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New Crowdin translations - zh-CN (#24679)
Co-authored-by: Crowdin Bot <support+bot@crowdin.com>
This commit is contained in:
PX4 Build Bot
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ed0c8eff7b
@ -314,6 +314,7 @@
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- [Joysticks](config/joystick.md)
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- [Data Links](data_links/index.md)
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- [MAVLink 回传（OSD/GCS）](peripherals/mavlink_peripherals.md)
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- [数传电台](telemetry/index.md)
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- [SiK 电台](telemetry/sik_radio.md)
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- [RFD900 (SiK) 数传电台](telemetry/rfd900_telemetry.md)
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@ -326,9 +327,13 @@
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- [ARK Electron Microhard Serial Telemetry Radio](telemetry/ark_microhard_serial.md)
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- [Holybro Microhard P900 Telemetry Radio](telemetry/holybro_microhard_p900_radio.md)
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- [CUAV P8 Telemetry Radio](telemetry/cuav_p8_radio.md)
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- [J.Fi Wireless Telemetry Module](telemetry/jfi_telemetry.md)
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- [HolyBro XBP9X - Discontinued](telemetry/holybro_xbp9x_radio.md)
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- [睿思凯数传](peripherals/frsky_telemetry.md)
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- [TBS Crossfire (CRSF) Telemetry](telemetry/crsf_telemetry.md)
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- [Satellite Comms (Iridium/RockBlock)](advanced_features/satcom_roadblock.md)
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- [Power Systems](power_systems/index.md)
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- [Battery Estimation Tuning](config/battery.md)
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@ -841,4 +846,4 @@
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- [1.15 (stable)](releases/1.15.md)
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- [1.14](releases/1.14.md)
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- [1.13](releases/1.13.md)
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- [1.12](releases/1.12.md)
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- [1.12](releases/1.12.md)
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@ -43,7 +43,9 @@ The gimbal can be connected to _any free serial port_ using the instructions in
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For example, if the `TELEM2` port on the flight controller is unused you can connect it to the gimbal and set the following PX4 parameters:
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- [MAV_1_CONFIG](../advanced_config/parameter_reference.md#MAV_1_CONFIG) to **TELEM2** (if `MAV_1_CONFIG` is already used for a companion computer (say), use `MAV_2_CONFIG`).
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- [MAV_1_MODE](../advanced_config/parameter_reference.md#MAV_1_MODE) to **NORMAL**
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- [MAV_1_MODE](../advanced_config/parameter_reference.md#MAV_1_MODE) to **Gimbal**
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- [MAV_1_FLOW_CTRL](../advanced_config/parameter_reference.md#MAV_1_FLOW_CTRL) to **Off (0)** (very few gimbals will have RST/CST wires connected).
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- [MAV_1_FORWARD](../advanced_config/parameter_reference.md#MAV_1_FORWARD) to **Enabled** (Note strictly necessary as forwarding is enabled when `MAV_1_MODE` is set to Gimbal).
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- [SER_TEL2_BAUD](../advanced_config/parameter_reference.md#SER_TEL2_BAUD) to manufacturer recommended baud rate.
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### 多云台支持
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@ -131,6 +131,20 @@ Additional notes:
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- Whether tuning is applied while flying or after landing can be [configured using parameters](#apply-tuning-when-in-air-landed).
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<div v-if="$frontmatter.frame === 'Multicopter'">
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## Autotuning Large Vehicles
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For big multicopter vehicles you may need to increase the desired raise time of the step response [MC_AT_RISE_TIME](../advanced_config/parameter_reference.md#MC_AT_RISE_TIME).
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This requires some trial and error as an appropriate rise time depends on both vehicle size and the rotor response.
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Note that if there are slow oscillations in pretuning it may mean that the attitude loop is too fast compared to the rate loop.
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In this case you should troubleshoot as described in [Drone oscillates when performing the pre-tuning test](#drone-oscillates-when-performing-the-pre-tuning-test).
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<!-- Fixed wing rise time is hardcoded (it's lower than on multirotors and is probably enough for most platforms). -->
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</div>
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## 故障处理
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### Drone oscillates when performing the pre-tuning test
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@ -146,6 +146,12 @@ The settings and underlying parameters are shown below.
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| 数据链路丢失超时 | [COM_DL_LOSS_T](../advanced_config/parameter_reference.md#COM_DL_LOSS_T) | 数据连接断开后到故障保护触发之前的时间。 |
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| 故障保护动作 | [NAV_DLL_ACT](../advanced_config/parameter_reference.md#NAV_DLL_ACT) | Disabled, Hold mode, Return mode, Land mode, Disarm, Terminate. |
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The following settings also apply, but are not displayed in the QGC UI.
