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4
docs/ko/SUMMARY.md
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@ -194,7 +194,6 @@
- [Discontinued Autopilots/Vehicles](flight_controller/autopilot_discontinued.md)
- [Drotek Dropix (FMUv2)](flight_controller/dropix.md)
- [Omnibus F4 SD](flight_controller/omnibus_f4_sd.md)
- [BetaFPV Beta75X 2S Brushless Whoop](complete_vehicles_mc/betafpv_beta75x.md)
- [Bitcraze Crazyflie 2.0 ](complete_vehicles_mc/crazyflie2.md)
- [Aerotenna OcPoC-Zynq Mini](flight_controller/ocpoc_zynq.md)
- [CUAV X7](flight_controller/cuav_x7.md)
@ -209,8 +208,6 @@
- [mRo AUAV-X2](flight_controller/auav_x2.md)
- [NXP RDDRONE-FMUK66 FMU](flight_controller/nxp_rddrone_fmuk66.md)
- [3DR Pixhawk 1](flight_controller/pixhawk.md)
- [Snapdragon Flight](flight_controller/snapdragon_flight.md)
- [Intel® Aero RTF Drone](complete_vehicles_mc/intel_aero.md)
- [Pixhawk Autopilot Bus (PAB) & Carriers](flight_controller/pixhawk_autopilot_bus.md)
- [ARK Electronics Pixhawk Autopilot Bus Carrier](flight_controller/ark_pab.md)
- [Mounting the Flight Controller](assembly/mount_and_orient_controller.md)
@ -305,7 +302,6 @@
- [Zubax Telega](dronecan/zubax_telega.md)
- [PX4 Sapog ESC Firmware](dronecan/sapog.md)
- [Holybro Kotleta](dronecan/holybro_kotleta.md)
- [Zubax Orel](dronecan/zubax_orel.md)
- [Vertiq](peripherals/vertiq.md)
- [VESC](peripherals/vesc.md)

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docs/ko/advanced_config/compass_power_compensation.md
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@ -12,8 +12,6 @@ Moving the compass away from power-carrying cables is the easiest and most effec
The process is demonstrated for a multicopter, but is equally valid for other vehicle types.
:::
<a id="when"></a>
## 전력 보정은 언제 적용됩니까?
전력 보정은 아래의 사항들이 모두 해당되는 경우에만 권장됩니다.
@ -26,8 +24,6 @@ The process is demonstrated for a multicopter, but is equally valid for other ve
3. 드론 케이블이 모두 제자리에 고정되어 이동할 수 없는 경우. (전류가 흐르는 케이블이 움직일 수 있다면 계산된 보정 매개 변수가 유효하지 않습니다)
<a id="how"></a>
## 나침반 보정 방법
1. 드론의 펌웨어 버전이 전력 보정을 지원하는지 확인하십시오. (현재 마스터 버전 또는 v.1.11.0 릴리즈)

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docs/ko/advanced_config/sensor_thermal_calibration.md
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@ -14,9 +14,7 @@ Any subsequent standard calibration will therefore update `TC_*` parameters and
Releases up to PX4 v1.14, do not support thermal calibration of the magnetometer.
:::
<a id="test_setup"></a>
## 테스트 설정 / 모범 사례
## Test Setup/Best Practice {#test_setup}
The [calibration procedures](#calibration_procedures) described in the following sections are ideally run in an _environmental chamber_ (a temperature and humidity controlled environment) as the board is heated from the lowest to the highest operating/calibration temperature.
Before starting the calibration, the board is first _cold soaked_ (cooled to the minimum temperature and allowed to reach equilibrium).
@ -46,9 +44,7 @@ The bag/silica is to prevent condensation from forming on the board.
To check the status of the onboard thermal calibration use the MAVlink console (or NuttX console) to check the reported internal temp from the sensor.
:::
<a id="calibration_procedures"></a>
## 교정 절차
## Calibration Procedures {#calibration_procedures}
PX4는 두 가지 보정 절차를 지원합니다.
@ -57,9 +53,7 @@ PX4는 두 가지 보정 절차를 지원합니다.
오프 보드 접근 방식은 더 복잡하고 느리지만, 테스트 설정에 대한 지식이 덜 필요하고 검증하기가 용이합니다.
<a id="onboard_calibration"></a>
### 온보드 교정 절차
### Onboard Calibration Procedure {#onboard_calibration}
온보드 보정은 전적으로 장치에서 실행됩니다. 테스트 설정으로 달성할 수있는 온도 상승 양에 대한 지식이 필요합니다.
@ -76,9 +70,7 @@ PX4는 두 가지 보정 절차를 지원합니다.
9. Perform a 6-point accel calibration via the system console using `commander calibrate accel` or via _QGroundControl_. 보드를 처음 설정하는 경우에는 자이로와 자력계 보정도 수행하여야 합니다.
10. 보정중 갑작스러운 오프셋 변경으로 인하여 내비게이션 추정기가 혼란스럽고 일부 매개변수는 다음 시작까지 이를 사용하는 알고리즘에 의해 로드되지 않기 때문에 센서 보정 후 비행하기 전에 항상 보드에 전원을 다시 공급해야합니다.
<a id="offboard_calibration"></a>
### 오프보드 교정 절차
### Offboard Calibration Procedure {#offboard_calibration}
오프보드 보정은 보정 테스트 중에 수집된 데이터를 사용하여 개발 컴퓨터에서 실행됩니다. 이 방법은 데이터 품질과 곡선 맞춤을 시각적으로 제공합니다.
@ -114,9 +106,7 @@ PX4는 두 가지 보정 절차를 지원합니다.
12. Power the board and perform a normal accelerometer sensor calibration using _QGroundControl_. 보드의 교정 온도 범위 내에서, 이 단계를 수행하여야 합니다. 갑작스러운 오프셋 변경으로 인하여 내비게이션 추정기가 혼란할 수 있고, 일부 매개변수는 다음 시작까지 이를 사용하는 알고리즘에 의해 로드되지 않기 때문에 이 단계 후에는 보드에 전원을 공급하여야 합니다.
<a id="implementation"></a>
## 구현 상세
## Implementation Detail {#implementation}
교정은 내부 온도 범위에서 센서 값의 변화를 측정하고 데이터에 대해 다항식 맞춤을 수행하여 센서 데이터를 수정에 사용하는 계수 세트 (매개변수로 저장됨)를 계산하는 프로세스를 의미합니다. 보상은 온도에 따른 오프셋 변경을 수정하기 위하여 센서 판독 값에서 차감되는 오프셋을 계산하기 위해 내부 온도를 사용하는 프로세스를 의미합니다.
@ -145,7 +135,6 @@ TC_[type][instance]_[cal_name]_[axis]
- `instance`: is an integer 0,1 or 2 allowing for calibration of up to three sensors of the same `type`.
- `cal_name`: is a string identifying the calibration value. 다음의 값을 가질 수 있습니다.
- `Xn`: Polynomial coefficient where n is the order of the coefficient, e.g. `X3 * (temperature - reference temperature)**3`.
- `SCL`: scale factor.
- `TREF`: reference temperature (deg C).

4
docs/ko/advanced_config/tuning_the_ecl_ekf.md
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@ -446,9 +446,7 @@ Airspeed data will be used when it exceeds the threshold set by a positive value
Fixed-wing platforms can take advantage of an assumed sideslip observation of zero to improve wind speed estimation and also enable wind speed estimation without an airspeed sensor.
This is enabled by setting the [EKF2_FUSE_BETA](../advanced_config/parameter_reference.md#EKF2_FUSE_BETA) parameter to 1.
<a id="mc_wind_estimation_using_drag"></a>
### 항력을 사용한 멀티콥터 바람 추정
### Multicopter Wind Estimation using Drag Specific Forces {#mc_wind_estimation_using_drag}
Multi-rotor platforms can take advantage of the relationship between airspeed and drag force along the X and Y body axes to estimate North/East components of wind velocity.
This can be enabled using [EKF2_DRAG_CTRL](../advanced_config/parameter_reference.md#EKF2_DRAG_CTRL).

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docs/ko/advanced_features/precland.md
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@ -56,9 +56,7 @@ A flow diagram showing the phases can be found in [landing phases flow Diagram](
Precision landing can be used in missions, during the landing phase in _Return mode_, or by entering the _Precision Land_ mode.
<a id="mission"></a>
### 미션 모드 정밀 착륙
### Mission Precision Landing {#mission}
Precision landing can be initiated as part of a [mission](../flying/missions.md) using [MAV_CMD_NAV_LAND](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_LAND) with `param2` set appropriately:

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docs/ko/assembly/quick_start_cuav_v5_nano.md
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@ -113,9 +113,7 @@ The vehicle-based radio should be connected to the **TELEM1** or **TELEM2** port
![quickstart](../../assets/flight_controller/cuav_v5_nano/connection/v5_nano_quickstart_07.png)
<a id="sd_card"></a>
## SD 카드(선택 사항)
## SD Card (Optional) {#sd_card}
An [SD card](../getting_started/px4_basic_concepts.md#sd-cards-removable-memory) is inserted in the factory (you do not need to do anything).

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docs/ko/assembly/quick_start_cuav_v5_plus.md
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@ -114,9 +114,7 @@ The vehicle-based radio should be connected to either the `TELEM1` or `TELEM2` p
![V5+ AutoPilot](../../assets/flight_controller/cuav_v5_plus/connection/v5+_quickstart_06.png)
<a id="sd_card"></a>
## SD 카드(선택 사항)
## SD Card (Optional) {#sd_card}
An [SD card](../getting_started/px4_basic_concepts.md#sd-cards-removable-memory) is inserted in the factory (you do not need to do anything).

