mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
New Crowdin translations - ko (#25745)
Co-authored-by: Crowdin Bot <support+bot@crowdin.com>
This commit is contained in:
PX4 Build Bot
GitHub
parent
54679f11d0
commit
dc500c4d04
@ -851,8 +851,10 @@
|
||||
- [시험 MC_04 - 안전 장치 시험](test_cards/mc_04_failsafe_testing.md)
|
||||
- [Test MC_05 - Manual Modes (Inside)](test_cards/mc_05_indoor_flight_manual_modes.md)
|
||||
- [Test MC_06 - Optical Flow (Inside)](test_cards/mc_06_optical_flow.md)
|
||||
- [Test MC_07 - VIO (Inside)](test_cards/mc_07_vio.md)
|
||||
- [Test MC_07 - Optical Flow Low Mount](test_cards/mc_07_optical_flow_low_mount.md)
|
||||
- [Test MC_08 - DSHOT ESC](test_cards/mc_08_dshot.md)
|
||||
- [Test MC_09 - VIO (Visual-Inertial Odometry)](test_cards/mc_09_vio.md)
|
||||
- [Test MC_10 - Optical Flow / GPS Mixed](test_cards/mc_10_optical_flow_gps_mixed.md)
|
||||
- [단위 테스트](test_and_ci/unit_tests.md)
|
||||
- [Fuzz Tests](test_and_ci/fuzz_tests.md)
|
||||
- [지속 통합](test_and_ci/continous_integration.md)
|
||||
|
||||
@ -1,7 +1,7 @@
|
||||
# 시스템 시작
|
||||
|
||||
PX4 시작은 쉘 스크립트에 의해 제어됩니다.
|
||||
On NuttX they reside in the [ROMFS/px4fmu_common/init.d](https://github.com/PX4/PX4-Autopilot/tree/main/ROMFS/px4fmu_common/init.d) folder - some of these are also used on Posix (Linux/MacOS).
|
||||
On NuttX they reside in the [ROMFS/px4fmu_common/init.d](https://github.com/PX4/PX4-Autopilot/tree/main/ROMFS/px4fmu_common/init.d) folder - some of these are also used on Posix (Linux/macOS).
|
||||
The scripts that are only used on Posix are located in [ROMFS/px4fmu_common/init.d-posix](https://github.com/PX4/PX4-Autopilot/tree/main/ROMFS/px4fmu_common/init.d-posix).
|
||||
|
||||
All files starting with a number and underscore (e.g. `10000_airplane`) are predefined airframe configurations.
|
||||
@ -13,7 +13,7 @@ The first executed file is the [init.d/rcS](https://github.com/PX4/PX4-Autopilot
|
||||
|
||||
다음 섹션은 PX4가 실행되는 운영 체제에 따라 달라집니다.
|
||||
|
||||
## POSIX (Linux/MacOS)
|
||||
## POSIX (Linux/macOS)
|
||||
|
||||
On POSIX, the system shell is used as script interpreter (e.g. /bin/sh, being symlinked to dash on Ubuntu).
|
||||
동작하기 위한 몇가지 조건이 있습니다.
|
||||
|
||||
@ -502,6 +502,7 @@ Since the Definitions and Data Sections use the same message header format, they
|
||||
- [ulogreader](https://github.com/maxsun/ulogreader): Javascript, ULog reader and parser outputs log in JSON object format.
|
||||
- [Foxglove](https://foxglove.dev): an integrated visualization and diagnosis tool for robotics data that supports ULog files.
|
||||
- [TypeScript ULog parser](https://github.com/foxglove/ulog): TypeScript, ULog reader that outputs JS objects.
|
||||
- [yule_log](https://crates.io/crates/yule_log): A streaming ULog parser written in Rust.
