mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-03 12:48:53 +08:00
New Crowdin translations - zh-CN (#24563)
Co-authored-by: Crowdin Bot <support+bot@crowdin.com>
This commit is contained in:
PX4 Build Bot
co-authored by
Crowdin Bot
Crowdin Bot
parent
bd0a59eb1f
commit
d04e6695ac
@@ -23,7 +23,7 @@ You can locate the parameters in QGroundControl as shown below:
|
||||
1. Open QGroundControl menu: **Settings > Parameters > Sensor Calibration**.
|
||||
2. The parameters as located in the section as shown below (or you can search for them):
|
||||
|
||||
|
||||
|
||||
|
||||
## Parameter Summary
|
||||
|
||||
|
||||
@@ -52,80 +52,80 @@ The following steps explain how you can "manually" update the bootloader using a
|
||||
1. Get a binary containing the bootloader (either from dev team or [build it yourself](#building-the-px4-bootloader)).
|
||||
|
||||
2. Get a [Debug Probe](../debug/swd_debug.md#debug-probes-for-px4-hardware).
|
||||
Connect the probe your PC via USB and setup the `gdbserver`.
|
||||
Connect the probe your PC via USB and setup the `gdbserver`.
|
||||
|
||||
3. Go into the directory containing the binary and run the command for your target bootloader in the terminal:
|
||||
|
||||
- FMUv6X
|
||||
- FMUv6X
|
||||
|
||||
```sh
|
||||
arm-none-eabi-gdb px4_fmu-v6x_bootloader.elf
|
||||
```
|
||||
```sh
|
||||
arm-none-eabi-gdb px4_fmu-v6x_bootloader.elf
|
||||
```
|
||||
|
||||
- FMUv6X-RT
|
||||
- FMUv6X-RT
|
||||
|
||||
```sh
|
||||
arm-none-eabi-gdb px4_fmu-v6xrt_bootloader.elf
|
||||
```
|
||||
```sh
|
||||
arm-none-eabi-gdb px4_fmu-v6xrt_bootloader.elf
|
||||
```
|
||||
|
||||
- FMUv5
|
||||
- FMUv5
|
||||
|
||||
```sh
|
||||
```
|
||||
```sh
|
||||
```
|
||||
|
||||
::: info
|
||||
H7 Bootloaders from [PX4/PX4-Autopilot](https://github.com/PX4/PX4-Autopilot) are named with pattern `*._bootloader.elf`.
|
||||
Bootloaders from [PX4/PX4-Bootloader](https://github.com/PX4/PX4-Bootloader) are named with the pattern `*_bl.elf`.
|
||||
::: info
|
||||
H7 Bootloaders from [PX4/PX4-Autopilot](https://github.com/PX4/PX4-Autopilot) are named with pattern `*._bootloader.elf`.
|
||||
Bootloaders from [PX4/PX4-Bootloader](https://github.com/PX4/PX4-Bootloader) are named with the pattern `*_bl.elf`.
|
||||
|
||||
:::
|
||||
|
||||
4. The _gdb terminal_ appears and it should display the following output:
|
||||
|
||||
```sh
|
||||
GNU gdb (GNU Tools for Arm Embedded Processors 7-2017-q4-major) 8.0.50.20171128-git
|
||||
Copyright (C) 2017 Free Software Foundation, Inc.
|
||||
License GPLv3+: GNU GPL version 3 or later <http://gnu.org/licenses/gpl.html>
|
||||
This is free software: you are free to change and redistribute it.
|
||||
There is NO WARRANTY, to the extent permitted by law.
|
||||
Type "show copying" and "show warranty" for details.
|
||||
This GDB was configured as "--host=x86_64-linux-gnu --target=arm-none-eabi".
|
||||
Type "show configuration" for configuration details.
|
||||
For bug reporting instructions, please see:
|
||||
<http://www.gnu.org/software/gdb/bugs/>.
|
||||
Find the GDB manual and other documentation resources online at:
|
||||
<http://www.gnu.org/software/gdb/documentation/>.
|
||||
For help, type "help".
|
||||
Type "apropos word" to search for commands related to "word"...
|
||||
Reading symbols from px4fmuv5_bl.elf...done.
|
||||
```
|
||||
```sh
|
||||
GNU gdb (GNU Tools for Arm Embedded Processors 7-2017-q4-major) 8.0.50.20171128-git
|
||||
Copyright (C) 2017 Free Software Foundation, Inc.
