solution | MINI HOMER | +| Frequency Band | Sub 1G Band | +| Operating Voltage | 12V | +| Max Effective Range | 1200m | +| **Camera** | | +| Model | IVG-G4 | +| Video Processing | H.265+ Encoding, Dual Streams, AVI Format | +| Video Output | Main Stream: 2560×1440@18fps, 2304×1296@20fps；Sub Stream: 800×448@25fps | +| Operating Voltage | 12V | +| 尺寸 | Length 38mm × Width 38mm | +| **Battery** | | +| Model | FB45 | +| Dimensions (L×W×H) | Length 130mm × Width 65mm × Height 40mm | +| 重量 | 470g | +| Charge Limit Voltage | 16.8V | +| Nominal Voltage | 14.8V | +| Rated Capacity | 5000mAh | +| Rated Energy | 74Wh | +| 配置 | 4s 1P | +| **Charger** | | +| Input Voltage | DC:9V-12V | +| Max Output Power | 25W | +| Max Output Current | 1500mA | +| Display Accuracy | ±10mV | +| 尺寸 | Length 81mm × Width 50mm × Height 20mm | +| 重量 | 76g | +| **Remote Controller** | | +| Operating Voltage | 4.5V-9V | +| Channels | 8 | +| Transmit Power | ＜ 10mW | +| 重量 | 310g | +| Dimensions (L×W×H) | Length 179mm × Width 81mm × Height 161mm | + +## Tutorials + +- Tutorials [English](https://docs.amovlab.com/f450-v6c-wiki/#/en/)/[Chinese](https://docs.amovlab.com/F450-V6C-wiki/#/src/%E8%A7%84%E6%A0%BC%E5%8F%82%E6%95%B0/%E8%A7%84%E6%A0%BC%E5%8F%82%E6%95%B0) (docs.amovlab.com/) + +## Upgrading + +Amovlab previously supplied this vehicle with PX4 v1.13. + +In order to upgrade to PX4 v1.15, you should select the [X500 airframe](../config/airframe.md) and import [this parameter file](https://github.com/PX4/PX4-Autopilot/blob/main/docs/assets/airframes/multicopter/amovlab_f410/amovlabf410_drone_v1.15.4.params) to apply the new [actuator output configuration](../config/actuators.md) (used from PX4 v1.14). +Then retune as necessary. + +Contact Amovlab for information about upgrading to other versions. + +## 视频 + + diff --git a/docs/zh/complete_vehicles_mc/index.md b/docs/zh/complete_vehicles_mc/index.md index f972435d9f..5f194f937f 100644 --- a/docs/zh/complete_vehicles_mc/index.md +++ b/docs/zh/complete_vehicles_mc/index.md @@ -24,6 +24,7 @@ This section lists vehicles that are sold fully assembled and ready to fly (RTF) - [ModalAI Sentinel](https://www.modalai.com/sentinel) - [MindRacer 210](../complete_vehicles_mc/mindracer210.md) - [NanoMind 110](../complete_vehicles_mc/nanomind110.md) +- [Amovlab F410](../complete_vehicles_mc/amov_F410_drone.md) ## PX4 Compatible diff --git a/docs/zh/debug/gdb_debugging.md b/docs/zh/debug/gdb_debugging.md index 18807d309c..e43a4a5d46 100644 --- a/docs/zh/debug/gdb_debugging.md +++ b/docs/zh/debug/gdb_debugging.md @@ -54,6 +54,30 @@ The following topics explain how to start on-target debugging: - [MCU Eclipse/J-Link Debugging for PX4](eclipse_jlink.md). - [Visual Studio Code IDE (VSCode)](../dev_setup/vscode.md). +## 视频 + +The following video provides an overview of the tooling available for advanced debugging of PX4 via GDB. +It was presented at the PX4 Developer Conference 2023. + + + +**Overview:** The inspection tools built into PX4 via Mavlink Shell (NSH) as well as interpretation of the PX4 uLog after a flight require PX4 to still be functioning. However, the most problematic bugs often manifest themselves in a (partially) hanging or crashed system. Therefore, we present the open-source Embedded Debug Tools project, which manages and configures probe, debugging and analysis tools for PX4 and NuttX: + +- Debug interfaces (SWD) and the associated debug probes (J-Link, STLink) and libraries (JLinkGDBServer, OpenOCD). +- How to install and configure `arm-none-eabi-gdb(-py3)` for debugging your ELF. +- Commonly used GDB commands and scripts. +- Advanced GDB scripting via its Python API. +- Inspection of NuttX RTOS component internals: tasks, semaphores, scheduler. +- Inspecting peripheral state with CMSIS-SVD files and custom visualizations. +- Coredumping for post-mortem debugging via CrashDebug. +- Hardfault analysis in a live system and via the hardfault log. +- Remote GDB scripting via the Machine Interface. +- Automated HiL testing of PX4 via combined GDB and NSH scripting. +- ITM profiling over SWO pin using Orbuculum. +- Thread/IRQ/Workqueue/Heap visualization and latency analysis using perfetto. +- High-bandwidth ETM tracing over TRACE pins: J-Trace and ORBtrace