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New Crowdin translations - zh-CN (#24563)
Co-authored-by: Crowdin Bot <support+bot@crowdin.com>
This commit is contained in:
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co-authored by
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parent
bd0a59eb1f
commit
d04e6695ac
+27
-19
@@ -43,13 +43,13 @@ To make sure the vehicle is stable enough for auto-tuning:
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2. Take off and <div style="display: inline;" v-if="$frontmatter.frame === 'Multicopter'">hover at 1m above ground in [Altitude mode](../flight_modes_mc/altitude.md) or [Stabilized mode](../flight_modes_mc/manual_stabilized.md)</div><div style="display: inline;" v-else-if="$frontmatter.frame === 'Plane'">fly at cruise speed in [Position mode](../flight_modes_fw/position.md) or [Altitude mode](../flight_modes_fw/altitude.md)</div>.
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3. Use the RC transmitter roll stick to perform the following maneuver, tilting the vehicle just a few degrees: _roll left > roll right > center_ (The whole maneuver should take about 3 seconds).
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The vehicle should stabilise itself within 2 oscillations.
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The vehicle should stabilise itself within 2 oscillations.
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4. Repeat the maneuver, tilting with larger amplitudes at each attempt.
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If the vehicle can stabilise itself within 2 oscillations at ~20 degrees move to the next step.
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If the vehicle can stabilise itself within 2 oscillations at ~20 degrees move to the next step.
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5. Repeat the same maneuvers but on the pitch axis.
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As above, start with small angles and confirm that the vehicle can stabilise itself within 2 oscillations before increasing the tilt.
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As above, start with small angles and confirm that the vehicle can stabilise itself within 2 oscillations before increasing the tilt.
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If the drone can stabilize itself within 2 oscillations it is ready for the [auto-tuning procedure](#auto-tuning-procedure).
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@@ -72,35 +72,43 @@ The test steps are:
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1. Perform the [pre-tuning test](#pre-tuning-test).
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2. Takeoff using RC control <div style="display: inline;" v-if="$frontmatter.frame === 'Multicopter'">in [Altitude mode](../flight_modes_mc/altitude.md).
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Hover the vehicle at a safe distance and at a few meters above ground (between 4 and 20m).</div><div v-else-if="$frontmatter.frame === 'Plane'">
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Once flying at cruise speed, activate [Hold mode](../flight_modes_fw/hold.md).
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This will guide the plane to fly in circle at constant altitude and speed.</div>
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Hover the vehicle at a safe distance and at a few meters above ground (between 4 and 20m).</div><div v-else-if="$frontmatter.frame === 'Plane'">
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Once flying at cruise speed, activate [Hold mode](../flight_modes_fw/hold.md).
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This will guide the plane to fly in circle at constant altitude and speed.</div>
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3. Enable autotune.
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<div v-if="$frontmatter.frame === 'Plane'">
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<div class="tip custom-block"><p class="custom-block-title">TIP</p>
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<div v-if="$frontmatter.frame === 'Plane'">
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<div class="tip custom-block"><p class="custom-block-title">TIP</p>
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If an [Enable/Disable Autotune Switch](#enable-disable-autotune-switch) is configured you can just toggle the switch to the "enabled" position.
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If an [Enable/Disable Autotune Switch](#enable-disable-autotune-switch) is configured you can just toggle the switch to the "enabled" position.
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</div></div>
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</div></div>
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1. In QGroundControl, open the menu **Vehicle setup > PID Tuning**:
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1. In QGroundControl, open the menu **Vehicle setup > PID Tuning**:
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2. Select either the _Rate Controller_ or _Attitude Controller_ tabs.
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2. Select either the _Rate Controller_ or _Attitude Controller_ tabs.
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3. Ensure that the **Autotune enabled** button is enabled (this will display the **Autotune** button and remove the manual tuning selectors).
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3. Ensure that the **Autotune enabled** button is enabled (this will display the **Autotune** button and remove the manual tuning selectors).