|
||||
License GPLv3+: GNU GPL version 3 or later <http://gnu.org/licenses/gpl.html>
|
||||
This is free software: you are free to change and redistribute it.
|
||||
There is NO WARRANTY, to the extent permitted by law.
|
||||
Type "show copying" and "show warranty" for details.
|
||||
This GDB was configured as "--host=x86_64-linux-gnu --target=arm-none-eabi".
|
||||
Type "show configuration" for configuration details.
|
||||
For bug reporting instructions, please see:
|
||||
<http://www.gnu.org/software/gdb/bugs/>.
|
||||
Find the GDB manual and other documentation resources online at:
|
||||
<http://www.gnu.org/software/gdb/documentation/>.
|
||||
For help, type "help".
|
||||
Type "apropos word" to search for commands related to "word"...
|
||||
Reading symbols from px4fmuv5_bl.elf...done.
|
||||
```
|
||||
|
||||
5. Find your `<dronecode-probe-id>` by running an `ls` command in the **/dev/serial/by-id** directory.
|
||||
|
||||
6. Now connect to the debug probe with the following command:
|
||||
|
||||
```sh
|
||||
tar ext /dev/serial/by-id/<dronecode-probe-id>
|
||||
```
|
||||
```sh
|
||||
tar ext /dev/serial/by-id/<dronecode-probe-id>
|
||||
```
|
||||
|
||||
7. Power on the Pixhawk with another USB cable and connect the probe to the `FMU-DEBUG` port.
|
||||
|
||||
::: info
|
||||
If using a Dronecode probe you may need to remove the case in order to connect to the `FMU-DEBUG` port (e.g. on Pixhawk 4 you would do this using a T6 Torx screwdriver).
|
||||
::: info
|
||||
If using a Dronecode probe you may need to remove the case in order to connect to the `FMU-DEBUG` port (e.g. on Pixhawk 4 you would do this using a T6 Torx screwdriver).
|
||||
|
||||
:::
|
||||
|
||||
8. Use the following command to scan for the Pixhawk\`s SWD and connect to it:
|
||||
|
||||
```sh
|
||||
(gdb) mon swdp_scan
|
||||
(gdb) attach 1
|
||||
```
|
||||
```sh
|
||||
(gdb) mon swdp_scan
|
||||
(gdb) attach 1
|
||||
```
|
||||
|
||||
9. 将二进制文件加载到 Pixhawk 中 ：
|
||||
|
||||
```sh
|
||||
(gdb) load
|
||||
```
|
||||
```sh
|
||||
(gdb) load
|
||||
```
|
||||
|
||||
After the bootloader has updated you can [Load PX4 Firmware](../config/firmware.md) using _QGroundControl_.
|
||||
|
||||
@@ -146,8 +146,8 @@ Currently only FMUv2 and some custom firmware includes the desired bootloader.
|
||||
|
||||
2. [Update the Firmware](../config/firmware.md#custom) with an image containing the new/desired bootloader.
|
||||
|
||||
::: info
|
||||
The updated bootloader might be supplied in custom firmware (i.e. from the dev team), or it or may be included in the latest main branch.
|
||||
::: info
|
||||
The updated bootloader might be supplied in custom firmware (i.e. from the dev team), or it or may be included in the latest main branch.
|
||||
|
||||
:::
|
||||
|
||||
@@ -156,7 +156,7 @@ Currently only FMUv2 and some custom firmware includes the desired bootloader.
|
||||
4. [Find and enable](../advanced_config/parameters.md) the parameter [SYS_BL_UPDATE](../advanced_config/parameter_reference.md#SYS_BL_UPDATE).
|
||||
|
||||
5. 重新启动（断开/重新连接飞控板）。
|
||||
Bootloader 更新只需要几秒钟即可完成。
|
||||
Bootloader 更新只需要几秒钟即可完成。
|
||||
|
||||
Generally at this point you may then want to [update the firmware](../config/firmware.md) again using the correct/newly installed bootloader.
|
||||
|
||||
@@ -176,25 +176,25 @@ Early FMUv2 [Pixhawk-series](../flight_controller/pixhawk_series.md#fmu_versions
|
||||
1. 插入 SD 卡（使能引导日志记录，便于调试任何可能的问题）。
|
||||
|
||||
2. [Update the Firmware](../config/firmware.md) to PX4 _master_ version (when updating the firmware, check **Advanced settings** and then select **Developer Build (master)** from the dropdown list).
|
||||
_QGroundControl_ will automatically detect that the hardware supports FMUv2 and install the appropriate Firmware.
