From cb0ecd12b34668baf8a5d80f78fb8fa18f067016 Mon Sep 17 00:00:00 2001 From: Crowdin Bot Date: Sun, 3 Aug 2025 00:11:59 +0000 Subject: [PATCH] New Crowdin translations - uk --- docs/uk/SUMMARY.md | 1 + docs/uk/modules/modules_controller.md | 24 +++++ docs/uk/modules/modules_driver_ins.md | 45 ++++++++ docs/uk/modules/modules_system.md | 2 +- docs/uk/peripherals/gripper.md | 2 +- docs/uk/sensor/inertial_navigation_systems.md | 1 + docs/uk/sensor/inertiallabs.md | 102 ++++++++++++++++++ docs/uk/sensor/rangefinders.md | 2 +- 8 files changed, 176 insertions(+), 3 deletions(-) create mode 100644 docs/uk/sensor/inertiallabs.md diff --git a/docs/uk/SUMMARY.md b/docs/uk/SUMMARY.md index 2a39bc440d..f865e9fd97 100644 --- a/docs/uk/SUMMARY.md +++ b/docs/uk/SUMMARY.md @@ -280,6 +280,7 @@ - [Trimble MB-Two](gps_compass/rtk_gps_trimble_mb_two.md) - [CubePilot Here+ (Discontined)](gps_compass/rtk_gps_hex_hereplus.md) - [INS (Інерціальна навігація/GNSS)](sensor/inertial_navigation_systems.md) + - [InertialLabs](sensor/inertiallabs.md) - [VectorNav](sensor/vectornav.md) - [Optical Flow](sensor/optical_flow.md) - [ARK Flow](dronecan/ark_flow.md) diff --git a/docs/uk/modules/modules_controller.md b/docs/uk/modules/modules_controller.md index cfd2ead8f0..5ec87be47f 100644 --- a/docs/uk/modules/modules_controller.md +++ b/docs/uk/modules/modules_controller.md @@ -186,6 +186,30 @@ mc_att_control [arguments...] status print status info ``` +## mc_nn_control + +Source: [modules/mc_nn_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mc_nn_control) + +### Опис + +Multicopter Neural Network Control module. +This module is an end-to-end neural network control system for multicopters. +It takes in 15 input values and outputs 4 control actions. +Inputs: [pos_err(3), att(6), vel(3), ang_vel(3)] +Outputs: [Actuator motors(4)] + +### Usage {#mc_nn_control_usage} + +``` +mc_nn_control [arguments...] + Commands: + start + + stop + + status print status info +``` + ## mc_pos_control Source: [modules/mc_pos_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mc_pos_control) diff --git a/docs/uk/modules/modules_driver_ins.md b/docs/uk/modules/modules_driver_ins.md index 0ada484050..08ab96e18a 100644 --- a/docs/uk/modules/modules_driver_ins.md +++ b/docs/uk/modules/modules_driver_ins.md @@ -1,5 +1,50 @@ # Modules Reference: Ins (Driver) +## ilabs + +Source: [drivers/ins/ilabs](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/ins/ilabs) + +### Опис + +Serial bus driver for the ILabs sensors. + +Most boards are configured to enable/start the driver on a specified UART using the SENS_ILABS_CFG. +After that you can use the ILABS_MODE parameter to config outputs: + +- Only raw sensor output (the default). +- Sensor output and INS data such as position and velocity estimates. + +Setup/usage information: https://docs.px4.io/main/en/sensor/ilabs.html + +### Приклади + +Attempt to start driver on a specified serial device. + +``` +ilabs start -d /dev/ttyS1 +``` + +Stop driver + +``` +ilabs stop +``` + +### Usage {#ilabs_usage} + +``` +ilabs [arguments...] + Commands: + start Start driver + -d Serial device + + status Driver status + + stop Stop driver + + status Print driver status +``` + ## vectornav Source: [drivers/ins/vectornav](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/ins/vectornav) diff --git a/docs/uk/modules/modules_system.md b/docs/uk/modules/modules_system.md index 58f4e45bb1..339d94e1c9 100644 --- a/docs/uk/modules/modules_system.md +++ b/docs/uk/modules/modules_system.md @@ -146,7 +146,7 @@ commander [arguments...] pair - lockdown + termination on|off Turn lockdown on or off set_ekf_origin diff --git a/docs/uk/peripherals/gripper.md b/docs/uk/peripherals/gripper.md index 951ded7169..0982b2f9fb 100644 --- a/docs/uk/peripherals/gripper.md +++ b/docs/uk/peripherals/gripper.md @@ -38,7 +38,7 @@ MAVLink applications, such as ground stations, can also control the gripper usin Підтримка захоплювача PX4 пов'язана з функцією доставки пакетів, яка повинна бути увімкнена та налаштована для можливості використання захоплювача. -1. Set [PD_GRIPPER_EN](../advanced_config/parameter_reference.md#PD_GRIPPER_EN) parameter to 1 (reboot required after change). +1. Ensure your board has the Payload Deliverer module enabled: CONFIG_MODULES_PAYLOAD_DELIVERER. 