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4. Read the warning popup and click on **OK** to start tuning.
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4. Read the warning popup and click on **OK** to start tuning.
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4. The drone will first start to perform quick roll motions followed by pitch and yaw motions.
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The progress is shown in the progress bar, next to the _Autotune_ button.
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The progress is shown in the progress bar, next to the _Autotune_ button.
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5. <div style="display: inline;" v-if="$frontmatter.frame === 'Multicopter'">Manually land and disarm to apply the new tuning parameters.
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Takeoff carefully and manually test that the vehicle is stable.</div><div v-else-if="$frontmatter.frame === 'Plane'">The tuning will be immediately/automatically be applied and tested in flight (by default).
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PX4 will then run a 4 second test and revert the new tuning if a problem is detected.</div>
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<div style="display: inline;" v-if="$frontmatter.frame === 'Multicopter'">
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5. Manually land and disarm to apply the new tuning parameters.
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Takeoff carefully and manually test that the vehicle is stable.
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</div><div v-else-if="$frontmatter.frame === 'Plane'">
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5. The tuning will be immediately/automatically be applied and tested in flight (by default).
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PX4 will then run a 4 second test and revert the new tuning if a problem is detected.
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</div>
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:::warning
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If any strong oscillations occur, land immediately and follow the instructions in the [Troubleshooting](#troubleshooting) section below.
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+46
-46
@@ -448,9 +448,9 @@ Instructions:
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4. One motor will start spinning (click **Spin Motor Again** if it stops spinning too quickly to note.)
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Select the corresponding motor in the geometry section.
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Select the corresponding motor in the geometry section.
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5. After assigning all motors, the tool will set the correct motor mapping for the outputs and then exit.
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@@ -467,15 +467,15 @@ To assign an actuator:
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1. First assign functions to the outputs that you think are _likely_ to be correct in the _Actuator Outputs_ section.
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2. Toggle the **Enable sliders** switch in _Actuator Testing_ section.
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3. Move the slider for the actuator you want to test:
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- Motors should be moved to the minimum thrust position.
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- Servos should be moved near the middle position.
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- Motors should be moved to the minimum thrust position.
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- Servos should be moved near the middle position.
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4. Check which actuator moves on the vehicle.
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This should match the actuator positions for your geometry (the [airframe reference](../airframes/airframe_reference.md) shows motor positions for a number of standard airframes).
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- If the correct actuator moves, then proceed to the next step.
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- If a wrong actuator moves, swap the output assignment over.
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- If nothing moves then increase the slider mid-way though the range, then higher if needed.
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If nothing moves after that the output might not be connected, the motor might not be powered, or the output might be misconfigured.
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You will need to troubleshoot (perhaps try other actuator outputs to see if "anything" moves).
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This should match the actuator positions for your geometry (the [airframe reference](../airframes/airframe_reference.md) shows motor positions for a number of standard airframes).
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- If the correct actuator moves, then proceed to the next step.
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- If a wrong actuator moves, swap the output assignment over.
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- If nothing moves then increase the slider mid-way though the range, then higher if needed.
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If nothing moves after that the output might not be connected, the motor might not be powered, or the output might be misconfigured.
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You will need to troubleshoot (perhaps try other actuator outputs to see if "anything" moves).
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5. Return the slider to the "disarmed" position (bottom of slider for motors, centre of slider for servos).
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6. Repeat for all actuators
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@@ -501,34 +501,34 @@ The motor configuration sets output values such that motors:
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For each motor:
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1. Pull the motor slider down so that it snaps to the bottom.
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In this position the motor is set to the outputs `disarmed` value.
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- Verify that the motor doesn't spin in this position.
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- If the motor spins, reduce the corresponding PWM `disarmed` value in the [Actuator Outputs](#actuator-outputs) section to below the level at which it still spins.
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In this position the motor is set to the outputs `disarmed` value.
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- Verify that the motor doesn't spin in this position.
