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Docs: Prettier on takeoff and fix some links (#25218)

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* Prettier on takeoff and fix some links

* Fix flaw link
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Hamish Willee 2025-07-15 12:30:55 +10:00 committed by GitHub
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6
docs/en/debug/swd_debug.md
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@ -104,9 +104,9 @@ The debug port definition includes the following solder pads (on board next to c
| 2 | GPIO1 | +3.3V |
| 3 | GPIO2 | +3.3V |
The socket is a _6-pin JST SH_ - Digikey number: [BM06B-SRSS-TBT(LF)(SN)](https://www.digikey.com/products/en?keywords=455-2875-1-ND) (vertical mount), [SM06B-SRSS-TBT(LF)(SN)](https://www.digikey.com/products/en?keywords=455-1806-1-ND)(side mount).
The socket is a _6-pin JST SH_ - Digikey number: [BM06B-SRSS-TBT(LF)(SN)](https://www.digikey.com/en/products/detail/jst-sales-america-inc/BM06B-SRSS-TBT/1785724) (vertical mount), [SM06B-SRSS-TBT(LF)(SN)](https://www.digikey.com/en/products/detail/jst-sales-america-inc/SM06B-SRSS-TB/926712) (side mount).
You can connect to the debug port using a [cable like this one](https://www.digikey.com/products/en?keywords=A06SR06SR30K152A).
You can connect to the debug port using a [cable like this one](https://www.digikey.com/en/products/detail/jst-sales-america-inc/A06SR06SR30K152A/6009379).
![6-pin JST SH Cable](../../assets/debug/cable_6pin_jst_sh.jpg)
@ -134,7 +134,7 @@ The pinout is as shown below (pins required for debugging are bold):
The GPIO1/2 pins are free pins that can be used to generate signals in software for timing analysis with a logic analyzer.
The socket is a _10-pin JST SH_ - Digikey number: [BM10B-SRSS-TB(LF)(SN)](https://www.digikey.com/products/en?keywords=455-1796-2-ND) (vertical mount) or [SM10B-SRSS-TB(LF)(SN)](https://www.digikey.com/products/en?keywords=455-1810-2-ND) (side mount).
The socket is a _10-pin JST SH_ - Digikey number: [BM10B-SRSS-TB(LF)(SN)](https://www.digikey.com/en/products/detail/jst-sales-america-inc/BM10B-SRSS-TB/926702) (vertical mount) or [SM10B-SRSS-TB(LF)(SN)](https://www.digikey.com/en/products/detail/jst-sales-america-inc/BM10B-SRSS-TB/926702) (side mount).
You can connect to the debug port using a [cable like this one](https://www.digikey.com/products/en?keywords=A10SR10SR30K203A).

9
docs/en/dev_setup/dev_env_windows_cygwin_packager_setup.md
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@ -26,7 +26,6 @@ Omissions:
- Simulation: Gazebo and ROS are not supported.
- Only NuttX and JMAVSim/SITL builds are supported.
- [Known problems](https://github.com/orgs/PX4/projects/6) (Also use to report issues).
### Shell Script Installation
@ -86,7 +85,7 @@ The toolchain gets maintained and hence these instructions might not cover every
That's what [cygwin64/install-cygwin-px4.bat](https://github.com/PX4/PX4-windows-toolchain/blob/master/toolchain/cygwin64/install-cygwin-px4.bat) does.
:::
1. Write up or copy the **batch scripts** [`run-console.bat`](https://github.com/MaEtUgR/PX4Toolchain/blob/master/run-console.bat) and [`setup-environment.bat`](https://github.com/PX4/PX4-windows-toolchain/blob/master/toolchain/scripts/setup-environment.bat).
1. Write up or copy the **batch scripts** [`run-console.bat`](https://github.com/PX4/PX4-windows-toolchain/blob/master/run-console.bat) and [`setup-environment.bat`](https://github.com/PX4/PX4-windows-toolchain/blob/master/toolchain/scripts/setup-environment.bat).
The reason to start all the development tools through the prepared batch script is they preconfigure the starting program to use the local, portable Cygwin environment inside the toolchain's folder.