6
docs/ko/assembly/quick_start_pixhawk4.md
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@ -148,9 +148,7 @@ The vehicle-based radio should be connected to the **TELEM1** port as shown belo
![Pixhawk 4/Telemetry Radio](../../assets/flight_controller/pixhawk4/pixhawk4_telemetry_radio.jpg)
<a id="sd_card"></a>
## SD 카드(선택 사항)
## SD Card (Optional) {#sd_card}
SD cards are highly recommended as they are needed to [log and analyse flight details](../getting_started/flight_reporting.md), to run missions, and to use UAVCAN-bus hardware.
Insert the card (included in Pixhawk 4 kit) into _Pixhawk 4_ as shown below.
@ -194,4 +192,4 @@ QuadPlane specific configuration is covered here: [QuadPlane VTOL Configuration]
- [Pixhawk 4](../flight_controller/pixhawk4.md) (Overview page)
- [Pixhawk 4 Technical Data Sheet](https://github.com/PX4/PX4-Autopilot/blob/main/docs/assets/flight_controller/pixhawk4/pixhawk4_technical_data_sheet.pdf)
- [Pixhawk 4 Pinouts](https://cdn.shopify.com/s/files/1/0604/5905/7341/files/Pixhawk4-Pinouts.pdf) (Holybro)
- [Pixhawk 4 Quick Start Guide (Holybro)](https://holybro.com/manual/Pixhawk4-quickstartguide.pdf)
- [Pixhawk 4 Quick Start Guide (Holybro)](https://cdn.shopify.com/s/files/1/0604/5905/7341/files/Pixhawk4-quickstartguide.pdf)

2
docs/ko/assembly/quick_start_pixhawk5x.md
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@ -53,7 +53,7 @@ The GPS module's integrated safety switch is enabled _by default_ (when enabled,
## 전원
Connect the output of the _PM02D Power Module_ (PM board) that comes with the Standard Set to one of the **POWER** port of _Pixhawk 5X_ using the 6-wire cable.
The PM02D and Power ports on the Pixhawk 5X uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/molex/products/part-detail/pcb_receptacles/5024430670) & [Housing](https://www.molex.com/molex/products/part-detail/crimp_housings/5024390600).
The PM02D and Power ports on the Pixhawk 5X uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/en-us/products/part-detail/5024430670) & [Housing](https://www.molex.com/molex/products/part-detail/crimp_housings/5024390600).
The PM02D Power Module supports **2~6S** battery, the board input should be connected to your LiPo battery. Note that the PM board does not supply power to the + and - pins of **FMU PWM OUT** and **I/O PWM OUT**.

2
docs/ko/assembly/quick_start_pixhawk6x.md
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@ -66,7 +66,7 @@ The GPS module's integrated safety switch is enabled _by default_ (when enabled,
## 전원
Connect the output of the _PM02D Power Module_ (PM board) that comes with the Standard Set to one of the **POWER** port of _Pixhawk 6X_ using the 6-wire cable.
The PM02D and Power ports on the Pixhawk 6X uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/molex/products/part-detail/pcb_receptacles/5024430670) & [Housing](https://www.molex.com/molex/products/part-detail/crimp_housings/5024390600).
The PM02D and Power ports on the Pixhawk 6X uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/en-us/products/part-detail/5024430670) & [Housing](https://www.molex.com/molex/products/part-detail/crimp_housings/5024390600).
The PM02D Power Module supports **2~6S** battery, the board input should be connected to your LiPo battery. Note that the PM board does not supply power to the + and - pins of **FMU PWM OUT** and **I/O PWM OUT**.

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docs/ko/camera/fc_connected_camera.md
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@ -118,7 +118,7 @@ The camera trigger driver supports several backends - each for a specific applic
| 1 | Enables the GPIO interface. The AUX outputs are pulsed high or low (depending on the `TRIG_POLARITY` parameter) every [TRIG_INTERVAL](../advanced_config/parameter_reference.md#TRIG_INTERVAL) duration. This can be used to trigger most standard machine vision cameras directly. Note that on PX4FMU series hardware (Pixhawk, Pixracer, etc.), the signal level on the AUX pins is 3.3v. |
| 2 | Enables the Seagull MAP2 interface. This allows the use of the [Seagull MAP2](https://www.seagulluav.com/product/seagull-map2/) to interface to a multitude of supported cameras. Pin/Channel 1 (camera trigger) and Pin/Channel 2 (mode selector) of the MAP2 should be connected to the lower and higher mapped [camera trigger pins](#trigger-output-pin-configuration). Using Seagull MAP2, PX4 also supports automatic power control and keep-alive functionalities of Sony Multiport cameras like the QX-1. |
| 3 | This mode enables MAVLink cameras that used the legacy [MAVLink interface listed above](#mavlink-command-interface). The messages are automatically emitted on the MAVLink `onboard` channel when found in missions. PX4 emits the `CAMERA_TRIGGER` MAVLink message when a camera is triggered, by default to the `onboard` channel (if this is not used, custom stream will need to be enabled). [Simple MAVLink cameras](../camera/mavlink_v1_camera.md) explains this use case in more detail. |
| 4 | Enables the generic PWM interface. This allows the use of [infrared triggers](https://hobbyking.com/en_us/universal-remote-control-infrared-shutter-ir-rc-1g.html) or servos to trigger your camera. |
| 4 | Enables the generic PWM interface. This allows the use of [infrared triggers](https://www.seagulluav.com/product/seagull-ir/) or servos to trigger your camera. |
### Trigger Output Pin Configuration

4
docs/ko/companion_computer/companion_computer_peripherals.md
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@ -54,8 +54,8 @@ They are in no way guaranteed to be plug and play with your companion computer.
Popular stereo cameras include:
- [Intel® RealSense™ Depth Camera D435](https://www.intelrealsense.com/depth-camera-d435/)
- [Intel® RealSense™ Depth Camera D415](https://www.intelrealsense.com/depth-camera-d415/)
- [Intel® RealSense™ Depth Camera D435](https://realsenseai.com/stereo-depth-cameras/stereo-depth-camera-d435/)
- [Intel® RealSense™ Depth Camera D415](https://realsenseai.com/stereo-depth-cameras/stereo-depth-camera-d415/)
- [DUO MLX](https://duo3d.com/product/duo-minilx-lv1)
### VIO Cameras/Sensors

6
docs/ko/complete_vehicles_mc/crazyflie2.md
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@ -38,7 +38,7 @@ The main hardware documentation is here: https://wiki.bitcraze.io/projects:crazy
- [Crazyflie 2.0](https://store.bitcraze.io/collections/kits/products/crazyflie-2-0).
- [Crazyradio PA 2.4 GHz USB dongle](https://store.bitcraze.io/products/crazyradio-pa): used for wireless communication between _QGroundControl_ and Crazyflie 2.0.
- [Breakout deck](https://store.bitcraze.io/collections/decks/products/breakout-deck): breakout expansion board for connecting new peripherals.
- [Flow deck](https://store.bitcraze.io/collections/decks/products/flow-deck): contains an optical flow sensor to measure movements of the ground and a distance sensor to measure the distance to the ground.
- [Flow deck](https://store.bitcraze.io/products/flow-deck): contains an optical flow sensor to measure movements of the ground and a distance sensor to measure the distance to the ground.
This will be useful for precise altitude and position control.
- [Z-ranger deck](https://store.bitcraze.io/collections/decks/products/z-ranger-deck) has the same distance sensor as the Flow deck to measure the distance to the ground.
This will be useful for precise altitude control.
@ -234,7 +234,7 @@ This is the rate at which Joystick commands are sent from QGroundControl to Craz
Crazyflie 2.0 is able to fly with precise control in [Stabilized mode](../flight_modes_mc/manual_stabilized.md), [Altitude mode](../flight_modes_mc/altitude.md) and [Position mode](../flight_modes_mc/position.md).
- You will need the [Z-ranger deck](https://store.bitcraze.io/collections/decks/products/z-ranger-deck) to fly in _Altitude_ mode.
If you also want to fly in the _Position_ mode, it is recommended you buy the [Flow deck](https://store.bitcraze.io/collections/decks/products/flow-deck) which also has the integrated Z-ranger sensor.
If you also want to fly in the _Position_ mode, it is recommended you buy the [Flow deck](https://store.bitcraze.io/products/flow-deck) which also has the integrated Z-ranger sensor.
- The onboard barometer is highly susceptible to any external wind disturbances including those created by Crazyflie's own propellers. Hence, we isolated the barometer with a piece of foam, and then mounted the distance sensor on top of it as shown below:
![Crazyflie barometer](../../assets/flight_controller/crazyflie/crazyflie_barometer.jpg)
@ -266,7 +266,7 @@ Since the onboard barometer is highly susceptible to wind disturbances created b
## Position Control
With [Flow deck](https://store.bitcraze.io/collections/decks/products/flow-deck), you can fly Crazyflie 2.0 in _Position mode_.
With [Flow deck](https://store.bitcraze.io/products/flow-deck), you can fly Crazyflie 2.0 in _Position mode_.
Unlike [PX4FLOW](../sensor/px4flow.md), the flow deck does not house a gyro, hence the onboard gyro is used for flow fusion to find the local position estimates.
Moreover, the flow deck shares the same SPI bus as the SD card deck, therefore logging at high rate on SD card is not recommended when flying in _Position mode_.

4
docs/ko/complete_vehicles_mc/crazyflie21.md
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@ -12,7 +12,7 @@ Crazyflie 2.1 is only able to fly in [Stabilized mode](../flight_modes_mc/manual
:::
The Crazyflie line of micro quads was created by Bitcraze AB.
An overview of the Crazyflie 2.1 can be [found here](https://www.bitcraze.io/products/crazyflie-2-1/).
An overview of the Crazyflie 2.1 can be [found here](https://www.bitcraze.io/products/crazyflie-2-1-brushless/).
![Crazyflie2 Image](../../assets/flight_controller/crazyflie21/crazyflie_2.1.jpg)
@ -42,7 +42,7 @@ Useful peripheral hardware includes:
- [Crazyradio PA 2.4 GHz USB dongle](https://store.bitcraze.io/products/crazyradio-pa): Wireless communication between _QGroundControl_ and Crazyflie 2.0
- [Breakout deck](https://store.bitcraze.io/collections/decks/products/breakout-deck): Breakout expansion board for connecting new peripherals.
- [Flow deck v2](https://store.bitcraze.io/collections/decks/products/flow-deck-v2): Optical flow sensor and a distance sensor for altitude and position control.
- [Flow deck v2](https://store.bitcraze.io/products/flow-deck-v2): Optical flow sensor and a distance sensor for altitude and position control.
- [Z-ranger deck v2](https://store.bitcraze.io/collections/decks/products/z-ranger-deck-v2): Distance sensor for altitude control (same sensor as the Flow deck).
- [Multi-ranger deck](https://store.bitcraze.io/collections/decks/products/multi-ranger-deck) Multi-direction object detection
- [Buzzer deck](https://store.bitcraze.io/collections/decks/products/buzzer-deck) Audio feedback on system events, like low battery or charging completed.

