fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

New Crowdin translations - ko (#25780)

Browse Source 
Co-authored-by: Crowdin Bot <support+bot@crowdin.com>
This commit is contained in:
PX4 Build Bot 2025-10-20 08:17:05 +11:00 committed by GitHub
parent 0d0bfc1937
commit ead1cf00ff
No known key found for this signature in database
GPG Key ID: B5690EEEBB952194
32 changed files with 726 additions and 132 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
docs/ko/SUMMARY.md
View File

@ -286,6 +286,7 @@
- [CubePilot Here+ (Discontined)](gps_compass/rtk_gps_hex_hereplus.md)
- [INS (Inertial Navigation/GNSS)](sensor/inertial_navigation_systems.md)
- [InertialLabs](sensor/inertiallabs.md)
- [MicroStrain](sensor/microstrain.md)
- [sbgECom](sensor/sbgecom.md)
- [VectorNav](sensor/vectornav.md)
- [광류 센서](sensor/optical_flow.md)
@ -701,6 +702,7 @@
- [SensorCombined](msg_docs/SensorCombined.md)
- [SensorCorrection](msg_docs/SensorCorrection.md)
- [SensorGnssRelative](msg_docs/SensorGnssRelative.md)
- [SensorGnssStatus](msg_docs/SensorGnssStatus.md)
- [SensorGps](msg_docs/SensorGps.md)
- [SensorGyro](msg_docs/SensorGyro.md)
- [SensorGyroFft](msg_docs/SensorGyroFft.md)
@ -762,6 +764,7 @@
- [Standard Modes Protocol](mavlink/standard_modes.md)
- [uXRCE-DDS (PX4-ROS 2/DDS Bridge)](middleware/uxrce_dds.md)
- [UORB Bridged to ROS 2](middleware/dds_topics.md)
- [Zenoh (PX4 ROS 2)](middleware/zenoh.md)
- [모듈과 명령어](modules/modules_main.md)
- [자동 튜닝](modules/modules_autotune.md)
- [명령어](modules/modules_command.md)

4
docs/ko/airframes/airframe_reference.md
View File

@ -618,6 +618,10 @@ div.frame_variant td, div.frame_variant th {
<td><a href="https://www.axialadventure.com/product/1-10-scx10-ii-trail-honcho-4wd-rock-crawler-brushed-rtr/AXID9059.html">Axial SCX10 2 Trail Honcho</a></td>
<td>유지보수: John Doe &lt;john@example.com&gt;<p><code>SYS_AUTOSTART</code> = 51001</p></td>
</tr>
<tr id="rover_rover_nxp_b3rb_rover_ackermann">
<td>NXP B3RB Rover Ackermann</td>
<td>유지보수: John Doe &lt;john@example.com&gt;<p><code>SYS_AUTOSTART</code> = 51002</p></td>
</tr>
<tr id="rover_rover_generic_rover_mecanum">
<td>Generic Rover Mecanum</td>
<td>유지보수: John Doe &lt;john@example.com&gt;<p><code>SYS_AUTOSTART</code> = 52000</p></td>

24
docs/ko/config/safety.md
View File

@ -276,12 +276,12 @@ The relevant parameters are listed in the table below.
## 고장 감지기
고장 감지기를 사용하여 차량의 예기치 않게 전복되거나 외부의 고장 감지 시스템에 따른 보호 조치를 할 수 있습니다.
The failure detector allows a vehicle to take protective actions if it unexpectedly flips, detects a motor failure, or if it is notified by an external failure detection system.
During **flight**, the failure detector can be used to trigger [flight termination](../advanced_config/flight_termination.md) if failure conditions are met, which may then launch a [parachute](../peripherals/parachute.md) or perform some other action.
:::info
Failure detection during flight is deactivated by default (enable by setting the parameter: [CBRK_FLIGHTTERM=0](#CBRK_FLIGHTTERM)).
Acting on a detected failure during flight is deactivated by default (enable by setting the parameter: [CBRK_FLIGHTTERM=0](#CBRK_FLIGHTTERM)).
:::
During **takeoff** the failure detector [attitude trigger](#attitude-trigger) invokes the [disarm action](#act_disarm) if the vehicle flips (disarm kills the motors but, unlike flight termination, will not launch a parachute or perform other failure actions).
@ -303,6 +303,26 @@ The failure detector is active in all vehicle types and modes, except for those
| <a id="FD_FAIL_P_TTRI"></a>[FD_FAIL_P_TTRI](../advanced_config/parameter_reference.md#FD_FAIL_P_TTRI) | Time to exceed [FD_FAIL_P](#FD_FAIL_P) for failure detection (default 0.3s). |
| <a id="FD_FAIL_R_TTRI"></a>[FD_FAIL_R_TTRI](../advanced_config/parameter_reference.md#FD_FAIL_R_TTRI) | Time to exceed [FD_FAIL_R](#FD_FAIL_R) for failure detection (default 0.3s). |
### Motor Failure Trigger
The failure detector can be configured to detect a motor failure while armed (and trigger an associated action) in the following conditions:
- A 300 ms timeout occurs in telemetry from an ESC that was previously available.
- The input current in the telemetry of an ESC which was previously positive gets too low for more than [`FD_ACT_MOT_TOUT`](FD_ACT_MOT_TOUT) ms.
The "too low" condition is defined by:
```text
{esc current} < {parameter FD_ACT_MOT_C2T} * {motor command between 0 and 1}
```
| 매개변수 | 설명 |
| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="FD_ACT_EN"></a>[FD_ACT_EN](../advanced_config/parameter_reference.md#FD_ACT_EN) | Enable/disable the motor failure trigger completely. |
| <a id="FD_ACT_MOT_THR"></a>[FD_ACT_MOT_THR](../advanced_config/parameter_reference.md#FD_ACT_MOT_THR) | Minimum normalized [0,1] motor command below which motor under current is ignored. |
| <a id="FD_ACT_MOT_C2T"></a>[FD_ACT_MOT_C2T](../advanced_config/parameter_reference.md#FD_ACT_MOT_C2T) | Scale between normalized [0,1] motor command and expected minimally reported currrent when the rotor is healthy. |
| <a id="FD_ACT_MOT_TOUT"></a>[FD_ACT_MOT_TOUT](../advanced_config/parameter_reference.md#FD_ACT_MOT_TOUT) | Time in miliseconds for which the under current detection condition needs to stay true. |
| <a id="CA_FAILURE_MODE"></a>[CA_FAILURE_MODE](../advanced_config/parameter_reference.md#CA_FAILURE_MODE) | Configure to not only warn about a motor failure but remove the first motor that detects a failure from the allocation effectiveness which turns off the motor and tries to operate the vehicle without it until disarming the next time. |
### 외부 자동 작동 시스템 (ATS)
The [failure detector](#failure-detector), if [enabled](#CBRK_FLIGHTTERM), can also be triggered by an external ATS system.

30
docs/ko/debug/failure_injection.md
View File

@ -19,7 +19,7 @@ At time of writing (PX4 v1.14):
## 장애 시스템 명령
Failures can be injected using the [failure system command](../modules/modules_command.md#failure) from any PX4 console/shell, specifying both the target and type of the failure.
Failures can be injected using the [failure system command](../modules/modules_command.md#failure) from any PX4 [console/shell](../debug/consoles.md) (such as the [QGC MAVLink Console](../debug/mavlink_shell.md#qgroundcontrol-mavlink-console) or SITL _pxh shell_), specifying both the target and type of the failure.
### 구문
@ -61,11 +61,18 @@ failure <component> <failure_type> [-i <instance_number>]
- _instance number_ (optional): Instance number of affected sensor.
0 (기본값) 지정된 유형의 모든 센서를 나타냅니다.
### Example
## MAVSDK 실패 플러그인
The [MAVSDK failure plugin](https://mavsdk.mavlink.io/main/en/cpp/api_reference/classmavsdk_1_1_failure.html) can be used to programmatically inject failures.
It is used in [PX4 Integration Testing](../test_and_ci/integration_testing_mavsdk.md) to simulate failure cases (for example, see [PX4-Autopilot/test/mavsdk_tests/autopilot_tester.cpp](https://github.com/PX4/PX4-Autopilot/blob/main/test/mavsdk_tests/autopilot_tester.cpp)).
The plugin API is a direct mapping of the failure command shown above, with a few additional error signals related to the connection.
## Example: RC signal
To simulate losing RC signal without having to turn off your RC controller:
1. Enable the parameter [SYS_FAILURE_EN](../advanced_config/parameter_reference.md#SYS_FAILURE_EN). And specifically to turn off motors also [CA_FAILURE_MODE](../advanced_config/parameter_reference.md#CA_FAILURE_MODE).
1. Enable the [SYS_FAILURE_EN](../advanced_config/parameter_reference.md#SYS_FAILURE_EN) parameter.
2. Enter the following commands on the MAVLink console or SITL _pxh shell_:
```sh
@ -76,9 +83,18 @@ To simulate losing RC signal without having to turn off your RC controller:
failure rc_signal ok
```
## MAVSDK 실패 플러그인
## Example: Motor
The [MAVSDK failure plugin](https://mavsdk.mavlink.io/main/en/cpp/api_reference/classmavsdk_1_1_failure.html) can be used to programmatically inject failures.
It is used in [PX4 Integration Testing](../test_and_ci/integration_testing_mavsdk.md) to simulate failure cases (for example, see [PX4-Autopilot/test/mavsdk_tests/autopilot_tester.cpp](https://github.com/PX4/PX4-Autopilot/blob/main/test/mavsdk_tests/autopilot_tester.cpp)).
To stop a motor mid-flight without the system anticipating it or excluding it from allocation effectiveness:
The plugin API is a direct mapping of the failure command shown above, with a few additional error signals related to the connection.
1. Enable the [SYS_FAILURE_EN](../advanced_config/parameter_reference.md#SYS_FAILURE_EN) parameter.
2. Enable [CA_FAILURE_MODE](../advanced_config/parameter_reference.md#CA_FAILURE_MODE) parameter to allow turning off motors.
3. Enter the following commands on the MAVLink console or SITL _pxh shell_:
```sh
# Turn off first motor
failure motor off -i 1
# Turn it back on
failure motor ok -i 1
```