2. Set [PD_GRIPPER_TYPE](../advanced_config/parameter_reference.md#PD_GRIPPER_TYPE) to match your gripper. For example, set to `Servo` for a [Servo Gripper](gripper_servo.md). diff --git a/docs/uk/sensor/inertial_navigation_systems.md b/docs/uk/sensor/inertial_navigation_systems.md index 32798301c0..4703c5ab10 100644 --- a/docs/uk/sensor/inertial_navigation_systems.md +++ b/docs/uk/sensor/inertial_navigation_systems.md @@ -6,6 +6,7 @@ However PX4 can also use some INS devices as either sources of raw data, or as a Системи, які можуть бути використані у такий спосіб, включають в себе: +- [InertialLabs](../sensor/inertiallabs.md) - [VectorNav](../sensor/vectornav.md): ІВП/AHRS, ССН/INS, Dual GNSS/INS системи, котрі можуть бути використані як зовнішній INS, або джерело вхідної інформації датчиків. ## Словник diff --git a/docs/uk/sensor/inertiallabs.md b/docs/uk/sensor/inertiallabs.md new file mode 100644 index 0000000000..d5dcdd0b53 --- /dev/null +++ b/docs/uk/sensor/inertiallabs.md @@ -0,0 +1,102 @@ +# Inertial Labs INS (All sensors, including INS-U/INS-DU) + +Inertial Labs designs and develops [IMU](https://inertiallabs.com/products/imu-inertial-measurement-units/), [AHRS](https://inertiallabs.com/products/ahrs/), [GNSS/INS](https://inertiallabs.com/products/ins-inertial-navigation-systems/) and [other](https://inertiallabs.com/) solutions. +A universal protocol is used for [all Inertial Labs sensors](https://inertiallabs.com/). + +![INS-U](../../assets/hardware/sensors/inertial/ilabs-ins-u.png) + +Benefits to PX4 users: + +- Вища точність оцінки напрямку, крену та кочення +- Більш надійна геоприв'язка GNSS +- Покращена точність позиціонування та установки під час конфлікту супутникового зв'язку +- Продуктивність при динамічних умовах (наприклад, запуски катапультою, операції VTOL, високі g або високі операції з великою кутовою швидкістю) +- Work in different spoofing and jamming conditions + +PX4 can use these in a mode that provides only raw sensor output (the default), or as an [external INS](../sensor/inertial_navigation_systems.md) that provides both sensor output and INS data such as position and velocity estimates. +The mode is configurable using a parameter. + +## Де купити + +[Get technical support or send requests to sales team](https://inertiallabs.com/inertial-labs-inc/contact-inertial-labs-team/). +Recommended sensors: + +- [INS-U GNSS/INS](https://inertiallabs.com/ins-u-datasheet): Recommended for fixed-wing systems without hovering, where static heading is not necessary. +- [INS-DU DUAL GNSS/INS](https://inertiallabs.com/ins-du-datasheet): Recommended for multicopter systems where hovering and low dynamics requires the use of static heading. + +## Налаштування програмного забезпечення + +### Підключення + +Connect the sensor to any unused flight controller serial interface, such as a spare `GPS` or `TELEM`. + +### Встановлення + +The Inertial Labs sensors can be mounted in any orientation. +You can set offsets for coordinate axes in the sensor-configuration software that is provided with your sensor. + +## Конфігурація прошивки + +### Конфігурація PX4 + +To use the Inertial Labs driver: + +1. Build the firmware with the [ilabs](../modules/modules_driver_ins.md#ilabs) module. + + The module is included by default for many boards. + You can check by searching for the keys `CONFIG_COMMON_INS` (all INS drivers) and `CONFIG_DRIVERS_INS_ILABS` (ilabs driver) in the [default.px4board](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v6c/default.px4board#L25) configuration file for your target board. + + If it is not present, you can add the key to your `default.px4board` file, or include it using the [kconfig board configuration](../hardware/porting_guide_config.md#px4-board-configuration-kconfig): Drivers -> INS -> ilabs. + +2. [Set the parameter](../advanced_config/parameters.md) [SENS_ILABS_CFG](../advanced_config/parameter_reference.md#SENS_ILABS_CFG) to the hardware port connected to the sensor, such as a spare `GPS` or `TELEM`. + Make sure that nothing else is configured to use the port (for more information see [Serial Port Configuration](../peripherals/serial_configuration.md)). + +3. Перезавантажте PX4. + +4. Налаштуйте водія як зовнішній INS або надайте сирові дані: + - For external INS, set [ILABS_MODE](../advanced_config/parameter_reference.md#ILABS_MODE) to `INS`. + - For raw inertial sensors, set [ILABS_MODE](../advanced_config/parameter_reference.md#ILABS_MODE) to `Sensors Only`. + + You can then prioritize inertial labs sensors using [CAL_GYROn_PRIO](../advanced_config/parameter_reference.md#CAL_GYRO0_PRIO), [CAL_ACCn_PRIO](../advanced_config/parameter_reference.md#CAL_ACC0_PRIO), [CAL_BAROn_PRIO](../advanced_config/parameter_reference.md#CAL_BARO0_PRIO), [CAL_MAGn_PRIO](../advanced_config/parameter_reference.md#CAL_MAG0_PRIO), where `n` is the instance number of the IMU component (0, 1, etc.). + + ::: tip + In most cases the external IMU is the highest-numbered. + Ви можете отримати список доступних компонентів IMU, використовуючи [`uorb top -1`](../middleware/uorb.md#uorb-top-command), ви можете відрізняти їх за допомогою команди [`listener`](../modules/modules_command.md#listener) та розглядаючи дані чи просто швидкості. + +::: + +5. Перезавантажте PX4. + +Після активації модуль буде виявлено при завантаженні. + +## Inertial Labs Sensor Configuration + +Perform sensor configuration according to the Interface Control Document (ICD) that comes with each device. +The sensor-configuration software allows you to set the baurate and the data format, and you can also adjust the orientation axes if the sensor wasn't oriented in the normal way. +This process is usually short and takes a few minutes, depending on the sensor and the installation conditions on the vehicle. + +## Опубліковані дані + +These uORB topics are published: + +- [sensor_accel](../msg_docs/SensorAccel.md) +- [датчик_гіроскопа](../msg_docs/SensorGyro.md) +- [sensor_mag](../msg_docs/SensorMag.md) +- [sensor_baro](../msg_docs/SensorBaro.md) +- [sensor_gps](../msg_docs/SensorGps.md) + +If enabled as an external INS, publishes: + +- [vehicle_local_position](../msg_docs/VehicleLocalPosition.md) +- [vehicle_global_positon](../msg_docs/VehicleGlobalPosition.md) +- [vehicle_attitude](../msg_docs/VehicleAttitude.md) + +If enabled as external sensor only: + +- `external_ins_local_position` +- `external_ins_global_position` +- `external_ins_attitude` + +:::tip +Опубліковані теми можна переглянути за допомогою команди `listener`. +::: diff --git a/docs/uk/sensor/rangefinders.md b/docs/uk/sensor/rangefinders.md index 14ff92d04c..a25b799444 100644 --- a/docs/uk/sensor/rangefinders.md +++ b/docs/uk/sensor/rangefinders.md @@ -17,7 +17,7 @@ There may also be other DroneCAN rangefinders than those listed here. ### ARK Flow & AKR Flow MR -[ARK Flow](../dronecan/ark_flow.md) and [ARK Flow](../dronecan/ark_flow_mr.md) are open-source Time-of-Flight (ToF) and optical flow sensor modules, which are capable of measuring distances from 8cm to 30m and from 8cm to 50m, respectively. +[ARK Flow](../dronecan/ark_flow.md) and [ARK Flow MR](../dronecan/ark_flow_mr.md) are open-source Time-of-Flight (ToF) and optical flow sensor modules, which are capable of measuring distances from 8cm to 30m and from 8cm to 50m, respectively. Він може бути підключений до контролера польоту через свій порт CAN1, що дозволяє підключати додаткові датчики через свій порт CAN2. It supports [DroneCAN](../dronecan/index.md), runs [PX4 DroneCAN Firmware](../dronecan/px4_cannode_fw.md), and is packed into a tiny form factor.