2
docs/ko/concept/control_allocation.md
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@ -46,7 +46,7 @@ Overview of the mixing pipeline in terms of modules and uORB topics (press to sh
The driver defines a parameter prefix, e.g. `PWM_MAIN` that the library then uses for configuration.
Its main task is to select from the input topics and assign the right data to the outputs based on the user set `<param_prefix>_FUNCx` parameter values.
For example if `PWM_MAIN_FUNC3` is set to **Motor 2**, the 3rd output is set to the 2nd motor from `actuator_motors`.
- output functions are defined under [src/lib/mixer_module/output_functions.yaml](https://github.com/PX4/PX4-Autopilot/tree/main/src/lib/mixer_module/output_functions.yaml).
- output functions are defined under [src/lib/mixer_module/output_functions.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/lib/mixer_module/output_functions.yaml).
- if you want to control an output from MAVLink, set the relevant output function to **Offboard Actuator Set x**, and then send the [MAV_CMD_DO_SET_ACTUATOR](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_SET_ACTUATOR) MAVLink command.
## Adding a new Geometry or Output Function

2
docs/ko/config/actuators.md
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@ -379,7 +379,7 @@ The following functions can only be applied to FMU outputs:
Enabled when [`PPS_CAP_ENABLE==0`](../advanced_config/parameter_reference.md#PPS_CAP_ENABLE)
:::info
The functions are defined in source at [/src/lib/mixer_module/output_functions.yaml](https://github.com/PX4/PX4-Autopilot/tree/main/src/lib/mixer_module/output_functions.yaml).
The functions are defined in source at [/src/lib/mixer_module/output_functions.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/lib/mixer_module/output_functions.yaml).
This list is correct at PX4 v1.15.
:::

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docs/ko/config/index.md
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@ -69,7 +69,7 @@ The video below shows most of the calibration process (it uses an older version
## 지원
If you need help with the configuration you can ask for help on the [QGroundControl Support forum](https://discuss.px4.io//c/qgroundcontrol/qgroundcontrol-usage).
If you need help with the configuration you can ask for help on the [QGroundControl Support forum](https://discuss.px4.io/c/qgroundcontrol/qgroundcontrol-usage/18).
## See Also

2
docs/ko/config_mc/pid_tuning_guide_multicopter.md
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@ -64,7 +64,7 @@ The derivative term (**D**) is on the feedback path in order to avoid an effect
:::tip
더 자세한 정보는 다음을 참고하십시오.
- [Not all PID controllers are the same](https://www.controleng.com/articles/not-all-pid-controllers-are-the-same/) (www.controleng.com)
- [Not all PID controllers are the same](https://www.controleng.com/not-all-pid-controllers-are-the-same/) (www.controleng.com)
- [PID controller > Standard versus parallel (ideal) PID form](https://en.wikipedia.org/wiki/PID_controller#Standard_versus_parallel_\(ideal\)_form) (Wikipedia)
:::

6
docs/ko/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).

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@ -26,7 +26,7 @@ The recommended process for developing a new frame configuration is:
2. Configure the [geometry and actuator outputs](../config/actuators.md).
3. Perform other [basic configuration](../config/index.md).
4. Tune the vehicle.
5. Run the [`param show-for-airframe`](../modules/modules_command.md#param) console command to list the parameter difference compared to the original generic airfame.
5. Run the [`param show-for-airframe`](../modules/modules_command.md#param) console command to list the parameter difference compared to the original generic airframe.
Once you have the parameters you can create a new frame configuration file by copying the configuration file for the generic configuration, and appending the new parameters.
@ -39,7 +39,7 @@ To add a frame configuration to firmware:
1. Create a new config file in the [init.d/airframes](https://github.com/PX4/PX4-Autopilot/tree/main/ROMFS/px4fmu_common/init.d/airframes) folder.
- Give it a short descriptive filename and prepend the filename with an unused autostart ID (for example, `1033092_superfast_vtol`).
- Update the file with configuration parameters and apps (see section above).
2. Add the name of the new frame config file to the [CMakeLists.txt](https://github.com/PX4/PX4-Autopilot/blob/main/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt) in the relevant section for the type of vehicle
2. Add the name of the new frame config file to the [CMakeLists.txt](https://github.com/PX4/PX4-Autopilot/blob/main/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt) in the relevant section for the type of vehicle.
3. [Build and upload](../dev_setup/building_px4.md) the software.
## How to add a Configuration to an SD Card
@ -65,6 +65,18 @@ The configuration file consists of several main blocks:
New frame configuration files are only automatically added to the build system after a clean build (run `make clean`).
:::
## Force Reset of Airframe Parameters on Update
To force a reset to the airframe defaults for all users of a specific airframe during update, increase the `PARAM_DEFAULTS_VER` variable in the airframe configuration.
It starts at `1` in [rcS](https://github.com/PX4/PX4-Autopilot/blob/main/ROMFS/px4fmu_common/init.d/rcS#L40).
Add `set PARAM_DEFAULTS_VER 2` in your airframe file, increasing the value with each future reset needed.
This value is compared to [SYS_PARAM_VER](https://github.com/PX4/PX4-Autopilot/pull/advanced_config/parameter_reference.md#SYS_PARAM_VER) during PX4 updates.
If different, user-customized parameters are reset to defaults.
Note that system parameters primarily include those related to the vehicle airframe configuration.
Parameters such as accumulating flight hours, RC and sensor calibrations, are preserved.
### Example - Generic Quadcopter Frame Config
The configuration file for a generic Quad X copter is shown below ([original file here](https://github.com/PX4/PX4-Autopilot/blob/main/ROMFS/px4fmu_common/init.d/airframes/4001_quad_x)).

9
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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
@ -95,7 +94,7 @@ The toolchain gets maintained and hence these instructions might not cover every
:::
6. 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).
6. 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.
@ -111,11 +110,11 @@ 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.
:::
8. 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`.
8. 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).
@ -124,7 +123,7 @@ The toolchain gets maintained and hence these instructions might not cover every
9. 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.

2
docs/ko/dronecan/ark_mosaic__rtk_gps.md
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@ -12,7 +12,7 @@ Order this module from:
## Hardware Specifications
- [Open Source Schematic and BOM](https://github.com/ARK-Electronics/ARK_MosaicX5_GPS)
- [Open Source Schematic and BOM](https://github.com/ARK-Electronics/ARK_MOSAIC-X5_GPS)
- 센서
- [Septentrio Mosaic-X5 GPS](https://www.septentrio.com/en/products/gnss-receivers/gnss-receiver-modules/mosaic-x5)
- Triple Band L1/L2/L5

2
docs/ko/dronecan/cuav_can_pmu.md
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@ -9,7 +9,7 @@ It is recommended for use in large commercial vehicles, but might also be used f
## 구매처
- [CUAV store](https://store.cuav.net/index.php)
- [CUAV store](https://store.cuav.net/)
- [CUAV aliexpress ](https://www.aliexpress.com/item/4000369700535.html)
## Hardware Specifications

1
docs/ko/dronecan/escs.md
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@ -4,7 +4,6 @@ PX4 supports DroneCAN compliant ESCs.
For more information, see the following articles for specific hardware/firmware:
- [PX4 Sapog ESC Firmware](sapog.md)
- [Zubax Orel 20/21](zubax_orel.md)
- [Holybro Kotleta 20](holybro_kotleta.md)
- [Zubax Telega](zubax_telega.md)
- [Vertiq](../peripherals/vertiq.md) (larger modules)