mini. +- We conclude with an overview of interesting related project and an outlook on the future of PX4 debugging. + ## Embedded Debug Tools The [Embedded Debug Tools](https://pypi.org/project/emdbg/) connect several software and hardware debugging tools together in a user friendly Python package to more easily enable advanced use cases for ARM Cortex-M microcontrollers and related devices. diff --git a/docs/zh/debug/gdb_hardfault.md b/docs/zh/debug/gdb_hardfault.md index 4c24b4fccb..6df0715281 100644 --- a/docs/zh/debug/gdb_hardfault.md +++ b/docs/zh/debug/gdb_hardfault.md @@ -10,6 +10,13 @@ It was presented at the PX4 Developer Conference 2019. +--- + +The following video provides an overview of the tooling available for advanced debugging of PX4 via GDB (including hard fault debugging). +It was presented at the PX4 Developer Conference 2023. + + + ## Debugging Hard Faults in NuttX A typical scenario that can cause a hard fault is when the processor overwrites the stack and then the processor returns to an invalid address from the stack. diff --git a/docs/zh/flight_modes_fw/mission.md b/docs/zh/flight_modes_fw/mission.md index d7e463914b..991a4bb846 100644 --- a/docs/zh/flight_modes_fw/mission.md +++ b/docs/zh/flight_modes_fw/mission.md @@ -377,5 +377,5 @@ In landing mode, the distance sensor is used to determine proximity to the groun ## See Also - [Missions](../flying/missions.md) - - [Package Delivery Mission](../flying/package_delivery_mission.md) + - [包裹投递任务](../flying/package_delivery_mission.md) - [Mission Mode (MC)](../flight_modes_mc/mission.md) diff --git a/docs/zh/flight_modes_mc/mission.md b/docs/zh/flight_modes_mc/mission.md index b45414ce0c..5f6088aded 100644 --- a/docs/zh/flight_modes_mc/mission.md +++ b/docs/zh/flight_modes_mc/mission.md @@ -231,5 +231,5 @@ If the vehicle is already flying when the mission is started, a takeoff mission ## See Also - [Missions](../flying/missions.md) - - [Package Delivery Mission](../flying/package_delivery_mission.md) + - [包裹投递任务](../flying/package_delivery_mission.md) - [Mission Mode (FW)](../flight_modes_fw/mission.md) diff --git a/docs/zh/flight_modes_vtol/mission.md b/docs/zh/flight_modes_vtol/mission.md index be4d19cf58..ed4ffa878d 100644 --- a/docs/zh/flight_modes_vtol/mission.md +++ b/docs/zh/flight_modes_vtol/mission.md @@ -54,4 +54,4 @@ A VTOL mission requires a `VTOL Takeoff` mission item (`MAV_CMD_NAV_VTOL_TAKEOFF - [Mission Mode (MC)](../flight_modes_mc/mission.md) - [Mission Mode (FW)](../flight_modes_fw/mission.md) - [Missions](../flying/missions.md) - - [Package Delivery Mission](../flying/package_delivery_mission.md) + - [包裹投递任务](../flying/package_delivery_mission.md) diff --git a/docs/zh/frames_vtol/vtol_tiltrotor_omp_hobby_zmo_fpv.md b/docs/zh/frames_vtol/vtol_tiltrotor_omp_hobby_zmo_fpv.md index 49a45ba410..b5c4bad328 100644 --- a/docs/zh/frames_vtol/vtol_tiltrotor_omp_hobby_zmo_fpv.md +++ b/docs/zh/frames_vtol/vtol_tiltrotor_omp_hobby_zmo_fpv.md @@ -338,9 +338,11 @@ If motors/servos were connected to different outputs than suggested, you will ne ![Tilt Servo adjustment](../../assets/airframes/vtol/omp_hobby_zmo_fpv/tilt-limits-01.jpg) -3. Adjust the minimum or maximum value that the servo is pointing vertical up. +3. Adjust the minimum (or, if revesed: maximum) value such that the rotor thrust can point backward (needed for proper yaw allocation in Multicopter mode). -4. Then type `commander transition` into the MAVLink shell to adjust the horizontal position. +4. Adjust the parameter `VT_TILT_MC` such that the rotors point exactly upwards when given zero input. + +5. Then type `commander transition` into the MAVLink shell to adjust the horizontal position. #### Control Surfaces @@ -368,8 +370,8 @@ The direction can't be changed in software because the vehicle does not use [DSh ## 第一次飞行 - Check tilt rotor reactions in [Stabilized mode](../flight_modes_fw/stabilized.md). Keep the throttle stick at the minimum and place the vehicle at the ground. To enable the tilt servos you need to arm the vehicle. - - Yaw the vehicle to the right (nose to the right) -> left motor should tilt down - - Yaw the vehicle to the left (nose to the left) -> right motor should tilt down + - Command a yaw to the right (nose to the right) -> left motor should tilt forward, right motor should tilt backward + - Command a yaw to the left (nose to the left) -> left motor should tilt backward, right motor should tilt forward - Mount the propellers. - Check center of gravity (GG). Switch the vehicle into forward flight mode. diff --git a/docs/zh/index.md b/docs/zh/index.md index aa804ed972..f2f693b9d5 100644 --- a/docs/zh/index.md +++ b/docs/zh/index.md @@ -86,7 +86,7 @@ _PX4_ 是一款专业级飞控。 