New Crowdin translations - zh-CN (#26398)

Co-authored-by: Crowdin Bot <support+bot@crowdin.com>
2026-04-14 10:07:39 +08:00 · 2026-02-02 08:19:45 +11:00 · 2026-02-02 08:19:45 +11:00 · e2e89def7e
commit e2e89def7e
parent d5c4ace615
12 changed files with 335 additions and 8 deletions
--- a/docs/zh/SUMMARY.md
+++ b/docs/zh/SUMMARY.md
@ -93,6 +93,7 @@
    - [VTOL后转换调参](config_vtol/vtol_back_transition_tuning.md)
    - [没有空速传感器的VTOL  ](config_vtol/vtol_without_airspeed_sensor.md)
    - [垂直起降风向仪](config_vtol/vtol_weathervane.md)
+    - [VTOL Ice Shedding](config_vtol/vtol_ice_shedding.md)
  - [飞行模式](flight_modes_vtol/index.md)
    - [Mission Mode (VTOL)](flight_modes_vtol/mission.md)
    - [Return Mode (VTOL)](flight_modes_vtol/return.md)
@ -361,6 +362,8 @@

    - [Satellite Comms (Iridium/RockBlock)](advanced_features/satcom_roadblock.md)

+    - [Analog Video Transmitters](vtx/index.md)
+
  - [Power Systems](power_systems/index.md)
    - [Battery Estimation Tuning](config/battery.md)
    - [Battery Chemistry Overview](power_systems/battery_chemistry.md)
--- a/docs/zh/config_vtol/index.md
+++ b/docs/zh/config_vtol/index.md
@ -9,3 +9,4 @@ Then perform VTOL-specific configuration and tuning:
 - [Back-transition Tuning](../config_vtol/vtol_back_transition_tuning.md)
 - [VTOL w/o Airspeed Sensor](../config_vtol/vtol_without_airspeed_sensor.md)
 - [VTOL Weather Vane](../config_vtol/vtol_weathervane.md)
+- [Ice Shedding](../config_vtol/vtol_ice_shedding.md)
--- a/docs/zh/config_vtol/vtol_ice_shedding.md
+++ b/docs/zh/config_vtol/vtol_ice_shedding.md
@ -0,0 +1,22 @@
+# VTOL Ice Shedding feature
+
+## 综述
+
+Ice shedding is a feature that periodically spins unused motors in fixed-wing
+flight, to break off any ice that is starting to build up in the motors while it
+is still feasible to do so.
+
+It is configured by the paramter `CA_ICE_PERIOD`. When it is 0, the feature is
+disabled, when it is above 0, it sets the duration of the ice shedding cycle in
+seconds. In each cycle, the rotors are spun for two seconds at a motor output of
+0.01.
+
+:::warning
+When enabling the feature on a new airframe, there is the risk of producing
+torques that disturb the fixed-wing rate controller. To mitigate this risk:
+
+- Set your `PWM_MIN` values correctly, so that the motor output 0.01 actually
+  produces 1% thrust
+- Be prepared to take control and switch back to multicopter
+
+:::
--- a/docs/zh/contribute/code.md
+++ b/docs/zh/contribute/code.md
@ -34,7 +34,7 @@ If you update an existing file you are not required to make the whole file compl

 ### Line Length

- Maximum line length is 120 characters.
+- Maximum line length is 140 characters.

 ### File Extensions

--- a/docs/zh/modules/hello_sky.md
+++ b/docs/zh/modules/hello_sky.md
@ -89,15 +89,19 @@ This consists of a single _C_ file and a _cmake_ definition (which tells the too
     ```

     :::tip
+
     The main function must be named `<module_name>_main` and exported from the module as shown.

+
 :::

     :::tip
+
     `PX4_INFO` is the equivalent of `printf` for the PX4 shell (included from **px4_platform_common/log.h**).
     There are different log levels: `PX4_INFO`, `PX4_WARN`, `PX4_ERR`, `PX4_DEBUG`.
     Warnings and errors are additionally added to the [ULog](../dev_log/ulog_file_format.md) and shown on [Flight Review](https://logs.px4.io/).