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| 设置 | 参数 | 描述 |
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| ----------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------- |
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| <a id="COM_DLL_EXCEPT"></a>Mode exceptions for DLL failsafe | [COM_DLL_EXCEPT](../advanced_config/parameter_reference.md#COM_DLL_EXCEPT) | Set modes where DL loss will not trigger a failsafe. |
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## 地理围栏故障保护
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The _Geofence Failsafe_ is triggered when the drone breaches a "virtual" perimeter.
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@ -16,7 +16,7 @@ Simple changes to _existing content_ can be made by clicking the **Edit on GitHu
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The guide uses the <a href="https://www.gitbook.com/about">Gitbook</a> toolchain. Change requests can be either done on the Gitbook website using the <a href="https://gitbookio.gitbooks.io/documentation/content/editor/index.html">Gitbook editor</a> or locally (more flexible, but less user-friendly).
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To edit an existing English page:
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1. Open the page.
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2. Click the **Edit on GitHub** link below the page content.
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@ -25,19 +25,32 @@ The guide uses the <a href="https://www.gitbook.com/about">Gitbook</a> toolchain
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The documentation team will review the request and either merge it or work with you to update it.
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## Adding New Content - Big Changes
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Note that you can only make changes to the English version directly in the source.
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[Translations are handled in Crowdin](../contribute/translation.md).
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## Changes using Git
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More substantial changes, including adding new pages or adding/modifying images, aren't as easy to make (or properly test) on Github.
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For these kinds of changes we suggest using the same approach as for _code_:
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1. Use the _git_ toolchain to get the documentation source code onto your local computer.
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1. Use the _git_ toolchain to get the PX4 source code onto your local computer.
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2. Modify the documentation as needed (add, change, delete).
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3. _Test_ that it builds properly using Vitepress.
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4. In order to contribute many changes to the documentation, it is recommended that you follow these steps to add the changes locally and then create a pull request:
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4. Create a branch for your changes and create a pull request (PR) to pull it back into the [PX4-Autopilot](https://github.com/PX4/PX4-Autopilot.git) repo.
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The following explain how to get the source code, build locally (to test), and modify the code.
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### What Goes Where?
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### Get Documentation Source Code
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Documentation sources are in the [PX4-Autopilot](https://github.com/PX4/PX4-Autopilot/) repo, alongside all the other PX4 source code.
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The sources are markdown files located the [/docs](https://github.com/PX4/PX4-Autopilot/tree/main/docs) subdirectory.
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The English source files are in the [/docs/en/](https://github.com/PX4/PX4-Autopilot/tree/main/docs/en) subdirectory and can be edited directly.
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[Translation](../contribute/translation.md) sources are in language specific subdirectories, such as `ko` for korean and `zh` for Chinese: these are edited via the Crowdin tool, and should not be edited directly.
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:::tip
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If you already have a clone of the [PX4-Autopilot](https://github.com/PX4/PX4-Autopilot/) you can ignore this section.
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:::
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指南使用 <a href="https://legacy.gitbook.com/">旧版Gitbook 工具链</a>
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The instructions below explain how to get git and use it on your local computer.
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@ -46,31 +59,31 @@ The instructions below explain how to get git and use it on your local computer.
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2. [Sign up](https://github.com/join) for Github if you haven't already
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3. Create a copy (Fork) of the [PX4 User Guide repo](https://github.com/PX4/PX4-user_guide) on Github ([instructions here](https://docs.github.com/en/get-started/quickstart/fork-a-repo)).
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3. Create a copy (Fork) of the [PX4-Autopilot repo](https://github.com/PX4/PX4-Autopilot) on Github ([instructions here](https://docs.github.com/en/get-started/quickstart/fork-a-repo)).
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4. Clone (copy) your forked repository to your local computer:
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```sh
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cd ~/wherever/
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git clone https://github.com/<your git name>/PX4-user_guide.git
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git clone https://github.com/<your git name>/PX4-Autopilot.git
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```
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For example, to clone the PX4 userguide fork for a user with Github account "john_citizen":
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For example, to clone PX4 source fork for a user with Github account "john_citizen":
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```sh
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git clone https://github.com/john_citizen/PX4-user_guide.git
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git clone https://github.com/john_citizen/PX4-Autopilot.git
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```
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5. Navigate to your local repository:
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```sh
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cd ~/wherever/PX4-user_guide
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cd ~/wherever/PX4-Autopilot
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```
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6. Add a _remote_ called "upstream" to point to the PX4 version of the library:
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6. Add a _remote_ called "upstream" to point to the "official" PX4 version of the library:
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```sh
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git remote add upstream https://github.com/PX4/PX4-user_guide.git
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git remote add upstream https://github.com/PX4/PX4-Autopilot.git
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```
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:::tip
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@ -80,7 +93,19 @@ The instructions below explain how to get git and use it on your local computer.