|
||||
_QGroundControl_ will automatically detect that the hardware supports FMUv2 and install the appropriate Firmware.
|
||||
|
||||
|
||||
|
||||
|
||||
等待飞控重启。
|
||||
等待飞控重启。
|
||||
|
||||
3. [Find and enable](../advanced_config/parameters.md) the parameter [SYS_BL_UPDATE](../advanced_config/parameter_reference.md#SYS_BL_UPDATE).
|
||||
|
||||
4. 重新启动（断开/重新连接飞控板）。
|
||||
Bootloader 更新只需要几秒钟即可完成。
|
||||
Bootloader 更新只需要几秒钟即可完成。
|
||||
|
||||
5. Then [Update the Firmware](../config/firmware.md) again.
|
||||
This time _QGroundControl_ should autodetect the hardware as FMUv3 and update the Firmware appropriately.
|
||||
This time _QGroundControl_ should autodetect the hardware as FMUv3 and update the Firmware appropriately.
|
||||
|
||||
|
||||
|
||||
|
||||
::: info
|
||||
If the hardware has the [Silicon Errata](../flight_controller/silicon_errata.md#fmuv2-pixhawk-silicon-errata) it will still be detected as FMUv2 and you will see that FMUv2 was re-installed (in console).
|
||||
在这种情况下，您将无法安装 FMUv3 硬件。
|
||||
::: info
|
||||
If the hardware has the [Silicon Errata](../flight_controller/silicon_errata.md#fmuv2-pixhawk-silicon-errata) it will still be detected as FMUv2 and you will see that FMUv2 was re-installed (in console).
|
||||
在这种情况下，您将无法安装 FMUv3 硬件。
|
||||
|
||||
:::
|
||||
|
||||
|
||||
@@ -48,7 +48,7 @@ The process is demonstrated for a multicopter, but is equally valid for other ve
|
||||
- 解锁无人机，然后缓缓将油门推到最大。
|
||||
- 慢慢将油门降到0
|
||||
- 给无人机加锁
|
||||
> <strong x-id="1">Note</strong> 谨慎地进行测试，并密切注意振动情况。
|
||||
> <strong x-id="1">Note</strong> 谨慎地进行测试，并密切注意振动情况。
|
||||
|
||||
::: info
|
||||
Perform the test carefully and closely monitor the vibrations.
|
||||
|
||||
@@ -94,29 +94,29 @@ Flight control systems that can't power the autopilot via USB will need a [diffe
|
||||
|
||||
- The minimum value for a motor (default: `1100us`) should make the motor spin slowly but reliably, and also spin up reliably after it was stopped.
|
||||
|
||||
You can confirm that a motor spins at minimum (still without propellers) in [Actuator Testing](../config/actuators.md#actuator-testing), by enabling the sliders, and then moving the test output slider for the motor to the first snap position from the bottom.
|
||||
当你将滑块从解锁到最小值时，正确的值应该使电机立即和可靠地旋转。
|
||||
You can confirm that a motor spins at minimum (still without propellers) in [Actuator Testing](../config/actuators.md#actuator-testing), by enabling the sliders, and then moving the test output slider for the motor to the first snap position from the bottom.
|
||||
当你将滑块从解锁到最小值时，正确的值应该使电机立即和可靠地旋转。
|
||||
|
||||
要找到“最佳”最小值，请将滑块移动到底部(禁用)。
|
||||
Then increase the PWM output's `disarmed` setting in small increments (e.g. 1025us, 1050us, etc), until the motor starts to spin reliably (it is better to be a little too high than a little too low).
|
||||
Enter this value into the `minimum` setting for all the motor PWM outputs, and restore the `disarmed` output to `1100us`.
|
||||
要找到“最佳”最小值，请将滑块移动到底部(禁用)。
|
||||
Then increase the PWM output's `disarmed` setting in small increments (e.g. 1025us, 1050us, etc), until the motor starts to spin reliably (it is better to be a little too high than a little too low).
|
||||
Enter this value into the `minimum` setting for all the motor PWM outputs, and restore the `disarmed` output to `1100us`.
|
||||
|
||||
- The maximum value for a motor (default: `1900us`) should be chosen such that increasing the value doesn't make the motor spin any faster.
|
||||
|
||||
You can confirm that the motor spins quickly at the maximum setting in [Actuator Testing](../config/actuators.md#actuator-testing), by moving the associated test output slider to the top position.
|
||||
You can confirm that the motor spins quickly at the maximum setting in [Actuator Testing](../config/actuators.md#actuator-testing), by moving the associated test output slider to the top position.