+
 :::

 3. Create and open a new _cmake_ definition file named **CMakeLists.txt**.
@ -166,7 +170,7 @@ This consists of a single _C_ file and a _cmake_ definition (which tells the too
 4. Create and open a new _Kconfig_ definition file named **Kconfig** and define your symbol for naming (see [Kconfig naming convention](../hardware/porting_guide_config.md#px4-kconfig-symbol-naming-convention)).
   复制下面的文本：

-   ```
+   ```text
   menuconfig EXAMPLES_PX4_SIMPLE_APP
   	bool "px4_simple_app"
   	default n
--- a/docs/zh/modules/modules_communication.md
+++ b/docs/zh/modules/modules_communication.md
@ -35,7 +35,7 @@ Source: [modules/mavlink](https://github.com/PX4/PX4-Autopilot/tree/main/src/mod
 This module implements the MAVLink protocol, which can be used on a Serial link or UDP network connection. It communicates with the system via uORB: some messages are directly handled in the module (eg. mission protocol), others are published via uORB (eg. vehicle_command).

 流（Stream）被用来以特定速率发送周期性的消息，例如飞机姿态信息。
-Streams are used to send periodic messages with a specific rate, such as the vehicle attitude. When starting the mavlink instance, a mode can be specified, which defines the set of enabled streams with their rates. For a running instance, streams can be configured via <code>mavlink stream</code> command.
+When starting the mavlink instance, a mode can be specified, which defines the set of enabled streams with their rates.
 For a running instance, streams can be configured via `mavlink stream` command.

 可以存在多个该模块的实例，每个实例连接到一个串口设备或者网络端口。
--- a/docs/zh/neural_networks/mc_neural_network_control.md
+++ b/docs/zh/neural_networks/mc_neural_network_control.md
@ -22,7 +22,11 @@ If not, there are other possible NN frameworks, such as [Eigen](https://eigen.tu
 This document explains how you can include the module in your PX4 build, and provides a broad overview of how it works.
 The other documents in the section provide more information about the integration, allowing you to replace the NN with a version trained on different data, or even to replace the TLFM library altogether.

-If you are looking for more resources to learn about the module, a website has been created with links to a youtube video and a workshop paper. A full master's thesis will be added later. [A Neural Network Mode for PX4 on Embedded Flight Controllers](https://ntnu-arl.github.io/px4-nns/).
+:::tip
+For more information, see the Masters thesis from which this module was created: [Deep Reinforcement Learning for Embedded Control Policies for Aerial Vehicles](https://nva.sikt.no/registration/019b26689144-efeebae8-84d6-4413-ad7f-9aceb4ff7374).
+
+In addition, the (Norwegian) website [A Neural Network Mode for PX4 on Embedded Flight Controllers](https://ntnu-arl.github.io/px4-nns/) has a youtube video and a workshop paper .
+:::

 ## Neural Network PX4 Firmware

--- a/docs/zh/neural_networks/raptor.md
+++ b/docs/zh/neural_networks/raptor.md
@ -35,7 +35,7 @@ The method we developed for training the RAPTOR policy is called Meta-Imitation

 You can torture test the RAPTOR policy in your browser at [https://raptor.rl.tools](https://raptor.rl.tools) or in the embedded app here:

-<iframe src="https://rl-tools.github.io/raptor.rl.tools?raptor=false" width="100%" height="1000" style="border: none;"></iframe>
+<iframe src="https://raptor.rl.tools?raptor=false" width="100%" height="1000" style="border: none;"></iframe>

 For more information please refer to the paper at [https://arxiv.org/abs/2509.11481](https://arxiv.org/abs/2509.11481).