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:::
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7. Create a branch for your changes:
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### Make/Push Documentation Changes
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Within the repository you created above:
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1. Bring your copy of the repository `main` branch up to date:
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```sh
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git checkout main
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git fetch upstream main
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git pull upstream main
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```
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2. Create a new branch for your changes:
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```sh
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git checkout -b <your_feature_branch_name>
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@ -88,9 +113,9 @@ The instructions below explain how to get git and use it on your local computer.
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This creates a local branch on your computer named `your_feature_branch_name`.
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8. Make changes to the documentation as needed (general guidance on this in following sections)
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3. Make changes to the documentation as needed (general guidance on this in following sections)
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9. Once you are satisfied with your changes, you can add them to your local branch using a "commit":
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4. Once you are satisfied with your changes, you can add them to your local branch using a "commit":
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```sh
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git add <file name>
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@ -99,23 +124,26 @@ The instructions below explain how to get git and use it on your local computer.
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For a good commit message, please refer to the [Source Code Management](../contribute/code.md#commits-and-commit-messages) section.
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10. Push your local branch (including commits added to it) to your forked repository on Github.
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5. Push your local branch (including commits added to it) to your forked repository on Github.
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```sh
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git push origin your_feature_branch_name
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```
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11. Go to your forked repository on Github in a web browser, e.g.: `https://github.com/<your git name>/PX4-user_guide.git`.
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6. Go to your forked repository on Github in a web browser, e.g.: `https://github.com/<your git name>/PX4-Autopilot.git`.
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There you should see the message that a new branch has been pushed to your forked repository.
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12. Create a pull request (PR):
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7. Create a pull request (PR):
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- On the right hand side of the "new branch message" (see one step before), you should see a green button saying "Compare & Create Pull Request".
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Press it.
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- A pull request template will be created.
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It will list your commits and you can (must) add a meaningful title (in case of a one commit PR, it's usually the commit message) and message (<span style="color:orange">explain what you did for what reason</span>.
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Check [other pull requests](https://github.com/PX4/PX4-user_guide/pulls) for comparison)
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Check [other pull requests](https://github.com/PX4/PX4-Autopilot/pulls) for comparison).
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- Add the "Documentation" label.
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8. You're done!
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13. You're done!
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Maintainers for the PX4 User Guide will now have a look at your contribution and decide if they want to integrate it.
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Check if they have questions on your changes every once in a while.
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@ -128,10 +156,10 @@ The instructions below explain how to get git and use it on your local computer.
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- [Nodejs 18+](https://nodejs.org/en)
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- [Yarn classic](https://classic.yarnpkg.com/en/docs/install)
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2. Navigate to your local repository:
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2. Navigate to your local repository and the `/docs` subdirectory:
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```sh
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cd ~/wherever/PX4-user_guide
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cd ~/wherever/PX4-Autopilot/docs
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```
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3. Install dependencies (including Vitepress):
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@ -11,3 +11,7 @@ This section provides information about various radio systems that you can use,
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- [FrSky Telemetry](../peripherals/frsky_telemetry.md) — Telemetry on your (FRSky) RC Receiver
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- [TBS Crossfire (CRSF) Telemetry](../telemetry/crsf_telemetry.md) — Telemetry on your (TBS Crossfire) RC Receiver
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- [Satellite Comms (Iridium/RockBlock)](../advanced_features/satcom_roadblock.md) — High-latency comms via satellite
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## See Also
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- [Safety Configuration > Data Link Loss Failsafe](../config/safety.md#data-link-loss-failsafe)
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@ -190,67 +190,189 @@ You can now build and test.
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## Download & Decrypt Log Files
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Encrypted log files are downloaded using the QGroundControl [Log Download](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/analyze_view/log_download.html) view (**Analyze Tools > Log Download**) just like ordinary log files.
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Before you can analyse your logs they must first be downloaded and decrypted.
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PX4 includes Python scripts in [Tools/log_encryption](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/) that make this process easier:
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Note that the encrypted files will be downloaded with the `.ulg` suffix, instead of `.ulge`.
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- [download_logs.py](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/log_encryption/download_logs.py): Downloads the logs to `/logs/encrypted`.