18
docs/ko/dronecan/index.md
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@ -140,8 +140,8 @@ Sensor parameters may not exist (be visible in QGC) until you have enabled the a
For example, [SENS_FLOW_MINHGT](../advanced_config/parameter_reference.md#SENS_FLOW_MINHGT) does not exist until [UAVCAN_SUB_FLOW](../advanced_config/parameter_reference.md#UAVCAN_SUB_FLOW) is enabled.
:::
For example, to use a connected DroneCAN smart battery you would enable the [UAVCAN_SUB_BAT](../advanced_config/parameter_reference.md#UAVCAN_SUB_BAT) parameter, which would subscribe PX4 to receive [BatteryInfo](https://dronecan.github.io/Specification/1._Introduction//7._List_of_standard_data_types/#batteryinfo) DroneCAN messages.
If using a peripheral that needs to know if PX4 is armed, you would need to set the [UAVCAN_PUB_ARM](../advanced_config/parameter_reference.md#UAVCAN_PUB_ARM) parameter so that PX4 starts publishing [ArmingStatus](https://dronecan.github.io/Specification/1._Introduction//7._List_of_standard_data_types/#armingstatus) messages.
For example, to use a connected DroneCAN smart battery you would enable the [UAVCAN_SUB_BAT](../advanced_config/parameter_reference.md#UAVCAN_SUB_BAT) parameter, which would subscribe PX4 to receive [BatteryInfo](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#batteryinfo) DroneCAN messages.
If using a peripheral that needs to know if PX4 is armed, you would need to set the [UAVCAN_PUB_ARM](../advanced_config/parameter_reference.md#UAVCAN_PUB_ARM) parameter so that PX4 starts publishing [ArmingStatus](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#armingstatus) messages.
The parameter names are prefixed with `UAVCAN_SUB_` and `UAVCAN_PUB_` to indicate whether they enable PX4 subscribing or publishing.
The remainder of the name indicates the specific message/feature being set.
@ -165,7 +165,7 @@ The DroneCAN sensor parameters/subscriptions that you can enable are (in PX4 v1.
- [UAVCAN_SUB_DPRES](../advanced_config/parameter_reference.md#UAVCAN_SUB_DPRES): Differential pressure
- [UAVCAN_SUB_FLOW](../advanced_config/parameter_reference.md#UAVCAN_SUB_FLOW): Optical flow
- [UAVCAN_SUB_GPS](../advanced_config/parameter_reference.md#UAVCAN_SUB_GPS): GPS
- [UAVCAN_SUB_GPS_R](../advanced_config/parameter_reference.md#UAVCAN_SUB_GPS_R)<Badge type="tip" text="PX4 v1.15" />: Subscribes to GNSS relative message ([RelPosHeading](https://dronecan.github.io/Specification/1._Introduction//7._List_of_standard_data_types/#relposheading)).
- [UAVCAN_SUB_GPS_R](../advanced_config/parameter_reference.md#UAVCAN_SUB_GPS_R)<Badge type="tip" text="PX4 v1.15" />: Subscribes to GNSS relative message ([RelPosHeading](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#relposheading)).
Only used for logging in PX4 v1.15.
- [UAVCAN_SUB_HYGRO](../advanced_config/parameter_reference.md#UAVCAN_SUB_HYGRO): Hygrometer
- [UAVCAN_SUB_ICE](../advanced_config/parameter_reference.md#UAVCAN_SUB_ICE): Internal combustion engine (ICE).
@ -201,15 +201,15 @@ Position of rover is established using RTCM messages from the RTK base module (t
PX4 DroneCAN parameters:
- [UAVCAN_PUB_RTCM](../advanced_config/parameter_reference.md#UAVCAN_PUB_RTCM):
- Makes PX4 publish RTCM messages ([RTCMStream](https://dronecan.github.io/Specification/1._Introduction//7._List_of_standard_data_types/#rtcmstream)) to the bus (which it gets from the RTK base module via QGC).
- Makes PX4 publish RTCM messages ([RTCMStream](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#rtcmstream)) to the bus (which it gets from the RTK base module via QGC).
Rover module parameters (also [set using QGC](#qgc-cannode-parameter-configuration)):
- [CANNODE_SUB_RTCM](../advanced_config/parameter_reference.md#CANNODE_SUB_RTCM) tells the rover that it should subscribe to [RTCMStream](https://dronecan.github.io/Specification/1._Introduction//7._List_of_standard_data_types/#rtcmstream) RTCM messages on the bus (from the moving base).
- [CANNODE_SUB_RTCM](../advanced_config/parameter_reference.md#CANNODE_SUB_RTCM) tells the rover that it should subscribe to [RTCMStream](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#rtcmstream) RTCM messages on the bus (from the moving base).
:::info
You could instead use [UAVCAN_PUB_MBD](../advanced_config/parameter_reference.md#UAVCAN_PUB_MBD) and [CANNODE_SUB_MBD](../advanced_config/parameter_reference.md#CANNODE_SUB_MBD), which also publish RTCM messages (these are newer).
Using the [RTCMStream](https://dronecan.github.io/Specification/1._Introduction//7._List_of_standard_data_types/#rtcmstream) message means that you can implement moving base (see below) at the same time.
Using the [RTCMStream](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#rtcmstream) message means that you can implement moving base (see below) at the same time.
:::
##### Rover and Moving Base
@ -219,8 +219,8 @@ In this setup the vehicle has a _moving base_ RTK GPS and a _rover_ RTK GPS.
These parameters can be [set on moving base and rover RTK CAN nodes](#qgc-cannode-parameter-configuration), respectively:
- [CANNODE_PUB_MBD](../advanced_config/parameter_reference.md#CANNODE_PUB_MBD) causes a moving base GPS unit to publish [MovingBaselineData](https://dronecan.github.io/Specification/1._Introduction//7._List_of_standard_data_types/#movingbaselinedata)RTCM messages onto the bus (for the rover)
- [CANNODE_SUB_MBD](../advanced_config/parameter_reference.md#CANNODE_SUB_MBD) tells the rover that it should subscribe to [MovingBaselineData](https://dronecan.github.io/Specification/1._Introduction//7._List_of_standard_data_types/#movingbaselinedata) RTCM messages on the bus (from the moving base).
- [CANNODE_PUB_MBD](../advanced_config/parameter_reference.md#CANNODE_PUB_MBD) causes a moving base GPS unit to publish [MovingBaselineData](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#movingbaselinedata)RTCM messages onto the bus (for the rover)
- [CANNODE_SUB_MBD](../advanced_config/parameter_reference.md#CANNODE_SUB_MBD) tells the rover that it should subscribe to [MovingBaselineData](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#movingbaselinedata) RTCM messages on the bus (from the moving base).
For PX4 you will also need to set [GPS_YAW_OFFSET](../advanced_config/parameter_reference.md#GPS_YAW_OFFSET) to indicate the relative position of the moving base and rover: 0 if your Rover is in front of your Moving Base, 90 if Rover is right of Moving Base, 180 if Rover is behind Moving Base, or 270 if Rover is left of Moving Base.
@ -270,7 +270,7 @@ If the rangefinder is connected via DroneCAN (whether inbuilt or separate), you
PX4 DroneCAN parameters:
- [UAVCAN_PUB_ARM](../advanced_config/parameter_reference.md#UAVCAN_PUB_ARM) ([Arming Status](https://dronecan.github.io/Specification/1._Introduction//7._List_of_standard_data_types/#armingstatus)): Publish when using DroneCAN components that require the PX4 arming status as a precondition for use.
- [UAVCAN_PUB_ARM](../advanced_config/parameter_reference.md#UAVCAN_PUB_ARM) ([Arming Status](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#armingstatus)): Publish when using DroneCAN components that require the PX4 arming status as a precondition for use.
### ESC & Servos

2
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@ -104,4 +104,4 @@ See [DroneCAN Troubleshooting](index.md#troubleshooting)
- [PX4/Sapog](https://github.com/PX4/sapog#px4-sapog) (Github)
- [Sapog v2 Reference Manual](https://files.zubax.com/products/io.px4.sapog/Sapog_v2_Reference_Manual.pdf)
- [Using Sapog based ESC with PX4](https://kb.zubax.com/display/MAINKB/Using+Sapog-based+ESC+with+PX4) (Zubax KB)
- [Using Telega-based controllers with PX4 autopilots](https://wiki.zubax.com/public/telega/telega-v0-legacy/Using-Telega-based-controllers-with-PX4-autopilots) (Zubax KB)

6
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@ -15,9 +15,9 @@ Questions on this matter should be addressed to: [support@zubax.com](mailto:supp
## 구매처
- [Zubax Myxa](https://shop.zubax.com/products/zubax-myxa): High-end PMSM/BLDC motor controller (FOC ESC) for light unmanned aircraft and watercraft.
- [Zubax Mitochondrik](https://shop.zubax.com/products/mitochondrik): Integrated sensorless PMSM/BLDC motor controller chip (used in ESCs and integrated drives)
- [Zubax Komar](https://shop.zubax.com/products/zubax-ad0510-komar-esc?variant=32931555868771): Open hardware reference design for Mitochondrik
- [Zubax AmpDrive AD0505A/B "Myxa" ESC](https://shop.zubax.com/products/zubax-myxa): High-end PMSM/BLDC motor controller (FOC ESC) for light unmanned aircraft and watercraft.
- [Zubax BoolDrive BD1D50 "Mitochondrik"](https://shop.zubax.com/products/mitochondrik): Integrated sensorless PMSM/BLDC motor controller chip (used in ESCs and integrated drives)
- [Zubax AmpDrive AD0510 "Komar" ESC](https://shop.zubax.com/products/zubax-ad0510-komar-esc): Open hardware reference design for Mitochondrik
## 하드웨어 설정

4
docs/ko/flight_controller/ark_fpv.md
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@ -23,9 +23,9 @@ See the documentation [Ark Electronics GitBook](https://arkelectron.gitbook.io/a
## 센서
- [Invensense IIM-42653 Industrial IMU](https://invensense.tdk.com/products/motion-tracking/6-axis/iim-42653/)
- [Invensense IIM-42653 Industrial IMU](https://invensense.tdk.com/products/smartindustrial/iim-42653/)
- [Bosch BMP390 Barometer](https://www.bosch-sensortec.com/products/environmental-sensors/pressure-sensors/bmp390/)
- [ST IIS2MDC Magnetometer](https://www.st.com/en/magnetic-sensors/iis2mdc.html)
- [ST IIS2MDC Magnetometer](https://www.st.com/en/mems-and-sensors/iis2mdc.html)
## Microprocessor

2
docs/ko/flight_controller/ark_v6x.md
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@ -25,7 +25,7 @@ Order From [Ark Electronics](https://arkelectron.com/product/arkv6x/) (US)
- [Dual Invensense ICM-42688-P IMUs](https://invensense.tdk.com/products/motion-tracking/6-axis/icm-42688-p/)
- [Invensense IIM-42652 Industrial IMU](https://invensense.tdk.com/products/smartindustrial/iim-42652/)
- [Bosch BMP390 Barometer](https://www.bosch-sensortec.com/products/environmental-sensors/pressure-sensors/bmp390/)
- [Bosch BMM150 Magnetometer](https://www.bosch-sensortec.com/products/motion-sensors/magnetometers/bmm150/)
- [Bosch BMM150 Magnetometer](https://www.bosch-sensortec.com/media/boschsensortec/downloads/datasheets/bst-bmm150-ds001.pdf)
## Microprocessor

6
docs/ko/flight_controller/autopilot_discontinued.md
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@ -26,6 +26,6 @@ They are listed because you may be using them in an existing drone, and because
## 완성 기체
- [BetaFPV Beta75X 2S Brushless Whoop](../complete_vehicles_mc/betafpv_beta75x.md)
- [Intel® Aero RTF Drone](../complete_vehicles_mc/intel_aero.md) ([Complete Vehicle](../complete_vehicles_mc/index.md))
- [Qualcomm Snapdragon Flight](../flight_controller/snapdragon_flight.md) ([Complete Vehicle](../complete_vehicles_mc/index.md))
- [BetaFPV Beta75X 2S Brushless Whoop](https://docs.px4.io/v1.14/en/complete_vehicles/betafpv_beta75x.html#betafpv-beta75x-2s-brushless-whoop) (circa PX4 v1.14)
- [Intel® Aero RTF Drone](https://docs.px4.io/v1.12/en/complete_vehicles/intel_aero.html) (circa PX4 v1.12)
- [Qualcomm Snapdragon Flight](https://docs.px4.io/v1.11/en/flight_controller/snapdragon_flight.html) (circa PX4 v1.11)