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- If the motor spins, reduce the corresponding PWM `disarmed` value in the [Actuator Outputs](#actuator-outputs) section to below the level at which it still spins.
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2. Slowly move the slider up until it snaps to the _minimum_ position.
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In this position the motor is set to the outputs `minimum` value.
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In this position the motor is set to the outputs `minimum` value.
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- Verify that the motor is spinning very slowly in this position.
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- If the motor is not spinning, or spinning too fast you will need to adjust the corresponding PWM `minimum` value in the [Actuator Outputs](#actuator-outputs) such that the motors barely spin.
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- Verify that the motor is spinning very slowly in this position.
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- If the motor is not spinning, or spinning too fast you will need to adjust the corresponding PWM `minimum` value in the [Actuator Outputs](#actuator-outputs) such that the motors barely spin.
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::: info
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For DShot output, this is not required.
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::: info
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For DShot output, this is not required.
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:::
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3. Increase the slider value to a level where you can verify that the motor is spinning in the correct direction and that it would give a positive thrust in the expected direction.
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- The expected thrust direction can vary by vehicle type.
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For example in multicopters the thrust should always point upwards, while in a fixed-wing vehicle the thrust will push the vehicle forwards.
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- For VTOL, thrust should point upwards when the Tilt Servo is at 0 degrees as defined the [Tilt Servo Convention](#tilt-servo-coordinate-system).
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Testing of the [Tilt Servo](#tilt-servo-setup) is covered below as well.
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- If thrust is in the wrong direction, you may need to [reverse the motors](#reversing-motors).
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- The expected thrust direction can vary by vehicle type.
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For example in multicopters the thrust should always point upwards, while in a fixed-wing vehicle the thrust will push the vehicle forwards.
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- For VTOL, thrust should point upwards when the Tilt Servo is at 0 degrees as defined the [Tilt Servo Convention](#tilt-servo-coordinate-system).
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Testing of the [Tilt Servo](#tilt-servo-setup) is covered below as well.
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- If thrust is in the wrong direction, you may need to [reverse the motors](#reversing-motors).
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4. Increase the slider value to the maximum value, so the motor is spinning quickly.
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Reduce the value of the PWM output's `maximum` value just below the default.
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Listen to the tone of the motors as you increase the value in small (25us) increments.
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The "optimal" maximum value is the value at which you last hear a change in the tone.
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Reduce the value of the PWM output's `maximum` value just below the default.
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Listen to the tone of the motors as you increase the value in small (25us) increments.
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The "optimal" maximum value is the value at which you last hear a change in the tone.
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### Control Surface Setup
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@@ -551,34 +551,34 @@ Control surfaces that move either direction around a neutral point include: aile
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To set these up:
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1. Set the `Disarmed` value so that the surfaces will stay at neutral position when disarmed.
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This is usually around `1500` for PWM servos (near the centre of the servo range).
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This is usually around `1500` for PWM servos (near the centre of the servo range).
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2. Move the slider for the surface upwards (positive command) and verify that it moves in the direction defined in the [Control Surface Convention](#control-surface-deflection-convention).
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- Ailerons, elevons, V-Tails, A-Tails, and other horizontal surfaces should move up.
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- Rudders and other "purely vertical" surfaces should move right.
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- Ailerons, elevons, V-Tails, A-Tails, and other horizontal surfaces should move up.
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- Rudders and other "purely vertical" surfaces should move right.
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::: tip
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It is important that the slider movement matches the control surface convention, in order to normalize control for different servo mountings (moving the slider up may actually decrease the output value sent to the servo).
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::: tip
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It is important that the slider movement matches the control surface convention, in order to normalize control for different servo mountings (moving the slider up may actually decrease the output value sent to the servo).
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:::
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If the control surface moves in the opposite direction, click on the `Rev Range` checkbox to reverse the range.
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If the control surface moves in the opposite direction, click on the `Rev Range` checkbox to reverse the range.