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- [decrypt_logs.py](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/log_encryption/decrypt_logs.py): Decrypts encrypted logs in `/logs/encrypted` to `/logs/decrypted` using a specified (or default) key.
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The following sections show how these are used.
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### Download Log Files
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The easiest way to download the files is to use [download_logs.py](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/log_encryption/download_logs.py).
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This takes a single argument that sets the serial or UDP MAVLink connection to the device as shown below (adjust parameters as needed):
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- UDP connection
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```sh
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cd PX4-Autopilot/Tools/log_encryption
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python3 download_logs.py udp:0.0.0.0:14550
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```
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- USB serial port on Linux
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```sh
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cd PX4-Autopilot/Tools/log_encryption
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python3 download_logs.py /dev/ttyACM0 --baudrate 57600
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```
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The files are downloaded to `/logs/encrypted`, which is the location expected by the decryption script.
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:::info
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Encrypted log files can also be downloaded manually using the QGroundControl [Log Download](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/analyze_view/log_download.html) view (**Analyze Tools > Log Download**) just like ordinary log files.
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||||
Note that in this case you will need to copy the files to `/logs/encrypted` and rename them to the `.ulge` suffix (they are downloaded with the `.ulg` suffix)
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:::
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### Decrypt ULogs
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|
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Before you can analyze your encrypted logs, you will need to decrypt them.
|
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There is a Python script that can be used to decrypt logs in `Tools/decrypt_ulog.py`.
|
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By default, the [decrypt_logs.py](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/log_encryption/decrypt_logs.py) script decrypts encrypted logs in `/logs/encrypted` using the private key in `keys/private/private_key.pem`, and generates the unencrypted logs in `/logs/decrypted`.
|
||||
|
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When decrypting a `.ulge` file the script takes 3 arguments:
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|
||||
1. The encrypted log file.
|
||||
2. An empty string `''`.
|
||||
3. The decryption key (the RSA2048 `.pem` private key which is used to unwrap the symmetric key).
|
||||
|
||||
例如：
|
||||
Navigate into the `Tools/log_encryption` folder and run the tool as shown below:
|
||||
|
||||
```sh
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python3 decrypt_ulog.py \
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/home/john/Downloads/log_24_2024-10-6-23-39-50.ulg '' \
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new_keys/private_key.pem
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||||
cd PX4-Autopilot/Tools/log_encryption
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python3 decrypt_logs.py
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```
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||||
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||||
On success the decrypted log file is created with the `.ulog` suffix.
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||||
|
||||
:::info
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||||
The script can be used with both `.ulge` logs and the `.ulgc`/`.ulgk` files used in [PX4 v1.15 Log Encryption](https://docs.px4.io/v1.15/en/dev_log/log_encryption.html).
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||||
The full command line syntax is given below:
|
||||
On success the decrypted logs can be found in the decrypted folder.
|
||||
|
||||
```sh
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||||
usage: decrypt_ulog.py [-h] [ulog_file] [ulog_key] [rsa_key]
|
||||
PX4-Autopilot/logs/decrypted
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||||
```
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||||
|
||||
CLI tool to decrypt an ulog file
|
||||
The expected folder structure showing the location of encrypted logs, decrypted logs and the default private key is shown below:
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||||
|
||||
positional arguments:
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||||
ulog_file .ulge/.ulgc, encrypted log file
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||||
ulog_key .ulgk, legacy encrypted key (give empty string '' to ignore for .ulge)
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rsa_key .pem format key for decrypting the ulog key
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```sh
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PX4-Autopilot/
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│
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├── logs/ # Main directory for logs
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│ ├── encrypted/ # Stores encrypted logs (.ulge)
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│ │ ├── log-YYYY-MM-DD_HH-MM-SS_ID.ulge # Encrypted logs
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||||
│ │
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│ ├── decrypted/
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│ │ ├── log-YYYY-MM-DD_HH-MM-SS_ID.ulg # Regular PX4 logs
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|
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├── keys/ # Main directory for keys
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├── private/ # Stores private keys
|
||||
├── private_key.pem # RSA private key (2048-bit)
|
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```
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||||
|
||||
optional arguments:
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||||
-h, --help show this help message and exit
|
||||
:::tip
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||||
The script also allows you to specify a particular key and/or to specify a particular file or folder to be decrypted using optional positional arguments:
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||||
|
||||
```sh
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||||
python3 decrypt_logs.py ["" | custom_key] [log_file.ulge | log_folder]
|
||||
```
|
||||
|
||||
The full set of command options are shown below:
|
||||
|
||||
```sh
|
||||
# Default key + default folder
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||||
python3 decrypt_logs.py
|
||||
|
||||
# Specific key + default folder
|
||||
python3 decrypt_logs.py path/to/private_key.pem
|
||||
|
||||
# Specific key + specific file
|
||||
python3 decrypt_logs.py path/to/private_key.pem path/to/log_file.ulge
|
||||
|
||||
# Specific key + specific folder
|
||||
python3 decrypt_logs.py path/to/private_key.pem path/to/log_folder
|
||||
|
||||
# Default key + specific file
|
||||
python3 decrypt_logs.py "" path/to/log_file.ulge
|
||||
|
||||
# Default key + specific folder
|
||||
python3 decrypt_logs.py "" path/to/log_folder
|
||||
```
|
||||
|
||||
:::
|
||||
|
||||
## Generate RSA Public & Private Keys
|
||||
|
||||
To generate a RSA2048 private and public key, you can use OpenSSL:
|
||||
The [Tools/log_encryption/generate_keys.py](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/log_encryption/generate_keys.py) script can be used to generate the public key that is used on the device for encryption, and the private key that is used on the computer as part of log decryption.
