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New Crowdin translations - zh-CN (#24563)
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@@ -71,44 +71,44 @@ Explanations and requirements:
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- `/* EVENT`: This tag indicates that a comment defines metadata for the following event.
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- **event_name**: the event name (`events::ID(event_name)`).
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- must be unique within the whole source code of PX4.
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As a general convention, prefix it with the module name, or the source file for larger modules.
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- must be a valid variable name, i.e. must not contain spaces, colons, etc.
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- from that name, a 24 bit event ID is derived using a hash function.
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This means as long as the event name stays the same, so will the ID.
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- must be unique within the whole source code of PX4.
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As a general convention, prefix it with the module name, or the source file for larger modules.
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- must be a valid variable name, i.e. must not contain spaces, colons, etc.
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- from that name, a 24 bit event ID is derived using a hash function.
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This means as long as the event name stays the same, so will the ID.
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- **Log Level**:
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- valid log levels are the same as used in the MAVLink [MAV_SEVERITY](https://mavlink.io/en/messages/common.html#MAV_SEVERITY) enum.
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In order of descending importance these are:
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- valid log levels are the same as used in the MAVLink [MAV_SEVERITY](https://mavlink.io/en/messages/common.html#MAV_SEVERITY) enum.
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In order of descending importance these are:
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```plain
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Emergency,
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Alert,
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Critical,
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Error,
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Warning,
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Notice,
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Info,
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Debug,
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Disabled,
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```
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```plain
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Emergency,
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Alert,
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Critical,
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Error,
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Warning,
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Notice,
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Info,
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Debug,
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Disabled,
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```
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```
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- Above we specify a separate external and internal log level, which are the levels displayed to GCS users and in the log file, respectively: `{events::Log::Error, events::LogInternal::Info}`.
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For the majority of cases you can pass a single log level, and this will be used for both exernal and internal cases.
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There are cases it makes sense to have two different log levels.
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For example an RTL failsafe action: the user should see it as Warning/Error, whereas in the log, it is an expected system response, so it can be set to `Info`.
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```
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```
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- Above we specify a separate external and internal log level, which are the levels displayed to GCS users and in the log file, respectively: `{events::Log::Error, events::LogInternal::Info}`.
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For the majority of cases you can pass a single log level, and this will be used for both exernal and internal cases.
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There are cases it makes sense to have two different log levels.
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For example an RTL failsafe action: the user should see it as Warning/Error, whereas in the log, it is an expected system response, so it can be set to `Info`.
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```
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- **Event Message**:
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- Single-line, short message of the event.
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It may contain template placeholders for arguments (e.g. `{1}`). For more information see below.
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- Single-line, short message of the event.
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It may contain template placeholders for arguments (e.g. `{1}`). For more information see below.
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- **Event Description**:
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- Detailed, optional event description.
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- Can be multiple lines/paragraphs.
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- It may contain template placeholders for arguments (e.g. `{2}`) and supported tags (see below)
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- Detailed, optional event description.
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- Can be multiple lines/paragraphs.
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- It may contain template placeholders for arguments (e.g. `{2}`) and supported tags (see below)
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#### Arguments and Enums
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@@ -127,35 +127,35 @@ Text format for event message description:
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- characters can be escaped with \\
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These have to be escaped: '\\\\', '\\<', '\\{'.
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These have to be escaped: '\\\\', '\\<', '\\{'.
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- supported tags:
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- Profiles: `<profile name="[!]NAME">CONTENT</profile>`
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- Profiles: `<profile name="[!]NAME">CONTENT</profile>`
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`CONTENT` will only be shown if the name matches the configured profile.
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This can be used for example to hide developer information from end-users.
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`CONTENT` will only be shown if the name matches the configured profile.
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This can be used for example to hide developer information from end-users.
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- URLs: `<a [href="URL"]>CONTENT</a>`.
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If `href` is not set, use `CONTENT` as `URL` (i.e.`<a>https://docs.px4.io</a>` is interpreted as `<a href="https://docs.px4.io">https://docs.px4.io</a>`)
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- URLs: `<a [href="URL"]>CONTENT</a>`.