2
docs/ko/dev_log/logging.md
View File

@ -160,7 +160,7 @@ ulog 스트리밍을 지원하는 다양한 클라이언트가 있습니다.
- If log streaming does not start, make sure the `logger` is running (see above), and inspect the console output while starting.
- 그래도 작동하지 않으면, MAVLink 2를 사용하고 있는지 확인하십시오.
Enforce it by setting `MAV_PROTO_VER` to 2.
`MAV_PROTO_VER` needs to be set to 2.
- Log streaming uses a maximum of 70% of the configured MAVLink rate (`-r` parameter).
더 큰 전송율이 요구되는 상황에서는, 메세지가 사라집니다.
The currently used percentage can be inspected with `mavlink status` (1.8% is used in this example):

7
docs/ko/dronecan/ark_cannode.md
View File

@ -83,9 +83,10 @@ This is done using the the parameters named like `UAVCAN_SUB_*` in the parameter
On the ARK CANnode, you may need to configure the following parameters:
| 매개변수 | 설명 |
| -------------------------------------------------------------------------------------------------------------------- | --------------------------------------------- |
| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) | CAN built-in bus termination. |
| 매개변수 | 설명 |
| -------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="CANNODE_NODE_ID"></a>[CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID. |
| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) | CAN built-in bus termination. |
## LED 신호의 의미

7
docs/ko/dronecan/ark_flow.md
View File

@ -109,9 +109,10 @@ When optical flow is the only source of horizontal position/velocity, then lower
On the ARK Flow, you may need to configure the following parameters:
| 매개변수 | 설명 |
| -------------------------------------------------------------------------------------------------------------------- | --------------------------------------------- |
| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) | CAN built-in bus termination. |
| 매개변수 | 설명 |
| -------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="CANNODE_NODE_ID"></a>[CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID. |
| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) | CAN built-in bus termination. |
## LED 신호의 의미

7
docs/ko/dronecan/ark_flow_mr.md
View File

@ -104,9 +104,10 @@ Set the following parameters in _QGroundControl_:
You may need to [configure the following parameters](../dronecan/index.md#qgc-cannode-parameter-configuration) on the ARK Flow MR itself:
| 매개변수 | 설명 |
| -------------------------------------------------------------------------------------------------------------------- | --------------------------------------------- |
| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) | CAN built-in bus termination. |
| 매개변수 | 설명 |
| -------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="CANNODE_NODE_ID"></a>[CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID. |
| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) | CAN built-in bus termination. |
## LED 신호의 의미

10
docs/ko/dronecan/ark_gps.md
View File

@ -91,9 +91,17 @@ If the sensor is not centred within the vehicle you will also need to define sen
- Enable GPS yaw fusion by setting bit 3 of [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL) to true.
- Enable [UAVCAN_SUB_GPS](../advanced_config/parameter_reference.md#UAVCAN_SUB_GPS), [UAVCAN_SUB_MAG](../advanced_config/parameter_reference.md#UAVCAN_SUB_MAG), and [UAVCAN_SUB_BARO](../advanced_config/parameter_reference.md#UAVCAN_SUB_BARO).
- Set [CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) to `1` if this is that last node on the CAN bus.
- The parameters [EKF2_GPS_POS_X](../advanced_config/parameter_reference.md#EKF2_GPS_POS_X), [EKF2_GPS_POS_Y](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Y) and [EKF2_GPS_POS_Z](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Z) can be set to account for the offset of the ARK GPS from the vehicles centre of gravity.
### ARK GPS Configuration
You may need to [configure the following parameters](../dronecan/index.md#qgc-cannode-parameter-configuration) on the ARK GPS itself:
| 매개변수 | 설명 |
| -------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="CANNODE_NODE_ID"></a>[CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID. |
| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) | CAN built-in bus termination. Set to `1` if this is the last node on the CAN bus. |
## LED 신호의 의미
You will see green, blue and red LEDs on the ARK GPS when it is being flashed, and a blinking green LED if it is running properly.

10
docs/ko/dronecan/ark_rtk_gps.md
View File

@ -85,7 +85,15 @@ You need to set necessary [DroneCAN](index.md) parameters and define offsets if
- Enable GPS blending to ensure the heading is always published by setting [SENS_GPS_MASK](../advanced_config/parameter_reference.md#SENS_GPS_MASK) to 7 (all three bits checked).
- Enable [UAVCAN_SUB_GPS](../advanced_config/parameter_reference.md#UAVCAN_SUB_GPS), [UAVCAN_SUB_MAG](../advanced_config/parameter_reference.md#UAVCAN_SUB_MAG), and [UAVCAN_SUB_BARO](../advanced_config/parameter_reference.md#UAVCAN_SUB_BARO).
- The parameters [EKF2_GPS_POS_X](../advanced_config/parameter_reference.md#EKF2_GPS_POS_X), [EKF2_GPS_POS_Y](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Y) and [EKF2_GPS_POS_Z](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Z) can be set to account for the offset of the ARK RTK GPS from the vehicles centre of gravity.
- Set [CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) to `1` on the GPS if this it that last node on the CAN bus.
### ARK RTK GPS Configuration
You may need to [configure the following parameters](../dronecan/index.md#qgc-cannode-parameter-configuration) on the ARK RTK GPS itself:
| 매개변수 | 설명 |
| -------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="CANNODE_NODE_ID"></a>[CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID. |
| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) | CAN built-in bus termination. Set to `1` if this is the last node on the CAN bus. |
### Setting Up Rover and Fixed Base

9
docs/ko/dronecan/index.md
View File

@ -102,6 +102,10 @@ If the DNA is still running and certain devices need to be manually configured,
:::info
The PX4 node ID can be configured using the [UAVCAN_NODE_ID](../advanced_config/parameter_reference.md#UAVCAN_NODE_ID) parameter.
The parameter is set to 1 by default.
Devices running the [PX4 DroneCAN firmware](px4_cannode_fw.md) (such as [ARK CANnode](ark_cannode.md)) can use the
[CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) parameter to set a static node ID.
Set it to 0 (default) for dynamic allocation, or to a value between 1-127 to use a specific static node ID.
:::
:::warning
@ -288,6 +292,11 @@ For example, the screenshot below shows the parameters for a CAN GPS with node i
![QGC Parameter showing selected DroneCAN node](../../assets/can/dronecan/qgc_can_parameters.png)
Common CANNODE parameters that you can configure include:
- [CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID): Set a static node ID (1-127) or use 0 for dynamic allocation. See [PX4 DroneCAN Firmware > Static Node ID](px4_cannode_fw.md#static-node-id) for more information.
- [CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM): Enable CAN bus termination on the last node in the bus.
## Device Specific Setup
Most DroneCAN nodes require no further setup, unless specifically noted in their device-specific documentation.

20
docs/ko/dronecan/px4_cannode_fw.md
View File

@ -20,6 +20,26 @@ make ark_can-flow_default
This will create an output in **build/ark_can-flow_default** named **XX-X.X.XXXXXXXX.uavcan.bin**. Follow the instructions at [DroneCAN firmware update](index.md#firmware-update) to flash the firmware.
## 설정
### Static Node ID
By default, DroneCAN devices use [Dynamic Node Allocation (DNA)](index.md#node-id-allocation) to automatically obtain a unique node ID from the flight controller.
However, you can configure a static node ID using the [CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) parameter.
To configure a static node ID:
1. Set [CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) to a value between 1-127 using [QGroundControl](index.md#qgc-cannode-parameter-configuration)
2. Reboot the device
To return to dynamic allocation, set `CANNODE_NODE_ID` back to 0.
Note that when switching back to dynamic allocation, the flight controller will typically continue to allocate the same node ID that was previously used (this is normal DNA behavior).
:::warning
When using static node IDs, you must ensure that each device on the CAN bus has a unique node ID.
Configuring two devices with the same ID will cause communication conflicts.
:::
## 개발자 정보
This section has information that is relevant to developers who want to add support for new DroneCAN hardware to the PX4 Autopilot.