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3. Move the slider again to the middle and check if the Control Surfaces are aligned in the neutral position of the wing.
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- If it is not aligned, you can set the **Trim** value for the control surface.
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- If it is not aligned, you can set the **Trim** value for the control surface.
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::: info
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This is done in the `Trim` setting of the Geometry panel, usually by "trial and error".
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::: info
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This is done in the `Trim` setting of the Geometry panel, usually by "trial and error".
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:::
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- After setting the trim for a control surface, move its slider away from the centre, release, and then back into disarmed (middle) position.
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Confirm that surface is in the neutral position.
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- After setting the trim for a control surface, move its slider away from the centre, release, and then back into disarmed (middle) position.
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Confirm that surface is in the neutral position.
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:::info
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Another way to test without using the sliders would be to set the [`COM_PREARM_MODE`](../advanced_config/parameter_reference.md#COM_PREARM_MODE) parameter to `Always`:
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@@ -600,13 +600,13 @@ One approach for setting these up is:
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1. Set values `Disarmed` to `1500`, `Min` to `1200`, `Max` to `1700` so that the values are around the centre of the servo range.
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2. Move the corresponding slider up and check the control moves and that it is extending (moving away from the disarmed position).
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If not, click on the `Rev Range` checkbox to reverse the range.
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If not, click on the `Rev Range` checkbox to reverse the range.
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3. Enable slider in the disarmed position, them change the value of the `Disarmed` signal until the control is retracted/flush with wing.
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This may require that the `Disarmed` value is increased or decreased:
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- If the value was decreased towards `Min`, then set `Min` to match `Disarmed`.
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- If the value was increased towards `Max`, then set `Max` to match `Disarmed`.
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This may require that the `Disarmed` value is increased or decreased:
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- If the value was decreased towards `Min`, then set `Min` to match `Disarmed`.
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- If the value was increased towards `Max`, then set `Max` to match `Disarmed`.
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4. The value that you did _not_ set to match `Disarmed` controls the maximum amount that the control surface can extend.
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Set the slider to the top of the control, then change the value (`Max` or `Min`) so that the control surface is fully extended when the slider is at top.
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Set the slider to the top of the control, then change the value (`Max` or `Min`) so that the control surface is fully extended when the slider is at top.
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:::info Special note for flaps
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In some vehicle builds, flaps may be configured such that both flaps are controlled from a single output.
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@@ -630,7 +630,7 @@ For each of the tilt servos:
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2. Position the slider for the servo in the lowest position, and verify that a positive value increase will point towards the `Angle at Min Tilt` (defined in the Geometry section).
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3. Position the slider for the servo in the highest position, and verify that positive motor thrust will point towards the `Angle at Max Tilt` (as defined in the Geometry section).
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@@ -27,18 +27,18 @@ To calibrate the airspeed sensor:
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4. Click the **Airspeed** sensor button.
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5. Shield the sensor from the wind (i.e. cup it with your hand).
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Take care not to block any of its holes.
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Take care not to block any of its holes.
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6. Click **OK** to start the calibration.
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7. Once asked for, blow into the tip of the pitot tube to signal the end of calibration.
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:::tip
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Blowing into the tube is also a basic check that the dynamic and static ports are installed correctly.
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If they are swapped then the sensor will read a large negative differential pressure when you blow into the tube, and the calibration will abort with an error.
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:::tip
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Blowing into the tube is also a basic check that the dynamic and static ports are installed correctly.
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If they are swapped then the sensor will read a large negative differential pressure when you blow into the tube, and the calibration will abort with an error.
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:::
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@@ -1,6 +1,6 @@
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---
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title: Multicopter Auto-Tuning
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frame: 多旋翼
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frame: Multicopter
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newEditLink: en/config/_autotune.md
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---
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+15
-15
@@ -23,9 +23,9 @@ If any external magnetometers are available, it then disables the internal magne
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Several types of compass calibration are available:
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1. [Complete](#complete-calibration): This calibration is required after installing the autopilot on an airframe for the first time or when the configuration of the vehicle has changed significantly.