|
||||
|
||||
:::details
|
||||
The script depends on OpenSSL.
|
||||
|
||||
Run the following command to check if OpenSSL is present:
|
||||
|
||||
```sh
|
||||
openssl genpkey -algorithm RSA -out private_key.pem -pkeyopt rsa_keygen_bits:2048
|
||||
openssl version
|
||||
```
|
||||
|
||||
Then you can create a public key from this private key:
|
||||
If there is no output you can install OpenSSL as shown below:
|
||||
|
||||
- Ubuntu/Debian
|
||||
|
||||
```sh
|
||||
sudo apt update
|
||||
sudo apt install openssl
|
||||
```
|
||||
|
||||
- macOS
|
||||
|
||||
```sh
|
||||
brew install openssl
|
||||
```
|
||||
|
||||
:::
|
||||
|
||||
The script is used as shown:
|
||||
|
||||
```sh
|
||||
# Convert private_key.pem to a DER file
|
||||
openssl rsa -pubout -in private_key.pem -outform DER -out public_key.der
|
||||
# From the DER file, generate a public key in hex format, separated by commas
|
||||
xxd -p public_key.der | tr -d '\n' | sed 's/\(..\)/0x\1, /g' > public_key.pub
|
||||
cd PX4-Autopilot/Tools/log_encryption
|
||||
python3 generate_keys.py
|
||||
```
|
||||
|
||||
To use this key you would modify your `.px4board` file to point `CONFIG_PUBLIC_KEY1` to the file location of `public_key.pub`.
|
||||
The private key generated should be stored safely and used when you need to decrypt log files.
|
||||
The private and public key will be generated into the folder structure below.
|
||||
The private key should be stored safely and used when you need to [decrypt log files](#decrypt-ulogs).
|
||||
|
||||
```sh
|
||||
PX4-Autopilot/
|
||||
│
|
||||
├── keys/ # Main directory for keys
|
||||
│ ├── private/ # Stores private keys
|
||||
│ │ ├── private_key.pem # RSA private key (2048-bit)
|
||||
│ │
|
||||
│ ├── public/ # Stores public keys
|
||||
│ │ ├── public_key.der # Public key in DER format
|
||||
│ │ ├── public_key.pub # Public key in hex format
|
||||
```
|
||||
|
||||
备注：
|
||||
|
||||
- The script will not overwrite any existing keys in the folders.
|
||||
It will generate a new public key if the folder only includes a private key.
|
||||
- The public key is created with the default name and location expected by the toolchain when building PX4 (i.e. in `CONFIG_PUBLIC_KEY1`), and the private key is created in the default location expected by the script we use for [decrypting ulogs](#decrypt-ulogs).
|
||||
|
||||
### Manual Key Generation
|
||||
|
||||
This section explains how you might manually run the same steps as the script (should you so wish):
|
||||
|
||||
1. First install OpenSSL, as described in the previous section.
|
||||
|
||||
2. Use OpenSSL to generate a RSA2048 private and public key:
|
||||
|
||||
```sh
|
||||
openssl genpkey -algorithm RSA -out private_key.pem -pkeyopt rsa_keygen_bits:2048