20
docs/ko/flight_controller/cuav_v5_plus.md
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@ -65,8 +65,6 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo
## 구매처
<!-- [CUAV Store](https://store.cuav.net/index.php?id_product=95&id_product_attribute=0&rewrite=cuav-new-pixhack-v5-autopilot-m8n-gps-for-fpv-rc-drone-quadcopter-helicopter-flight-simulator-free-shipping-whole-sale&controller=product&id_lang=1) -->
[CUAV Aliexpress](https://www.aliexpress.com/item/32890380056.html?spm=a2g0o.detail.1000060.1.7a7233e7mLTlVl&gps-id=pcDetailBottomMoreThisSeller&scm=1007.13339.90158.0&scm_id=1007.13339.90158.0&scm-url=1007.13339.90158.0&pvid=d899bfab-a7ca-46e1-adf2-72ad1d649822) (International users)
[CUAV Taobao](https://item.taobao.com/item.htm?spm=a1z10.5-c.w4002-21303114052.37.a28f697aeYzQx9&id=594262853015) (China Mainland users)
@ -88,11 +86,11 @@ Download **V5+** pinouts from [here](http://manual.cuav.net/V5-Plus.pdf).
## 정격 전압
_V5+ AutoPilot_ supports redundant power supplies - up to three sources may be used: `Power1`, `Power2` and `USB`.
이러한 소스중 하나 이상에 전원을 공급하여야합니다. 그렇지 않으면, 비행 컨트롤러에 전원이 공급되지 않습니다.
You must supply power to at least one of these sources, or the flight controller will be unpowered.
:::info
On FMUv5 based FMUs with PX4IO module (as is the case for the _V5+_), the Servo Power Rail is only monitored by the FMU.
FMU에 의해 전원에 의해 공급받지도 않고, 공급되지도 않습니다.
It is neither powered by, nor provides power to the FMU.
However, the pins marked **+** are all common, and a BEC may be connected to any of the servo pin sets to power the servo power rail.
:::
@ -187,12 +185,12 @@ The complete set of supported configurations can be seen in the [Airframes Refer
## 참고
#### 다른 유형의 전원모듈용 커넥터에 디지털 또는 아날로그 전원모듈을 연결하지 마십시오.
#### Do not plug Digital or Analog PM onto connectors configured for other type of PM
아날로그 전원모듈을 디지털 전원모듈 커넥터에 연결하면 해당 버스의 모든 I2C 장치가 중지됩니다.
특히, 경합으로 인하여 GPS의 나침반이 중지되고, 장기적으로 FMU가 손상 될 수도 있습니다.
If you plug an Analog PM into a digital PM connector it will stop all the I2C devices on that bus.
Specifically this will stop the GPS's compass due to contention, and may also damage the FMU (longer term).
마찬가지로, 아날로그 커넥터에 연결된 디지털 전원모듈은 작동하지 않으며, 장기적으로 전원 모듈이 손상될 수 있습니다.
Similarly, a digital PM plugged into a analog connector will not work, and may also damage/destroy the power module (longer term).
## 호환성
@ -200,7 +198,7 @@ CUAV는 몇 가지 차별화된 디자인을 채택하고, 아래에서 설명
<a id="compatibility_gps"></a>
#### 다른 장치와 호환되지 않는 GPS
#### GPS not compatible with other devices
The _Neo v2.0 GPS_ recommended for use with _CUAV V5+_ and _CUAV V5 nano_ is not fully compatible with other Pixhawk flight controllers (specifically, the buzzer part is not compatible and there may be issues with the safety switch).
@ -212,7 +210,7 @@ The UAVCAN [NEO V2 PRO GNSS receiver](https://doc.cuav.net/gps/neo-series-gnss/e
`DSU7` FMU Debug Pin 1 is 5 volts - not the 3.3 volts of the CPU.
일부 JTAG는이 전압을 사용하여 타겟과 통신시 IO 레벨을 설정합니다.
Some JTAG use this voltage to set the IO levels when communicating to the target.
For direct connection to _Segger Jlink_ we recommended you use the 3.3 Volts of DSM/SBUS/RSSI pin 4 as Pin 1 on the debug connector (`Vtref`).
@ -230,7 +228,7 @@ The issues below refer to the _batch number_ in which they first appear.
This is a safety issue.
:::
SBUS/DSM/RSSI 인터페이스에 다른 장비(RC 수신기 제외)를 연결하지 마십시오. 장비가 손상될 수 있습니다.
Please do not connect other equipment (except RC receiver) on SBUS / DSM / RSSI interface - this may lead to equipment damage.
- _Found:_ Batches V01190904xxxx
- _Fixed:_ Batches later than V01190904xxxx

6
docs/ko/flight_controller/mro_control_zero_f7.md
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@ -29,8 +29,8 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo
- 센서:
- [Bosch BMI088](https://www.bosch-sensortec.com/products/motion-sensors/imus/bmi088/) 3-axis accelerometer/gyroscope (internally vibration dampened)
- [Invensense ICM-20602](https://invensense.tdk.com/products/motion-tracking/6-axis/icm-20602/) 3-axis accelerometer/gyroscope
- [Invensense ICM-20948](https://www.invensense.com/products/motion-tracking/9-axis/icm-20948/) 3-axis accelerometer/gyroscope/magnetometer
- [Infineon DPS310 barometer](https://www.infineon.com/cms/en/product/sensor/pressure-sensors/pressure-sensors-for-iot/dps310/) (So smooth and NO more light sensitivity)
- [Invensense ICM-20948](https://invensense.tdk.com/products/motion-tracking/9-axis/icm-20948/) 3-axis accelerometer/gyroscope/magnetometer
- [Infineon DPS310 barometer](https://www.infineon.com/assets/row/public/documents/24/49/infineon-dps310-datasheet-en.pdf) - [Discontinued](https://www.infineon.com/part/DPS310) (So smooth and NO more light sensitivity)
- 인터페이스:
- 6x UART(총 직렬 포트), 3x(HW 흐름 제어 포함), 1x FRSky Telemetry(D 또는 X 유형), 1x 콘솔 및 1x GPS + I2C
@ -92,7 +92,7 @@ The [SWD port](../debug/swd_debug.md) (JTAG) for FMU debugging is a TC2030 debug
![mro swd port](../../assets/flight_controller/mro_control_zero_f7/mro_control_zero_f7_swd.jpg)
You can use the [Tag Connect](https://www.tag-connect.com/) cable [TC2030 IDC NL](https://www.tag-connect.com/product/tc2030-idc-nl) below (with associated [retaining clip](https://www.tag-connect.com/product/tc2030-clip-retaining-clip-board-for-tc2030-nl-cables)) to attach to either a BlackMagic probe or a ST-LINK V2 debugger.
You can use the [Tag Connect](https://www.tag-connect.com/) cable [TC2030 IDC NL](https://www.tag-connect.com/product/tc2030-idc-nl) below (with associated [retaining clip](https://www.tag-connect.com/product/tc2030-retaining-clip-board-3-pack)) to attach to either a BlackMagic probe or a ST-LINK V2 debugger.
![tc2030 idc nl cable](../../assets/flight_controller/mro_control_zero_f7/tc2030_idc_nl.jpg)

6
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@ -51,8 +51,8 @@ Similar variants will be available from our licensees.
## Key Design Points
- High performance [NXP i.MX RT1170 1GHz Crossover MCU](https://www.nxp.com/products/processors-and-microcontrollers/arm-microcontrollers/i-mx-rt-crossover-mcus/i-mx-rt1170-1-ghz-crossover-mcu-with-arm-cortex-cores:i.MX-RT1170) with Arm® Cortex® cores
- Hardware secure element [NXP EdgeLock SE051](https://www.nxp.com/products/security-and-authentication/authentication/edgelock-se051-proven-easy-to-use-iot-security-solution-with-support-for-updatability-and-custom-applets:SE051).
- High performance [NXP i.MX RT1170 1GHz Crossover MCU](https://www.nxp.com/products/i.MX-RT1170) with Arm® Cortex® cores
- Hardware secure element [NXP EdgeLock SE051](https://www.nxp.com/products/SE051).
This is an extension to the widely trusted EdgeLock SE050 Plug & Trust secure element family, supports applet updates in the field and delivers proven security certified to CC EAL 6+, with AVA_VAN.5 up to the OS level, for strong protection against the most recent attack scenarios.
This can be used, for example, to securely store operator ID or certificates.
- Modular flight controller: separated IMU, FMU, and Base system connected by a 100-pin & a 50-pin Pixhawk® Autopilot Bus connector.
@ -201,7 +201,7 @@ TBD
_MR-VMU-RT1176_ can be triple-redundant on the power supply if three power sources are supplied.
The three power rails are: **POWER1**, **POWER2** and **USB**.
The **POWER1** & **POWER2** ports on the MR-VMU-RT1176 uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/molex/products/part-detail/pcb_receptacles/5024430670).
The **POWER1** & **POWER2** ports on the MR-VMU-RT1176 uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/en-us/products/part-detail/5024430670).
### 정상 작동 최대 정격 전압