如何贡献代码和文档的信息可以在 [贡献](contribute/index.md部分中找到： -- [Code](contribute/index.md) +- [代码](contribute/index.md) - [Documentation](contribute/docs.md) - [Translation](contribute/translation.md) @@ -133,8 +133,8 @@ _Dronecode 日历_ 展示了面向平台用户和开发者的重要社区活动 PX4 飞行控制架构由[Dronecode Project](https://www.dronecode.org/)负责管理。 -Dronecode Logo Linux Foundation Logo +Dronecode Logo Linux Foundation Logo
 
-Doc build time: {{ $buildTime }} +文档构建时间：{{ $buildTime }} diff --git a/docs/zh/modules/modules_driver.md b/docs/zh/modules/modules_driver.md index 9881d3ec70..1c4620794d 100644 --- a/docs/zh/modules/modules_driver.md +++ b/docs/zh/modules/modules_driver.md @@ -2,16 +2,16 @@ 子分类 -- [Imu](modules_driver_imu.md) -- [Distance Sensor](modules_driver_distance_sensor.md) -- [Ins](modules_driver_ins.md) - [Airspeed Sensor](modules_driver_airspeed_sensor.md) -- [Baro](modules_driver_baro.md) - [Transponder](modules_driver_transponder.md) +- [Imu](modules_driver_imu.md) - [Rpm Sensor](modules_driver_rpm_sensor.md) -- [Optical Flow](modules_driver_optical_flow.md) -- [Camera](modules_driver_camera.md) - [Magnetometer](modules_driver_magnetometer.md) +- [Camera](modules_driver_camera.md) +- [Distance Sensor](modules_driver_distance_sensor.md) +- [Optical Flow](modules_driver_optical_flow.md) +- [Ins](modules_driver_ins.md) +- [Baro](modules_driver_baro.md) ## MCP23009 diff --git a/docs/zh/modules/modules_driver_distance_sensor.md b/docs/zh/modules/modules_driver_distance_sensor.md index 8875af8ca0..76d7ac38a1 100644 --- a/docs/zh/modules/modules_driver_distance_sensor.md +++ b/docs/zh/modules/modules_driver_distance_sensor.md @@ -218,11 +218,11 @@ lightware_sf45_serial [arguments...] ## ll40ls -Source: [drivers/distance_sensor/ll40ls](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/ll40ls) +Source: [drivers/distance_sensor/ll40ls_pwm](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/ll40ls_pwm) ### 描述 -源码：drivers/distance_sensor/pga460 +PWM driver for LidarLite rangefinders. 超声笔测距仪驱动，负责处理与设备的用心并通过 uORB 将距离信息发布出去。 @@ -235,23 +235,13 @@ Setup/usage information: https://docs.px4.io/main/en/sensor/lidar_lite.html ``` ll40ls [arguments...] Commands: - start - [-I] Internal I2C bus(es) - [-X] External I2C bus(es) - [-b ] board-specific bus (default=all) (external SPI: n-th bus - (default=1)) - [-f ] bus frequency in kHz - [-q] quiet startup (no message if no device found) - [-a ] I2C address - default: 98 + start Start driver [-R ] Sensor rotation - downward facing by default default: 25 - regdump + status Print driver status information - stop - - status print status info + stop Stop driver ``` ## pga460 @@ -503,8 +493,6 @@ tfmini [arguments...] stop Stop driver - test Test driver (basic functional tests) - status Print driver status ``` diff --git a/docs/zh/modules/modules_driver_magnetometer.md b/docs/zh/modules/modules_driver_magnetometer.md index 8acff7f7c4..b009ed86ee 100644 --- a/docs/zh/modules/modules_driver_magnetometer.md +++ b/docs/zh/modules/modules_driver_magnetometer.md @@ -225,38 +225,6 @@ ist8310 [arguments...] status print status info ``` -## iis2mdc - -Source: [drivers/magnetometer/iis2mdc](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/magnetometer/iis2mdc) - - - -### 用法 - -``` -iis2mdc [arguments...] - Commands: - start - [-I] Internal I2C bus(es) - [-X] External I2C bus(es) - [-s] Internal SPI bus(es) - [-S] External SPI bus(es) - [-b ] board-specific bus (default=all) (external SPI: n-th bus - (default=1)) - [-c ] chip-select pin (for internal SPI) or index (for external SPI) - [-m ] SPI mode - [-f ] bus frequency in kHz - [-q] quiet startup (no message if no device found) - [-a ] I2C address - default: 30 - [-R ] Rotation - default: 0 - - stop - - status print status info -``` - ## lis3mdl Source: [drivers/magnetometer/lis3mdl](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/magnetometer/lis3mdl) diff --git a/docs/zh/msg_docs/VehicleConstraints.md b/docs/zh/msg_docs/VehicleConstraints.md index 266ac8911f..02d2a38748 100644 --- a/docs/zh/msg_docs/VehicleConstraints.md +++ b/docs/zh/msg_docs/VehicleConstraints.md @@ -1,19 +1,18 @@ -# VehicleConstraints (UORB message) +# 载具限制 (UORB 消息) Local setpoint constraints in NED frame setting something to NaN means that no limit is provided -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleConstraints.msg) +[源文件](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleConstraints.msg) ```c -# Local setpoint constraints in NED frame -# setting something to NaN means that no limit is provided +# 本地设定点在东北天（NED）坐标系中的约束条件 +# 将某个值设为 NaN 意味着未设置限制 -uint64 timestamp # time since system start (microseconds) +uint64 timestamp # 自系统启动以来的时间（微秒） -float32 speed_up # in meters/sec -float32 speed_down # in meters/sec - -bool want_takeoff # tell the controller to initiate takeoff when idling (ignored during flight) +float32 speed_up # 上升速度（米 / 秒） +float32 speed_down # 下降速度（米 / 秒） +bool want_takeoff # 告知控制器在怠速时启动起飞（飞行过程中此指令被忽略） ``` diff --git a/docs/zh/msg_docs/VehicleMagnetometer.md b/docs/zh/msg_docs/VehicleMagnetometer.md index a847ae520c..5291a0be9b 100644 --- a/docs/zh/msg_docs/VehicleMagnetometer.md +++ b/docs/zh/msg_docs/VehicleMagnetometer.md @@ -1,17 +1,16 @@ -# VehicleMagnetometer (UORB message) +# 载具磁力计器 (UORB 消息) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleMagnetometer.msg) +[源文件](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleMagnetometer.msg) ```c -uint64 timestamp # time since system start (microseconds) +uint64 timestamp # 原始数据的时间戳（微秒） -uint64 timestamp_sample # the timestamp of the raw data (microseconds) +uint64 timestamp_sample # 所选磁力计的唯一设备 ID -uint32 device_id # unique device ID for the selected magnetometer +uint32 device_id # 所选磁力计的唯一设备 ID -float32[3] magnetometer_ga # Magnetic field in the FRD body frame XYZ-axis in Gauss - -uint8 calibration_count # Calibration changed counter. Monotonically increases whenever calibration changes. +float32[3] magnetometer_ga # 机体框架 FRD 下，XYZ 轴方向的磁场强度（单位：高斯） +uint8 calibration_count # 校准变化计数器。每当校准发生变化时，该计数器单调递增。 ``` diff --git a/docs/zh/msg_docs/VehicleThrustSetpoint.md b/docs/zh/msg_docs/VehicleThrustSetpoint.md index d256e77145..8e6941cb25 100644 --- a/docs/zh/msg_docs/VehicleThrustSetpoint.md +++ b/docs/zh/msg_docs/VehicleThrustSetpoint.md @@ -1,15 +1,15 @@ -# VehicleThrustSetpoint (UORB message) +# 载具推力设定点（UORB 消息） -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleThrustSetpoint.msg) +[源文件](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleThrustSetpoint.msg) ```c -uint64 timestamp # time since system start (microseconds) -uint64 timestamp_sample # timestamp of the data sample on which this message is based (microseconds) +uint64 timeestamp # 从系统启动起的时间(微秒) +uint64 timestamp_samp #此消息所基于的数据样本的时间戳（微秒） -float32[3] xyz # thrust setpoint along X, Y, Z body axis [-1, 1] +float32[3] xyz # 沿机体 X、Y、Z 轴的推力设定点 [ - 1, 1] -# TOPICS vehicle_thrust_setpoint -# TOPICS vehicle_thrust_setpoint_virtual_fw vehicle_thrust_setpoint_virtual_mc +# TOPICS vehicle_thent_setpoint +# TOPICS vehicle_thentust_setpoint_virtual_fw vehicle_thent_setpoint_virtual_mc ``` diff --git a/docs/zh/msg_docs/VelocityLimits.md b/docs/zh/msg_docs/VelocityLimits.md index 6a86fdc977..8c5e8b70a0 100644 --- a/docs/zh/msg_docs/VelocityLimits.md +++ b/docs/zh/msg_docs/VelocityLimits.md @@ -1,17 +1,16 @@ -# VelocityLimits (UORB message) +# 速度限制 (UORB 消息) -Velocity and yaw rate limits for a multicopter position slow mode only +仅适用于多旋翼飞行器位置慢速模式的速度和偏航率限制 -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VelocityLimits.msg) +[源文件](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VelocityLimits.msg) ```c -# Velocity and yaw rate limits for a multicopter position slow mode only +# 多片段位置的速度和yaw 率限制仅限 -uint64 timestamp # time since system start (microseconds) - -# absolute speeds, NAN means use default limit -float32 horizontal_velocity # [m/s] -float32 vertical_velocity # [m/s] -float32 yaw_rate # [rad/s] +uint64 时间戳 # 系统启动后的时间 (微秒) +# 绝对速度， NAN 表示使用默认限制 +float32 水平速度 # [m/] +float32 vertical_速度 # [m/] +float32 