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It compensates for hard and soft iron effects by estimating an offset and a scale factor for each axis.
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It compensates for hard and soft iron effects by estimating an offset and a scale factor for each axis.
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2. [Partial](#partial-quick-calibration): This calibration can be performed as a routine when preparing the vehicle for a flight, after changing the payload, or simply when the compass rose seems inaccurate.
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This type of calibration only estimates the offsets to compensate for a hard iron effect.
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This type of calibration only estimates the offsets to compensate for a hard iron effect.
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3. [Large vehicle](#large-vehicle-calibration): This calibration can be performed when the vehicle is too large or heavy to perform a complete calibration. This type of calibration only estimates the offsets to compensate for a hard iron effect.
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## 执行校准
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@@ -35,13 +35,13 @@ Several types of compass calibration are available:
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Before starting the calibration:
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1. Choose a location away from large metal objects or magnetic fields.
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:::tip
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Metal is not always obvious! Avoid calibrating on top of an office table (often contain metal bars) or next to a vehicle.
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Calibration can even be affected if you're standing on a slab of concrete with uneven distribution of re-bar.
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:::tip
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Metal is not always obvious! Avoid calibrating on top of an office table (often contain metal bars) or next to a vehicle.
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Calibration can even be affected if you're standing on a slab of concrete with uneven distribution of re-bar.
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:::
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2. Connect via telemetry radio rather than USB if at all possible.
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USB can potentially cause significant magnetic interference.
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USB can potentially cause significant magnetic interference.
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3. If using an external compass (or a combined GPS/compass module), make sure it is [mounted](../assembly/mount_gps_compass.md) as far as possible from other electronics in order to reduce magnetic interference, and in a _supported orientation_.
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### Complete Calibration
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@@ -54,10 +54,10 @@ The calibration steps are:
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3. Click the **Compass** sensor button.
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::: info
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You should already have set the [Autopilot Orientation](../config/flight_controller_orientation.md). If not, you can also set it here.
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::: info
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You should already have set the [Autopilot Orientation](../config/flight_controller_orientation.md). If not, you can also set it here.
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:::
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@@ -65,7 +65,7 @@ The calibration steps are:
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5. 把你的飞机放置在下面显示的某一个方向，并保持静止。 随后提示（方向图像变为黄色）在指定方向旋转飞行器。 该位置标定完成后，屏幕上的相应图示将变成绿色。
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6. 在机体的所有方向上重复校准步骤。
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@@ -76,7 +76,7 @@ Once you've calibrated the vehicle in all the positions _QGroundControl_ will di
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This calibration is similar to the well-known figure-8 compass calibration done on a smartphone:
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1. Hold the vehicle in front of you and randomly perform partial rotations on all its axes.
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2-3 oscillations of ~30 degrees in every direction is usually sufficient.
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2-3 oscillations of ~30 degrees in every direction is usually sufficient.
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2. Wait for the heading estimate to stabilize and verify that the compass rose is pointing to the correct direction (this can take a couple of seconds).
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备注：
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@@ -94,12 +94,12 @@ This calibration process leverages external knowledge of vehicle's orientation a
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1. Ensure GNSS Fix. This is required to find the expected Earth magnetic field in WMM tables.
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2. Align the vehicle to face True North.
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Be as accurate as possible for best results.
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Be as accurate as possible for best results.
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3. Open the [QGroundControl MAVLink Console](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/analyze_view/mavlink_console.html) and send the following command:
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```sh
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commander calibrate mag quick
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```
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```sh
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commander calibrate mag quick
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```
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备注：
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@@ -61,10 +61,10 @@ To install a different version of PX4:
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2. Check **Advanced settings** and select the version from the dropdown list:
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- **Standard Version (stable):** The default version (i.e. no need to use advanced settings to install this!)
