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16
docs/zh/config_vtol/vtol_quad_configuration.md
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@ -83,6 +83,22 @@ This is the airspeed which, when reached, will trigger the transition out of mul
It is critical that you have properly calibrated your airspeed sensor.
It is also important that you pick an airspeed that is comfortably above your airframes stall speed (check `FW_AIRSPD_MIN`) as this is currently not checked.
#### Openloop Transition Time
Parameter: [VT_F_TR_OL_TM](../advanced_config/parameter_reference.md#VT_F_TR_OL_TM)
This specifies the duration of the front transition in seconds when no airspeed feedback is available (e.g. no airspeed sensor present).
It should be set to a value which ensures that the vehicle reaches a high enough airspeed to complete the transition, e.g. airspeed should exceed [VT_ARSP_TRANS](../advanced_config/parameter_reference.md#VT_ARSP_TRANS).
#### Transition Timeout
[VT_TRANS_TIMEOUT](../advanced_config/parameter_reference.md#VT_TRANS_TIMEOUT)
This specifies the upper limit for the duration of the front transition. If the vehicle has not reached the transition airspeed after this time, then the transition will be aborted and a [Quadchute](../config/safety.md#quad-chute-failsafe) event will be triggered.
:::note
Additionally, if an airspeed sensor is present, the transition will also be aborted if the airspeed has not reached [VT_ARSP_BLEND](../advanced_config/parameter_reference.md#VT_ARSP_BLEND) after the openloop transition time [VT_F_TR_OL_TM](../advanced_config/parameter_reference.md#VT_F_TR_OL_TM) has elapsed. This checks is used to avoid a scenario where the vehicle gains excessive speed when the airspeed sensor is faulty.
:::
### 过渡模式小提示
As already mentioned make sure you have a well tuned multirotor mode.

8
docs/zh/simulation/hitl.md
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@ -1,7 +1,7 @@
# Hardware in the Loop Simulation (HITL)
# 硬体仿真(HITL)
:::warning
HITL is [community supported and maintained](../simulation/community_supported_simulators.md).
硬体仿真被 [社区支持和维护](../simulation/community_supported_simulators.md)
It may or may not work with current versions of PX4.
See [Toolchain Installation](../dev_setup/dev_env.md) for information about the environments and tools supported by the core development team.
@ -10,13 +10,13 @@ See [Toolchain Installation](../dev_setup/dev_env.md) for information about the
硬件在环仿真模式 (HITL 或 HIL) 下 PX4 固件代码运行在真实的飞行控制器硬件平台上。
这种方法的优点是可以在实际硬件上测试大多数的实际飞行代码。
PX4 supports HITL for multicopters (using [jMAVSim](../sim_jmavsim/index.md) or [Gazebo Classic](../sim_gazebo_classic/index.md)) and VTOL (using Gazebo Classic).
PX4 支持多轴( [jMAVSim](../sim_jmavsim/index.md)或[Gazebo Classic](../sim_gazebo_classic/index.md))及VTOL (using Gazebo Classic)的仿真。
<a id="compatible_airframe"></a>
## HITL兼容机架
The set of compatible airframes vs simulators is:
机架与模拟器兼容情况：
| 机架 | `SYS_AUTOSTART` | Gazebo Classic | jMAVSim |
| ---------------------------------------------------------------------------------------------------------------- | --------------- | -------------- | ------- |