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New Crowdin translations - zh-CN (#24563)

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2025-03-19 20:59:57 +11:00
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docs/zh/config/_autotune.md
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@@ -43,13 +43,13 @@ To make sure the vehicle is stable enough for auto-tuning:
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>.
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).
The vehicle should stabilise itself within 2 oscillations.
The vehicle should stabilise itself within 2 oscillations.
4. Repeat the maneuver, tilting with larger amplitudes at each attempt.
If the vehicle can stabilise itself within 2 oscillations at ~20 degrees move to the next step.
If the vehicle can stabilise itself within 2 oscillations at ~20 degrees move to the next step.
5. Repeat the same maneuvers but on the pitch axis.
As above, start with small angles and confirm that the vehicle can stabilise itself within 2 oscillations before increasing the tilt.
As above, start with small angles and confirm that the vehicle can stabilise itself within 2 oscillations before increasing the tilt.
If the drone can stabilize itself within 2 oscillations it is ready for the [auto-tuning procedure](#auto-tuning-procedure).
@@ -72,35 +72,43 @@ The test steps are:
1. Perform the [pre-tuning test](#pre-tuning-test).
2. Takeoff using RC control <div style="display: inline;" v-if="$frontmatter.frame === 'Multicopter'">in [Altitude mode](../flight_modes_mc/altitude.md).
Hover the vehicle at a safe distance and at a few meters above ground (between 4 and 20m).</div><div v-else-if="$frontmatter.frame === 'Plane'">
Once flying at cruise speed, activate [Hold mode](../flight_modes_fw/hold.md).
This will guide the plane to fly in circle at constant altitude and speed.</div>
Hover the vehicle at a safe distance and at a few meters above ground (between 4 and 20m).</div><div v-else-if="$frontmatter.frame === 'Plane'">
Once flying at cruise speed, activate [Hold mode](../flight_modes_fw/hold.md).
This will guide the plane to fly in circle at constant altitude and speed.</div>
3. Enable autotune.
<div v-if="$frontmatter.frame === 'Plane'">
<div class="tip custom-block"><p class="custom-block-title">TIP</p>
<div v-if="$frontmatter.frame === 'Plane'">
<div class="tip custom-block"><p class="custom-block-title">TIP</p>
If an [Enable/Disable Autotune Switch](#enable-disable-autotune-switch) is configured you can just toggle the switch to the "enabled" position.
If an [Enable/Disable Autotune Switch](#enable-disable-autotune-switch) is configured you can just toggle the switch to the "enabled" position.
</div></div>
</div></div>
1. In QGroundControl, open the menu **Vehicle setup > PID Tuning**:
1. In QGroundControl, open the menu **Vehicle setup > PID Tuning**:
![Tuning Setup > Autotune Enabled](../../assets/qgc/setup/autotune/autotune.png)
![Tuning Setup > Autotune Enabled](../../assets/qgc/setup/autotune/autotune.png)
2. Select either the _Rate Controller_ or _Attitude Controller_ tabs.
2. Select either the _Rate Controller_ or _Attitude Controller_ tabs.
3. Ensure that the **Autotune enabled** button is enabled (this will display the **Autotune** button and remove the manual tuning selectors).
3. Ensure that the **Autotune enabled** button is enabled (this will display the **Autotune** button and remove the manual tuning selectors).
4. Read the warning popup and click on **OK** to start tuning.
4. Read the warning popup and click on **OK** to start tuning.
4. The drone will first start to perform quick roll motions followed by pitch and yaw motions.
The progress is shown in the progress bar, next to the _Autotune_ button.
The progress is shown in the progress bar, next to the _Autotune_ button.
5. <div style="display: inline;" v-if="$frontmatter.frame === 'Multicopter'">Manually land and disarm to apply the new tuning parameters.
Takeoff carefully and manually test that the vehicle is stable.</div><div v-else-if="$frontmatter.frame === 'Plane'">The tuning will be immediately/automatically be applied and tested in flight (by default).
PX4 will then run a 4 second test and revert the new tuning if a problem is detected.</div>
<div style="display: inline;" v-if="$frontmatter.frame === 'Multicopter'">
5. Manually land and disarm to apply the new tuning parameters.
Takeoff carefully and manually test that the vehicle is stable.
</div><div v-else-if="$frontmatter.frame === 'Plane'">
5. The tuning will be immediately/automatically be applied and tested in flight (by default).
PX4 will then run a 4 second test and revert the new tuning if a problem is detected.
</div>
:::warning
If any strong oscillations occur, land immediately and follow the instructions in the [Troubleshooting](#troubleshooting) section below.