--- a/docs/zh/peripherals/adsb_flarm.md
+++ b/docs/zh/peripherals/adsb_flarm.md
@ -11,7 +11,7 @@ PX4 traffic avoidance works with ADS-B or FLARM products that supply transponder
 It has been tested with the following devices:

 - [PingRX ADS-B Receiver](https://uavionix.com/product/pingrx-pro/) (uAvionix)
- [FLARM](https://flarm.com/products/uav/atom-uav-flarm-for-drones/) <!-- I think originally https://flarm.com/products/powerflarm/uav/ -->
+- [FLARM](https://www.flarm.com/en/drones/)

 ## 硬件安装

--- a/docs/zh/ros2/px4_ros2_control_interface.md
+++ b/docs/zh/ros2/px4_ros2_control_interface.md
@ -14,7 +14,7 @@ Experimental

 :::

-这[PX4 ROS 2接口库](../ros2/px4_ros2_interface_lib.md)是一个 C++ 库，可简化从 ROS 2 控制 PX4 的操作。
+The [PX4 ROS 2 Interface Library](../ros2/px4_ros2_interface_lib.md) is a C++ library (with Python bindings) that simplifies controlling PX4 from ROS 2.

 开发者可使用该库创建并动态注册以 ROS 2 编写的模式。
 这些模式会动态注册到 PX4 中，并且对于地面站或其他外部系统而言，它们看起来就像是 PX4 的一部分。
@ -26,6 +26,12 @@ Experimental
 PX4 ROS 2 模式相较于 PX4 内部模式，更易于实现和维护，并且在处理能力与既有代码库资源方面，能为开发者提供更丰富的支持。
 除非该模式属于安全关键型、对时序有严格要求或需要极高的更新速率，或者你的飞行器没有搭载伴随计算机，否则你应优先[考虑使用 PX4 ROS 2 模式，而非 PX4 内部模式](../concept/flight_modes.md#internal-vs-external-modes)。

+:::tip
+If you want to use Python, check out the [examples in the repository](https://github.com/Auterion/px4-ros2-interface-lib/tree/main/examples/python).
+Not all classes have Python bindings yet — the [supported bindings are here](https://github.com/Auterion/px4-ros2-interface-lib/tree/main/px4_ros2_py/src/px4_ros2).
+You are welcome to add and contribute missing classes.
+:::
+
 ## 综述

 该图从概念层面概述了控制接口模式与模式执行器如何与 PX4 进行交互。
--- a/docs/zh/ros2/px4_ros2_interface_lib.md
+++ b/docs/zh/ros2/px4_ros2_interface_lib.md
@ -7,7 +7,7 @@ Experimental
 在撰写本文时，PX4 ROS 2 接口库的部分内容仍处于试验阶段，因此可能会发生变动。
 :::

-[PX4 ROS 2 接口库 ]（https://github.com/Auterion/px4-ros2-interface-lib）是一个 C++ 库，可简化从 ROS 2 对 PX4 进行控制和交互的操作。
+The [PX4 ROS 2 Interface Library](https://github.com/Auterion/px4-ros2-interface-lib) is a C++ library (with Python bindings) that simplifies controlling and interacting with PX4 from ROS 2.