|
||||
```
|
||||
|
||||
3. Create a public key from this private key:
|
||||
|
||||
```sh
|
||||
# Convert private_key.pem to a DER file
|
||||
openssl rsa -pubout -in private_key.pem -outform DER -out public_key.der
|
||||
# From the DER file, generate a public key in hex format, separated by commas
|
||||
xxd -p public_key.der | tr -d '\n' | sed 's/\(..\)/0x\1, /g' > public_key.pub
|
||||
```
|
||||
|
||||
4. Copy the keys into the appropriate locations expected by the rest of the toolchain (as shown in previous section).
|
||||
|
||||
5. To use this key, modify your `.px4board` file to point `CONFIG_PUBLIC_KEY1` to the file location of `public_key.pub`.
|
||||
|
||||
```sh
|
||||
CONFIG_PUBLIC_KEY1="../../../keys/public/public_key.pub"
|
||||
```
|
||||
|
||||
@ -1,6 +1,6 @@
|
||||
# MAVLink Peripherals (GCS/OSD/Companion)
|
||||
# MAVLink Peripherals (GCS/OSD/Gimbal/Camera/Companion)
|
||||
|
||||
Ground Control Stations (GCS), On-Screen Displays (OSD), Companion Computers, ADS-B receivers, and other MAVLink peripherals interact with PX4 using separate MAVLink streams, sent via different serial ports.
|
||||
Ground Control Stations (GCS), On-Screen Displays (OSD), MAVLink Cameras & Gimbals, Remote IDs, Companion Computers, ADS-B receivers, and other MAVLink peripherals interact with PX4 using separate MAVLink streams, sent via different serial ports.
|
||||
|
||||
In order to configure that a particular serial port is used for MAVLink traffic with a particular peripheral, we use [Serial Port Configuration](../peripherals/serial_configuration.md), assigning one of the abstract "MAVLink instance" configuration parameters to the desired port.
|
||||
We then set other properties of the MAVLink channel using the parameters associated with our selected MAVLink instance, so that they match the requirements of our particular peripheral.
|
||||
@ -37,8 +37,10 @@ The parameters for each instance are:
|
||||
- _OSD_: Standard set of messages for an OSD system.
|
||||
- _Config_: Standard set of messages and rate configuration for a fast link (e.g. USB).
|
||||
- _Minimal_: Minimal set of messages for use with a GCS connected on a high latency link.
|
||||
- _ExtVision_ or _ExtVisionMin_: Messages for offboard vision systems (ExtVision needed for VIO).
|
||||
- _Iridium_: Messages for an [Iridium satellite communication system](../advanced_features/satcom_roadblock.md).
|
||||
- _External Vision_: Messages for offboard vision systems.
|
||||
- _Gimbal_: Messages for a gimbal. Note this also enables [message forwarding](#MAV_X_FORWARD)
|
||||
- _Onboard Low Bandwidth_: Standard set of messages for a companion computer connected on a lower speed link.
|
||||
- _uAvionix_: Messages for a uAvionix ADS-B beacon.
|
||||
|
||||
::: info
|
||||
If you need to find the specific set of message for each mode search for `MAVLINK_MODE_` in [/src/modules/mavlink/mavlink_main.cpp](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mavlink/mavlink_main.cpp).
|
||||
@ -68,9 +70,7 @@ You will need to reboot PX4 to make the parameter available (i.e. in QGroundCont
|
||||
The parameter used will depend on the [assigned serial port](../advanced_config/parameter_reference.md#serial) - for example: `SER_GPS1_BAUD`, `SER_TEL2_BAUD`, etc.
|
||||
The value you use will depend on the type of connection and the capabilities of the connected MAVLink peripheral.