|
||||
|
||||
To find the "optimal" maximum value, first move the slider to the bottom (disarmed).
|
||||
Then increase the PWM output's `disarmed` setting to near the default maximum (`1900`) - the motors should spin up.
|
||||
Listen to the tone of the motor as you increase the PWM maximum value for the output in increments (e.g. 1925us, 1950us, etc).
|
||||
The optimal value is found at the point when the sound of the motors does not change as you increase the value of the output.
|
||||
Enter this value into the `maximum` setting for all the motor PWM outputs, and restore the `disarmed` output to `1100us`.
|
||||
To find the "optimal" maximum value, first move the slider to the bottom (disarmed).
|
||||
Then increase the PWM output's `disarmed` setting to near the default maximum (`1900`) - the motors should spin up.
|
||||
Listen to the tone of the motor as you increase the PWM maximum value for the output in increments (e.g. 1925us, 1950us, etc).
|
||||
The optimal value is found at the point when the sound of the motors does not change as you increase the value of the output.
|
||||
Enter this value into the `maximum` setting for all the motor PWM outputs, and restore the `disarmed` output to `1100us`.
|
||||
|
||||
- The disarmed value for a motor (default: `1000us`) should make the motor stop and stay stopped.
|
||||
|
||||
You can confirm this in [Actuator Testing](../config/actuators.md#actuator-testing) by moving the test output slider to the snap position at the bottom of the slider and observing that the motor does not spin.
|
||||
You can confirm this in [Actuator Testing](../config/actuators.md#actuator-testing) by moving the test output slider to the snap position at the bottom of the slider and observing that the motor does not spin.
|
||||
|
||||
If the ESC spins with the default value of 1000us then the ESC is not properly calibrated.
|
||||
If using an ESC that can't be calibrated, you should reduce the PWM output value for the output to below where the motor does not spin anymore (such as 950us or 900us).
|
||||
If the ESC spins with the default value of 1000us then the ESC is not properly calibrated.
|
||||
If using an ESC that can't be calibrated, you should reduce the PWM output value for the output to below where the motor does not spin anymore (such as 950us or 900us).
|
||||
|
||||
::: info
|
||||
VTOL and fixed-wing motors do not need any special PWM configuration.
|
||||
|
||||
@@ -87,14 +87,14 @@ To set the above "example" configuration using the _QGroundControl_:
|
||||
|
||||
3. Enter commands "like" the ones below into the _MAVLink Console_ (to write the values to the configuration file):
|
||||
|
||||
```sh
|
||||
echo DEVICE=eth0 > /fs/microsd/net.cfg
|
||||
echo BOOTPROTO=fallback >> /fs/microsd/net.cfg
|
||||
echo IPADDR=10.41.10.2 >> /fs/microsd/net.cfg
|
||||
echo NETMASK=255.255.255.0 >>/fs/microsd/net.cfg
|
||||
echo ROUTER=10.41.10.254 >>/fs/microsd/net.cfg
|
||||
echo DNS=10.41.10.254 >>/fs/microsd/net.cfg
|
||||
```
|
||||
```sh
|
||||
echo DEVICE=eth0 > /fs/microsd/net.cfg
|
||||
echo BOOTPROTO=fallback >> /fs/microsd/net.cfg
|
||||
echo IPADDR=10.41.10.2 >> /fs/microsd/net.cfg
|
||||
echo NETMASK=255.255.255.0 >>/fs/microsd/net.cfg
|
||||
echo ROUTER=10.41.10.254 >>/fs/microsd/net.cfg
|
||||
echo DNS=10.41.10.254 >>/fs/microsd/net.cfg
|
||||
```
|
||||
|
||||
4. 一旦设置了网络配置，您可以断开 USB 电缆。
|
||||
|
||||
@@ -113,36 +113,36 @@ Note that there are many more [examples](https://netplan.io/examples/) and instr
|
||||
设置Ubuntu计算机：
|
||||
|
||||
1. In a terminal, create and open a `netplan` configuration file: `/etc/netplan/01-network-manager-all.yaml`
|
||||
Below we do this using the _nano_ text editor.
|
||||
Below we do this using the _nano_ text editor.