This is done by always first calling the script [**setup-environment.bat**](https://github.com/PX4/PX4-windows-toolchain/blob/master/toolchain/scripts/setup-environment.bat) and the desired application like the console after that.
@ -102,17 +101,17 @@ The toolchain gets maintained and hence these instructions might not cover every
```
::: info
That's what [cygwin64/install-cygwin-python-packages.bat](https://github.com/MaEtUgR/PX4Toolchain/blob/master/toolchain/cygwin64/install-cygwin-python-packages.bat) does.
That's what [cygwin64/install-cygwin-python-packages.bat](https://github.com/PX4/PX4-windows-toolchain/blob/master/toolchain/cygwin64/install-cygwin-python-packages.bat) does.
:::
1. Download the [**ARM GCC compiler**](https://developer.arm.com/open-source/gnu-toolchain/gnu-rm/downloads) as zip archive of the binaries for Windows and unpack the content to the folder `C:\PX4\toolchain\gcc-arm`.
1. Download the [**ARM GCC compiler**](https://developer.arm.com/Tools%20and%20Software/GNU%20Toolchain) as zip archive of the binaries for Windows and unpack the content to the folder `C:\PX4\toolchain\gcc-arm`.
::: info
This is what the toolchain does in: [gcc-arm/install-gcc-arm.bat](https://github.com/PX4/PX4-windows-toolchain/blob/master/toolchain/gcc-arm/install-gcc-arm.bat).
:::
1. Install the JDK:
- Download Java 14 from [Oracle](https://www.oracle.com/java/technologies/downloads/) or [AdoptOpenJDK](https://adoptopenjdk.net/).
- Download Java 14 from [Oracle](https://www.oracle.com/java/technologies/downloads/)
- Because sadly there is no portable archive containing the binaries directly you have to install it.
- Find the binaries and move/copy them to **C:\PX4\toolchain\jdk**.
- You can uninstall the Kit from your Windows system again, we only needed the binaries for the toolchain.

56
docs/en/flight_modes_fw/takeoff.md
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@ -44,22 +44,28 @@ Special case for invalid local position: In case the local position is invalid o
Parameters that affect both catapult/hand-launch and runway takeoffs:
| Parameter | Description |
| ----------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------- |
| <a id="MIS_TAKEOFF_ALT"></a>[MIS_TAKEOFF_ALT](../advanced_config/parameter_reference.md#MIS_TAKEOFF_ALT) | Minimum altitude setpoint above Home that the vehicle will climb to during takeoff. |
| <a id="FW_TKO_AIRSPD"></a>[FW_TKO_AIRSPD](../advanced_config/parameter_reference.md#FW_TKO_AIRSPD) | Takeoff airspeed (is set to [FW_AIRSPD_MIN](../advanced_config/parameter_reference.md#FW_AIRSPD_MIN) if not defined by operator) |
| <a id="FW_TKO_PITCH_MIN"></a>[FW_TKO_PITCH_MIN](../advanced_config/parameter_reference.md#FW_TKO_PITCH_MIN) | This is the minimum pitch angle setpoint during the climbout phase |
| <a id="FW_T_CLMB_MAX"></a>[FW_T_CLMB_MAX](../advanced_config/parameter_reference.md#FW_T_CLMB_MAX) | Climb rate setpoint during climbout to takeoff altitude. |
| <a id="FW_FLAPS_TO_SCL"></a>[FW_FLAPS_TO_SCL](../advanced_config/parameter_reference.md#FW_FLAPS_TO_SCL) | Flaps setpoint during takeoff |