|
||||
|
||||
## 파일 형식 버전 이력
|
||||
|
||||
|
||||
@ -2,22 +2,22 @@
|
||||
|
||||
The _supported platforms_ for PX4 development are:
|
||||
|
||||
- [Ubuntu Linux (22.04/20.04/18.04)](../dev_setup/dev_env_linux_ubuntu.md) — Recommended
|
||||
- [Ubuntu Linux (24.04/22.04)](../dev_setup/dev_env_linux_ubuntu.md) — Recommended
|
||||
- [Windows (10/11)](../dev_setup/dev_env_windows_wsl.md) — via WSL2
|
||||
- [Mac OS](../dev_setup/dev_env_mac.md)
|
||||
- [macOS](../dev_setup/dev_env_mac.md)
|
||||
|
||||
## 지원 대상
|
||||
|
||||
아래 표는 각 OS에서 구축 가능한 PX 대상을 보여줍니다.
|
||||
|
||||
| 대상 | Linux (Ubuntu) | Mac | 윈도우 |
|
||||
| ------------------------------------------------------------------------------------------------------------------------------------------------------ | :-------------------------------: | :-: | :-: |
|
||||
| **NuttX based hardware:** [Pixhawk Series](../flight_controller/pixhawk_series.md), [Crazyflie](../complete_vehicles_mc/crazyflie2.md) | ✓ | ✓ | ✓ |
|
||||
| **Linux-based hardware:** [Raspberry Pi 2/3](../flight_controller/raspberry_pi_navio2.md) | ✓ | | |
|
||||
| **Simulation:** [Gazebo SITL](../sim_gazebo_gz/index.md) | ✓ | ✓ | ✓ |
|
||||
| **Simulation:** [Gazebo Classic SITL](../sim_gazebo_classic/index.md) | ✓ | ✓ | ✓ |
|
||||
| **Simulation:** [ROS with Gazebo Classic](../simulation/ros_interface.md) | ✓ | | ✓ |
|
||||
| **Simulation:** ROS 2 with Gazebo | ✓ | | ✓ |
|
||||
| 대상 | Linux (Ubuntu) | macOS | 윈도우 |
|
||||
| ------------------------------------------------------------------------------------------------------------------------------------------------------ | :-------------------------------: | :---: | :-: |
|
||||
| **NuttX based hardware:** [Pixhawk Series](../flight_controller/pixhawk_series.md), [Crazyflie](../complete_vehicles_mc/crazyflie2.md) | ✓ | ✓ | ✓ |
|
||||
| **Linux-based hardware:** [Raspberry Pi 2/3](../flight_controller/raspberry_pi_navio2.md) | ✓ | | |
|
||||
| **Simulation:** [Gazebo SITL](../sim_gazebo_gz/index.md) | ✓ | ✓ | ✓ |
|
||||
| **Simulation:** [Gazebo Classic SITL](../sim_gazebo_classic/index.md) | ✓ | ✓ | ✓ |
|
||||
| **Simulation:** [ROS with Gazebo Classic](../simulation/ros_interface.md) | ✓ | | ✓ |
|
||||
| **Simulation:** ROS 2 with Gazebo | ✓ | | ✓ |
|
||||
|
||||
Experienced Docker users can also build with the containers used by our continuous integration system: [Docker Containers](../test_and_ci/docker.md)
|
||||
|
||||
|
||||
@ -1,4 +1,4 @@
|
||||
# MacOS 개발 환경
|
||||
# macOS Development Environment
|
||||
|
||||
아래에서 macOS용 PX4 개발 환경 설정 방법을 설명합니다.
|
||||
PX4 빌드에 사용되어 집니다.
|
||||
@ -22,8 +22,8 @@ The "base" macOS setup installs the tools needed for building firmware, and incl
|
||||
### Environment Setup
|
||||
|
||||
:::details
|
||||
Apple Silicon Macbook users!
|
||||
If you have an Apple M1, M2 etc. Macbook, make sure to run the terminal as x86 by setting up an x86 terminal:
|
||||
Apple Silicon MacBook users!