|
||||
|
||||
```
|
||||
sudo nano /etc/netplan/01-network-manager-all.yaml
|
||||
```
|
||||
```
|
||||
sudo nano /etc/netplan/01-network-manager-all.yaml
|
||||
```
|
||||
|
||||
2. 将以下配置信息复制并粘贴到文件中（注意：缩进很重要！）:
|
||||
|
||||
```
|
||||
network:
|
||||
version: 2
|
||||
renderer: NetworkManager
|
||||
ethernets:
|
||||
enp2s0:
|
||||
addresses:
|
||||
- 10.41.10.1/24
|
||||
nameservers:
|
||||
addresses: [10.41.10.1]
|
||||
routes:
|
||||
- to: 10.41.10.1
|
||||
via: 10.41.10.1
|
||||
```
|
||||
```
|
||||
network:
|
||||
version: 2
|
||||
renderer: NetworkManager
|
||||
ethernets:
|
||||
enp2s0:
|
||||
addresses:
|
||||
- 10.41.10.1/24
|
||||
nameservers:
|
||||
addresses: [10.41.10.1]
|
||||
routes:
|
||||
- to: 10.41.10.1
|
||||
via: 10.41.10.1
|
||||
```
|
||||
|
||||
保存并退出编辑器。
|
||||
保存并退出编辑器。
|
||||
|
||||
3. Apply the _netplan_ configuration by entering the following command into the Ubuntu terminal.
|
||||
|
||||
```
|
||||
sudo netplan apply
|
||||
```
|
||||
```
|
||||
sudo netplan apply
|
||||
```
|
||||
|
||||
### 机载计算机以太网网络设置
|
||||
|
||||
@@ -189,9 +189,9 @@ Assuming you have already [Set up the Ethernet Network](#setting-up-the-ethernet
|
||||
|
||||
3. Start QGroundControl and [define a comm link](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/settings_view/settings_view.html) (**Application Settings > Comm Links**) specifying the _server address_ and port as the IP address and port assigned in PX4, respectively.
|
||||
|
||||
假设值已按本主题其余部分所述设置，设置将如下所示：
|
||||
假设值已按本主题其余部分所述设置，设置将如下所示：
|
||||
|
||||
|
||||
|
||||
|
||||
4. 如果你选择这个链接，QGroundControl 应该会连接。
|
||||
|
||||
@@ -205,14 +205,14 @@ Assuming you have already [Set up the Ethernet Network](#setting-up-the-ethernet
|
||||
|
||||
1. [Set up the Ethernet Network](#setting-up-the-ethernet-network) so your companion computer and PX4 run on the same network.
|
||||
2. Modify the [PX4 Ethernet Port Configuration](#px4-ethernet-network-setup) to connect to a companion computer.
|
||||
You might change the parameters [MAV_2_REMOTE_PRT](../advanced_config/parameter_reference.md#MAV_2_REMOTE_PRT) and [MAV_2_UDP_PRT](../advanced_config/parameter_reference.md#MAV_2_UDP_PRT) to `14540`, and [MAV_2_MODE](../advanced_config/parameter_reference.md#MAV_2_MODE) to `2` (Onboard).
|
||||
You might change the parameters [MAV_2_REMOTE_PRT](../advanced_config/parameter_reference.md#MAV_2_REMOTE_PRT) and [MAV_2_UDP_PRT](../advanced_config/parameter_reference.md#MAV_2_UDP_PRT) to `14540`, and [MAV_2_MODE](../advanced_config/parameter_reference.md#MAV_2_MODE) to `2` (Onboard).
|
||||
3. Follow the instructions in [MAVSDK-python](https://github.com/mavlink/MAVSDK-Python) to install and use MAVSDK.
|
||||
|
||||
例如，您的代码将使用以下方式连接到PX4：
|
||||
例如，您的代码将使用以下方式连接到PX4：
|
||||
|
||||
```python
|
||||
await drone.connect(system_address="udp://10.41.10.2:14540")
|
||||
```
|
||||
```python
|
||||
await drone.connect(system_address="udp://10.41.10.2:14540")
|
||||
```
|
||||
|
||||
:::info
|
||||
MAVSDK can connect to the PX4 on port `14550` if you don't modify the PX4 Ethernet port configuration.
|
||||
@@ -235,38 +235,38 @@ MAVSDK can connect to the PX4 on port `14550` if you don't modify the PX4 Ethern
|
||||
1. 通过以太网连接您的飞行控制器和机载计算机。
|
||||
|
||||
2. [Start the uXRCE-DDS client on PX4](../middleware/uxrce_dds.md#starting-the-client), either manually or by customizing the system startup script.
|
||||
Note that you must use the IP address of the companion computer and the UDP port on which the agent is listening (the example configuration above sets the companion IP address to `10.41.10.1`, and the agent UDP port is set to `8888` in the next step).