 该库为开发者提供了两个高级接口。

--- a/docs/zh/vtx/index.md
+++ b/docs/zh/vtx/index.md
@ -0,0 +1,287 @@
+# Analog Video Transmitters
+
+Analog Video Transmitters (VTX) can be controlled by PX4 via a half-duplex UART connection implementing the SmartAudio v1, v2, and v2.1 and Tramp protocols.
+
+The protocols allow writing and reading:
+
+- device status.
+- transmission frequency in MHz or via band and channel index.
+- transmission power in dBm or mW.
+- operation modes.
+
+VTX settings are controlled by parameters and optionally via RC AUX channels or CRSF MSP commands.
+The driver stores frequency and power tables that map band/channel indices to actual transmission values.
+Configuration is device-specific and set up using the command line interface.
+
+## 入门指南
+
+Connect the SmartAudio or Tramp pin of the VTX to the TX pin of a free serial port on the flight controller.
+Then set the following parameters:
+
+- `VTX_SER_CFG`: Select the serial port used for VTX communication.
+- `VTX_DEVICE`: Selects the VTX device (generic SmartAudio/Tramp or a specific device).
+
+Note that since the VTX communication is half-duplex, you can, for example, use the single-pin Radio Controller port for the VTX and use a full duplex TELEM port for CRSF communication.
+
+You should now be able to see the VTX device in the driver status:
+
+```
+nsh> vtx status
+INFO  [vtx] UART device: /dev/ttyS4
+INFO  [vtx] VTX table "UNINITIALIZED":
+INFO  [vtx] Power levels:
+INFO  [vtx] RC mapping: Disabled
+INFO  [vtx] Parameters:
+INFO  [vtx]   band: 1
+INFO  [vtx]   channel: 1
+INFO  [vtx]   frequency: 0 MHz
+INFO  [vtx]   power level: 1
+INFO  [vtx]   power: 0 = 0 mW
+INFO  [vtx]   pit mode: off
+INFO  [vtx] SmartAudio v2:
+INFO  [vtx]   band: 1
+INFO  [vtx]   channel: 1
+INFO  [vtx]   frequency: 6110 MHz
+INFO  [vtx]   power level: 1
+INFO  [vtx]   power: 0 mW
+INFO  [vtx]   pit mode: on
+INFO  [vtx]   lock: unlocked
+```
+
+:::warning
+Without a configured power table, power mappings are unknown and default to 0 mW.
+Some VTX devices enter pit mode when power is set to 0, regardless of the `VTX_PIT_MODE` parameter.
+:::
+
+## VTX Table Configuration
+
+The VTX table stores frequency and power mappings for your specific device.
+
+The manufacturer usually provides this information in the form of a JSON file that can be translated into a [Betaflight CLI command set](https://www.betaflight.com/docs/development/VTX#vtx-table) that this driver implements for compatibility.
+
+### Power Level Configuration
+
+```
+# Set table name ≤16 characters
+vtxtable name "Peak THOR T67"
+
+# Set the power values that are sent to the VTX for each power level index
+# Note: SmartAudio v1 and v2 use index values!
+vtxtable powervalues 0 1 2 3 4
+# Note: SmartAudio v2.1 uses dBm values instead!
+#       vtxtable powervalues 14 23 27 30 35
+# Note: Tramp uses mW values instead!
+#       vtxtable powervalues 25 200 500 1000 3000
+
+# Set the corresponding power labels for each power level index ≤4 characters.
+# These are used for status reporting.
+vtxtable powerlabels 25 200 500 1W 3W
+
+# Set number of power levels
+vtxtable powerlevels 5
+
+# Save configuration
+vtxtable save
+```
+
+This will create a VTX table with 5 power levels.
+
+```nsh> vtxtable status
+INFO  [vtxtable] VTX table "Peak THOR T67":
+INFO  [vtxtable] Power levels:
+INFO  [vtxtable]   1:  0 = 25
+INFO  [vtxtable]   2:  1 = 200
+INFO  [vtxtable]   3:  2 = 500
+INFO  [vtxtable]   4:  3 = 1W
+INFO  [vtxtable]   5:  4 = 3W
+```
+
+### Frequency Table Configuration
+
+```
+# Set the name of each band and the frequencies of each channel