| <a id="FW_AIRSPD_FLP_SC"></a>[FW_AIRSPD_FLP_SC](../advanced_config/parameter_reference.md#FW_AIRSPD_FLP_SC) | Factor applied to the minimum airspeed when flaps are fully deployed. Necessary if FW_TKO_AIRSPD is below FW_AIRSPD_MIN. |
| Parameter | Description |
| ----------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="MIS_TAKEOFF_ALT"></a>[MIS_TAKEOFF_ALT][MIS_TAKEOFF_ALT] | Minimum altitude setpoint above Home that the vehicle will climb to during takeoff. |
| <a id="FW_TKO_AIRSPD"></a>[FW_TKO_AIRSPD][FW_TKO_AIRSPD] | Takeoff airspeed (is set to [FW_AIRSPD_MIN][FW_AIRSPD_MIN] if not defined by operator) |
| <a id="FW_TKO_PITCH_MIN"></a>[FW_TKO_PITCH_MIN][FW_TKO_PITCH_MIN] | This is the minimum pitch angle setpoint during the climbout phase |
| <a id="FW_T_CLMB_MAX"></a>[FW_T_CLMB_MAX][FW_T_CLMB_MAX] | Climb rate setpoint during climbout to takeoff altitude. |
| <a id="FW_FLAPS_TO_SCL"></a>[FW_FLAPS_TO_SCL][FW_FLAPS_TO_SCL] | Flaps setpoint during takeoff |
| <a id="FW_AIRSPD_FLP_SC"></a>[FW_AIRSPD_FLP_SC][FW_AIRSPD_FLP_SC] | Factor applied to the minimum airspeed when flaps are fully deployed. Needed if [FW_TKO_AIRSPD](#FW_TKO_AIRSPD) is below [FW_AIRSPD_MIN][FW_AIRSPD_MIN]. |
[FW_AIRSPD_MIN]: ../advanced_config/parameter_reference.md#FW_AIRSPD_MIN
[FW_FLAPS_TO_SCL]: ../advanced_config/parameter_reference.md#FW_FLAPS_TO_SCL
[FW_AIRSPD_FLP_SC]: ../advanced_config/parameter_reference.md#FW_AIRSPD_FLP_SC
[FW_TKO_AIRSPD]: ../advanced_config/parameter_reference.md#FW_TKO_AIRSPD
[MIS_TAKEOFF_ALT]: ../advanced_config/parameter_reference.md#MIS_TAKEOFF_ALT
[FW_TKO_PITCH_MIN]: ../advanced_config/parameter_reference.md#FW_TKO_PITCH_MIN
[FW_T_CLMB_MAX]: ../advanced_config/parameter_reference.md#FW_T_CLMB_MAX
::: info
The vehicle always respects normal FW max/min throttle settings during takeoff ([FW_THR_MIN](../advanced_config/parameter_reference.md#FW_THR_MIN), [FW_THR_MAX](../advanced_config/parameter_reference.md#FW_THR_MAX)).
:::
<a id="hand_launch"></a>
## Catapult/Hand Launch
## Catapult/Hand Launch {#hand_launch}
In _catapult/hand-launch mode_ the vehicle waits to detect launch (based on acceleration trigger).
On launch it enables the motor(s) and climbs with the maximum climb rate [FW_T_CLMB_MAX](#FW_T_CLMB_MAX) while keeping the pitch setpoint above [FW_TKO_PITCH_MIN](#FW_TKO_PITCH_MIN).
@ -85,9 +91,7 @@ The _launch detector_ is affected by the following parameters:
| <a id="FW_LAUN_AC_T"></a>[FW_LAUN_AC_T](../advanced_config/parameter_reference.md#FW_LAUN_AC_T) | Trigger time (acceleration must be above threshold for this amount of seconds) |
| <a id="FW_LAUN_MOT_DEL"></a>[FW_LAUN_MOT_DEL](../advanced_config/parameter_reference.md#FW_LAUN_MOT_DEL) | Delay from launch detection to motor spin up |
<a id="runway_launch"></a>
## Runway Takeoff
## Runway Takeoff {#runway_launch}
Runway takeoffs can be used by vehicles with landing gear and and steerable wheel (only).
You will first need to enable the wheel controller using the parameter [FW_W_EN](#FW_W_EN).