|
||||
|
||||
<a id="default_ports"></a>
|
||||
|
||||
## Default MAVLink Ports
|
||||
## Default MAVLink Ports {#default_ports}
|
||||
|
||||
### TELEM1
|
||||
|
||||
@ -112,8 +112,16 @@ On this hardware, there is a [default serial port mapping](../peripherals/serial
|
||||
|
||||
For more information see: [PX4 Ethernet Setup](../advanced_config/ethernet_setup.md)
|
||||
|
||||
## Device Specific Setup
|
||||
|
||||
Links to setup instructions for specific MAVLink components:
|
||||
|
||||
- [MAVLink Cameras (Camera Protocol v2) > PX4 Configuration](../camera/mavlink_v2_camera.md#px4-configuration)
|
||||
- [Gimbal Configuration > MAVLink Gimbal (MNT_MODE_OUT=MAVLINK)](../advanced/gimbal_control.md#mavlink-gimbal-mnt-mode-out-mavlink)
|
||||
|
||||
## See Also
|
||||
|
||||
- [Serial Port Configuration](../peripherals/serial_configuration.md)
|
||||
- [PX4 Ethernet Setup > PX4 MAVLink Serial Port Configuration](../advanced_config/ethernet_setup.md#px4-mavlink-serial-port-configuration)
|
||||
- [Serial Port Mapping](../hardware/serial_port_mapping.md)
|
||||
|
||||
|
||||
@ -10,13 +10,14 @@ PX4支持多种类型数传电台：
|
||||
- <del>_HKPilot Telemetry Radio_</del> (Discontinued)
|
||||
- <del>_3DR Telemetry Radio_</del> (Discontinued)
|
||||
- [Telemetry Wifi](../telemetry/telemetry_wifi.md)
|
||||
- [J.Fi Wireless Telemetry Module](../telemetry/jfi_telemetry.md)
|
||||
- [Microhard Serial Telemetry Radio](../telemetry/microhard_serial.md)
|
||||
- [ARK Electron Microhard Serial Telemetry Radio](../telemetry/ark_microhard_serial.md)
|
||||
- [Holybro Microhard P900 Telemetry Radio](../telemetry/holybro_microhard_p900_radio.md)
|
||||
- CUAV Serial Telemetry Radio
|
||||
- [CUAV P8 Telemetry Radio](../telemetry/cuav_p8_radio.md)
|
||||
- XBee Serial Telemetry Radio
|
||||
- [HolyBro XBP9X Telemetry Radio](../telemetry/holybro_xbp9x_radio.md) (Discontinued)
|
||||
- <del>[HolyBro XBP9X Telemetry Radio](../telemetry/holybro_xbp9x_radio.md)</del> (Discontinued)
|
||||
|
||||
PX4 is protocol compatible with [SiK Radio](../telemetry/sik_radio.md) and will generally work out of the box (though you may need to change/use an appropriate connector).
|
||||
|
||||
|
||||
134
docs/zh/telemetry/jfi_telemetry.md
Normal file
134
docs/zh/telemetry/jfi_telemetry.md
Normal file
@ -0,0 +1,134 @@
|
||||
# J.Fi Wireless Telemetry Module
|
||||
|
||||
The J.MARPLE [J.Fi telemetry module](https://jmarple.ai/j-fi/) is a compact and lightweight wireless communication device featuring a PCB-integrated antenna or external antenna, enabling seamless telemetry connections between various drone flight controllers (FC) and ground control stations.
|
||||
|
||||
This module includes a Pixhawk-standard JST 6-pin `TELEM` connector, ensuring compatibility with all PX4-based flight controllers.
|
||||
It supports quick plug-and-play operation to `TELEM1` with default settings, requiring no additional configuration.
|
||||
|
||||
The J.Fi telemetry module provides reliable communication up to approximately 500 meters when using a PCB-integrated antenna.
|
||||
Operating in the 2.4GHz frequency band, it allows unrestricted global use without regulatory limitations.
|
||||
|
||||
|
||||
|
||||
## 购买渠道
|
||||
|
||||
- [https://jmarple.ai/j-fi/](https://jmarple.ai/j-fi/)
|
||||
|
||||
## Technical Specifications
|
||||
|
||||
### Wireless Performance
|
||||
|
||||
- **Frequency Band:** 2.4GHz
|
||||
- **Speed:** Up to 11 Mbps (adjustable)
|
||||
- **Range:** Up to 500 meters (varies upon environments)
|
||||
- **Payload Capacity:** Up to 1400 bytes
|
||||
|
||||
### Network Schemes
|
||||
|
||||
- **Supported Topologies:** 1:1, 1:N, N:N
|
||||
- **Collision Management:** Time Slot-Based Response Delay
|
||||
|
||||
### User-Friendly Features
|
||||
|
||||
- **Buttons:** Pairing and Mode Switching
|
||||
- **LED Indicators:** Real-time status updates
|
||||
- **Configuration:** Web browser-based setup
|
||||
- **Micro USB Port for connecting to PC or GCS**
|
||||
|
||||
## Broadcast Communication
|
||||
|
||||
With default settings enabled, the device automatically broadcasts data to all nearby J.Fi devices.
|
||||
Connect your external device or system to the **Broadcast port**.
|
||||
No additional setup is required.
|
||||
|
||||
|
||||
|
||||
## Paired Communication
|
||||
|
||||
- Modules must first undergo an initial pairing procedure.
|
||||
- Once paired, communication is _restricted to paired J.Fi devices_. Connect your external device or system to the **Pair port.**
|
||||
|
||||
|
||||
|
||||
### 1:1 Pairing
|
||||
|
||||
|
||||
|
||||
- On **each device,** press and hold _button A_, then click the _RST button_.
|
||||
Release _button A_ when _LED 1_ blinks.