+vtxtable band 1 BAND_A A FACTORY 6110 6130 6150 6170 6190 6210 6230 6250
+vtxtable band 2 BAND_B B FACTORY 6270 6290 6310 6330 6350 6370 6390 6410
+vtxtable band 3 BAND_E E FACTORY 6430 6450 6470 6490 6510 6530 6550 6570
+vtxtable band 4 BAND_F F FACTORY 6590 6610 6630 6650 6670 6690 6710 6730
+vtxtable band 5 BAND_R R FACTORY 6750 6770 6790 6810 6830 6850 6870 6890
+vtxtable band 6 BAND_P P FACTORY 6910 6930 6950 6970 6990 7010 7030 7050
+vtxtable band 7 BAND_H H FACTORY 7070 7090 7110 7130 7150 7170 7190 7210
+vtxtable band 8 BAND_U U FACTORY 6115 6265 6425 6585 6745 6905 7065 7185
+
+# Set number of bands and channels
+vtxtable bands 8
+vtxtable channels 8
+
+# Save configuration
+vtxtable save
+```
+
+This will create a VTX table with 8 bands and 8 channels.
+Note that FACTORY sends the band and channel indexes to the VTX device and they use their internal frequency mapping. In this mode the frequency is just for indication purposes.
+In contrast, CUSTOM would send the actual frequency values to the VTX device, but not all devices support this mode.
+Setting a frequency to zero will skip setting it.
+
+```
+nsh> vtxtable status
+INFO  [vtxtable] VTX table 8x8: Peak THOR T67
+INFO  [vtxtable]  A: BAND_A          = 6110 6130 6150 6170 6190 6210 6230 6250
+INFO  [vtxtable]  B: BAND_B          = 6270 6290 6310 6330 6350 6370 6390 6410
+INFO  [vtxtable]  E: BAND_E          = 6430 6450 6470 6490 6510 6530 6550 6570
+INFO  [vtxtable]  F: BAND_F          = 6590 6610 6630 6650 6670 6690 6710 6730
+INFO  [vtxtable]  R: BAND_R          = 6750 6770 6790 6810 6830 6850 6870 6890
+INFO  [vtxtable]  P: BAND_P          = 6910 6930 6950 6970 6990 7010 7030 7050
+INFO  [vtxtable]  H: BAND_H          = 7070 7090 7110 7130 7150 7170 7190 7210
+INFO  [vtxtable]  U: BAND_U          = 6115 6265 6425 6585 6745 6905 7065 7185
+```
+
+### Table Constraints
+
+Maximum table dimensions:
+
+- ≤24 bands each with ≤16 channels and ≤32GHz frequency values.
+- ≤16 power levels.
+- ≤16 characters table name.
+- ≤12 characters band name and 1 character band letter.
+- ≤4 characters power label length (to support "2.5W").
+
+## AUX Channel Mapping
+
+The AUX mapping feature allows you to control VTX settings using RC AUX channels.
+Each mapping entry defines an AUX channel range that triggers a specific VTX configuration.
+
+To enable AUX mapping, set `VTX_MAP_CONFIG` to one of the following values:
+
+- `0`: Disabled
+- `1`: Disabled (reserved for CRSF MSP integration)
+- `2`: Map AUX channels to power level control only
+- `3`: Map AUX channels to band and channel control only
+- `4`: Map AUX channels to all settings (power, band, and channel)
+
+### Configuring AUX Map Entries
+
+Use the following command format to add mapping entries:
+
+```
+vtxtable <index> <aux_channel> <band> <channel> <power> <start_pwm> <end_pwm>
+```
+
+Parameters:
+
+- `index`: Map entry index (0-159)
+- `aux_channel`: AUX channel number (3-19, where AUX1=3)
+- `band`: Target band (1-24, or 0 to leave unchanged)
+- `channel`: Target channel (1-16, or 0 to leave unchanged)
+- `power`: Power level (1-16, 0 to leave unchanged, or -1 for pit mode)
+- `start_pwm`: Start of PWM range in microseconds (typically 900-2100)
+- `end_pwm`: End of PWM range in microseconds (typically 900-2100)
+
+:::info
+AUX channel numbering starts from 3 (AUX1=channel 3) to account for the first four RC channels 0-3 used for flight control.
+:::
+
+Example configuration for a 6-position dial controlling band/channel on AUX4 (channel 7):
+
+```
+vtx  0 7 7 1 0  900 1025
+vtx  1 7 7 2 0 1025 1100
+vtx  2 7 7 4 0 1100 1175
+vtx  3 7 7 6 0 1175 1225