8
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@ -45,21 +45,21 @@ Telemetry radios ([HGD-TELEM433](https://www.nxp.com/part/HGD-TELEM433) and [HGD
![RDDRONE-FMUK66 FMU Kit](../../assets/flight_controller/nxp_rddrone_fmuk66/rddrone_fmu66_kit_img_contents.jpg)
A "Lite" version RDDRONE-FMUK66L is also available which does not include the power module, GPS, Jlink or USB-TTL-3V3 console cable or SDCard.[Scroll down to see FMUK66L in the buy section of the FMUK66 buy page](https://www.nxp.com/design/designs/px4-robotic-drone-fmu-rddrone-fmuk66:RDDRONE-FMUK66#buy)
A "Lite" version RDDRONE-FMUK66L is also available which does not include the power module, GPS, Jlink or USB-TTL-3V3 console cable or SDCard.[Scroll down to see FMUK66L in the buy section of the FMUK66 buy page](https://www.nxp.com/design/design-center/development-boards-and-designs/px4-robotic-drone-vehicle-flight-management-unit-vmu-fmu-rddrone-fmuk66:RDDRONE-FMUK66#buy)
Additional information can be found in the [Technical Data Sheet](https://www.nxp.com/design/designs/px4-robotic-drone-fmu-rddrone-fmuk66:RDDRONE-FMUK66). <!-- www.nxp.com/rddrone-fmuk66 -->
Additional information can be found in the [Technical Data Sheet](https://www.nxp.com/design/design-center/development-boards-and-designs/px4-robotic-drone-vehicle-flight-management-unit-vmu-fmu-rddrone-fmuk66:RDDRONE-FMUK66). <!-- www.nxp.com/rddrone-fmuk66 -->
## 구매처
**RDDRONE-FMUK66** reference design kit may be purchased direct from NXP or from any of NXP's authorised worldwide network of [electronics distributors](https://www.nxp.com/support/sample-and-buy/distributor-network:DISTRIBUTORS).
- [Purchase Link](https://www.nxp.com/design/designs/px4-robotic-drone-fmu-rddrone-fmuk66:RDDRONE-FMUK66#buy) (www.nxp.com)
- [Purchase Link](https://www.nxp.com/design/design-center/development-boards-and-designs/px4-robotic-drone-vehicle-flight-management-unit-vmu-fmu-rddrone-fmuk66:RDDRONE-FMUK66#buy) (www.nxp.com)
- 원격 측정 라디오는 주파수 대역에 따라 별도로 구매하여야 합니다.
- [HGD-TELEM433](https://www.nxp.com/part/HGD-TELEM433)
- [HGD-TELEM915](https://www.nxp.com/part/HGD-TELEM915)
:::info
_RDDRONE-FMUK66_ FMU is also included in the complete HoverGames drone kit: [KIT-HGDRONEK66](https://www.nxp.com/applications/solutions/industrial/aerospace-and-mobile-robotics/uavs-drones-and-rovers/nxp-hovergames-drone-kit-including-rddrone-fmuk66-and-peripherals:KIT-HGDRONEK66#buy)
_RDDRONE-FMUK66_ FMU is also included in the complete HoverGames drone kit: [KIT-HGDRONEK66](https://www.nxp.com/design/design-center/development-boards-and-designs/nxp-hovergames-drone-kit-including-flight-controller-and-peripherals:KIT-HGDRONEK66#buy)
:::
<!--

2
docs/ko/flight_controller/omnibus_f4_sd.md
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@ -263,4 +263,4 @@ In addition to the [basic configuration](../config/index.md), the following para
## 추가 정보
[This page](https://blog.dronetrest.com/omnibus-f4-flight-controller-guide/) provides a good overview with pinouts and setup instructions.
[This page](https://blog.unmanned.tech/omnibus-f4-flight-controller-guide/) provides a good overview with pinouts and setup instructions.

8
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@ -1,6 +1,6 @@
# Pixfalcon 비행 콘트롤러 (단종됨)
<Badge type="info" text="Discontinued" />
<Badge type="info" text="Discontinued" px4_current="v1.15" year="2024"/>
:::warning
This flight controller has been [discontinued](../flight_controller/autopilot_experimental.md) and is no longer commercially available.
@ -34,14 +34,14 @@ The Pixfalcon autopilot (designed by [Holybro<sup>&reg;</sup>](https://holybro.c
## 구매처:
From distributor [Hobbyking<sup>&reg;</sup>](https://hobbyking.com/en_us/pixfalcon-micro-px4-autopilot-plus-micro-m8n-gps-and-mega-pbd-power-module.html)
No longer available.
Optional hardware:
- Optical flow: PX4 Flow unit from manufacturer [Holybro](https://holybro.com/products/px4flow)
- Digital Airspeed sensor from manufacturer [Holybro](https://holybro.com/products/digital-air-speed-sensor-ms4525do) or distributor [Hobbyking](https://hobbyking.com/en_us/hkpilot-32-digital-air-speed-sensor-and-pitot-tube-set.html)
- Digital Airspeed sensor from manufacturer [Holybro](https://holybro.com/products/digital-air-speed-sensor-ms4525do)
- 텔레메트리가 통합 화면 디스플레이
- [Hobbyking OSD + EU Telemetry (433 MHz)](https://hobbyking.com/en_us/micro-hkpilot-telemetry-radio-module-with-on-screen-display-osd-unit-433mhz.html)
- Micro HKPilot Telemetry Radio Module with On Screen Display (OSD) unit - 433MHz. (Discontinued)
- 순수 텔레메트리 옵션:
- [SIK Radios](../telemetry/sik_radio.md)

2
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@ -324,7 +324,7 @@ make px4_fmu-v2_default
## 부품 / 하우징
- **ARM MINI JTAG (J6)**: 1.27 mm 10pos header (SHROUDED), for Black Magic Probe: FCI 20021521-00010D4LF ([Distrelec](https://www.distrelec.ch/en/minitek-127-straight-male-pcb-header-surface-mount-rows-10-contacts-27mm-pitch-amphenol-fci-20021521-00010d4lf/p/14352308), [Digi-Key](https://www.digikey.com/en/products/detail/20021521-00010T1LF/609-4054-ND/2414951),) or Samtec FTSH-105-01-F-DV-K (untested) or Harwin M50-3600542 ([Digikey](https://www.digikey.com/en/products/detail/harwin-inc/M50-3600542/2264370))
- **ARM MINI JTAG (J6)**: 1.27 mm 10pos header (SHROUDED), for Black Magic Probe: FCI 20021521-00010D4LF ([Digi-Key](https://www.digikey.com/en/products/detail/20021521-00010T1LF/609-4054-ND/2414951),) or Samtec FTSH-105-01-F-DV-K (untested) or Harwin M50-3600542 ([Digikey](https://www.digikey.com/en/products/detail/harwin-inc/M50-3600542/2264370))
- JTAG Adapter Option #1: [BlackMagic Probe](https://1bitsquared.com/products/black-magic-probe). 케이블 없이 제공될 수 있습니다 (제조업체에 확인).
If so, you will need the **Samtec FFSD-05-D-06.00-01-N** cable ([Samtec sample service](https://www.samtec.com/products/ffsd-05-d-06.00-01-n) or [Digi-Key Link: SAM8218-ND](https://www.digikey.com/en/products/detail/samtec-inc/ffsd-05-d-06-00-01-n/1106577)) or [Tag Connect Ribbon](https://www.tag-connect.com/product/10-pin-cortex-ribbon-cable-4-length-with-50-mil-connectors) and a Mini-USB cable.
- JTAG Adapter Option #2: [Digi-Key Link: ST-LINK/V2](https://www.digikey.com/product-detail/en/stmicroelectronics/ST-LINK-V2/497-10484-ND) / [ST USER MANUAL](https://www.st.com/resource/en/user_manual/dm00026748.pdf), needs an ARM Mini JTAG to 20pos adapter: [Digi-Key Link: 726-1193-ND](https://www.digikey.com/en/products/detail/texas-instruments/MDL-ADA2/1986451)

9
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@ -36,14 +36,7 @@ This autopilot is [supported](../flight_controller/autopilot_pixhawk_standard.md
## 구매처
From [Drotek store](https://store.drotek.com/) (EU) :
- [Pixhawk 3 Pro (Pack)](https://store.drotek.com/autopilots/844-pixhawk-3-pro-pack.html)
- [Pixhawk 3 Pro](https://store.drotek.com/autopilots/821-pixhawk-pro-autopilot-8944595120557.html)
From [readymaderc](https://www.readymaderc.com) (USA) :
- [Pixhawk 3 Pro](https://www.readymaderc.com/products/details/pixhawk-3-pro-flight-controller)
No longer available.
## 펌웨어 빌드

30
docs/ko/flight_controller/pixhawk4_mini.md
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@ -1,5 +1,7 @@
# Holybro Pixhawk 4 Mini (Discontinued)
<Badge type="info" text="Discontinued" px4_current="v1.15" year="2024"/>
:::warning
PX4 does not manufacture this (or any) autopilot.
Contact the [manufacturer](https://holybro.com/) for hardware support or compliance issues.
@ -29,24 +31,24 @@ This autopilot is [supported](../flight_controller/autopilot_pixhawk_standard.md
- 기압계: MS5611
- GPS: u-blox Neo-M8N GPS/GLONASS 수신기; 통합 자력계 IST8310
- 인터페이스:
- 8 PWM 출력
- FMU의 전용 PWM / 캡처 입력 4 개
- 8 PWM outputs
- 4 dedicated PWM/Capture inputs on FMU
- CPPM 전용 RC 입력
- 아날로그/PWM RSSI 입력이있는 Spektrum/DSM 및 S.Bus 전용 RC 입력
- 범용 시리얼 포트 3개
- I2C 포트 2개
- SPI 버스 3개
- CAN ESC용 CANBus 1개
- 2 I2C ports
- 3 SPI buses
- 1 CANBuses for CAN ESC
- 배터리 전압/전류에 대한 아날로그 입력
- 2개의 추가 아날로그 입력
- 전원시스템
- 파워 브릭 입력 : 4.75 ~ 5.5V
- Power Brick Input: 4.75~5.5V
- USB 전원 입력: 4.75~5.25V
- 서보 레일 입력: 0~24V
- Servo Rail Input: 0~24V
- 최대 전류 감지: 120A
- 중량과 크기
- 중량: 37.2g
- 크기: 38x55x15.5mm
- Weight: 37.2g
- Dimensions: 38x55x15.5mm
- 기타 특성:
- 작동 온도: -40 ~ 85°c
@ -54,7 +56,7 @@ Additional information can be found in the [_Pixhawk 4 Mini_ Technical Data Shee
## 구매처
Order from [Holybro](https://holybro.com/collections/autopilot-flight-controllers/products/pixhawk4-mini).
No longer available.
## 인터페이스
@ -90,7 +92,7 @@ You must [supply power](../assembly/quick_start_pixhawk4_mini.md#power) to one o
**Absolute Maximum Ratings**
이러한 조건에서 시스템은 그대로 유지됩니다.
Under these conditions the system will remain intact.
1. **POWER** input (0V to 6V undamaged)
2. **USB** input (0V to 6V undamaged)
@ -141,15 +143,15 @@ The pinout uses the standard [Pixhawk debug connector](https://github.com/pixhaw
- [Telemetry Radio Modules](../telemetry/index.md)
- [Rangefinders/Distance sensors](../sensor/rangefinders.md)
## 지원 플랫폼
## Supported Platforms
Motors and servos are connected to the **MAIN OUT** ports in the order specified for your vehicle in the [Airframe Reference](../airframes/airframe_reference.md).
이 참고사항은 모든 지원되는 기체 프레임의 출력 포트의 모터/서보 연결 리스트입니다. 프레임이 참고사항에 기재되어 있지 않다면, 올바른 유형의 "일반" 프레임을 사용하십시오.
:::warning
_Pixhawk 4 Mini_ does not have AUX ports.
이 보드는 8 개 이상의 포트가 필요하거나, 모터 또는 제어 표면에 AUX 포트를 사용하는 프레임에 사용할 수 없습니다.
비필수 주변 장치에 AUX를 사용하는 기체에 사용할 수 있습니다(예 : "RC AUX1 채널의 피드 스루").
The board cannot be used with frames that require more than 8 ports or which use AUX ports for motors or control surfaces.
It can be used for airframes that use AUX for non-essential peripherals (e.g. "feed-through of RC AUX1 channel").
:::
## 추가 정보

