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New Crowdin translations - zh-CN (#24563)
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@@ -47,7 +47,7 @@ PX4 v1.14 (and later) supports the [LightWare LiDAR SF45](../sensor/sf45_rotatin
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- Attach and configure the distance sensor on a particular port (see [sensor-specific docs](../sensor/rangefinders.md)) and enable collision prevention using [CP_DIST](#CP_DIST).
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- 修改驱动程序以设置方向。
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This should be done by mimicking the `SENS_CM8JL65_R_0` parameter (though you might also hard-code the orientation in the sensor _module.yaml_ file to something like `sf0x start -d ${SERIAL_DEV} -R 25` - where 25 is equivalent to `ROTATION_DOWNWARD_FACING`).
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This should be done by mimicking the `SENS_CM8JL65_R_0` parameter (though you might also hard-code the orientation in the sensor _module.yaml_ file to something like `sf0x start -d ${SERIAL_DEV} -R 25` - where 25 is equivalent to `ROTATION_DOWNWARD_FACING`).
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- Modify the driver to set the _field of view_ in the distance sensor UORB topic (`distance_sensor_s.h_fov`).
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## PX4 (Software) Setup
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@@ -184,7 +184,7 @@ Next, adjust the relevant parameters to the appropriate values and add arbitrary
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The diagram below shows a simulation of collision prevention as viewed in Gazebo.
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## Development Information/Tools
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@@ -203,85 +203,85 @@ The Lua script works by extracting the `obstacle_distance_fused` data at each ti
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2. Configure PX4 to publish obstacle distance data (so that it is available to PlotJuggler):
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Add the [`obstacle_distance_fused`](../msg_docs/ObstacleDistance.md) UORB topic to your [`dds_topics.yaml`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml) so that it is published by PX4:
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Add the [`obstacle_distance_fused`](../msg_docs/ObstacleDistance.md) UORB topic to your [`dds_topics.yaml`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml) so that it is published by PX4:
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```sh
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- topic: /fmu/out/obstacle_distance_fused
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type: px4_msgs::msg::ObstacleDistance
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```
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```sh
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- topic: /fmu/out/obstacle_distance_fused
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type: px4_msgs::msg::ObstacleDistance
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```
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For more information see [DDS Topics YAML](../middleware/uxrce_dds.md#dds-topics-yaml) in _uXRCE-DDS (PX4-ROS 2/DDS Bridge)_.
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For more information see [DDS Topics YAML](../middleware/uxrce_dds.md#dds-topics-yaml) in _uXRCE-DDS (PX4-ROS 2/DDS Bridge)_.
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3. Open PlotJuggler and navigate to the **Tools > Reactive Script Editor** section.
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In the **Script Editor** tab, add following scripts in the appropriate sections:
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In the **Script Editor** tab, add following scripts in the appropriate sections:
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- **Global code, executed once:**
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- **Global code, executed once:**
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```lua
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obs_dist_fused_xy = ScatterXY.new("obstacle_distance_fused_xy")
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obs_dist_min = Timeseries.new("obstacle_distance_minimum")
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```
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```lua
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obs_dist_fused_xy = ScatterXY.new("obstacle_distance_fused_xy")
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obs_dist_min = Timeseries.new("obstacle_distance_minimum")
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```
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- **function(tracker_time)**
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- **function(tracker_time)**
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```lua
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obs_dist_fused_xy:clear()
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```lua
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obs_dist_fused_xy:clear()
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i = 0
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angle_offset = TimeseriesView.find("/fmu/out/obstacle_distance_fused/angle_offset")
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increment = TimeseriesView.find("/fmu/out/obstacle_distance_fused/increment")
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min_dist = 65535
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i = 0
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angle_offset = TimeseriesView.find("/fmu/out/obstacle_distance_fused/angle_offset")
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increment = TimeseriesView.find("/fmu/out/obstacle_distance_fused/increment")
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min_dist = 65535
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-- Cache increment and angle_offset values at tracker_time to avoid repeated calls
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local angle_offset_value = angle_offset:atTime(tracker_time)
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local increment_value = increment:atTime(tracker_time)
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-- Cache increment and angle_offset values at tracker_time to avoid repeated calls
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local angle_offset_value = angle_offset:atTime(tracker_time)
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local increment_value = increment:atTime(tracker_time)
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if increment_value == nil or increment_value <= 0 then
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print("Invalid increment value: " .. tostring(increment_value))
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return
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end
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if increment_value == nil or increment_value <= 0 then
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print("Invalid increment value: " .. tostring(increment_value))
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return
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end
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local max_steps = math.floor(360 / increment_value)
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local max_steps = math.floor(360 / increment_value)
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while i < max_steps do
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local str = string.format("/fmu/out/obstacle_distance_fused/distances[%d]", i)
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local distance = TimeseriesView.find(str)
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if distance == nil then
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print("No distance data for: " .. str)
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break
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end