|
||||
If you have an Apple M1, M2 etc. MacBook, make sure to run the terminal as x86 by setting up an x86 terminal:
|
||||
|
||||
1. Locate the Terminal application within the Utilities folder (**Finder > Go menu > Utilities**)
|
||||
2. Select _Terminal.app_ and right-click on it, then choose **Duplicate**.
|
||||
@ -38,21 +38,21 @@ First set up the environment
|
||||
|
||||
1. Enable more open files by appending the following line to the `~/.zshenv` file (creating it if necessary):
|
||||
|
||||
```sh
|
||||
echo ulimit -S -n 2048 >> ~/.zshenv
|
||||
```
|
||||
```sh
|
||||
echo ulimit -S -n 2048 >> ~/.zshenv
|
||||
```
|
||||
|
||||
::: info
|
||||
If you don't do this, the build toolchain may report the error: `"LD: too many open files"`
|
||||
::: info
|
||||
If you don't do this, the build toolchain may report the error: `"LD: too many open files"`
|
||||
|
||||
:::
|
||||
|
||||
2. Enforce Python 3 by appending the following lines to `~/.zshenv`
|
||||
|
||||
```sh
|
||||
# Point pip3 to MacOS system python 3 pip
|
||||
alias pip3=/usr/bin/pip3
|
||||
```
|
||||
```sh
|
||||
# Point pip3 to macOS system python 3 pip
|
||||
alias pip3=/usr/bin/pip3
|
||||
```
|
||||
|
||||
### 공통 도구
|
||||
|
||||
@ -62,19 +62,19 @@ To setup the environment to be able to build for Pixhawk/NuttX hardware (and ins
|
||||
|
||||
2. Run these commands in your shell to install the common tools:
|
||||
|
||||
```sh
|
||||
brew tap PX4/px4
|
||||
brew install px4-dev
|
||||
```
|
||||
```sh
|
||||
brew tap PX4/px4
|
||||
brew install px4-dev
|
||||
```
|
||||
|
||||
3. Install the required Python packages:
|
||||
|
||||
```sh
|
||||
# install required packages using pip3
|
||||
python3 -m pip install --user pyserial empty toml numpy pandas jinja2 pyyaml pyros-genmsg packaging kconfiglib future jsonschema
|
||||
# if this fails with a permissions error, your Python install is in a system path - use this command instead:
|
||||
sudo -H python3 -m pip install --user pyserial empty toml numpy pandas jinja2 pyyaml pyros-genmsg packaging kconfiglib future jsonschema
|
||||
```
|
||||
```sh
|
||||
# install required packages using pip3
|
||||
python3 -m pip install --user pyserial empty toml numpy pandas jinja2 pyyaml pyros-genmsg packaging kconfiglib future jsonschema
|
||||
# if this fails with a permissions error, your Python install is in a system path - use this command instead:
|
||||
sudo -H python3 -m pip install --user pyserial empty toml numpy pandas jinja2 pyyaml pyros-genmsg packaging kconfiglib future jsonschema
|
||||
```
|
||||
|
||||
## Gazebo Classic Simulation
|
||||
|
||||
@ -82,35 +82,35 @@ To setup the environment for [Gazebo Classic](../sim_gazebo_classic/index.md) si
|
||||
|
||||
1. Run the following commands in your shell:
|
||||
|
||||
```sh
|
||||
brew unlink tbb
|
||||
sed -i.bak '/disable! date:/s/^/ /; /disable! date:/s/./#/3' $(brew --prefix)/Library/Taps/homebrew/homebrew-core/Formula/tbb@2020.rb
|
||||
brew install tbb@2020
|
||||
brew link tbb@2020
|
||||
```
|
||||
```sh
|
||||
brew unlink tbb
|
||||
sed -i.bak '/disable! date:/s/^/ /; /disable! date:/s/./#/3' $(brew --prefix)/Library/Taps/homebrew/homebrew-core/Formula/tbb@2020.rb
|
||||
brew install tbb@2020
|
||||
brew link tbb@2020
|
||||
```
|
||||
|
||||
::: info
|
||||
September 2021: The commands above are a workaround to this bug: [PX4-Autopilot#17644](https://github.com/PX4/PX4-Autopilot/issues/17644).
|
||||
They can be removed once it is fixed (along with this note).
|
||||
::: info
|
||||
September 2021: The commands above are a workaround to this bug: [PX4-Autopilot#17644](https://github.com/PX4/PX4-Autopilot/issues/17644).
|
||||
They can be removed once it is fixed (along with this note).