11
docs/ko/flight_modes_mc/altitude.md
View File

@ -43,9 +43,8 @@ The horizontal position of the vehicle can move due to wind (or pre-existing mom
The mode is affected by the following parameters:
| 매개변수 | 설명 |
| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
| <a id="MPC_Z_VEL_MAX_UP"></a>[MPC_Z_VEL_MAX_UP](../advanced_config/parameter_reference.md#MPC_Z_VEL_MAX_UP) | 최대 수직 상승 속도. 기본값: 3 m/s. |
| <a id="MPC_Z_VEL_MAX_DN"></a>[MPC_Z_VEL_MAX_DN](../advanced_config/parameter_reference.md#MPC_Z_VEL_MAX_DN) | 최대 수직 하강 속도. 기본값: 1 m/s. |
| <a id="RCX_DZ"></a>`RCX_DZ` | RC dead zone for channel X. The value of X for throttle will depend on the value of [RC_MAP_THROTTLE](../advanced_config/parameter_reference.md#RC_MAP_THROTTLE). For example, if the throttle is channel 4 then [RC4_DZ](../advanced_config/parameter_reference.md#RC4_DZ) specifies the deadzone. |
| <a id="MPC_xxx"></a>`MPC_XXXX` | 대부분의 MPC_xxx 매개 변수는이 모드에서 비행 동작에 어느정도 영향을 미칩니다 . For example, [MPC_THR_HOVER](../advanced_config/parameter_reference.md#MPC_THR_HOVER) defines the thrust at which a vehicle will hover. |
| 매개변수 | 설명 |
| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="MPC_Z_VEL_MAX_UP"></a>[MPC_Z_VEL_MAX_UP](../advanced_config/parameter_reference.md#MPC_Z_VEL_MAX_UP) | 최대 수직 상승 속도. 기본값: 3 m/s. |
| <a id="MPC_Z_VEL_MAX_DN"></a>[MPC_Z_VEL_MAX_DN](../advanced_config/parameter_reference.md#MPC_Z_VEL_MAX_DN) | 최대 수직 하강 속도. 기본값: 1 m/s. |
| <a id="MPC_xxx"></a>`MPC_XXXX` | 대부분의 MPC_xxx 매개 변수는이 모드에서 비행 동작에 어느정도 영향을 미칩니다 . For example, [MPC_THR_HOVER](../advanced_config/parameter_reference.md#MPC_THR_HOVER) defines the thrust at which a vehicle will hover. |

1
docs/ko/flight_modes_mc/position.md
View File

@ -67,7 +67,6 @@ All the parameters in the [Multicopter Position Control](../advanced_config/para
| <a id="MPC_Z_VEL_MAX_DN"></a>[MPC_Z_VEL_MAX_DN](../advanced_config/parameter_reference.md#MPC_Z_VEL_MAX_DN) | 최대 수직 하강 속도. 기본값: 1 m/s. |
| <a id="MPC_LAND_ALT1"></a>[MPC_LAND_ALT1](../advanced_config/parameter_reference.md#MPC_LAND_ALT1) | Altitude for triggering first phase of slow landing. Below this altitude descending velocity gets limited to a value between [MPC_Z_VEL_MAX_DN](#MPC_Z_VEL_MAX_DN) (or `MPC_Z_V_AUTO_DN`) and [MPC_LAND_SPEED](#MPC_LAND_SPEED). Value needs to be higher than [MPC_LAND_ALT2](#MPC_LAND_ALT2). Default 10m. |
| <a id="MPC_LAND_ALT2"></a>[MPC_LAND_ALT2](../advanced_config/parameter_reference.md#MPC_LAND_ALT2) | Altitude for second phase of slow landing. Below this altitude descending velocity gets limited to [`MPC_LAND_SPEED`](#MPC_LAND_SPEED). Value needs to be lower than "MPC_LAND_ALT1". Default 5m. |
| <a id="RCX_DZ"></a>`RCX_DZ` | RC dead zone for channel X. The value of X for throttle will depend on the value of [RC_MAP_THROTTLE](../advanced_config/parameter_reference.md#RC_MAP_THROTTLE). For example, if the throttle is channel 4 then [RC4_DZ](../advanced_config/parameter_reference.md#RC4_DZ) specifies the deadzone. |
| <a id="MPC_xxx"></a>`MPC_XXXX` | 대부분의 MPC_xxx 매개 변수는이 모드에서 비행 동작에 어느정도 영향을 미칩니다 . For example, [MPC_THR_HOVER](../advanced_config/parameter_reference.md#MPC_THR_HOVER) defines the thrust at which a vehicle will hover. |
| <a id="MPC_POS_MODE"></a>[MPC_POS_MODE](../advanced_config/parameter_reference.md#MPC_POS_MODE) | Stick input to movement translation strategy. From PX4 v1.12 the default (`Acceleration based`) is that stick position controls acceleration (in a similar way to a car accelerator pedal). Other options allow stick deflection to directly control speed over ground, with and without smoothing and acceleration limits. |
| <a id="MPC_ACC_HOR_MAX"></a>[MPC_ACC_HOR_MAX](../advanced_config/parameter_reference.md#MPC_ACC_HOR_MAX) | Maximum horizontal acceleration. |

30
docs/ko/gps_compass/rtk_gps.md
View File

@ -123,35 +123,35 @@ This should be set by default, but if not, follow the [MAVLink2 configuration in
RTK GPS 연결은 기본적으로 플러그앤플레이입니다.
1. Start _QGroundControl_ and attach the base RTK GPS via USB to the ground station.
장치가 자동으로 인식됩니다.
장치가 자동으로 인식됩니다.
2. Start the vehicle and make sure it is connected to _QGroundControl_.
:::tip
_QGroundControl_ displays an RTK GPS status icon in the top icon bar while an RTK GPS device is connected (in addition to the normal GPS status icon).
RTK가 설정되는 동안 아이콘은 빨간색으로 표시되고, RTK GPS가 활성화되면 흰색으로 바뀝니다.
아이콘을 클릭하여 현재 상태와 RTK 정확도를 확인할 수 있습니다.
:::tip
_QGroundControl_ displays an RTK GPS status icon in the top icon bar while an RTK GPS device is connected (in addition to the normal GPS status icon).
RTK가 설정되는 동안 아이콘은 빨간색으로 표시되고, RTK GPS가 활성화되면 흰색으로 바뀝니다.
아이콘을 클릭하여 현재 상태와 RTK 정확도를 확인할 수 있습니다.
:::
3. _QGroundControl_ then starts the RTK setup process (known as "Survey-In").
Survey-In은 기지국의 정확한 위치 추정치를 획득을 위한 시작 절차입니다.
The process typically takes several minutes (it ends after reaching the minimum time and accuracy specified in the [RTK settings](#rtk-gps-settings)).
Survey-In은 기지국의 정확한 위치 추정치를 획득을 위한 시작 절차입니다.
The process typically takes several minutes (it ends after reaching the minimum time and accuracy specified in the [RTK settings](#rtk-gps-settings)).
RTK GPS 상태 아이콘을 클릭하여 진행 상황을 추적할 수 있습니다.
RTK GPS 상태 아이콘을 클릭하여 진행 상황을 추적할 수 있습니다.
![survey-in](../../assets/qgc/setup/rtk/qgc_rtk_survey-in.png)
![survey-in](../../assets/qgc/setup/rtk/qgc_rtk_survey-in.png)
4. Survey-in이 완료되면 :
- The RTK GPS icon changes to white and _QGroundControl_ starts to stream position data to the vehicle:
- The RTK GPS icon changes to white and _QGroundControl_ starts to stream position data to the vehicle:
![RTK streaming](../../assets/qgc/setup/rtk/qgc_rtk_streaming.png)
![RTK streaming](../../assets/qgc/setup/rtk/qgc_rtk_streaming.png)
- 기체의 GPS가 RTK 모드로 전환됩니다.
The new mode is displayed in the _normal_ GPS status icon (`3D RTK GPS Lock`):
- 기체의 GPS가 RTK 모드로 전환됩니다.
The new mode is displayed in the _normal_ GPS status icon (`3D RTK GPS Lock`):
![RTK GPS Status](../../assets/qgc/setup/rtk/qgc_rtk_gps_status.png)
![RTK GPS Status](../../assets/qgc/setup/rtk/qgc_rtk_gps_status.png)
### GPS를 Yaw/Heading 소스로 설정
@ -206,7 +206,7 @@ MAVLink2 프로토콜은 낮은 대역폭 채널을 보다 효율적으로 사
MAVLink2가 사용되는 지 확인하려면 :
- Update the telemetry module firmware to the latest version (see [QGroundControl > Setup > Firmware](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/setup_view/firmware.html)).
- Set [MAV_PROTO_VER](../advanced_config/parameter_reference.md#MAV_PROTO_VER) to 2 (see [QGroundControl Setup > Parameters](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/setup_view/parameters.html))
- Ensure [MAV_PROTO_VER](../advanced_config/parameter_reference.md#MAV_PROTO_VER) is set to 2 (see [QGroundControl Setup > Parameters](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/setup_view/parameters.html))
#### 튜닝

14
docs/ko/index.md
View File

@ -1,3 +1,8 @@
<script setup>
import { useData } from 'vitepress'
const { site } = useData();
</script>
<div style="float:right; padding:10px; margin-right:20px;"><a href="https://px4.io/"><img src="../assets/site/logo_pro_small.png" title="PX4 Logo" width="180px" /></a></div>
# PX4 Autopilot 사용자 안내서
@ -9,17 +14,22 @@ PX4 is the _Professional Autopilot_.
세계 각국에서 활동중인 여러 단체들의 지원을 받을 수 있습니다. PX4는 레이싱 드론, 운송용 드론, 자동차와 선박 등의 다양한 운송체에 적용하여 사용할 수 있습니다.
:::tip
This guide contains everything you need to assemble, configure, and safely fly a PX4-based vehicle. 이 프로젝트에 기여하시려면, Check out the [Development](development/development.md) section.
This guide contains everything you need to assemble, configure, and safely fly a PX4-based vehicle.
이 프로젝트에 기여하시려면, Check out the [Development](development/development.md) section.
:::
<div v-if="site.title == 'PX4 Guide (main)'">
:::warning
This guide is for the _development_ version of PX4 (`main` branch).
Use the **Version** selector to find the current _stable_ version.
Documented changes since the stable release are captured in the evolving [release note](releases/main.md).
:::
</div>
## 시작하기
[Basic Concepts](getting_started/px4_basic_concepts.md) should be read by all users!