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while i < max_steps do
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local str = string.format("/fmu/out/obstacle_distance_fused/distances[%d]", i)
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local distance = TimeseriesView.find(str)
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if distance == nil then
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print("No distance data for: " .. str)
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break
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end
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local dist = distance:atTime(tracker_time)
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if dist ~= nil and dist < 65535 then
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-- Calculate angle and Cartesian coordinates
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local angle = angle_offset_value + i * increment_value
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local y = dist * math.cos(math.rad(angle))
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local x = dist * math.sin(math.rad(angle))
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local dist = distance:atTime(tracker_time)
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if dist ~= nil and dist < 65535 then
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-- Calculate angle and Cartesian coordinates
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local angle = angle_offset_value + i * increment_value
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local y = dist * math.cos(math.rad(angle))
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local x = dist * math.sin(math.rad(angle))
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obs_dist_fused_xy:push_back(x, y)
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obs_dist_fused_xy:push_back(x, y)
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-- Update minimum distance
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if dist < min_dist then
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min_dist = dist
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end
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end
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-- Update minimum distance
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if dist < min_dist then
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min_dist = dist
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end
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end
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i = i + 1
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end
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i = i + 1
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end
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-- Push minimum distance once after the loop
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if min_dist < 65535 then
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obs_dist_min:push_back(tracker_time, min_dist)
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else
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print("No valid minimum distance found")
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end
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```
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-- Push minimum distance once after the loop
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if min_dist < 65535 then
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obs_dist_min:push_back(tracker_time, min_dist)
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else
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print("No valid minimum distance found")
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end
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```
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4. Enter a name for the script on the top right, and press **Save**.
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Once saved, the script should appear in the _Active Scripts_ section.
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Once saved, the script should appear in the _Active Scripts_ section.
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5. Start streaming the data using the approach described in [Plotting uORB Topic Data in Real Time using PlotJuggler](../debug/plotting_realtime_uorb_data.md).
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You should see the `obstacle_distance_fused_xy` and `obstacle_distance_minimum` timeseries on the left.
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You should see the `obstacle_distance_fused_xy` and `obstacle_distance_minimum` timeseries on the left.
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Note that you have to press **Save** again to re-enable the scripts after loading a new log file or otherwise clearing data.
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@@ -293,7 +293,7 @@ New sensor data is compared to the existing map, and used to update any sections
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The angles in the `obstacle_distance` topic are defined as follows:
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The data from rangefinders, rotary lidars, or companion computers, is processed differently, as described below.
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@@ -1,6 +1,6 @@
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# Path Planning Interface
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<Badge type="warning" text="Removed" />
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<Badge type="warning" text="Removed PX4 v1.15" />
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:::warning
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The **Path Planning Interface**, along with the features **Obstacle avoidance in Missions** and **Safe Landing** are no longer supported or maintained, and _should not_ be used in any PX4 version.
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@@ -96,7 +96,7 @@ It is rare that a system is set up with an entirely synchronised chain!
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通过检查 IMU 速率和 EV 速率之间的偏移，可以从日志中获取对延迟的粗略估计：
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:::info
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A plot of external data vs. onboard estimate (as above) can be generated using [FlightPlot](../log/flight_log_analysis.md#flightplot) or similar flight analysis tools.
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@@ -132,15 +132,15 @@ Perform the following checks to verify that VIO is working properly _before_ you
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可以通过更改参数来进一步调整该值，以找到在动态变化中最低的EKF更新值。
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1. Put the vehicle on the ground and start streaming `ODOMETRY` feedback (as above).
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油门杆推到最低并解锁。
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油门杆推到最低并解锁。
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此时，设置为位置控制模式。
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如果切换成功，飞控会闪绿灯。
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绿灯代表：你的外部位置信息已经注入到飞控中，并且位置控制模式已经切换成功。
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此时，设置为位置控制模式。
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如果切换成功，飞控会闪绿灯。
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绿灯代表：你的外部位置信息已经注入到飞控中，并且位置控制模式已经切换成功。
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2. 油门杆放到中间位置（死区），以便无人机保持飞行高度。
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提高操控杆会增加参考高度，降低操控杆会降低参考高度。
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Similarly, the other stick will change the position over the ground.
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提高操控杆会增加参考高度，降低操控杆会降低参考高度。
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Similarly, the other stick will change the position over the ground.
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3. Increase the value of the throttle stick and the vehicle will take off. Move it back to the middle immediately afterwards.
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