|
||||
|
||||
:::
|
||||
|
||||
2. To install SITL simulation with Gazebo Classic:
|
||||
|
||||
```sh
|
||||
brew install --cask temurin
|
||||
brew install --cask xquartz
|
||||
brew install px4-sim-gazebo
|
||||
```
|
||||
```sh
|
||||
brew install --cask temurin
|
||||
brew install --cask xquartz
|
||||
brew install px4-sim-gazebo
|
||||
```
|
||||
|
||||
3. Run the macOS setup script: `PX4-Autopilot/Tools/setup/macos.sh`
|
||||
The easiest way to do this is to clone the PX4 source, and then run the script from the directory, as shown:
|
||||
The easiest way to do this is to clone the PX4 source, and then run the script from the directory, as shown:
|
||||
|
||||
```sh
|
||||
git clone https://github.com/PX4/PX4-Autopilot.git --recursive
|
||||
cd PX4-Autopilot/Tools/setup
|
||||
sh macos.sh
|
||||
```
|
||||
```sh
|
||||
git clone https://github.com/PX4/PX4-Autopilot.git --recursive
|
||||
cd PX4-Autopilot/Tools/setup
|
||||
sh macos.sh
|
||||
```
|
||||
|
||||
## 다음 단계
|
||||
|
||||
|
||||
@ -28,5 +28,7 @@ These are run by the test team as part of release testing, and for more signific
|
||||
- [MC_04 - Failsafe Testing](../test_cards/mc_04_failsafe_testing.md)
|
||||
- [MC_05 - Indoor Flight (Manual Modes)](../test_cards/mc_05_indoor_flight_manual_modes.md)
|
||||
- [MC_06 - Indoor Flight (Optical Flow)](../test_cards/mc_06_optical_flow.md)
|
||||
- [MC_07 - VIO (Visual-Inertial Odometry)](../test_cards/mc_07_vio.md)
|
||||
- [MC_07 - Optical Flow Low Mount](../test_cards/mc_07_optical_flow_low_mount.md)
|
||||
- [MC_08 - DSHOT ESC](../test_cards/mc_08_dshot.md)
|
||||
- [MC_09 - VIO (Visual-Inertial Odometry)](../test_cards/mc_09_vio.md)
|
||||
- [MC_10 - Optical Flow / GPS Mixed](../test_cards/mc_10_optical_flow_gps_mixed.md)
|
||||
|
||||
@ -2,25 +2,23 @@
|
||||
|
||||
## Objective
|
||||
|
||||
To test that optical flow works as expected
|
||||
Test that optical flow works as expected
|
||||
|
||||
## Preflight
|
||||
|
||||
Disconnect all GPS / compasses and ensure vehicle is using optical flow for navigation
|
||||
([Setup Information here](../sensor/optical_flow.md))
|
||||
Disconnect all GPS / compasses and ensure vehicle is using optical flow for navigation ([setup information here](../sensor/optical_flow.md))
|
||||
|
||||
Ensure there are no other sources of positioning besides optical flow
|
||||
Ensure there are no other sources of positioning besides optical flow:
|
||||
|
||||
- [EKF2_OF_CTRL](../advanced_config/parameter_reference.md#EKF2_OF_CTRL): `1`
|
||||
- [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL): `0`
|
||||
- [EKF2_EV_CTRL](../advanced_config/parameter_reference.md#EKF2_EV_CTRL): `0`
|
||||
- [SYS_HAS_MAG](../advanced_config/parameter_reference.md#SYS_HAS_MAG): `0`
|
||||
|
||||
Ensure that the drone can go into Altitude / Position flight mode while still on the ground
|
||||
Ensure that the drone can go into Altitude / Position mode while still on the ground
|
||||
|
||||
## Flight Tests
|
||||
|
||||
❏ Altitude flight mode
|
||||
❏ [Altitude mode](../flight_modes_mc/altitude.md)
|
||||
|
||||
❏ Vertical position should hold current value with stick centered
|
||||
|
||||
@ -28,7 +26,7 @@ Ensure that the drone can go into Altitude / Position flight mode while still on
|
||||
|
||||
❏ Throttle response set to climb/descent rate
|
||||
|
||||
❏ Position flight mode
|
||||
❏ [Position mode](../flight_modes_mc/position.md)
|
||||
|
||||
❏ Horizontal position should hold current value with stick centered
|
||||
|
||||