|
||||
Note that you must use the IP address of the companion computer and the UDP port on which the agent is listening (the example configuration above sets the companion IP address to `10.41.10.1`, and the agent UDP port is set to `8888` in the next step).
|
||||
|
||||
3. [Start the micro XRCE-DDS agent on the companion computer](../middleware/uxrce_dds.md#starting-the-agent).
|
||||
For example, enter the following command in a terminal to start the agent listening on UDP port `8888`.
|
||||
For example, enter the following command in a terminal to start the agent listening on UDP port `8888`.
|
||||
|
||||
```sh
|
||||
MicroXRCEAgent udp4 -p 8888
|
||||
```
|
||||
```sh
|
||||
MicroXRCEAgent udp4 -p 8888
|
||||
```
|
||||
|
||||
4. Run a [listener node](../ros2/user_guide.md#running-the-example) in a new terminal to confirm the connection is established:
|
||||
|
||||
```sh
|
||||
source ~/ws_sensor_combined/install/setup.bash
|
||||
ros2 launch px4_ros_com sensor_combined_listener.launch.py
|
||||
```
|
||||
```sh
|
||||
source ~/ws_sensor_combined/install/setup.bash
|
||||
ros2 launch px4_ros_com sensor_combined_listener.launch.py
|
||||
```
|
||||
|
||||
如果所有设置都正确，终端应显示如下输出:
|
||||
如果所有设置都正确，终端应显示如下输出:
|
||||
|
||||
```sh
|
||||
RECEIVED SENSOR COMBINED DATA
|
||||
=============================
|
||||
ts: 855801598
|
||||
gyro_rad[0]: -0.00339938
|
||||
gyro_rad[1]: 0.00440091
|
||||
gyro_rad[2]: 0.00513893
|
||||
gyro_integral_dt: 4997
|
||||
accelerometer_timestamp_relative: 0
|
||||
accelerometer_m_s2[0]: -0.0324082
|
||||
accelerometer_m_s2[1]: 0.0392213
|
||||
accelerometer_m_s2[2]: -9.77914
|
||||
accelerometer_integral_dt: 4997
|
||||
```
|
||||
```sh
|
||||
RECEIVED SENSOR COMBINED DATA
|
||||
=============================
|
||||
ts: 855801598
|
||||
gyro_rad[0]: -0.00339938
|
||||
gyro_rad[1]: 0.00440091
|
||||
gyro_rad[2]: 0.00513893
|
||||
gyro_integral_dt: 4997
|
||||
accelerometer_timestamp_relative: 0
|
||||
accelerometer_m_s2[0]: -0.0324082
|
||||
accelerometer_m_s2[1]: 0.0392213
|
||||
accelerometer_m_s2[2]: -9.77914
|
||||
accelerometer_integral_dt: 4997
|
||||
```
|
||||
|
||||
## See Also
|
||||
|
||||
|
||||
@@ -153,15 +153,15 @@ It corresponds to: [COM_PREARM_MODE=1](#COM_PREARM_MODE) (safety switch) and [CB
|
||||
The default startup sequence is:
|
||||
|
||||
1. Power-up.
|
||||
- All actuators locked into disarmed position
|
||||
- Not possible to arm.
|
||||
- All actuators locked into disarmed position
|
||||
- Not possible to arm.
|
||||
2. Safety switch is pressed.
|
||||
- System now prearmed: non-throttling actuators can move (e.g. ailerons).
|
||||
- System safety is off: Arming possible.
|
||||
- System now prearmed: non-throttling actuators can move (e.g. ailerons).
|
||||
- System safety is off: Arming possible.
|
||||
3. Arm command is issued.
|
||||
|
||||
- The system is armed.
|
||||
- All motors and actuators can move.
|
||||
- The system is armed.
|
||||
- All motors and actuators can move.
|
||||
|
||||
### COM_PREARM_MODE=Disabled and Safety Switch
|
||||
|
||||
@@ -171,15 +171,15 @@ This corresponds to [COM_PREARM_MODE=0](#COM_PREARM_MODE) (Disabled) and [CBRK_I
|
||||
The startup sequence is:
|
||||
|
||||
1. Power-up.
|
||||
- All actuators locked into disarmed position
|
||||
- Not possible to arm.
|
||||
- All actuators locked into disarmed position
|
||||
- Not possible to arm.
|
||||
2. Safety switch is pressed.
|
||||
- _All actuators stay locked into disarmed position (same as disarmed)._
|
||||
- System safety is off: Arming possible.