|
||||
- Both devices will enter pairing mode
|
||||
- Choose one module and double-click _button A_
|
||||
- On the other module, click _button A_ once
|
||||
- On the first module, click _button A_ once again to finish pairing
|
||||
- Pairing complete
|
||||
|
||||
### 1:N Pairing
|
||||
|
||||
- On **each device,** press and hold _button A_, then click the _RST button_.
|
||||
Release _button A_ when _LED 1_ blinks.
|
||||
- All devices will enter pairing mode
|
||||
- **Host module (1):** Double-click _button A_
|
||||
- **Client modules (N):** Click _button A_ once on each module to pair
|
||||
- **Host module (1):** Click _button A_ again to finish pairing
|
||||
- Pairing complete.
|
||||
|
||||
<lite-youtube videoid="CnjhTfvARmw" title="J.Fi Wireless Telemetry Module Pairing Guide"/>
|
||||
|
||||
## PX4 Setup
|
||||
|
||||
PX4 is plug-and-play with J.Fi if connected to the `TELEM1` port, and should connect without further connection.
|
||||
|
||||
If you want to use another port you will need to assign a MAVLink instance to the serial port (see [MAVLink Peripherals (GCS/OSD/Companion)](../peripherals/mavlink_peripherals.md)) (and possibly unassign whatever is currently using the port).
|
||||
|
||||
### One-to-one (1:1) Setups
|
||||
|
||||
The `TELEM1` port is set to use `57600` as the baud rate by default (and J.Fi is set to match).
|
||||
This default baud rate is calibrated for inexpensive low-power telemetry radios.
|
||||
While this should be sufficient for 1:1 setups, J.Fi will work with much higher rates (i.e., `115200`).
|
||||
|
||||
If you want to change the baud rate:
|
||||
|
||||
1. Change [SER_TEL1_BAUD](../advanced_config/parameter_reference.md#SER_TEL1_BAUD) if you're using the `TELEM1` port (see [Serial Port Configuration](../peripherals/serial_configuration.md) for other ports).
|
||||
2. Update the baud rate in the [J.Fi Configuration](#j-fi-configuration) to match.
|
||||
|
||||
### One-to-many (1:N) Setups
|
||||
|
||||
For one-to-many (1:N) setups a higher baud rate is _highly recommended_ to ensure stable data reception.
|
||||
All J.Fi devices should be set to the same baud rate (although communication may work even when when devices use different baud rates).
|
||||
This should be changed in both PX4 and the J.Fi modules as explained in the previous section.
|
||||
|
||||
You will also need to make sure that all vehicles on the MAVLink network are assigned a unique **System ID** ([MAV_SYS_ID](../advanced_config/parameter_reference.md#MAV_SYS_ID)).
|
||||
|
||||
|
||||
|
||||
<lite-youtube videoid="tPeJA2gn7Zw" title="Simultaneous Control using J.Fi Wireless Telemetry Module"/>
|
||||
|
||||
## QGroundControl Configuration
|
||||
|
||||
The J.Fi will connect plug-and-play to **QGroundControl** and automatically connect just like a SiK Radio.
|
||||
|
||||
However if you change the baud rate from 57600 you will need to create and use a new link configuration:
|
||||
|
||||
1. Disable SiK Radio in QGC (**Application Settings → General → AutoConnect**).
|
||||
2. Create a new link configuration:
|
||||
- Go to **Application Settings → Comms Links**.
|
||||
- Click **Add**.
|
||||
- Set **Type** to **Serial**, configure the **Serial Port** and **Baud Rate** to match the J.Fi device.
|
||||
3. Select **Connect** to connect with the new configuration.
|
||||
|
||||
## J.Fi Configuration
|
||||
|
||||
- **Device:** Press and hold _button B_, then click the _RST button_.
|
||||
Release _button B_ when _LED 2_ blinks.
|
||||
- Device enters configuration mode
|
||||
- **Smart device:** Connect to Wi-Fi network named `J.Fi-xxxxxx` (x: alphanumeric characters)
|
||||
- **Browser:** Go to `192.168.4.1` to open the **configuration page**.
|
||||
- **Configuration page:** Adjust settings as needed, then click **Save**
|
||||
- _LED 1_ blinks once upon saving
|
||||
|
||||
|
||||
|
||||
## 更多信息
|
||||
|
||||
- [User Manual](https://docs.google.com/document/d/1NaVwOLuMCuNpd0uxgilXZ_qfHAnsFgBmaPxX9WGY2h4/edit?usp=sharing)
|
||||
- [ROS Github](https://github.com/SUV-Lab/J-Fi)
|
||||
Loading…
x
Reference in New Issue
Block a user