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If `href` is not set, use `CONTENT` as `URL` (i.e.`<a>https://docs.px4.io</a>` is interpreted as `<a href="https://docs.px4.io">https://docs.px4.io</a>`)
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- Parameters: `<param>PARAM_NAME</param>`
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- Parameters: `<param>PARAM_NAME</param>`
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- no nested tags of the same type are allowed
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- no nested tags of the same type are allowed
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- arguments: template placeholders that follow python syntax, with 1-based indexing (instead of 0)
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- general form: `{ARG_IDX[:.NUM_DECIMAL_DIGITS][UNIT]}`
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- general form: `{ARG_IDX[:.NUM_DECIMAL_DIGITS][UNIT]}`
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UNIT:
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UNIT:
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- m: horizontal distance in meters
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- m_v: vertical distance in meters
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- m^2: area in m^2
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- m/s: speed in m/s
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- C: temperature in degrees celsius
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- m: horizontal distance in meters
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- m_v: vertical distance in meters
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- m^2: area in m^2
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- m/s: speed in m/s
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- C: temperature in degrees celsius
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- `NUM_DECIMAL_DIGITS` only makes sense for real number arguments.
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- `NUM_DECIMAL_DIGITS` only makes sense for real number arguments.
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## 日志
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@@ -38,24 +38,24 @@ The instructions below might be used to create a task named _MyTask_:
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- Update the copyright to the current year
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```cmake
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############################################################################
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#
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# Copyright (c) 2021 PX4 Development Team. All rights reserved.
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#
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```
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```cmake
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############################################################################
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#
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# Copyright (c) 2021 PX4 Development Team. All rights reserved.
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#
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```
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- Modify the code to reflect the new task - e.g. replace `FlightTaskOrbit` with `FlightTaskMyTask`.
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The code will look something like this:
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The code will look something like this:
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```cmake
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px4_add_library(FlightTaskMyTask
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FlightTaskMyTask.cpp
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)
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```cmake
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px4_add_library(FlightTaskMyTask
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FlightTaskMyTask.cpp
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)
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target_link_libraries(FlightTaskMyTask PUBLIC FlightTask)
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target_include_directories(FlightTaskMyTask PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
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```
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target_link_libraries(FlightTaskMyTask PUBLIC FlightTask)
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target_include_directories(FlightTaskMyTask PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
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```
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4. Update the header file (in this case **FlightTaskMyTask.hpp**):
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Most tasks reimplement the virtual methods `activate()` and `update()`, and in this example we also have a private variable.
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@@ -141,35 +141,35 @@ The instructions below might be used to create a task named _MyTask_:
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- Update `MPC_POS_MODE` ([multicopter_position_mode_params.c](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mc_pos_control/multicopter_position_mode_params.c)) to add an option for selecting "MyTask" if the parameter has a previously unused value like 5:
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```c
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...
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* @value 0 Direct velocity
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* @value 3 Smoothed velocity
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* @value 4 Acceleration based
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* @value 5 My task
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* @group Multicopter Position Control
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*/
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PARAM_DEFINE_INT32(MPC_POS_MODE, 5);
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```
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```c
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...
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* @value 0 Direct velocity
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* @value 3 Smoothed velocity
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* @value 4 Acceleration based
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* @value 5 My task
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* @group Multicopter Position Control
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*/
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PARAM_DEFINE_INT32(MPC_POS_MODE, 5);
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```
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- Add a case for your new option in the switch for the parameter [FlightModeManager.cpp](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/flight_mode_manager/FlightModeManager.cpp#L266-L285) to enable the task when `_param_mpc_pos_mode` has the right value.
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```cpp
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...
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// manual position control
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...
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switch (_param_mpc_pos_mode.get()) {
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...
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case 3:
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error = switchTask(FlightTaskIndex::ManualPositionSmoothVel);
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break;
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case 5: // Add case for new task: MyTask
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error = switchTask(FlightTaskIndex::MyTask);
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break;
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case 4:
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....
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...
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```
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```cpp
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...
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// manual position control
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...
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switch (_param_mpc_pos_mode.get()) {
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...
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case 3:
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error = switchTask(FlightTaskIndex::ManualPositionSmoothVel);
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break;
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case 5: // Add case for new task: MyTask
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error = switchTask(FlightTaskIndex::MyTask);
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break;
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case 4:
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....
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...
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```
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## Test New Flight Task
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