@ -110,18 +114,18 @@ It consists of a rate controller (P-I-FF-controller with the parameters [FW_WR_P
Runway takeoff is affected by the following parameters:
| Parameter | Description |
| ----------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------- |
| <a id="RWTO_TKOFF"></a>[RWTO_TKOFF](../advanced_config/parameter_reference.md#RWTO_TKOFF) | Enable runway takeoff |
| <a id="FW_W_EN"></a>[FW_W_EN](../advanced_config/parameter_reference.md#FW_W_EN) | Enable wheel controller |
| <a id="RWTO_MAX_THR"></a>[RWTO_MAX_THR](../advanced_config/parameter_reference.md#RWTO_MAX_THR) | Max throttle during runway takeoff |
| <a id="RWTO_RAMP_TIME"></a>[RWTO_RAMP_TIME](../advanced_config/parameter_reference.md#RWTO_RAMP_TIME) | Throttle ramp up time |
| <a id="RWTO_ROT_AIRSPD"></a>[RWTO_ROT_AIRSPD](../advanced_config/parameter_reference.md#RWTO_ROT_AIRSPD) | Airspeed threshold to start rotation (pitching up). If not configured by operator is set to 0.9\*FW_TKO_AIRSPD. |
| <a id="RWTO_ROT_TIME"></a>[RWTO_ROT_TIME](../advanced_config/parameter_reference.md#RWTO_ROT_TIME) | This is the time desired to linearly ramp in takeoff pitch constraints during the takeoff rotation. |
| <a id="FW_TKO_AIRSPD"></a>[FW_TKO_AIRSPD](../advanced_config/parameter_reference.md#FW_TKO_AIRSPD) | Airspeed setpoint during the takeoff climbout phase (after rotation). If not configured by operator is set to FW_AIRSPD_MIN. |
| <a id="RWTO_NUDGE"></a>[RWTO_NUDGE](../advanced_config/parameter_reference.md#RWTO_NUDGE) | Enable wheel controller nudging while on the runway |
| <a id="FW_WING_SPAN"></a>[FW_WING_SPAN](../advanced_config/parameter_reference.md#FW_WING_SPAN) | The wingspan of the vehicle. Used to prevent wingstrikes. |
| <a id="FW_WING_HEIGHT"></a>[FW_WING_HEIGHT](../advanced_config/parameter_reference.md#FW_WING_HEIGHT) | The height of the wings above ground (ground clearance). Used to prevent wingstrikes. |
| Parameter | Description |
| -------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------- |
| <a id="RWTO_TKOFF"></a>[RWTO_TKOFF](../advanced_config/parameter_reference.md#RWTO_TKOFF) | Enable runway takeoff |
| <a id="FW_W_EN"></a>[FW_W_EN](../advanced_config/parameter_reference.md#FW_W_EN) | Enable wheel controller |
| <a id="RWTO_MAX_THR"></a>[RWTO_MAX_THR](../advanced_config/parameter_reference.md#RWTO_MAX_THR) | Max throttle during runway takeoff |
| <a id="RWTO_RAMP_TIME"></a>[RWTO_RAMP_TIME](../advanced_config/parameter_reference.md#RWTO_RAMP_TIME) | Throttle ramp up time |
| <a id="RWTO_ROT_AIRSPD"></a>[RWTO_ROT_AIRSPD](../advanced_config/parameter_reference.md#RWTO_ROT_AIRSPD) | Airspeed threshold to start rotation (pitching up). If not configured by operator is set to 0.9\*FW_TKO_AIRSPD. |
| <a id="RWTO_ROT_TIME"></a>[RWTO_ROT_TIME](../advanced_config/parameter_reference.md#RWTO_ROT_TIME) | This is the time desired to linearly ramp in takeoff pitch constraints during the takeoff rotation. |
| <a id="FW_TKO_AIRSPD"></a>[FW_TKO_AIRSPD](../advanced_config/parameter_reference.md#FW_TKO_AIRSPD) | Airspeed setpoint during the takeoff climbout phase (after rotation). If not configured by operator is set to FW_AIRSPD_MIN. |
| <a id="RWTO_NUDGE"></a>[RWTO_NUDGE](../advanced_config/parameter_reference.md#RWTO_NUDGE) | Enable wheel controller nudging while on the runway |
| <a id="FW_WING_SPAN"></a>[FW_WING_SPAN](../advanced_config/parameter_reference.md#FW_WING_SPAN) | The wingspan of the vehicle. Used to prevent wingstrikes. |
| <a id="FW_WING_HEIGHT"></a>[FW_WING_HEIGHT](../advanced_config/parameter_reference.md#FW_WING_HEIGHT) | The height of the wings above ground (ground clearance). Used to prevent wingstrikes. |
## See Also