yaw_rate # [rad/] ``` diff --git a/docs/zh/msg_docs/WheelEncoders.md b/docs/zh/msg_docs/WheelEncoders.md index d91ba67255..4c9950525e 100644 --- a/docs/zh/msg_docs/WheelEncoders.md +++ b/docs/zh/msg_docs/WheelEncoders.md @@ -1,12 +1,11 @@ -# WheelEncoders (UORB message) +# 滚轮编码器 (UORB 消息) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/WheelEncoders.msg) +[源文件](https://github.com/PX4/PX4-Autopilot/blob/main/msg/WheelEncoders.msg) ```c -uint64 timestamp # time since system start (microseconds) +uint64 timestamp #系统启动后的时间（微秒） # Two wheels: 0 right, 1 left float32[2] wheel_speed # [rad/s] float32[2] wheel_angle # [rad] - ``` diff --git a/docs/zh/msg_docs/versioned_messages.md b/docs/zh/msg_docs/versioned_messages.md index 38395908f4..dc97d9a2e8 100644 --- a/docs/zh/msg_docs/versioned_messages.md +++ b/docs/zh/msg_docs/versioned_messages.md @@ -1,3 +1,3 @@ # Versioned Messages (uORB Message Reference) -See [list here](../msg_docs/index.md#versioned-messages). +请查看[这个列表](../msg_docs/index.md#versioned-messages) 。 diff --git a/docs/zh/payloads/index.md b/docs/zh/payloads/index.md index 788240c300..ff1639ef41 100644 --- a/docs/zh/payloads/index.md +++ b/docs/zh/payloads/index.md @@ -1,13 +1,13 @@ -# Payloads and Cameras +# 有效载荷和摄像机 -Payloads are equipment carried by the vehicle to meet user or mission objectives. -PX4 supports a wide range of vehicle payloads, including cameras of various types, cargo, instrumentation, and so on. +载荷是指载具为达到用户或任务目标而携带的设备。 +PX4支持广泛的载具有效载荷，包括各类照相机、货物、仪器等等。 -Payloads are connected to [Flight Controller outputs](../getting_started/px4_basic_concepts.md#outputs-motors-servos-actuators), and can be triggered automatically in missions, manually from an RC Controller or Joystick, or from a Ground Station (via MAVLink/MAVSDK commands). +有效载荷连接到飞行控制器输出端口，并且可以在任务中自动触发，也能通过遥控控制器或操纵杆手动触发，还能从地面站（通过 MAVLink/MAVSDK 命令）触发。 -- [Payload Use Cases](../payloads/use_cases.md) -- [Package Delivery Mission](../flying/package_delivery_mission.md) -- [Generic Actuator Control](../payloads/generic_actuator_control.md) -- [Camera](../camera/index.md) -- [Gimbal \(Mount\) Configuration](../advanced/gimbal_control.md) -- [Grippers](../peripherals/gripper.md) +- [有效载荷使用案例](../payloads/use_cases.md) +- [包裹投递任务](../flying/package_delivery_mission.md) +- [通用执行器控制](../payloads/generic_actuator_control.md) +- [相机](../camera/index.md) +- [云台 \(挂载\) 配置](../advanced/gimbal_control.md) +- [机械臂](../peripherals/gripper.md) diff --git a/docs/zh/peripherals/gripper_servo.md b/docs/zh/peripherals/gripper_servo.md index 87b798b081..43e1264754 100644 --- a/docs/zh/peripherals/gripper_servo.md +++ b/docs/zh/peripherals/gripper_servo.md @@ -8,7 +8,8 @@ This section explains how to connect and configure a [gripper](../peripherals/gr The following PWM-connected servos have been tested with PX4: -- [R4-EM-R22-161 : push-to-close latch electronic lock](https://southco.com/en_any_int/r4-em-r22-161). +- [R4-EM-R22-161 push-to-close latch electronic lock](https://southco.com/en_any_int/r4-em-r22-161) (SouthCo) +- [FluxGrip FG40 electro-permanent magnetic gripper](http://zubax.com/fg40) (Zubax) ## Connecting a PWM-controlled Gripper diff --git a/docs/zh/releases/index.md b/docs/zh/releases/index.md index c1f0d9bde8..0902cce8f2 100644 --- a/docs/zh/releases/index.md +++ b/docs/zh/releases/index.md @@ -1,11 +1,11 @@ # 版本发布 -A list of PX4 release notes, they contain a list of the changes that went into each release, explaining the included features, bug fixes, deprecations and updates in detail. +这是一份 PX4 发行说明列表，其中包含每次发布所做更改的清单，详细说明了新增功能、漏洞修复、弃用内容以及更新情况。 -- [main](../releases/main.md) (changes since v1.15) +- [main](../releases/main.md) (v1.15以来的变化) - [v1.15](../releases/1.15.md) - [v1.14](../releases/1.14.md) - [v1.13](../releases/1.13.md) - [v1.12](../releases/1.12.md) -The full archive of releases for the PX4 autopilot project can be found on [GitHub](https://github.com/PX4/PX4-Autopilot/releases) +PX4自动驾驶仪项目的完整发布存档可在[GitHub](https://github.com/PX4/PX4-Autopilot/releases)上找到。 diff --git a/docs/zh/ros/raspberrypi_installation.md b/docs/zh/ros/raspberrypi_installation.md index 751ec621d6..fda1b667ce 100644 --- a/docs/zh/ros/raspberrypi_installation.md +++ b/docs/zh/ros/raspberrypi_installation.md @@ -5,15 +5,15 @@ ## 系统必备组件 - 具有显示器、键盘或配置 ssh 连接的工作树莓派 -- 本指南假定您的 RPi 上安装了 Raspbian "JESSIE"。 