@ -38,6 +36,16 @@ Ensure that the drone can go into Altitude / Position flight mode while still on
|
||||
|
||||
❏ Pitch/Roll/Yaw response set to pitch/roll/yaw rates
|
||||
|
||||
❏ Varying height terrain
|
||||
|
||||
❏ Put boxes on the ground to create varying heights in terrain
|
||||
|
||||
❏ Take off in position mode and fly over the boxes such that the downward facing rangefinder varies in value
|
||||
|
||||
❏ Do a few passes with varying amounts of time over the boxes (1-30 seconds if possible)
|
||||
|
||||
❏ Drone should not raise in height when flying over boxes
|
||||
|
||||
## 착륙
|
||||
|
||||
❏ Land in either Position or Altitude mode with the throttle below 40%
|
||||
@ -47,7 +55,8 @@ Ensure that the drone can go into Altitude / Position flight mode while still on
|
||||
## 예상 결과
|
||||
|
||||
- 추력을 올릴 때 서서히 이륙한다
|
||||
- Drone should hold altitude in Altitude Flight mode without wandering
|
||||
- Drone should hold position within 1 meter in Position Flight mode without pilot moving sticks
|
||||
- Drone should hold altitude in Altitude mode without wandering (over surface with many features)
|
||||
- Drone should hold position within 1 meter in Position mode without pilot moving sticks
|
||||
- 위에 언급한 어떤 비행 모드에서도 떨림이 나타나서는 안됨
|
||||
- Drone should not raise in height when flying over boxes
|
||||
- 지면에 착륙시, 콥터가 지면에서 튀면 안됨
|
||||
|
||||
45
docs/ko/test_cards/mc_07_optical_flow_low_mount.md
Normal file
45
docs/ko/test_cards/mc_07_optical_flow_low_mount.md
Normal file
@ -0,0 +1,45 @@
|
||||
# Test MC_07 - Optical Flow Low Sensor
|
||||
|
||||
## Objective
|
||||
|
||||
Test that optical flow works as expected with a low mounted optical flow sensor
|
||||
|
||||
## Preflight
|
||||
|
||||
Ensure that the drone's optical flow sensor is mounted more than an inch off of the ground
|
||||
|
||||
Ensure that [MPC_THR_MIN](../advanced_config/parameter_reference.md#MPC_THR_MIN) is tuned correctly for landing
|
||||
|
||||
Disconnect all GPS / compasses and ensure vehicle is using optical flow for navigation
|
||||
([Setup Information here](../sensor/optical_flow.md))
|
||||
|
||||
Ensure there are no other sources of positioning besides optical flow
|
||||
|
||||
- [EKF2_OF_CTRL](../advanced_config/parameter_reference.md#EKF2_OF_CTRL): `1`
|
||||
- [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL): `0`
|
||||
- [EKF2_EV_CTRL](../advanced_config/parameter_reference.md#EKF2_EV_CTRL): `0`
|
||||
|
||||
Ensure that the drone can go into [Position mode](../flight_modes_mc/position.md) while still on the ground
|
||||
|
||||
## Flight Tests
|
||||
|
||||
❏ [Position mode](../flight_modes_mc/position.md)
|
||||
|
||||
❏ Horizontal position should hold current value with stick centered
|
||||
|
||||
❏ Vertical position should hold current value with stick centered
|
||||
|
||||
❏ Throttle response set to climb/descent rate
|
||||
|
||||
❏ Pitch/Roll/Yaw response set to pitch/roll/yaw rates
|
||||
|
||||
## 착륙
|
||||
|
||||
❏ Land in Position mode with the throttle below 40%
|
||||
|
||||
❏ Upon touching ground, copter should disarm automatically within 2 seconds (default: see [COM_DISARM_LAND](../advanced_config/parameter_reference.md#COM_DISARM_LAND))
|
||||
|
||||
## 예상 결과
|
||||
|
||||
- 추력을 올릴 때 서서히 이륙한다
|
||||
- Drone should stay in Position mode, NOT fall into [altitude](../flight_modes_mc/altitude.md) mode
|
||||
@ -6,22 +6,22 @@ Regression test for DSHOT working with PX4
|
||||
|
||||
## Preflight
|
||||
|
||||
- Ensure vehicle is using a DSHOT ESC.