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@ -156,7 +156,7 @@ Connector pin assignments are left to right (i.e. Pin 1 is the left-most pin).
## 정격 전압
_Pixhawk 5X_ can be triple-redundant on the power supply if three power sources are supplied. The three power rails are: **POWER1**, **POWER2** and **USB**.
The **POWER1** & **POWER2** ports on the Pixhawk 5X uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/molex/products/part-detail/pcb_receptacles/5024430670).
The **POWER1** & **POWER2** ports on the Pixhawk 5X uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/en-us/products/part-detail/5024430670).
**Normal Operation Maximum Ratings**

6
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@ -36,8 +36,8 @@ The Pixhawk®​ 6X-RT is perfect for developers at corporate research labs, sta
## Key Design Points
- High performance [NXP i.MX RT1170 1GHz Crossover MCU](https://www.nxp.com/products/processors-and-microcontrollers/arm-microcontrollers/i-mx-rt-crossover-mcus/i-mx-rt1170-1-ghz-crossover-mcu-with-arm-cortex-cores:i.MX-RT1170) with Arm® Cortex® cores
- Hardware secure element [NXP EdgeLock SE051](https://www.nxp.com/products/security-and-authentication/authentication/edgelock-se051-proven-easy-to-use-iot-security-solution-with-support-for-updatability-and-custom-applets:SE051) an extension to the widely trusted EdgeLock SE050 Plug & Trust secure element family, supports applet updates in the field and delivers proven security certified to CC EAL 6+, with AVA_VAN.5 up to the OS level, for strong protection against the most recent attack scenarios. E.g, to securely store operator ID or certificates.
- High performance [NXP i.MX RT1170 1GHz Crossover MCU](https://www.nxp.com/products/i.MX-RT1170) with Arm® Cortex® cores
- Hardware secure element [NXP EdgeLock SE051](https://www.nxp.com/products/SE051) an extension to the widely trusted EdgeLock SE050 Plug & Trust secure element family, supports applet updates in the field and delivers proven security certified to CC EAL 6+, with AVA_VAN.5 up to the OS level, for strong protection against the most recent attack scenarios. E.g, to securely store operator ID or certificates.
- Modular flight controller: separated IMU, FMU, and Base system connected by a 100-pin & a 50-pin Pixhawk®​ Autopilot Bus connector.
- Redundancy: 3x IMU sensors & 2x Barometer sensors on separate buses
- Triple redundancy domains: Completely isolated sensor domains with separate buses and separate power control
@ -173,7 +173,7 @@ Sample Wiring Diagram
## 정격 전압
_Pixhawk 6X-RT_ can be triple-redundant on the power supply if three power sources are supplied. The three power rails are: **POWER1**, **POWER2** and **USB**.
The **POWER1** & **POWER2** ports on the Pixhawk 6X uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/molex/products/part-detail/pcb_receptacles/5024430670).
The **POWER1** & **POWER2** ports on the Pixhawk 6X uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/en-us/products/part-detail/5024430670).
**Normal Operation Maximum Ratings**

3
docs/ko/flight_controller/pixhawk6x.md
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@ -152,7 +152,6 @@ The Pixhawk®​ 6X is perfect for developers at corporate research labs, startu
- CAN Bus has individual silent controls or ESC RX-MUX control
- 2 Power input ports with SMBus
- 1 AD & IO port
- 2개의 추가 아날로그 입력
- 1 PWM/Capture input
@ -205,7 +204,7 @@ Sample Wiring Diagram
## 정격 전압
_Pixhawk 6X_ can be triple-redundant on the power supply if three power sources are supplied. The three power rails are: **POWER1**, **POWER2** and **USB**.
The **POWER1** & **POWER2** ports on the Pixhawk 6X uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/molex/products/part-detail/pcb_receptacles/5024430670).
The **POWER1** & **POWER2** ports on the Pixhawk 6X uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/en-us/products/part-detail/5024430670).
**Normal Operation Maximum Ratings**

2
docs/ko/flight_controller/pixhawk6x_pro.md
View File

@ -165,7 +165,7 @@ The [Pixhawk 6X Wiring Quick Start](../assembly/quick_start_pixhawk6x.md) provid
_Pixhawk 6X Pro_ can be triple-redundant on the power supply if three power sources are supplied.
The three power rails are: **POWER1**, **POWER2** and **USB**.
The **POWER1** & **POWER2** ports on the Pixhawk 6X uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/molex/products/part-detail/pcb_receptacles/5024430670).
The **POWER1** & **POWER2** ports on the Pixhawk 6X uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/en-us/products/part-detail/5024430670).
**Normal Operation Maximum Ratings**

4
docs/ko/flight_controller/pixracer.md
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@ -32,12 +32,12 @@ This autopilot is [supported](../flight_controller/autopilot_pixhawk_standard.md
## 구매처
Pixracer is available from the [mRobotics.io](https://store.mrobotics.io/mRo-PixRacer-R15-Official-p/m10023a.htm).
Pixracer Pro is available from the [store.3dr.com](https://store.3dr.com/pixracer-pro/).
액세서리에는 아래의 내용물이 포함됩니다.
- [Digital airspeed sensor](https://hobbyking.com/en_us/hkpilot-32-digital-air-speed-sensor-and-pitot-tube-set.html)
- [Hobbyking<sup>&reg;</sup> OSD + EU Telemetry (433 MHz)](https://hobbyking.com/en_us/micro-hkpilot-telemetry-radio-module-with-on-screen-display-osd-unit-433mhz.html)
- Hobbyking<sup>&reg;</sup> OSD + EU Telemetry (433 MHz) (Discontinued)
## 키트

2
docs/ko/flight_controller/raccoonlab_fmu6x.md
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@ -116,7 +116,7 @@ This autopilot is [supported](../flight_controller/autopilot_pixhawk_standard.md
_RaccoonLab FMUv6X_ can be triple-redundant on the power supply if three power sources are supplied.
The three power rails are: **POWER1**, **POWER2** and **USB**.
The **POWER1** & **POWER2** ports on the RaccoonLab FMUv6X uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/molex/products/part-detail/pcb_receptacles/5024430670).
The **POWER1** & **POWER2** ports on the RaccoonLab FMUv6X uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/en-us/products/part-detail/5024430670).
**Normal Operation Maximum Ratings**

2
docs/ko/flight_controller/raspberry_pi_navio2.md
View File

@ -14,7 +14,7 @@ It allows you to build PX4 and transfer to the RPi, or build natively.
## OS 이미지
Use the preconfigured [Emlid Raspberry Pi OS image for Navio 2](https://docs.emlid.com/navio2/configuring-raspberry-pi).
Use the preconfigured [Emlid Raspberry Pi OS image for Navio 2](https://docs.emlid.com/navio2/configuring-raspberry-pi/).
기본 이미지에는 아래 표시된 대부분의 설정이 완료되어 있습니다.
:::warning

2
docs/ko/flight_controller/raspberry_pi_pilotpi_ubuntu_server.md
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@ -48,7 +48,7 @@ Please follow the official instruction [here](https://ubuntu.com/tutorials/how-t
sudo apt-get install crda
```
Edit the file `/etc/default/crda` to change the correct WiFi region. [Reference List](https://www.arubanetworks.com/techdocs/InstantWenger_Mobile/Advanced/Content/Instant%20User%20Guide%20-%20volumes/Country_Codes_List.htm)
Edit the file `/etc/default/crda` to change the correct WiFi region. [Reference List](https://arubanetworking.hpe.com/techdocs/InstantWenger_Mobile/Advanced/Content/Instant%20User%20Guide%20-%20volumes/Country_Codes_List.htm)
```sh
sudo nano /etc/default/crda

2
docs/ko/flight_controller/spracingh7extreme.md
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@ -83,7 +83,7 @@ Select the PX4 edition when purchasing!
## 매뉴얼, 핀배열 및 연결 다이어그램
The manual with pinouts can be downloaded from [here](http://seriouslypro.com/files/SPRacingH7EXTREME-Manual-latest.pdf).
See the [SPRacingH7EXTREME website](http://seriouslypro.com/spracingh7extreme) for other diagrams.
See the [SPRacingH7EXTREME website](http://seriouslypro.com/products/spracingh7extreme) for other diagrams.
## Credits