2
docs/ko/middleware/dds_topics.md
View File

@ -4,7 +4,7 @@
This document is [auto-generated](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/msg/generate_msg_docs.py) from the source code.
:::
The [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml) file specifies which uORB message definitions are compiled into the [uxrce_dds_client](../modules/modules_system.md#uxrce-dds-client) module when [PX4 is built](../middleware/uxrce_dds.md#code-generation), and hence which topics are available for ROS 2 applications to subscribe or publish (by default).
The [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml) file specifies which uORB message definitions are compiled into the [uxrce_dds_client](../modules/modules_system.md#uxrce-dds-client) and/or [zenoh](../modules/modules_driver.md#zenoh) module when [PX4 is built](../middleware/uxrce_dds.md#code-generation), and hence which topics are available for ROS 2 applications to subscribe or publish (by default).
This document shows a markdown-rendered version of [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml), listing the publications, subscriptions, and so on.

201
docs/ko/middleware/zenoh.md Normal file
View File

@ -0,0 +1,201 @@
# Zenoh (PX4 ROS 2 rmw_zenoh)
<Badge type="tip" text="main (planned for: PX4 v1.17)" /> <Badge type="warning" text="Experimental" />
:::warning
실험
At the time of writing, PX4 Zenoh-pico is experimental, and hence subject to change.
:::
PX4 supports Zenoh as an alternative mechanism (to DDS) for bridging uORB topics to [ROS 2](../ros2/user_guide.md) (via the ROS 2 [`rmw_zenoh`](https://github.com/ros2/rmw_zenoh) middleware).
This allows uORB messages to be published and subscribed on a companion computer as though they were ROS 2 topics.
It provides a fast and lightweight way to connect PX4 to ROS 2, making it easier for applications to access vehicle telemetry and send control commands.
The following guide describes the architecture and various options for setting up the Zenoh client and router.
In particular, it covers the options that are most important to PX4 users exploring Zenoh as an alternative communication layer for ROS 2.
## 아키텍쳐
The Zenoh-based middleware consists of a client running on PX4 and a Zenoh router running on the companion computer, with bi-directional data exchange between them over a UART, TCP, UDP, or multicast-UDP link.
The router acts as a broker and discovery service, enabling PX4 to publish and subscribe to topics in the global Zenoh data space.
This allows seamless integration with ROS 2 nodes using [`rmw_zenoh`](https://github.com/ros2/rmw_zenoh), and supports flexible deployment across distributed systems.
![Architecture PX4 Zenoh-Pico with ROS 2](../../assets/middleware/zenoh/architecture-px4-zenoh.svg)
The client is the _PX4 Zenoh-Pico Node_ referred to above, which is implemented in the [PX4 `zenoh` module](../modules/modules_driver.md#zenoh).
This is based on Zenoh-Pico, a minimalistic version of [Eclipse Zenoh](https://zenoh.io/) (a data-centric protocol designed for real-time, distributed, and resource-constrained environments).
The router suggested above is [zenohd](https://github.com/eclipse-zenoh/zenoh/tree/main/zenohd).
:::info
UART is supported by Zenoh but has not yet implemented in the PX4 Zenoh-Pico node.
:::
## ROS 2 Zenoh Bring-up on Linux Companion
In order for PX4 uORB topics to be shared with ROS 2 applications, you will need the PX4 Zenoh-Pico Node client running on your FMU, connected to a Zenoh router running on the companion computer (or elsewhere in the network).
First select Zenoh as the ROS 2 transport by setting the `RMW_IMPLEMENTATION` environment variable as shown:
```sh
export RMW_IMPLEMENTATION=rmw_zenoh_cpp
```
Then start the Zenoh router using the command:
```sh
ros2 run rmw_zenoh_cpp rmw_zenohd
```
For more information about the Zenoh Router see the [rmw_zenoh](https://github.com/ros2/rmw_zenoh?tab=readme-ov-file#start-the-zenoh-router) documentation.
## PX4 Zenoh-Pico Node Setup
### PX4 Firmware
Before setting up the Zenoh communication, first make sure that your firmware contains the driver that implements the [`zenoh` driver](../modules/modules_driver.md#zenoh), which provides the implementation of the _PX4 Zenoh-Pico Node_.
You can check if the module is present on your board by searching for the key `CONFIG_MODULES_ZENOH=y` in your board's `default.px4board` KConfig file.
For example, you can see that the module is present in `px4_fmu-v6xrt` build targets from [/boards/px4/fmu-v6xrt/default.px4board](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v6xrt/default.px4board#L91).
If `CONFIG_MODULES_ZENOH=y` is not preset you can add this key to your board configuration and rebuild.
Note that due to flash constraints you may need to remove other components in order to include the module (such as the [`uxrce_dds_client` module](../modules/modules_system.md#uxrce-dds-client), which you will not need if you are using Zenoh).
The table below shows some of the PX4 targets that include Zenoh by default.
| PX4 Target | 참고 |
| ---------------------- | -------------------------------------------------------------------------------------------------------------- |
| `px4_fmu-v6xrt` | For [FMUv6X-RT](../flight_controller/nxp_mr_vmu_rt1176.md) (reference platform for testing) |
| `nxp_tropic-community` | |
| `nxp_mr-tropic` | |
| `nxp_mr-canhubk344` | |
| `px4_sitl_zenoh` | Zenoh-enabled simulation build |
| `px4_fmu-v6x_zenoh` | Zenoh-enabled firmware for FMUv6X |
Zenoh is not included in the default `px4_fmu-` targets for any firmware other than `px4_fmu-v6xrt` (`px4_sitl_zenoh` and `px4_fmu-v6x_zenoh` [are build variants](../dev_setup/building_px4.md#px4-make-build-targets)).
:::tip
You can check if Zenoh is present at runtime by using QGroundControl to [find the parameter](../advanced_config/parameters.md#finding-a-parameter) [ZENOH_ENABLE](../advanced_config/parameter_reference.md#ZENOH_ENABLE).
If present, the module is installed.
:::
### Enable Zenoh on PX4 Startup
Set the [ZENOH_ENABLE](../advanced_config/parameter_reference.md#ZENOH_ENABLE) parameter to `1` to enable Zenoh on PX4 startup.
### Configure Zenoh Network
Set up PX4 to connect to the companion computer running `zenohd`.
PX4's default IP address of the Zenoh daemon host is `10.41.10.1`.
If you're using a different IP for the Zenoh daemon, run the following command (replacing the address) in a PX4 shell and then reboot:
```sh
zenoh config net client tcp/10.41.10.1:7447#iface=eth0
```
Note that for the simulation target with Zeroh (`px4_sitl_zenoh`) you won't need to make any changes because the default IP address of the Zenoh daemon is set to `localhost`.
:::warning
Any changes to the network configuration require a PX4 system reboot to take effect.
:::
:::tip
See [PX4 Ethernet Setup](../advanced_config/ethernet_setup.md) for more information about Ethernet configuration.
:::
### PX4 Zenoh-pico Node configuration
The **default configuration** is auto-generated from the [dds_topics.yaml](../middleware/dds_topics.md) file in the PX4 repository.
This file specifies which uORB message definitions are to be published/subscribed by ROS 2 applications, and hence (indirectly) which topics are compiled into the zenoh module.
To inspect the current Zenoh configuration:
```sh
zenoh config
```
The PX4 Zenoh-pico node stores its configuration on the **SD card** under the `zenoh` folder.
This folder contains three key files:
- **`net.txt`** – Defines the **Zenoh network configuration**.
- **`pub.csv`** – Maps **uORB topics to ROS2 topics** (used for publishing).
- **`sub.csv`** – Maps **ROS2 topics to uORB topics** (used for subscribing).
### 4. Modifying Topic Mappings
Zenoh topic mappings define how data flows between PX4's internal uORB topics and external ROS2 topics via Zenoh.
These mappings are stored in `pub.csv` and `sub.csv` on the SD card, and can be modified at runtime using the `zenoh config` CLI tool.
:::warning
Any changes to the topic mappings require a PX4 system reboot to take effect.
:::
There are two types of mappings you can modify:
- **Publisher mappings**: Forward data from a uORB topic to a Zenoh topic.
- **Subscriber mappings**: Receive data from a Zenoh topic and publish it to a uORB topic.
The main operations and their commands are:
- Publish a uORB topic to a Zenoh topic:
```sh
zenoh config add publisher <zenoh_topic> <uorb_topic> [uorb_instance]
```
- Subscribe to a Zenoh topic and forward it to a uORB topic:
```sh
zenoh config add subscriber <zenoh_topic> <uorb_topic> [uorb_instance]
```
- Remove existing mappings:
```sh
zenoh config delete publisher <zenoh_topic>
zenoh config delete subscriber <zenoh_topic>
```
After modifying the mappings, reboot PX4 to apply the changes.
The updated configuration will be loaded from the SD card during startup.
## Communicating with PX4 from ROS 2 via Zenoh
Once your PX4 FMU is publishing data into ROS 2, you can inspect the available topics and their contents using standard ROS 2 CLI tools:
```sh
ros2 topic list
```
Check topic type and publishers/subscribers:
```sh
ros2 topic info -v /fmu/out/vehicle_status
Type: px4_msgs/msg/VehicleStatus
Publisher count: 1
Node name: px4_aabbcc00000000000000000000000000
Node namespace: /
Topic type: px4_msgs/msg/VehicleStatus
Topic type hash: RIHS01_828bddbb7d4c2aa6ad93757955f6893be1ec5d8f11885ec7715bcdd76b5226c9
Endpoint type: PUBLISHER
GID: 82.99.74.2c.b6.7d.93.44.91.4d.fe.14.93.58.40.16
QoS profile:
Reliability: RELIABLE
History (Depth): KEEP_LAST (7)
Durability: VOLATILE
Lifespan: Infinite
Deadline: Infinite
Liveliness: AUTOMATIC
Liveliness lease duration: Infinite
Subscription count: 0
```
### PX4 ROS 2 Interface with Zenoh
The [PX4 ROS 2 Interface Library](../ros2/px4_ros2_interface_lib.md) works out of the box with Zenoh as a transport backend.
This means you can publish and subscribe to PX4 topics over Zenoh without changing your ROS 2 nodes or dealing with DDS configuration.
For setup details and supported message types, refer to the [PX4 ROS 2 Interface Library](../ros2/px4_ros2_interface_lib.md).