|
||||
- Ensure vehicle is using a DSHOT ESC
|
||||
- Parameter [DSHOT_BIDIR_EN](../advanced_config/parameter_reference.md#DSHOT_BIDIR_EN) is enabled
|
||||
- Parameter [DSHOT_TEL_CFG](../advanced_config/parameter_reference.md#DSHOT_TEL_CFG) is configured (if ESC supports telemetry)
|
||||
- Parameter [SDLOG_PROFILE](../advanced_config/parameter_reference.md#SDLOG_PROFILE) has Debug (`5`) checked
|
||||
|
||||
## Flight Tests
|
||||
|
||||
❏ Stabilized Flight mode
|
||||
❏ [Stabilized mode](../flight_modes_mc/manual_stabilized.md)
|
||||
|
||||
❏ Takeoff in stabilized flight mode to ensure correct motor spin
|
||||
❏ Takeoff in stabilized mode to ensure correct motor spin
|
||||
|
||||
❏ Pitch/Roll/Yaw response 1:1
|
||||
|
||||
❏ Throttle response 1:1
|
||||
|
||||
❏ Position flight mode
|
||||
❏ [Position mode](../flight_modes_mc/position.md)
|
||||
|
||||
❏ Horizontal position should hold current value with stick centered
|
||||
|
||||
@ -41,6 +41,6 @@ Regression test for DSHOT working with PX4
|
||||
|
||||
- Download flight logs
|
||||
- Load into Data Plot Juggler
|
||||
- Ensure data is logged for esc_status/esc.0x/esc_rpm
|
||||
- Ensure data is logged for `esc_status`/`esc.0x`/`esc_rpm`
|
||||
|
||||
|
||||
|
||||
52
docs/ko/test_cards/mc_09_vio.md
Normal file
52
docs/ko/test_cards/mc_09_vio.md
Normal file
@ -0,0 +1,52 @@
|
||||
# Test MC_09 - VIO (Visual-Inertial Odometry)
|
||||
|
||||
## Objective
|
||||
|
||||
Test that external vision (VIO) works as expected
|
||||
|
||||
## Preflight
|
||||
|
||||
Disconnect all GPS / compasses and ensure vehicle is using VIO for navigation
|
||||
|
||||
Ensure that the drone can go into [Altitude](../flight_modes_mc/altitude.md) / [Position](../flight_modes_mc/position.md) mode while still on the ground
|
||||
|
||||
Ensure there are no other sources of positioning besides VIO:
|
||||
|
||||
- [EKF2_OF_CTRL](../advanced_config/parameter_reference.md#EKF2_OF_CTRL): `0`
|
||||
- [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL): `0`
|
||||
- [EKF2_EV_CTRL](../advanced_config/parameter_reference.md#EKF2_EV_CTRL): `15`
|
||||
- [SYS_HAS_MAG](../advanced_config/parameter_reference.md#SYS_HAS_MAG): `0`
|
||||
|
||||
## Flight Tests
|
||||
|
||||
❏ [Altitude mode](../flight_modes_mc/altitude.md)
|
||||
|
||||
❏ Vertical position should hold current value with stick centered
|
||||
|
||||
❏ Pitch/Roll/Yaw response 1:1
|
||||
|
||||
❏ Throttle response set to climb/descent rate
|
||||
|
||||
❏ [Position mode](../flight_modes_mc/position.md)
|
||||
|
||||
❏ Horizontal position should hold current value with stick centered
|
||||
|
||||
❏ Vertical position should hold current value with stick centered
|
||||
|
||||
❏ Throttle response set to climb/descent rate
|
||||
|
||||
❏ Pitch/Roll/Yaw response set to pitch/roll/yaw rates
|
||||
|
||||
## 착륙
|
||||
|
||||
❏ Land in either Position or Altitude mode with the throttle below 40%
|
||||
|
||||
❏ Upon touching ground, copter should disarm automatically within 2 seconds (default: see [COM_DISARM_LAND](../advanced_config/parameter_reference.md#COM_DISARM_LAND))
|
||||
|
||||