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- **Beta Testing (beta):** A beta/candidate release.
|
||||
只有当新版本准备完毕时才可用。
|
||||
只有当新版本准备完毕时才可用。
|
||||
- **Developer Build (master):** The latest build of PX4/PX4-Autopilot _main_ branch.
|
||||
- **Custom Firmware file...:** A custom firmware file (e.g. [that you have built locally](../dev_setup/building_px4.md)).
|
||||
如果选择 Custom firmware file ，您需要在下一步中从文件系统中选择自定义固件。
|
||||
如果选择 Custom firmware file ，您需要在下一步中从文件系统中选择自定义固件。
|
||||
|
||||
Firmware update then continues as before.
|
||||
|
||||
|
||||
@@ -40,24 +40,24 @@ To configure single-channel flight mode selection:
|
||||
|
||||
3. Select **"Q" icon > Vehicle Setup > Flight Modes** (sidebar) to open _Flight Modes Setup_.
|
||||
|
||||
|
||||
|
||||
|
||||
4. Specify _Flight Mode Settings_:
|
||||
- Select the **Mode channel** (above this shown as Channel 5, but this will depend on your transmitter configuration).
|
||||
- Move the transmitter switch (or switches) that you have set up for mode selection through the available positions.
|
||||
The mode slot matching your current switch position will be highlighted (above this is _Flight Mode 1_).
|
||||
::: info
|
||||
While you can set flight modes in any of the 6 slots, only the channels that are mapped to switch positions will be highlighted/used.
|
||||
- Select the **Mode channel** (above this shown as Channel 5, but this will depend on your transmitter configuration).
|
||||
- Move the transmitter switch (or switches) that you have set up for mode selection through the available positions.
|
||||
The mode slot matching your current switch position will be highlighted (above this is _Flight Mode 1_).
|
||||
::: info
|
||||
While you can set flight modes in any of the 6 slots, only the channels that are mapped to switch positions will be highlighted/used.
|
||||
|
||||
:::
|
||||
- Select the flight mode that you want triggered for each switch position.
|
||||
- Select the flight mode that you want triggered for each switch position.
|
||||
|
||||
5. Specify _Switch Settings_:
|
||||
- Select the channels that you want to map to specific actions - e.g.: _Return_ mode, _Kill switch_, _offboard_ mode, etc. (if you have spare switches and channels on your transmitter).
|
||||
- Select the channels that you want to map to specific actions - e.g.: _Return_ mode, _Kill switch_, _offboard_ mode, etc. (if you have spare switches and channels on your transmitter).
|
||||
|
||||
6. Test that the modes are mapped to the right transmitter switches:
|
||||
- Check the _Channel Monitor_ to confirm that the expected channel is changed by each switch.
|
||||
- Select each mode switch on your transmitter in turn, and check that the desired flight mode is activated (the text turns yellow on _QGroundControl_ for the active mode).
|
||||
- Check the _Channel Monitor_ to confirm that the expected channel is changed by each switch.
|
||||
- Select each mode switch on your transmitter in turn, and check that the desired flight mode is activated (the text turns yellow on _QGroundControl_ for the active mode).
|
||||
|
||||
All values are automatically saved as they are changed.
|
||||
|
||||
|
||||
@@ -14,7 +14,7 @@ To use it:
|
||||
2. Set the vehicle type
|
||||
3. Set the other values in the **State** or any of the flags under **Conditions**
|
||||
- The **Intended Mode** corresponds to the commanded mode via RC or GCS (or external script).
|
||||
The failsafe state machine can override this in case of a failsafe.
|
||||
The failsafe state machine can override this in case of a failsafe.
|
||||
4. Check the action under **Output**
|
||||
5. Check what happens when changing mode or **Move the RC sticks**
|
||||
6. Play with different settings and conditions!
|
||||
@@ -30,3 +30,4 @@ make run_failsafe_web_server
|
||||
<script setup>
|
||||
import { withBase } from 'vitepress';
|
||||
</script>
|
||||
|
||||
|
||||
Reference in New Issue
Block a user