|
||||
- _All actuators stay locked into disarmed position (same as disarmed)._
|
||||
- System safety is off: Arming possible.
|
||||
3. Arm command is issued.
|
||||
|
||||
- The system is armed.
|
||||
- All motors and actuators can move.
|
||||
- The system is armed.
|
||||
- All motors and actuators can move.
|
||||
|
||||
### COM_PREARM_MODE=Always and Safety Switch
|
||||
|
||||
@@ -190,13 +190,13 @@ This corresponds to [COM_PREARM_MODE=2](#COM_PREARM_MODE) (Always) and [CBRK_IO_
|
||||
The startup sequence is:
|
||||
|
||||
1. Power-up.
|
||||
- System now prearmed: non-throttling actuators can move (e.g. ailerons).
|
||||
- Not possible to arm.
|
||||
- System now prearmed: non-throttling actuators can move (e.g. ailerons).
|
||||
- Not possible to arm.
|
||||
2. Safety switch is pressed.
|
||||
- System safety is off: Arming possible.
|
||||
- System safety is off: Arming possible.
|
||||
3. Arm command is issued.
|
||||
- The system is armed.
|
||||
- All motors and actuators can move.
|
||||
- The system is armed.
|
||||
- All motors and actuators can move.
|
||||
|
||||
### COM_PREARM_MODE=Safety or Disabled and No Safety Switch
|
||||
|
||||
@@ -206,11 +206,11 @@ This corresponds to [COM_PREARM_MODE=0 or 1](#COM_PREARM_MODE) (Disabled/Safety
|
||||
The startup sequence is:
|
||||
|
||||
1. Power-up.
|
||||
- All actuators locked into disarmed position
|
||||
- System safety is off: Arming possible.
|
||||
- All actuators locked into disarmed position
|
||||
- System safety is off: Arming possible.
|
||||
2. Arm command is issued.
|
||||
- The system is armed.
|
||||
- All motors and actuators can move.
|
||||
- The system is armed.
|
||||
- All motors and actuators can move.
|
||||
|
||||
### COM_PREARM_MODE=Always and No Safety Switch
|
||||
|
||||
@@ -220,11 +220,11 @@ This corresponds to [COM_PREARM_MODE=2](#COM_PREARM_MODE) (Always) and [CBRK_IO_
|
||||
The startup sequence is:
|
||||
|
||||
1. Power-up.
|
||||
- System now prearmed: non-throttling actuators can move (e.g. ailerons).
|
||||
- System safety is off: Arming possible.
|
||||
- System now prearmed: non-throttling actuators can move (e.g. ailerons).
|
||||
- System safety is off: Arming possible.
|
||||
2. Arm command is issued.
|
||||
- The system is armed.
|
||||
- All motors and actuators can move.
|
||||
- The system is armed.
|
||||
- All motors and actuators can move.
|
||||
|
||||
### 参数
|
||||
|
||||
|
||||
@@ -102,11 +102,11 @@ To perform an offboard calibration:
|
||||
|
||||
9. Open a terminal window in the **Firmware/Tools** directory and run the python calibration script:
|
||||
|
||||
```sh
|
||||
python process_sensor_caldata.py <full path name to .ulog file>
|
||||
```
|
||||
```sh
|
||||
python process_sensor_caldata.py <full path name to .ulog file>
|
||||
```
|
||||
|
||||
This will generate a **.pdf** file showing the measured data and curve fits for each sensor, and a **.params** file containing the calibration parameters.
|
||||
This will generate a **.pdf** file showing the measured data and curve fits for each sensor, and a **.params** file containing the calibration parameters.
|
||||
|
||||
10. Power the board, connect _QGroundControl_ and load the parameter from the generated **.params** file onto the board using _QGroundControl_. 由于参数的数量，加载它们可能需要一些时间。
|
||||
|
||||
|
||||
@@ -157,29 +157,29 @@ Three axis body fixed magnetometer data at a minimum rate of 5Hz is required to
|
||||
Magnetometer data fusion can be configured using [EKF2_MAG_TYPE](../advanced_config/parameter_reference.md#EKF2_MAG_TYPE):
|
||||
|
||||
0. Automatic:
|
||||
- The magnetometer readings only affect the heading estimate before arming, and the whole attitude after arming.
|
||||
- Heading and tilt errors are compensated when using this method.
|
||||
- Incorrect magnetic field measurements can degrade the tilt estimate.
|
||||
- The magnetometer biases are estimated whenever observable.