## 예상 결과
|
||||
|
||||
- 추력을 올릴 때 서서히 이륙한다
|
||||
- Drone should hold altitude in Altitude mode without wandering
|
||||
- Drone should hold position within 1 meter in Position mode without pilot moving sticks
|
||||
- 위에 언급한 어떤 비행 모드에서도 떨림이 나타나서는 안됨
|
||||
- 지면에 착륙시, 콥터가 지면에서 튀면 안됨
|
||||
74
docs/ko/test_cards/mc_10_optical_flow_gps_mixed.md
Normal file
74
docs/ko/test_cards/mc_10_optical_flow_gps_mixed.md
Normal file
@ -0,0 +1,74 @@
|
||||
# Test MC_10 - Optical Flow / GPS Mixed
|
||||
|
||||
## Objective
|
||||
|
||||
Test that optical flow mixed with GPS works as expected
|
||||
|
||||
## Preflight
|
||||
|
||||
[Setup optical flow and GPS](../sensor/optical_flow.md)
|
||||
|
||||
Ensure there are no other sources of positioning besides optical flow
|
||||
|
||||
- [EKF2_OF_CTRL](../advanced_config/parameter_reference.md#EKF2_OF_CTRL): `1`
|
||||
- [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL): `7`
|
||||
- [EKF2_EV_CTRL](../advanced_config/parameter_reference.md#EKF2_EV_CTRL): `0`
|
||||
- [SYS_HAS_MAG](../advanced_config/parameter_reference.md#SYS_HAS_MAG): `1`
|
||||
- [EKF2_HGT_REF](../advanced_config/parameter_reference.md#EKF2_HGT_REF): `1` (GPS)
|
||||
|
||||
Ensure that the drone can go into [Altitude](../flight_modes_mc/altitude.md) / [Position](../flight_modes_mc/position.md) mode while still on the ground
|
||||
|
||||
## Flight Tests
|
||||
|
||||
❏ [Altitude mode](../flight_modes_mc/altitude.md)
|
||||
|
||||
❏ Vertical position should hold current value with stick centered
|
||||
|
||||
❏ Pitch/Roll/Yaw response 1:1
|
||||
|
||||
❏ Throttle response set to climb/descent rate
|
||||
|
||||
❏ [Position mode](../flight_modes_mc/position.md)
|
||||
|
||||
❏ Horizontal position should hold current value with stick centered
|
||||
|
||||
❏ Vertical position should hold current value with stick centered
|
||||
|
||||
❏ Throttle response set to climb/descent rate
|
||||
|
||||
❏ Pitch/Roll/Yaw response set to pitch/roll/yaw rates
|
||||
|
||||
❏ GPS Cutout
|
||||
|
||||
❏ Takeoff in position mode in GPS rich environment (outdoors)
|
||||
|
||||
❏ Open QGC and navigate to MAVLink Console
|
||||
|
||||
❏ Type `gps off` to disable GPS
|
||||
|
||||
❏ Drone should maintain position hold via optical flow
|
||||
|
||||
❏ GPS Degredation
|
||||
|
||||
❏ Takeoff in position mode in GPS rich environment (outdoors)
|
||||
|
||||
❏ Fly under a metal surface (or other GPS blocking structure)
|
||||
|
||||
❏ Ensure drone does not lose position hold or start drifting
|
||||
|
||||
❏ Fly out of metal structure to regain GPS
|
||||
|
||||
❏ GPS Acquisition
|
||||
|
||||
❏ Takeoff in position mode in non-GPS environment
|
||||
|
||||
❏ Fly into a GPS rich environment (outdoors)
|
||||
|
||||
❏ Ensure drone acquires GPS position
|
||||
|
||||
## 예상 결과
|
||||
|
||||
- 추력을 올릴 때 서서히 이륙한다
|
||||
- Drone should hold position within 1 meter in Position mode without pilot moving sticks
|
||||
- Drone should hold position in GPS rich environment as well as non-GPS environment
|
||||
- 위에 언급한 어떤 비행 모드에서도 떨림이 나타나서는 안됨
|
||||
Loading…
x
Reference in New Issue
Block a user