If not: [install it](https://www.raspberrypi.org/downloads/raspbian/) or [upgrade](http://raspberrypi.stackexchange.com/questions/27858/upgrade-to-raspbian-jessie) your Raspbian Wheezy to Jessie. +- 本指南假定您的 RPi 上安装了 Raspbian "JESSIE"。 如果没有：[安装它](https://www.raspberrypi.org/downloads/raspbian/) ，或者将你的树莓派操作系统Raspbian Wheezy [升级](http://raspberrypi.stackexchange.com/questions/27858/upgrade-to-raspbian-jessie)至Jessie版本。 ## 安装 -Follow [this guide](http://wiki.ros.org/ROSberryPi/Installing%20ROS%20Indigo%20on%20Raspberry%20Pi) for the actual installation of ROS Indigo. 注意：安装 "ROS-Comm" 变体。 桌面变体太臃肿了。 +请遵循[本指南](http://wiki.ros.org/ROSberryPi/Installing%20ROS%20Indigo%20on%20Raspberry%20Pi)来实际安装ROS Indigo。 注意：安装 "ROS-Comm" 变体。 桌面变体太臃肿了。 ### 安装程序包时出错 -If you want to download packages (e.g. `sudo apt-get install ros-indigo-ros-tutorials`), you might get an error saying: "unable to locate package ros-indigo-ros-tutorials". +如果你想要下载软件包(例如`sudo apt-get install ros-indigo-ros-tutorials`)，你可能会遇到一个错误，说："unable to locate package ros-indigo-ros-tutorials"。 如果是这样，请按以下步骤操作：转到您的 catkin 工作区（例如 ~/ros_catkin_ws）并更改包的名称。 diff --git a/docs/zh/sensor/accelerometer.md b/docs/zh/sensor/accelerometer.md index da249b1934..5aebbe6aae 100644 --- a/docs/zh/sensor/accelerometer.md +++ b/docs/zh/sensor/accelerometer.md @@ -1,12 +1,12 @@ -# Accelerometer Hardware & Setup +# 加速度计硬件与设置 -PX4 uses accelerometer data for velocity estimation. +PX4使用加速计数据进行速度估计。 -You should not need to attach an accelometer as a stand-alone external device: +你无需将加速度计作为独立的外部设备进行连接。 -- Most flight controllers, such as those in the [Pixhawk Series](../flight_controller/pixhawk_series.md), include an accelerometer as part of the flight controller's [Inertial Motion Unit (IMU)](https://en.wikipedia.org/wiki/Inertial_measurement_unit). -- Gyroscopes are present as part of an [external INS, ARHS or INS-enhanced GNSS system](../sensor/inertial_navigation_systems.md). +- 大多数飞行控制器，例如[Pixhawk系列](../flight_controller/pixhawk_series.md)中的飞行控制器，都将加速度计作为飞行控制器[惯性测量单元（IMU）](https://en.wikipedia.org/wiki/Inertial_measurement_unit)的一部分。 +- 陀螺仪作为[外部惯性导航系统、姿态与航向参考系统或惯性导航增强型全球导航卫星系统](../sensor/inertial_navigation_systems.md)的一部分而存在。 -The accelerometer must be calibrated before first use of the vehicle: +在首次使用载具之前必须校准加速计： -- [Accelerometer Calibration](../config/accelerometer.md) +- [加速度计校准](../config/accelerometer.md) diff --git a/docs/zh/sensor/gyroscope.md b/docs/zh/sensor/gyroscope.md index 68d3245588..dcb6a4a758 100644 --- a/docs/zh/sensor/gyroscope.md +++ b/docs/zh/sensor/gyroscope.md @@ -1,12 +1,12 @@ -# Gyroscope Hardware & Setup +# 陀螺仪硬件和设置 -PX4 uses a gyroscope for estimating the vehicle attitude (orientation). +PX4使用一个陀螺仪来估计载具的姿态（方向）。 -You should not need to attach a gyroscope as a stand-alone external device: +你无需将陀螺仪作为独立的外部设备进行连接： -- Most flight controllers, such as those in the [Pixhawk Series](../flight_controller/pixhawk_series.md), include a gyroscope as part of the flight controller's [Inertial Motion Unit (IMU)](https://en.wikipedia.org/wiki/Inertial_measurement_unit). -- Gyroscopes are present as part of an [external INS, ARHS or INS-enhanced GNSS system](../sensor/inertial_navigation_systems.md). +- 大多数飞行控制器，如 [Pixhawk Series](../flight_controller/pixhawk_series.md) 都将陀螺仪作为飞行控制器 [惯性测量单元（IMU）](https://en.wikipedia.org/wiki/Inertial_measurement_unit) 的一部分。 +- 陀螺仪作为[外部惯性导航系统、姿态与航向参考系统或惯性导航增强型全球导航卫星系统](../sensor/inertial_navigation_systems.md)的一部分而存在。 -The gyroscope must be calibrated before first use of the vehicle: +在首次使用载具之前必须校准陀螺仪： -- [Gyroscope Calibration](../config/gyroscope.md) +- [陀螺仪校准](../config/gyroscope.md) diff --git a/docs/zh/sensor/px4flow.md b/docs/zh/sensor/px4flow.md index d0d5104758..646f9baf77 100644 --- a/docs/zh/sensor/px4flow.md +++ b/docs/zh/sensor/px4flow.md @@ -1,8 +1,8 @@ -# PX4FLOW Smart Camera (Deprecated) +# PX4FLOW 智能摄像机(过时) -PX4 does not support the PX4Flow [optical flow](../sensor/optical_flow.md) sensor from PX4 v1.13 (it doesn't work with current firmware). -PX4 may work with older PX4Flow firmware. +PX4 不支持 PX4 v1.13 的 PX4Flow [光流](../sensor/optical_flow.md)传感器（它不适用于当前固件）。 +PX4可以使用旧的 PX4Flow 固件。 -Documentation has been removed (if needed, see [Legacy Docs for PX4Flow in v1.13](https://docs.px4.io/v1.13/en/sensor/px4flow.html)). +文档已被删除（如果需要, 请参阅[v1.13中的 PX4Flow 的旧文档](https://docs.px4.io/v1.13/en/sensor/px4flow.html)）。 diff --git a/docs/zh/sensor/tachometers.md b/docs/zh/sensor/tachometers.md index c131832a4e..4a8aee8f74 100644 --- a/docs/zh/sensor/tachometers.md +++ b/docs/zh/sensor/tachometers.md @@ -1,9 +1,9 @@ # 转速计（转数计数器） -Tachometers (also known as [revolution-counter sensors](https://en.wikipedia.org/wiki/Tachometer#In_automobiles,_trucks,_tractors_and_aircraft)) can be used to measure the rate of rotation turning vehicle parts like rotors, engines, or wheels. +转速表（又称[也被称为转数计数器传感器](https://en.wikipedia.org/wiki/Tachometer#In_automobiles,_trucks,_tractors_and_aircraft)）可用于测量诸如旋翼、发动机或车轮等车辆转动部件的旋转速率。 :::info -Currently PX4 just logs RPM data: it is not used for state estimation or control. +当前 PX4 仅记录 RPM 数据：它没有用于状态估计或控制。 ::: 本节列出了 PX4 支持的转速计传感器（更详细的文档点击链接）。 @@ -13,4 +13,4 @@ Currently PX4 just logs RPM data: it is not used for state estimation or control ## 支持的硬件 -- [ThunderFly TFRPM01 Tachometer](../sensor/thunderfly_tachometer.md) +- [ThunderFly TFRPM01 转速传感器](../sensor/thunderfly_tachometer.md) diff --git a/docs/zh/sensor_bus/index.md b/docs/zh/sensor_bus/index.md index 31e32d57a6..c270f44dab 100644 --- a/docs/zh/sensor_bus/index.md +++ b/docs/zh/sensor_bus/index.md @@ -1,4 +1,4 @@ # 传感器和执行器 I/O -本节包含有关 PX 4 中集成的传感器和执行器的主题。 -It covers both sensor buses ([I2C](../sensor_bus/i2c_general.md), [CAN](../can/index.md), [UART](../uart/index.md), SPI) and also the main PWM ports. +本节包含有关 PX4 中集成的传感器和执行器的主题。 +它涵盖传感器总线([I2C](../sensor_bus/i2c_general.md)、 [CAN](../can/index.md)、 [UART](../uart/index.md)、SPI)以及主要的 PWM 端口。 diff --git a/docs/zh/sim_gazebo_gz/multi_vehicle_simulation.md b/docs/zh/sim_gazebo_gz/multi_vehicle_simulation.md index b2821b6dc5..51ab15f3c2 100644 --- a/docs/zh/sim_gazebo_gz/multi_vehicle_simulation.md +++ b/docs/zh/sim_gazebo_gz/multi_vehicle_simulation.md @@ -35,31 +35,35 @@ This allows for greater flexibility and customization. [Multiple vehicles with ROS 2](../ros2/multi_vehicle.md) are possible. - First follow the installation instructions for [Gazebo](../sim_gazebo_gz/index.md). + - Then configure your system for [ROS 2 / PX4 operations](../ros2/user_guide.md#installation-setup). + - In different terminals manually start a multi vehicle simulation. This example spawns 2 X500 Quadrotors and aFPX fixed-wing. -:::info -Note that in the first terminal you **do not** specify standalone mode. The first terminal will start the gz-server and the other two -instances will connect to it. -**Terminal 1** + ::: info + Note that in the first terminal you **do not** specify standalone mode. The first terminal will start the gz-server and the other two + instances will connect to it. + ::: -```sh -PX4_SYS_AUTOSTART=4001 PX4_SIM_MODEL=gz_x500 ./build/px4_sitl_default/bin/px4 -i 1 -``` + **Terminal 1** -**Terminal 2** + ```sh + PX4_SYS_AUTOSTART=4001 PX4_SIM_MODEL=gz_x500 ./build/px4_sitl_default/bin/px4 -i 1 + ``` -```sh -PX4_GZ_STANDALONE=1 PX4_SYS_AUTOSTART=4001 PX4_GZ_MODEL_POSE="0,1" PX4_SIM_MODEL=gz_x500 ./build/px4_sitl_default/bin/px4 -i 2 -``` + **Terminal 2** -**Terminal 3** + ```sh + PX4_GZ_STANDALONE=1 PX4_SYS_AUTOSTART=4001 PX4_GZ_MODEL_POSE="0,1" PX4_SIM_MODEL=gz_x500 ./build/px4_sitl_default/bin/px4 -i 2 + ``` -```sh -PX4_GZ_STANDALONE=1 PX4_SYS_AUTOSTART=4003 PX4_GZ_MODEL_POSE="0,2" PX4_SIM_MODEL=gz_rc_cessna ./build/px4_sitl_default/bin/px4 -i 3 -``` + **Terminal 3** + + ```sh + PX4_GZ_STANDALONE=1 PX4_SYS_AUTOSTART=4003 PX4_GZ_MODEL_POSE="0,2" PX4_SIM_MODEL=gz_rc_cessna ./build/px4_sitl_default/bin/px4 -i 3 + ``` - Start the agent: diff --git a/docs/zh/smart_batteries/index.md b/docs/zh/smart_batteries/index.md index 02d9a90223..45cba51bc5 100644 --- a/docs/zh/smart_batteries/index.md +++ b/docs/zh/smart_batteries/index.md @@ -1,15 +1,15 @@ # 智能电池 智能电池提供的电池状态信息比自动驾驶仪估计的“哑”电池更准确(通常也更详细)。 -This allows for more more reliable flight planning notification of failure conditions. +这使得能够更可靠地通知故障条件。 这些信息可能包括:剩余电量、空电时间(估计)、电池电压(额定最大/最小电压、电流电压等)、温度、电流、故障信息、电池供应商、化学成分等。 -PX4至少支持以下智能电池: +PX4（至少）支持以下智能电池： -- [Rotoye Batmon](../smart_batteries/rotoye_batmon.md) +- [Rotoye 电池监测器](../smart_batteries/rotoye_batmon.md) ### 更多信息 -- [Mavlink Battery Protocol](https://mavlink.io/en/services/battery.html) -- [batt_smbus](../modules/modules_driver.md) - PX4 SMBus Battery Driver docs -- [Safety > Low Battery Failsafe](../config/safety.md#battery-level-failsafe). +- [Mavlink 电池协议](https://mavlink.io/en/services/battery.html) +- [batt_smbus](../modules/modules_driver.md) - PX4 系统管理总线（SMBus）电池驱动文档 +- [安全 > 低电量故障保护](../config/safety.md#battery-level-failsafe)。 diff --git a/docs/zh/smart_batteries/rotoye_batmon.md b/docs/zh/smart_batteries/rotoye_batmon.md index 8be8a91685..ead3d454db 100644 --- a/docs/zh/smart_batteries/rotoye_batmon.md +++ b/docs/zh/smart_batteries/rotoye_batmon.md @@ -1,6 +1,6 @@ # 补充信息 -[Rotoye Batmon](https://rotoye.com/batmon/) is a kit for adding smart battery functionality to off-the-shelf Lithium-Ion and LiPo batteries. +[Rotoye 电池监测器](https://rotoye.com/batmon/) 是一款套件，用于为现成的锂离子和锂聚合物电池增添智能电池功能。 It can be purchased as a standalone unit or as part of a factory-assembled smart-battery. :::info @@ -8,27 +8,27 @@ At time of writing you can only use Batmon by [building a custom branch of PX4]( Support in the codeline is pending [PR approval](https://github.com/PX4/PX4-Autopilot/pull/16723). ::: -![Rotoye Batmon Board](../../assets/hardware/smart_batteries/rotoye_batmon/smart-battery-rotoye.jpg) +![Rotoye 电池监控板](../../assets/hardware/smart_batteries/rotoye_batmon/smart-battery-rotoye.jpg) -![Pre-assembled Rotoye smart battery](../../assets/hardware/smart_batteries/rotoye_batmon/smart-battery-rotoye-pack.jpg) +![组装的罗托耶智能电池](../../assets/hardware/smart_batteries/rotoye_batmon/smart-battery-rotoye-pack.jpg) ## 购买渠道 -[Rotoye Store](https://rotoye.com/batmon/): Batmon kits, custom smart-batteries, and accessories +[Rotoye 商店](https://rotoye.com/batmon/)：电池套件、自定义智能电池和配件 ## Wiring/Connections -The Rotoye Batmon system uses an XT-90 battery connector with I2C pins, and an opti-isolator board to transmit data. +Rotoye 电池监测系统系统采用带有 I2C 引脚的 XT - 90 电池连接器，以及一块光隔离板来传输数据。 -![Board connections](../../assets/hardware/smart_batteries/rotoye_batmon/smart-battery-rotoye-connection.png) +![连接监控板](../../assets/hardware/smart_batteries/rotoye_batmon/smart-battery-rotoye-connection.png) -More details can be found [here](https://github.com/rotoye/batmon_reader) +更多详细信息在[这里](https://github.com/rotoye/batmon_reader)可以找到 ## 软件设置 ### Build PX4 Firmware -1. Clone or download [Rotoye's fork of PX4:](https://github.com/rotoye/PX4-Autopilot/tree/batmon_4.03) +1. 克隆或下载 [Rotoye的 PX4 分支：](https://github.com/rotoye/PX4-Autopilot/tree/batmon_4.03) ```sh git clone https://github.com/rotoye/PX4-Autopilot.git cd PX4-Autopilot @@ -58,4 +58,4 @@ In _QGroundControl_: ## 更多信息 -[Quick Start Guide](https://rotoye.com/batmon-tutorial/) (Rotoye) +快速入门指南(https://rotoye.com/batmon-tutorial/) (Rotoye) diff --git a/docs/zh/test_and_ci/maintenance.md b/docs/zh/test_and_ci/maintenance.md index 3eee9054e9..febef04315 100644 --- a/docs/zh/test_and_ci/maintenance.md +++ b/docs/zh/test_and_ci/maintenance.md @@ -6,7 +6,7 @@ 改动的数量，因此对文件所做的更改次数可以指示哪些文件/部件可能需要重构。 -To find churn metrics a tool such as [Churn](https://github.com/danmayer/churn) can be used: +要查找变更量指标，可以使用诸如[Churn](https://github.com/danmayer/churn)这样的工具： ```sh gem install churn diff --git a/docs/zh/test_cards/mc_05_indoor_flight_manual_modes.md b/docs/zh/test_cards/mc_05_indoor_flight_manual_modes.md index 4161476003..217373fd4d 100644 --- a/docs/zh/test_cards/mc_05_indoor_flight_manual_modes.md +++ b/docs/zh/test_cards/mc_05_indoor_flight_manual_modes.md @@ -33,7 +33,7 @@ ❏ 以稳定或高度模式着陆，油门低于 40％ -❏ Upon touching ground, copter should disarm automatically within 2 seconds (disarm time set by parameter: [COM_DISARM_LAND](../advanced_config/parameter_reference.md#COM_DISARM_LAND)) +一旦触地，直升机应在2秒内自动上锁（上锁时间由参数[COM_DISARM_LAND](../advanced_config/parameter_reference.md#COM_DISARM_LAND)设置） ## 预期成果 diff --git a/docs/zh/uart/index.md b/docs/zh/uart/index.md index 870a08115b..9d8f25d8c2 100644 --- a/docs/zh/uart/index.md +++ b/docs/zh/uart/index.md @@ -2,4 +2,4 @@ 本节包含关于串行总线和串行驱动程序的主题: -- [Making Serial Port Drivers User-Configurable](../uart/user_configurable_serial_driver.md) +- [串行端口驱动程序可由用户配置](../uart/user_configurable_serial_driver.md)