|
||||
- The magnetometer readings only affect the heading estimate before arming, and the whole attitude after arming.
|
||||
- Heading and tilt errors are compensated when using this method.
|
||||
- Incorrect magnetic field measurements can degrade the tilt estimate.
|
||||
- The magnetometer biases are estimated whenever observable.
|
||||
1. Magnetic heading:
|
||||
- Only the heading is corrected.
|
||||
The tilt estimate is never affected by incorrect magnetic field measurements.
|
||||
- Tilt errors that could arise when flying without velocity/position aiding are not corrected when using this method.
|
||||
- The magnetometer biases are estimated whenever observable.
|
||||
- Only the heading is corrected.
|
||||
The tilt estimate is never affected by incorrect magnetic field measurements.
|
||||
- Tilt errors that could arise when flying without velocity/position aiding are not corrected when using this method.
|
||||
- The magnetometer biases are estimated whenever observable.
|
||||
2. Deprecated
|
||||
3. Deprecated
|
||||
4. Deprecated
|
||||
5. None:
|
||||
- Magnetometer data is never used.
|
||||
This is useful when the data can never be trusted (e.g.: high current close to the sensor, external anomalies).
|
||||
- The estimator will use other sources of heading: [GPS heading](#yaw-measurements) or external vision.
|
||||
- When using GPS measurements without another source of heading, the heading can only be initialized after sufficient horizontal acceleration.
|
||||
See [Estimate yaw from vehicle movement](#yaw-from-gps-velocity) below.
|
||||
- Magnetometer data is never used.
|
||||
This is useful when the data can never be trusted (e.g.: high current close to the sensor, external anomalies).
|
||||
- The estimator will use other sources of heading: [GPS heading](#yaw-measurements) or external vision.
|
||||
- When using GPS measurements without another source of heading, the heading can only be initialized after sufficient horizontal acceleration.
|
||||
See [Estimate yaw from vehicle movement](#yaw-from-gps-velocity) below.
|
||||
6. Init only:
|
||||
- Magnetometer data is only used to initialize the heading estimate.
|
||||
This is useful when the data can be used before arming but not afterwards (e.g.: high current after the vehicle is armed).
|
||||
- After initialization, the heading is constrained using other observations.
|
||||
- Unlike mag type `None`, when combined with GPS measurements, this method allows position controlled modes to run directly during takeoff.
|
||||
- Magnetometer data is only used to initialize the heading estimate.
|
||||
This is useful when the data can be used before arming but not afterwards (e.g.: high current after the vehicle is armed).
|
||||
- After initialization, the heading is constrained using other observations.
|
||||
- Unlike mag type `None`, when combined with GPS measurements, this method allows position controlled modes to run directly during takeoff.
|
||||
|
||||
The following selection tree can be used to select the right option:
|
||||
|
||||
@@ -241,8 +241,8 @@ EKF2模块将误差建模为与机体固连的椭球体，在将其转换为高
|
||||
|
||||
2. Extract the `.ulg` log file using, for example, [QGroundControl: Analyze > Log Download](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/analyze_view/log_download.html)
|
||||
|
||||
::: info
|
||||
The same log file can be used to tune the [multirotor wind estimator](#mc_wind_estimation_using_drag).
|
||||
::: info
|
||||
The same log file can be used to tune the [multirotor wind estimator](#mc_wind_estimation_using_drag).
|
||||
|
||||
:::
|
||||
|
||||
@@ -460,8 +460,8 @@ The amount of specific force observation noise is set by the [EKF2_DRAG_NOISE](.
|
||||
|
||||
1. Fly once in [Position mode](../flight_modes_mc/position.md) repeatedly forwards/backwards/left/right/up/down between rest and maximum speed (best results are obtained when this testing is conducted in still conditions).
|
||||
2. Extract the **.ulg** log file using, for example, [QGroundControl: Analyze > Log Download](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/analyze_view/log_download.html)
|
||||
::: info
|
||||
The same **.ulg** log file can also be used to tune the [static pressure position error coefficients](#correction-for-static-pressure-position-error).
|
||||
::: info
|
||||
The same **.ulg** log file can also be used to tune the [static pressure position error coefficients](#correction-for-static-pressure-position-error).
|
||||
|
||||
:::
|
||||
3. Use the log with the [mc_wind_estimator_tuning.py](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/ekf2/EKF/python/tuning_tools/mc_wind_estimator) Python script to obtain the optimal set of parameters.
|
||||
|
||||
Reference in New Issue
Block a user