+vtx  4 7 7 8 0 1225 1300
+vtx  5 7 3 8 0 1300 2100
+```
+
+Example configuration for power control on AUX3 (channel 6):
+
+```
+vtxtable 16 6 0 0 -1  900 1250
+vtxtable 17 6 0 0  1 1250 1525
+vtxtable 18 6 0 0  2 1525 1650
+vtxtable 19 6 0 0  3 1650 1875
+vtxtable 20 6 0 0  4 1875 2010
+```
+
+Save the configuration with:
+
+```
+vtxtable save
+```
+
+The map status can be verified with `vtxtable status`.
+
+## CRSF MSP Integration
+
+When using a CRSF receiver with MSP support, you can control VTX settings directly from your transmitter using MSP commands sent over the CRSF link.
+This feature must be enabled at compile time with the `VTX_CRSF_MSP_SUPPORT` Kconfig option.
+
+To enable CRSF MSP control, set `VTX_MAP_CONFIG` to one of:
+
+- `1`: MSP controls both frequency (band/channel) and power
+- `2`: MSP controls frequency (band/channel) only, AUX controls power
+- `3`: MSP controls power only, AUX controls band/channel
+
+When MSP integration is active, the driver responds to `MSP_SET_VTX_CONFIG` (0x59) commands.
+The transmitter can send band, channel, frequency, power level, and pit mode settings via MSP, which are automatically mapped to the corresponding PX4 parameters.
+
+:::tip
+The MSP integration allows seamless VTX control from transmitters that support VTX configuration via Lua scripts or built-in VTX menus without requiring additional hardware switches.
+:::
+
+## Build Configuration
+
+Both the VTX driver and VTX table support are configured via Kconfig options.
+
+Key configuration options:
+
+- `VTX_CRSF_MSP_SUPPORT`: Enables CRSF MSP command support (default: disabled)
+- `VTXTABLE_CONFIG_FILE`: File path for persistent configuration (default: `/fs/microsd/vtx_config`)
+- `VTXTABLE_AUX_MAP`: Enables AUX channel mapping (default: disabled)
+
+## Parameter Reference
+
+### VTX Settings Parameters
+
+- `VTX_BAND` (0-23): Frequency band selection (Band 1-24 in UI)
+- `VTX_CHANNEL` (0-15): Channel within band (Channel 1-16 in UI)
+- `VTX_FREQUENCY` (0-32000): Direct frequency in MHz (overrides band/channel when non-zero)
+- `VTX_POWER` (0-15): Power level (Level 1-16 in UI, as configured in table)
+- `VTX_PIT_MODE` (boolean): Pit mode for reduced power (default: disabled)
+
+### Configuration Parameters
+
+- `VTX_SER_CFG`: Serial port assignment for VTX communication
+- `VTX_MAP_CONFIG`: Controls how VTX settings are mapped:
+  - Without `VTX_CRSF_MSP_SUPPORT`:
+    - `0`: Disabled
+    - `1`: Disabled
+    - `2`: AUX controls power only
+    - `3`: AUX controls band/channel only
+    - `4`: AUX controls both power and band/channel
+  - With `VTX_CRSF_MSP_SUPPORT`:
+    - `0`: Disabled
+    - `1`: MSP controls both frequency and power
+    - `2`: MSP controls frequency, AUX controls power
+    - `3`: MSP controls power, AUX controls band/channel
+    - `4`: Not used with MSP support
+- `VTX_DEVICE`: Device-specific configuration (see below)
+
+## Device-Specific Configuration
+
+The `VTX_DEVICE` parameter allows device-specific workarounds.
+It encodes both the protocol type and device variant:
+
+- Low byte (bits 0-7): Protocol selection
+  - `0`: SmartAudio (default)
+  - `1`: Tramp
+- High byte (bits 8-15): Device-specific variant
+  - `0`: Generic device
+  - `20`: Peak THOR T67
+  - `40`: Rush Max Solo
+
+### Known Device Workarounds
+
+**Peak THOR T67** (`VTX_DEVICE` = 5120):
+This device incorrectly reports pit mode status but otherwise functions normally.
+The driver applies a workaround to override the reported status with the actual configured state.
+
+For generic devices, use `VTX_DEVICE` = 0 (SmartAudio) or `VTX_DEVICE` = 1 (Tramp).