2
docs/ko/modules/modules_driver_distance_sensor.md
View File

@ -104,7 +104,7 @@ Source: [drivers/distance_sensor/lightware_laser_i2c](https://github.com/PX4/PX4
### 설명
I2C bus driver for Lightware SFxx series LIDAR rangefinders: SF10/a, SF10/b, SF10/c, SF11/c, SF/LW20.
I2C bus driver for Lightware SFxx series LIDAR rangefinders: SF10/a, SF10/b, SF10/c, SF11/c, SF/LW20, SF30/d.
Setup/usage information: https://docs.px4.io/main/en/sensor/sfxx_lidar.html

44
docs/ko/msg_docs/AirspeedValidated.md
View File

@ -1,29 +1,39 @@
# AirspeedValidated (UORB message)
Validated airspeed
Provides information about airspeed (indicated, true, calibrated) and the source of the data.
Used by controllers, estimators and for airspeed reporting to operator.
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/AirspeedValidated.msg)
```c
# Validated airspeed
#
# Provides information about airspeed (indicated, true, calibrated) and the source of the data.
# Used by controllers, estimators and for airspeed reporting to operator.
uint32 MESSAGE_VERSION = 1
uint64 timestamp # time since system start (microseconds)
uint64 timestamp # [us] Time since system start
float32 indicated_airspeed_m_s # [m/s] Indicated airspeed (IAS), set to NAN if invalid
float32 calibrated_airspeed_m_s # [m/s] Calibrated airspeed (CAS), set to NAN if invalid
float32 true_airspeed_m_s # [m/s] True airspeed (TAS), set to NAN if invalid
float32 indicated_airspeed_m_s # [m/s] [@invalid NaN] Indicated airspeed (IAS)
float32 calibrated_airspeed_m_s # [m/s] [@invalid NaN] Calibrated airspeed (CAS)
float32 true_airspeed_m_s # [m/s] [@invalid NaN] True airspeed (TAS)
int8 airspeed_source # Source of currently published airspeed values
int8 DISABLED = -1
int8 GROUND_MINUS_WIND = 0
int8 SENSOR_1 = 1
int8 SENSOR_2 = 2
int8 SENSOR_3 = 3
int8 SYNTHETIC = 4
int8 airspeed_source # [@enum SOURCE] Source of currently published airspeed values
int8 SOURCE_DISABLED = -1 # Disabled
int8 SOURCE_GROUND_MINUS_WIND = 0 # Ground speed minus wind
int8 SOURCE_SENSOR_1 = 1 # Sensor 1
int8 SOURCE_SENSOR_2 = 2 # Sensor 2
int8 SOURCE_SENSOR_3 = 3 # Sensor 3
int8 SOURCE_SYNTHETIC = 4 # Synthetic airspeed
# debug states
float32 calibrated_ground_minus_wind_m_s # CAS calculated from groundspeed - windspeed, where windspeed is estimated based on a zero-sideslip assumption, set to NAN if invalid
float32 calibraded_airspeed_synth_m_s # synthetic airspeed in m/s, set to NAN if invalid
float32 airspeed_derivative_filtered # filtered indicated airspeed derivative [m/s/s]
float32 throttle_filtered # filtered fixed-wing throttle [-]
float32 pitch_filtered # filtered pitch [rad]
float32 calibrated_ground_minus_wind_m_s # [m/s] [@invalid NaN] CAS calculated from groundspeed - windspeed, where windspeed is estimated based on a zero-sideslip assumption
float32 calibraded_airspeed_synth_m_s # [m/s] [@invalid NaN] Synthetic airspeed
float32 airspeed_derivative_filtered # [m/s^2] Filtered indicated airspeed derivative
float32 throttle_filtered # [-] Filtered fixed-wing throttle
float32 pitch_filtered # [rad] Filtered pitch
```

75
docs/ko/msg_docs/AutotuneAttitudeControlStatus.md
View File

@ -1,42 +1,59 @@
# AutotuneAttitudeControlStatus (UORB message)
Autotune attitude control status
This message is published by the fw_autotune_attitude_control and mc_autotune_attitude_control modules when the user engages autotune,
and is subscribed to by the respective attitude controllers to command rate setpoints.
The rate_sp field is consumed by the controllers, while the remaining fields (model coefficients, gains, filters, and autotune state) are used for logging and debugging.
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/AutotuneAttitudeControlStatus.msg)
```c
uint64 timestamp # time since system start (microseconds)
# Autotune attitude control status
#
# This message is published by the fw_autotune_attitude_control and mc_autotune_attitude_control modules when the user engages autotune,
# and is subscribed to by the respective attitude controllers to command rate setpoints.
#
# The rate_sp field is consumed by the controllers, while the remaining fields (model coefficients, gains, filters, and autotune state) are used for logging and debugging.
float32[5] coeff # coefficients of the identified discrete-time model
float32[5] coeff_var # coefficients' variance of the identified discrete-time model
float32 fitness # fitness of the parameter estimate
float32 innov
float32 dt_model
uint64 timestamp # [us] Time since system start
float32 kc
float32 ki
float32 kd
float32 kff
float32 att_p
float32[5] coeff # [-] Coefficients of the identified discrete-time model
float32[5] coeff_var # [-] Coefficients' variance of the identified discrete-time model
float32 fitness # [-] Fitness of the parameter estimate
float32 innov # [rad/s] Innovation (residual error between model and measured output)
float32 dt_model # [s] Model sample time used for identification
float32[3] rate_sp
float32 u_filt
float32 y_filt
float32 kc # [-] Proportional rate-loop gain (ideal form)
float32 ki # [-] Integral rate-loop gain (ideal form)
float32 kd # [-] Derivative rate-loop gain (ideal form)
float32 kff # [-] Feedforward rate-loop gain
float32 att_p # [-] Proportional attitude gain
uint8 STATE_IDLE = 0
uint8 STATE_INIT = 1
uint8 STATE_ROLL = 2
uint8 STATE_ROLL_PAUSE = 3
uint8 STATE_PITCH = 4
uint8 STATE_PITCH_PAUSE = 5
uint8 STATE_YAW = 6
uint8 STATE_YAW_PAUSE = 7
uint8 STATE_VERIFICATION = 8
uint8 STATE_APPLY = 9
uint8 STATE_TEST = 10
uint8 STATE_COMPLETE = 11
uint8 STATE_FAIL = 12
uint8 STATE_WAIT_FOR_DISARM = 13
float32[3] rate_sp # [rad/s] Rate setpoint commanded to the attitude controller.
uint8 state
float32 u_filt # [-] Filtered input signal (normalized torque setpoint) used in system identification.
float32 y_filt # [rad/s] Filtered output signal (angular velocity) used in system identification.
uint8 state # [@enum STATE] Current state of the autotune procedure.
uint8 STATE_IDLE = 0 # Idle (not running)
uint8 STATE_INIT = 1 # Initialize filters and setup
uint8 STATE_ROLL_AMPLITUDE_DETECTION = 2 # FW only: determine required excitation amplitude (roll)
uint8 STATE_ROLL = 3 # Roll-axis excitation and model identification
uint8 STATE_ROLL_PAUSE = 4 # Pause to return to level flight
uint8 STATE_PITCH_AMPLITUDE_DETECTION = 5 # FW only: determine required excitation amplitude (pitch)
uint8 STATE_PITCH = 6 # Pitch-axis excitation and model identification
uint8 STATE_PITCH_PAUSE = 7 # Pause to return to level flight
uint8 STATE_YAW_AMPLITUDE_DETECTION = 8 # FW only: determine required excitation amplitude (yaw)
uint8 STATE_YAW = 9 # Yaw-axis excitation and model identification
uint8 STATE_YAW_PAUSE = 10 # Pause to return to level flight
uint8 STATE_VERIFICATION = 11 # Verify model and candidate gains
uint8 STATE_APPLY = 12 # Apply gains
uint8 STATE_TEST = 13 # Test gains in closed-loop
uint8 STATE_COMPLETE = 14 # Tuning completed successfully
uint8 STATE_FAIL = 15 # Tuning failed (model invalid or controller unstable)
uint8 STATE_WAIT_FOR_DISARM = 16 # Waiting for disarm before finalizing
```

1
docs/ko/msg_docs/ControlAllocatorStatus.md
View File

@ -24,5 +24,6 @@ int8[16] actuator_saturation # Indicates actuator saturation status.
# Note 2: an actuator with limited dynamics can be indicated as upper-saturated even if it as not reached its maximum value.
uint16 handled_motor_failure_mask # Bitmask of failed motors that were removed from the allocation / effectiveness matrix. Not necessarily identical to the report from FailureDetector
uint16 motor_stop_mask # Bitmaks of motors stopped by failure injection
```

3
docs/ko/msg_docs/EstimatorStatusFlags.md
View File

@ -54,8 +54,9 @@ bool cs_valid_fake_pos # 41 - true if a valid constant position is bein
bool cs_constant_pos # 42 - true if the vehicle is at a constant position
bool cs_baro_fault # 43 - true when the current baro has been declared faulty and is no longer being used
bool cs_gnss_vel # 44 - true if GNSS velocity measurement fusion is intended
bool cs_gnss_fault # 45 - true if GNSS measurements have been declared faulty and are no longer used
bool cs_gnss_fault # 45 - true if GNSS true if GNSS measurements (lat, lon, vel) have been declared faulty
bool cs_yaw_manual # 46 - true if yaw has been set manually
bool cs_gnss_hgt_fault # 47 - true if GNSS true if GNSS measurements (alt) have been declared faulty
# fault status
uint32 fault_status_changes # number of filter fault status (fs) changes

1
docs/ko/msg_docs/FailureDetectorStatus.md
View File

@ -17,5 +17,6 @@ bool fd_motor
float32 imbalanced_prop_metric # Metric of the imbalanced propeller check (low-passed)
uint16 motor_failure_mask # Bit-mask with motor indices, indicating critical motor failures
uint16 motor_stop_mask # Bitmaks of motors stopped by failure injection
```

3
docs/ko/msg_docs/GimbalDeviceAttitudeStatus.md
View File

@ -14,6 +14,9 @@ uint16 DEVICE_FLAGS_NEUTRAL = 2
uint16 DEVICE_FLAGS_ROLL_LOCK = 4
uint16 DEVICE_FLAGS_PITCH_LOCK = 8
uint16 DEVICE_FLAGS_YAW_LOCK = 16
uint16 DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME = 32
uint16 DEVICE_FLAGS_YAW_IN_EARTH_FRAME = 64
float32[4] q
float32 angular_velocity_x

19
docs/ko/msg_docs/SensorGnssStatus.md Normal file
View File

@ -0,0 +1,19 @@
# SensorGnssStatus (UORB message)
Gnss quality indicators
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorGnssStatus.msg)
```c
# Gnss quality indicators
uint64 timestamp # time since system start (microseconds)
uint32 device_id # unique device ID for the sensor that does not change between power cycles
bool quality_available # Set to true if quality indicators are available
uint8 quality_corrections # Corrections quality from 0 to 10, or 255 if not available
uint8 quality_receiver # Overall receiver operating status from 0 to 10, or 255 if not available
uint8 quality_gnss_signals # Quality of GNSS signals from 0 to 10, or 255 if not available
uint8 quality_post_processing # Expected post processing quality from 0 to 10, or 255 if not available
```

40
docs/ko/msg_docs/SensorGps.md
View File

@ -38,18 +38,26 @@ float32 vdop # Vertical dilution of precision
int32 noise_per_ms # GPS noise per millisecond
uint16 automatic_gain_control # Automatic gain control monitor
uint8 JAMMING_STATE_UNKNOWN = 0
uint8 JAMMING_STATE_OK = 1
uint8 JAMMING_STATE_WARNING = 2
uint8 JAMMING_STATE_CRITICAL = 3
uint8 jamming_state # indicates whether jamming has been detected or suspected by the receivers. O: Unknown, 1: OK, 2: Warning, 3: Critical
int32 jamming_indicator # indicates jamming is occurring
uint8 JAMMING_STATE_UNKNOWN = 0 #default
uint8 JAMMING_STATE_OK = 1
uint8 JAMMING_STATE_MITIGATED = 2
uint8 JAMMING_STATE_DETECTED = 3
uint8 jamming_state # indicates whether jamming has been detected or suspected by the receivers. O: Unknown, 1: OK, 2: Mitigated, 3: Detected
int32 jamming_indicator # indicates jamming is occurring
uint8 SPOOFING_STATE_UNKNOWN = 0
uint8 SPOOFING_STATE_NONE = 1
uint8 SPOOFING_STATE_INDICATED = 2
uint8 SPOOFING_STATE_MULTIPLE = 3
uint8 spoofing_state # indicates whether spoofing has been detected or suspected by the receivers. O: Unknown, 1: OK, 2: Warning, 3: Critical
uint8 SPOOFING_STATE_UNKNOWN = 0 #default
uint8 SPOOFING_STATE_OK = 1
uint8 SPOOFING_STATE_MITIGATED = 2
uint8 SPOOFING_STATE_DETECTED = 3
uint8 spoofing_state # indicates whether spoofing has been detected or suspected by the receivers. O: Unknown, 1: OK, 2: Mitigated, 3: Detected
# Combined authentication state (e.g. Galileo OSNMA)
uint8 AUTHENTICATION_STATE_UNKNOWN = 0 #default
uint8 AUTHENTICATION_STATE_INITIALIZING = 1
uint8 AUTHENTICATION_STATE_ERROR = 2
uint8 AUTHENTICATION_STATE_OK = 3
uint8 AUTHENTICATION_STATE_DISABLED = 4
uint8 authentication_state # GPS signal authentication state
float32 vel_m_s # GPS ground speed, (metres/sec)
float32 vel_n_m_s # GPS North velocity, (metres/sec)
@ -63,6 +71,16 @@ uint64 time_utc_usec # Timestamp (microseconds, UTC), this is the timestamp whi
uint8 satellites_used # Number of satellites used
uint32 SYSTEM_ERROR_OK = 0 #default
uint32 SYSTEM_ERROR_INCOMING_CORRECTIONS = 1
uint32 SYSTEM_ERROR_CONFIGURATION = 2
uint32 SYSTEM_ERROR_SOFTWARE = 4
uint32 SYSTEM_ERROR_ANTENNA = 8
uint32 SYSTEM_ERROR_EVENT_CONGESTION = 16
uint32 SYSTEM_ERROR_CPU_OVERLOAD = 32
uint32 SYSTEM_ERROR_OUTPUT_CONGESTION = 64
uint32 system_error # General errors with the connected GPS receiver
float32 heading # heading angle of XYZ body frame rel to NED. Set to NaN if not available and updated (used for dual antenna GPS), (rad, [-PI, PI])
float32 heading_offset # heading offset of dual antenna array in body frame. Set to NaN if not applicable. (rad, [-PI, PI])
float32 heading_accuracy # heading accuracy (rad, [0, 2PI])

49
docs/ko/msg_docs/VehicleOdometry.md
View File

@ -1,41 +1,44 @@
# VehicleOdometry (UORB message)
Vehicle odometry data. Fits ROS REP 147 for aerial vehicles
Vehicle odometry data
Fits ROS REP 147 for aerial vehicles
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleOdometry.msg)
```c
# Vehicle odometry data. Fits ROS REP 147 for aerial vehicles
# Vehicle odometry data
#
# Fits ROS REP 147 for aerial vehicles
uint32 MESSAGE_VERSION = 0
uint64 timestamp # time since system start (microseconds)
uint64 timestamp_sample
uint64 timestamp # [us] Time since system start
uint64 timestamp_sample # [us] Timestamp sample
uint8 POSE_FRAME_UNKNOWN = 0
uint8 POSE_FRAME_NED = 1 # NED earth-fixed frame
uint8 POSE_FRAME_FRD = 2 # FRD world-fixed frame, arbitrary heading reference
uint8 pose_frame # Position and orientation frame of reference
uint8 pose_frame # [@enum POSE_FRAME] Position and orientation frame of reference
uint8 POSE_FRAME_UNKNOWN = 0 # Unknown frame
uint8 POSE_FRAME_NED = 1 # North-East-Down (NED) navigation frame. Aligned with True North.
uint8 POSE_FRAME_FRD = 2 # Forward-Right-Down (FRD) frame. Constant arbitrary heading offset from True North. Z is down.
float32[3] position # Position in meters. Frame of reference defined by local_frame. NaN if invalid/unknown
float32[4] q # Quaternion rotation from FRD body frame to reference frame. First value NaN if invalid/unknown
float32[3] position # [m] [@frame local frame] [@invalid NaN If invalid/unknown] Position. Origin is position of GC at startup.
float32[4] q # [-] [@invalid NaN First value if invalid/unknown] Attitude (expressed as a quaternion) relative to pose reference frame at current location. Follows the Hamiltonian convention (w, x, y, z, right-handed, passive rotations from body to world)
uint8 VELOCITY_FRAME_UNKNOWN = 0
uint8 VELOCITY_FRAME_NED = 1 # NED earth-fixed frame
uint8 VELOCITY_FRAME_FRD = 2 # FRD world-fixed frame, arbitrary heading reference
uint8 VELOCITY_FRAME_BODY_FRD = 3 # FRD body-fixed frame
uint8 velocity_frame # Reference frame of the velocity data
uint8 velocity_frame # [@enum VELOCITY_FRAME] Reference frame of the velocity data
uint8 VELOCITY_FRAME_UNKNOWN = 0 # Unknown frame
uint8 VELOCITY_FRAME_NED = 1 # NED navigation frame at current position.
uint8 VELOCITY_FRAME_FRD = 2 # FRD navigation frame at current position. Constant arbitrary heading offset from True North. Z is down.
uint8 VELOCITY_FRAME_BODY_FRD = 3 # FRD body-fixed frame
float32[3] velocity # Velocity in meters/sec. Frame of reference defined by velocity_frame variable. NaN if invalid/unknown
float32[3] velocity # [m/s] [@frame @velocity_frame] [@invalid NaN If invalid/unknown] Velocity.
float32[3] angular_velocity # [rad/s] [@frame @VELOCITY_FRAME_BODY_FRD] [@invalid NaN If invalid/unknown] Angular velocity in body-fixed frame
float32[3] angular_velocity # Angular velocity in body-fixed frame (rad/s). NaN if invalid/unknown
float32[3] position_variance # [m^2] Variance of position error
float32[3] orientation_variance # [rad^2] Variance of orientation/attitude error (expressed in body frame)
float32[3] velocity_variance # [m^2/s^2] Variance of velocity error
float32[3] position_variance
float32[3] orientation_variance
float32[3] velocity_variance
uint8 reset_counter
int8 quality
uint8 reset_counter # [-] Reset counter. Counts reset events on attitude, velocity and position.
int8 quality # [-] [@invalid 0] Quality. Unused.
# TOPICS vehicle_odometry vehicle_mocap_odometry vehicle_visual_odometry
# TOPICS estimator_odometry

7
docs/ko/msg_docs/index.md
View File

@ -15,7 +15,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
- [ActuatorMotors](ActuatorMotors.md) — Motor control message
- [ActuatorServos](ActuatorServos.md) — Servo control message
- [AirspeedValidated](AirspeedValidated.md)
- [AirspeedValidated](AirspeedValidated.md) — Validated airspeed
- [ArmingCheckReply](ArmingCheckReply.md) — Arming check reply
- [ArmingCheckRequest](ArmingCheckRequest.md) — Arming check request
- [BatteryStatus](BatteryStatus.md) — Battery status
@ -70,7 +70,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
- [VehicleLandDetected](VehicleLandDetected.md)
- [VehicleLocalPosition](VehicleLocalPosition.md) — Fused local position in NED.
The coordinate system origin is the vehicle position at the time when the EKF2-module was started.
- [VehicleOdometry](VehicleOdometry.md) — Vehicle odometry data. Fits ROS REP 147 for aerial vehicles
- [VehicleOdometry](VehicleOdometry.md) — Vehicle odometry data
- [VehicleRatesSetpoint](VehicleRatesSetpoint.md)
- [VehicleStatus](VehicleStatus.md) — Encodes the system state of the vehicle published by commander
- [VtolVehicleStatus](VtolVehicleStatus.md) — VEHICLE_VTOL_STATE, should match 1:1 MAVLinks's MAV_VTOL_STATE
@ -87,7 +87,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
- [AdcReport](AdcReport.md)
- [Airspeed](Airspeed.md) — Airspeed data from sensors
- [AirspeedWind](AirspeedWind.md) — Wind estimate (from airspeed_selector)
- [AutotuneAttitudeControlStatus](AutotuneAttitudeControlStatus.md)
- [AutotuneAttitudeControlStatus](AutotuneAttitudeControlStatus.md) — Autotune attitude control status
- [BatteryInfo](BatteryInfo.md) — Battery information
- [ButtonEvent](ButtonEvent.md)
- [CameraCapture](CameraCapture.md)
@ -246,6 +246,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
change with board revisions and sensor updates.
- [SensorCorrection](SensorCorrection.md) — Sensor corrections in SI-unit form for the voted sensor
- [SensorGnssRelative](SensorGnssRelative.md) — GNSS relative positioning information in NED frame. The NED frame is defined as the local topological system at the reference station.
- [SensorGnssStatus](SensorGnssStatus.md) — Gnss quality indicators
- [SensorGps](SensorGps.md) — GPS position in WGS84 coordinates.
the field 'timestamp' is for the position & velocity (microseconds)
- [SensorGyro](SensorGyro.md)

2
docs/ko/ros2/px4_ros2_waypoint_missions.md
View File

@ -36,7 +36,7 @@ There are some benefits and drawbacks to using ROS-based missions, which are pro
- QGroundControl currently does not display the mission or progress during execution, and cannot upload or download a mission.
Therefore you will need another mechanism to provide a mission, such as from a web server, a custom GCS, or by generating it directly inside the application.
- The current implementation only supports multicopters (it uses the [GotoSetpointType](../ros2/px4_ros2_control_interface.md#go-to-setpoint-gotosetpointtype), which only works for multicopters, and VTOL in MC mode).
- The current implementation only supports multicopters (it uses the [GotoSetpointType](../ros2/px4_ros2_control_interface.md#go-to-setpoint-multicoptergotosetpointtype), which only works for multicopters, and VTOL in MC mode).
It is designed to be extendable to any other vehicle type.
## 개요

1
docs/ko/sensor/inertial_navigation_systems.md
View File

@ -9,6 +9,7 @@ However PX4 can also use some INS devices as either sources of raw data, or as a
INS systems that can be used as a replacement for EKF2 in PX4:
- [InertialLabs](../sensor/inertiallabs.md)
- [MicroStrain](../sensor/microstrain.md): Includes VRU, AHRS, INS, and GNSS/INS devices.
- [SBG Systems](../sensor/sbgecom.md): IMU/AHRS, GNSS/INS, Dual GNSS/INS systems that can be used as an external INS or as a source of raw sensor data.
- [VectorNav](../sensor/vectornav.md): IMU/AHRS, GNSS/INS, Dual GNSS/INS systems that can be used as an external INS or as a source of raw sensor data.

219
docs/ko/sensor/microstrain.md Normal file
View File

@ -0,0 +1,219 @@
# MicroStrain (INS, IMU, VRU, AHRS)
MicroStrain by HBK provides high-performance inertial sensors engineered for reliability and precision in challenging environments.
Widely used across industries like aerospace, robotics, industrial automation, and research, MicroStrain sensors are optimized for real-time, accurate motion tracking and orientation data.
![CV7](../../assets/hardware/sensors/inertial/microstrain_3dm_cv7_hbk.png)
The driver currently supports the following hardware:
- [`MicroStrain CV7-AR`](https://www.hbkworld.com/en/products/transducers/inertial-sensors/vertical-reference-units--vru-/3dm-cv7-ar): Inertial Measurement Unit (IMU) and Vertical Reference Unit (VRU)
- [`MicroStrain CV7-AHRS`](https://www.hbkworld.com/en/products/transducers/inertial-sensors/attitude-and-heading-reference-systems--ahrs-/3dm-cv7-ahrs): Inertial Measurement Unit (IMU) and Attitude Heading Reference System (AHRS)
- [`MicroStrain CV7-INS`](https://www.hbkworld.com/en/products/transducers/inertial-sensors/inertial-navigation-systems--ins-/3dm-cv7-ins): Inertial Measurement Unit (IMU) and Inertial Navigation System (INS).
- [`MicroStrain CV7-GNSS/INS`](https://www.hbkworld.com/en/products/transducers/inertial-sensors/inertial-navigation-systems--ins-/3dm-cv7-gnss-ins): Inertial Measurement Unit (IMU) and Inertial Navigation System (INS) combined with dual multiband (GNSS) receivers.
PX4 can use these sensors to provide raw IMU data for EKF2 or to replace EKF2 as an external INS.
For more information, including user manuals and datasheets, please refer to the sensors product page.
## 구매처
MicroStrain sensors can be purchased through HBK's official [MicroStrain product page](https://www.hbkworld.com/en/products/transducers/inertial-sensors) or through authorized distributors globally.
For large orders, custom requirements, or technical inquiries, reach out directly to [sales](https://www.hbkworld.com/en/contact-us/contact-sales-microstrain)
## 하드웨어 설정
### 배선
Connect the main UART port of the MicroStrain sensor to any unused serial port on the flight controller.
This port needs to be specified while starting the device.
### 장착
The MicroStrain sensor can be mounted in any orientation.
The default coordinate system uses X for the front, Y for the right, and Z for down, with directions marked on the device.
## 펌웨어 설정
### PX4 설정
To use the MicroStrain driver:
1. Include the module in firmware in the [kconfig board configuration](../hardware/porting_guide_config.md#px4-board-configuration-kconfig) by setting the kconfig variables: `CONFIG_DRIVERS_INS_MICROSTRAIN` or `CONFIG_COMMON_INS`.
2. Configure the driver mode by setting [MS_MODE](../advanced_config/parameter_reference.md#MS_MODE)
- To use the MicroStrain sensor to provide raw IMU data to EKF2
1. Set [MS_MODE](../advanced_config/parameter_reference.md#MS_MODE) to 0
2. Update the [EKF2_MULTI_IMU](../advanced_config/parameter_reference.md#EKF2_MULTI_IMU) parameter to account for the added MicroStrain sensor.
3. Enable EKF2 by setting [EKF2_EN](../advanced_config/parameter_reference.md#EKF2_EN) to 1
4. To prioritize MicroStrain sensor output, adjust the priority level of individual sensors from 0-100 using the following parameters:
- [CAL_ACCn_PRIO](../advanced_config/parameter_reference.md#CAL_ACC0_PRIO)
- [CAL_GYROn_PRIO](../advanced_config/parameter_reference.md#CAL_GYRO0_PRIO)
- [CAL_MAGn_PRIO](../advanced_config/parameter_reference.md#CAL_MAG0_PRIO)
- [CAL_BAROn_PRIO](../advanced_config/parameter_reference.md#CAL_BARO0_PRIO)
where `n` corresponds to the index of the corresponding sensor.
::: tip
Sensors can be identified by their device id, which can be found by checking the parameters:
- [CAL_ACCn_ID](../advanced_config/parameter_reference.md#CAL_ACC0_ID)
- [CAL_GYROn_ID](../advanced_config/parameter_reference.md#CAL_GYRO0_ID)
- [CAL_MAGn_ID](../advanced_config/parameter_reference.md#CAL_MAG0_ID)
- [CAL_BAROn_ID](../advanced_config/parameter_reference.md#CAL_BARO0_ID)
:::
- To use the MicroStrain sensor as an external INS
1. Set [MS_MODE](../advanced_config/parameter_reference.md#MS_MODE) to 1
2. Disable EKF2 by setting [EKF2_EN](../advanced_config/parameter_reference.md#EKF2_EN) to 0
3. Reboot and start the driver
- `microstrain start -d <port>`
- To start the driver automatically when the flight controller powers on, set [SENS_MS_CFG](../advanced_config/parameter_reference.md#SENS_MS_CFG) to the sensor’s connected port.
## MicroStrain Configuration
1. Rates:
- By default, accel and gyro data are published at 500 Hz, magnetometer at 50 Hz, and barometric pressure at 50 Hz.
This can be changed by adjusting the following parameters:
- [MS_IMU_RATE_HZ](../advanced_config/parameter_reference.md#MS_IMU_RATE_HZ)
- [MS_MAG_RATE_HZ](../advanced_config/parameter_reference.md#MS_MAG_RATE_HZ)
- [MS_BARO_RATE_HZ](../advanced_config/parameter_reference.md#MS_BARO_RATE_HZ)
- Global position, local position, attitude and odometry will be published at 250 Hz by default.
This can be configured via:
- [MS_FILT_RATE_HZ](../advanced_config/parameter_reference.md#MS_FILT_RATE_HZ)
- For the CV7-GNSS/INS, the GNSS receiver 1 and 2 will publish data at 5Hz by default.
This can be changed using:
- [MS_GNSS_RATE_HZ](../advanced_config/parameter_reference.md#MS_GNSS_RATE_HZ)
- The driver will automatically configure data outputs based on the specific sensor model and available data streams.
- The driver is scheduled to run at twice the fastest configured data rate.
2. Aiding measurements:
- If supported, GNSS position and velocity aiding are always enabled.
- Internal/external magnetometer and heading aiding, as well as optical flow aiding, are disabled by default. They can be enabled using the following parameters:
- [MS_INT_MAG_EN](../advanced_config/parameter_reference.md#MS_INT_MAG_EN)
- [MS_INT_HEAD_EN](../advanced_config/parameter_reference.md#MS_INT_HEAD_EN)
- [MS_EXT_HEAD_EN](../advanced_config/parameter_reference.md#MS_EXT_HEAD_EN)
- [MS_EXT_MAG_EN](../advanced_config/parameter_reference.md#MS_EXT_MAG_EN)
- [MS_OPT_FLOW_EN](../advanced_config/parameter_reference.md#MS_OPT_FLOW_EN)
- The aiding frames for external sources can be configured using the following parameters:
- [MS_EHEAD_YAW](../advanced_config/parameter_reference.md#MS_EHEAD_YAW)
- [MS_EMAG_ROLL](../advanced_config/parameter_reference.md#MS_EMAG_ROLL)
- [MS_EMAG_PTCH](../advanced_config/parameter_reference.md#MS_EMAG_PTCH)
- [MS_EMAG_YAW](../advanced_config/parameter_reference.md#MS_EMAG_YAW)
- [MS_OFLW_OFF_X](../advanced_config/parameter_reference.md#MS_OFLW_OFF_X)
- [MS_OFLW_OFF_Y](../advanced_config/parameter_reference.md#MS_OFLW_OFF_Y)
- [MS_OFLW_OFF_Z](../advanced_config/parameter_reference.md#MS_OFLW_OFF_Z)
- [SENS_FLOW_ROT](../advanced_config/parameter_reference.md#SENS_FLOW_ROT)
- The uncertainty for optical flow and external magnetometer aiding must be specified using the following parameters:
- [MS_EMAG_UNCERT](../advanced_config/parameter_reference.md#MS_EMAG_UNCERT)
- [MS_OFLW_UNCERT](../advanced_config/parameter_reference.md#MS_OFLW_UNCERT)
::: tip
1. When optical flow aiding is enabled, the sensor uses the `vehicle_optical_flow_vel` output from the flight controller as a body-frame velocity aiding measurement.
2. If the MicroStrain sensor does not support these aiding sources but they are enabled, sensor initialization will fail.
:::
3. Initial heading alignment:
- Initial heading alignment is set to kinematic by default. This can be changed by adjusting
- [MS_ALIGNMENT](../advanced_config/parameter_reference.md#MS_ALIGNMENT)
4. GNSS Aiding Source Control (GNSS/INS only)
- The Source of the GNSS aiding data can be configured using:
- [MS_GNSS_AID_SRC](../advanced_config/parameter_reference.md#MS_GNSS_AID_SRC)
5. Sensor to vehicle transform:
- If the sensor is mounted in an orientation different from the vehicle frame. A sensor to vehicle transform can be enabled using
- [MS_SVT_EN](../advanced_config/parameter_reference.md#MS_SVT_EN)
- The transform is defined using the following parameters
- [MS_SENSOR_ROLL](../advanced_config/parameter_reference.md#MS_SENSOR_ROLL)
- [MS_SENSOR_PTCH](../advanced_config/parameter_reference.md#MS_SENSOR_PTCH)
- [MS_SENSOR_YAW](../advanced_config/parameter_reference.md#MS_SENSOR_YAW)
6. IMU ranges:
- The accelerometer and gyroscope ranges on the device are configurable using:
- [MS_ACCEL_RANGE](../advanced_config/parameter_reference.md#MS_ACCEL_RANGE)
- [MS_GYRO_RANGE](../advanced_config/parameter_reference.md#MS_GYRO_RANGE)
::: tip
Available range settings depend on the specific [sensor](https://www.hbkworld.com/en/products/transducers/inertial-sensors) and can be found in the corresponding user manual.
By default, the ranges are not changed.
:::
7. GNSS Lever arm offsets:
- The lever arm offset for the external GNSS receiver can be configured using:
- [MS_GNSS_OFF1_X](../advanced_config/parameter_reference.md#MS_GNSS_OFF1_X)
- [MS_GNSS_OFF1_Y](../advanced_config/parameter_reference.md#MS_GNSS_OFF1_Y)
- [MS_GNSS_OFF1_Z](../advanced_config/parameter_reference.md#MS_GNSS_OFF1_Z)
- For dual-antenna configurations, the second GNSS receiver’s offset is configured using:
- [MS_GNSS_OFF2_X](../advanced_config/parameter_reference.md#MS_GNSS_OFF2_X)
- [MS_GNSS_OFF2_Y](../advanced_config/parameter_reference.md#MS_GNSS_OFF2_Y)
- [MS_GNSS_OFF2_Z](../advanced_config/parameter_reference.md#MS_GNSS_OFF2_Z)
## Published Data
The MicroStrain driver continuously publishes sensor data to the following uORB topics:
- [sensor_accel](../msg_docs/SensorAccel.md)
- [sensor_gyro](../msg_docs/SensorGyro.md)
- [sensor_mag](../msg_docs/SensorMag.md)
- [sensor_baro](../msg_docs/SensorBaro.md)
For GNSS/INS devices, GPS data is also published to:
- [sensor_gps](../msg_docs/SensorGps.md)
If used as an external INS replacing EKF2, it publishes:
- [vehicle_global_position](../msg_docs/VehicleGlobalPosition.md)
- [vehicle_local_position](../msg_docs/VehicleLocalPosition.md)
- [vehicle_attitude](../msg_docs/VehicleAttitude.md)
- [vehicle_odometry](../msg_docs/VehicleOdometry.md)
otherwise the same data is published to the following topics
- `external_ins_global_position`
- `external_ins_attitude`
- `external_ins_local_position`
:::tip
Published topics can be viewed using the `listener` command.
:::