8
docs/ko/flight_modes/offboard.md
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@ -84,7 +84,7 @@ Before using offboard mode with ROS 2, please spend a few minutes understanding
### 콥터
- [px4_msgs::msg::TrajectorySetpoint](https://github.com/PX4/PX4-Autopilot/blob/main/msg/TrajectorySetpoint.msg)
- [px4_msgs::msg::TrajectorySetpoint](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/TrajectorySetpoint.msg)
- 다음 입력 조합이 지원됩니다.
- Position setpoint (`position` different from `NaN`). Non-`NaN` values of velocity and acceleration are used as feedforward terms for the inner loop controllers.
- Velocity setpoint (`velocity` different from `NaN` and `position` set to `NaN`). Non-`NaN` values acceleration are used as feedforward terms for the inner loop controllers.
@ -92,14 +92,14 @@ Before using offboard mode with ROS 2, please spend a few minutes understanding
- All values are interpreted in NED (Nord, East, Down) coordinate system and the units are \[m\], \[m/s\] and \[m/s^2\] for position, velocity and acceleration, respectively.
- [px4_msgs::msg::VehicleAttitudeSetpoint](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleAttitudeSetpoint.msg)
- [px4_msgs::msg::VehicleAttitudeSetpoint](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleAttitudeSetpoint.msg)
- The following input combination is supported:
- quaternion `q_d` + thrust setpoint `thrust_body`.
Non-`NaN` values of `yaw_sp_move_rate` are used as feedforward terms expressed in Earth frame and in \[rad/s\].
- The quaternion represents the rotation between the drone body FRD (front, right, down) frame and the NED frame. The thrust is in the drone body FRD frame and expressed in normalized \[-1, 1\] values.
- [px4_msgs::msg::VehicleRatesSetpoint](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleRatesSetpoint.msg)
- [px4_msgs::msg::VehicleRatesSetpoint](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleRatesSetpoint.msg)
- The following input combination is supported:
- `roll`, `pitch`, `yaw` and `thrust_body`.
@ -114,7 +114,7 @@ The following offboard control modes bypass all internal PX4 control loops and s
- `xyz` for thrust and `xyz` for torque.
- All the values are in the drone body FRD frame and normalized in \[-1, 1\].
- [px4_msgs::msg::ActuatorMotors](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActuatorMotors.msg) + [px4_msgs::msg::ActuatorServos](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActuatorServos.msg)
- [px4_msgs::msg::ActuatorMotors](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ActuatorMotors.msg) + [px4_msgs::msg::ActuatorServos](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ActuatorServos.msg)
- You directly control the motor outputs and/or servo outputs.
- Currently works at lower level than then `control_allocator` module. Do not publish these messages when not in offboard mode.
- All the values normalized in \[-1, 1\]. For outputs that do not support negative values, negative entries map to `NaN`.

64
docs/ko/flight_modes_fw/takeoff.md
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@ -9,10 +9,10 @@ Vehicles are [hand or catapult launched](#catapult-hand-launch) by default, but
::: info
- Mode is automatic - no user intervention is _required_ to control the vehicle.
- Mode requires at least a valid local position estimate (does not require a global position).
- Flying vehicles can't switch to this mode without valid local position.
- Flying vehicles will failsafe if they lose the position estimate.
- Disarmed vehicles can switch to mode without valid position estimate but can't arm.
- Mode requires at least a valid altitude estimation.
- Flying vehicles can't switch to this mode without valid altitude.
- Flying vehicles will failsafe if they lose the altitude estimate.
- Disarmed vehicles can switch to mode without valid altitude estimate but can't arm.
- RC control switches can be used to change flight modes.
- RC stick movement is ignored in catapult takeoff but can can be used to nudge the vehicle in runway takeoff.
- The [Failure Detector](../config/safety.md#failure-detector) will automatically stop the engines if there is a problem on takeoff.
@ -26,39 +26,61 @@ Vehicles are [hand or catapult launched](#catapult-hand-launch) by default, but
Takeoff mode (and [fixed wing mission takeoff](../flight_modes_fw/mission.md#mission-takeoff)) has two modalities: [catapult/hand-launch](#catapult-hand-launch) or [runway takeoff](#runway-takeoff) (hardware-dependent).
The mode defaults to catapult/hand launch, but can be set to runway takeoff by setting [RWTO_TKOFF](#RWTO_TKOFF) to 1.
To use _Takeoff mode_ you first switch to the mode, and then arm the vehicle.
To use _Takeoff mode_ you first switch to the mode, and then arm the vehicle (or send the [MAV_CMD_NAV_TAKEOFF](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_TAKEOFF) command which does both).
The acceleration of hand/catapult launch triggers the motors to start.
For runway launch, motors ramp up automatically once the vehicle has been armed.
Irrespective of the modality, a flight path (starting point and takeoff course) and clearance altitude are defined:
- The starting point is the vehicle position when the takeoff mode is first entered.
- The course is set to the vehicle heading on arming
- The clearance altitude is set to [MIS_TAKEOFF_ALT](#MIS_TAKEOFF_ALT).
- The course is set to the vehicle heading on arming by default.
If a valid waypoint latitude/longitude is set the vehicle will instead track towards the waypoint.
- The clearance altitude is set to [MIS_TAKEOFF_ALT](#MIS_TAKEOFF_ALT) by default.
If a valid waypoint altitude is set is set the vehicle will instead use it as the clearance altitude.
On takeoff, the aircraft will follow line defined by the starting point and course, climbing at the maximum climb rate ([FW_T_CLMB_MAX](../advanced_config/parameter_reference.md#FW_T_CLMB_MAX)) until reaching the clearance altitude.
By default, on takeoff the aircraft will follow the line defined by the starting point and course, climbing at the maximum climb rate ([FW_T_CLMB_MAX](../advanced_config/parameter_reference.md#FW_T_CLMB_MAX)) until reaching the clearance altitude.
Reaching the clearance altitude causes the vehicle to enter [Hold mode](../flight_modes_fw/takeoff.md).
If a valid waypoint target is set, using `MAV_CMD_NAV_TAKEOFF` or the [VehicleCommand](../msg_docs/VehicleCommand.md) uORB topic, the vehicle will instead track towards the waypoint, and enter [Hold mode](../flight_modes_fw/takeoff.md) after reaching the waypoint altitude (within the acceptance radius).
:::tip
If the local position is invalid or becomes invalid while executing the takeoff, the controller is not able to track a course setpoint and will instead proceed climbing while keeping the wings level until the clearance altitude is reached.
:::
::: info
- Takeoff towards a target position was added in <Badge type="tip" text="main (planned for: PX4 v1.17)" />.
- Holding wings level and ascending to clearance attitude when local position is invalid during takeoff was added in <Badge type="tip" text="main (planned for: PX4 v1.17)" />.
- QGroundControl does not support `MAV_CMD_NAV_TAKEOFF` (at time of writing).
:::
### 매개변수
Parameters that affect both catapult/hand-launch and runway takeoffs:
| 매개변수 | 설명 |
| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <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) | Maximum climb rate. |
| <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. |
| 매개변수 | 설명 |
| -------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="MIS_TAKEOFF_ALT"></a>[MIS\_TAKEOFF\_ALT][MIS_TAKEOFF_ALT] | This is the relative altitude (above launch altitude) the system will take off to if not otherwise specified. 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).
@ -84,9 +106,7 @@ 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).

28
docs/ko/flight_modes_mc/orbit.md
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@ -38,13 +38,16 @@ RC control cannot be used to start the mode (if you switch to the mode via RC it
RC control can be used to change the orbit altitude, radius, speed, and orbit direction:
- **Left stick:**
- _up/down:_ controls speed of ascent/descent, as in [Position mode](../flight_modes_mc/position.md). When in center deadzone, altitude is locked.
- _up/down:_ controls speed of ascent/descent, as in [Position mode](../flight_modes_mc/position.md).
When in center deadzone, altitude is locked.
- _left/right:_ no effect.
- **Right stick:**
- _left/right:_ controls acceleration of orbit in clockwise/counter-clockwise directions. When centered the current speed is locked.
- Maximum velocity is 10m/s and further limited to keep the centripetal acceleration below 2m/s^2.
- _left/right:_ controls acceleration of orbit in clockwise/counter-clockwise directions.
When centered the current speed is locked.
- Maximum velocity is [MPC_XY_VEL_MAX](#MPC_XY_VEL_MAX) and further limited to keep the centripetal acceleration below 2m/s^2.
- _up/down:_ controls orbit radius (smaller/bigger). When centered the current radius is locked.
- Minimum radius is 1m. Maximum radius is 100m.
- Minimum radius is 1m.
Maximum radius is [MC_ORBIT_RAD_MAX](#MC_ORBIT_RAD_MAX).
The diagram below shows the mode behaviour visually (for a [mode 2 transmitter](../getting_started/rc_transmitter_receiver.md#transmitter_modes)).
@ -56,19 +59,22 @@ The mode can be stopped by switching to any other flight mode (using RC or QGC).
The mode is affected by the following parameters:
| 매개변수 | 설명 |
| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------- |
| <a id="MC_ORBIT_RAD_MAX"></a>[MC_ORBIT_RAD_MAX](../advanced_config/parameter_reference.md#MC_ORBIT_RAD_MAX) | Maximum radius of orbit. Default: 1000m. |
| <a id="MC_ORBIT_YAW_MOD"></a>[MC_ORBIT_YAW_MOD](../advanced_config/parameter_reference.md#MC_ORBIT_YAW_MOD) | Yaw behaviour during orbit flight. Default: Front to Circle Center. |
| 매개변수 | 설명 |
| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="MC_ORBIT_RAD_MAX"></a>[MC_ORBIT_RAD_MAX](../advanced_config/parameter_reference.md#MC_ORBIT_RAD_MAX) | Maximum radius of orbit. Default: 1000m. |
| <a id="MC_ORBIT_YAW_MOD"></a>[MC_ORBIT_YAW_MOD](../advanced_config/parameter_reference.md#MC_ORBIT_YAW_MOD) | Yaw behaviour during orbit flight. Default: Front to Circle Center. |
| <a id="MPC_XY_VEL_MAX"></a>[MPC_XY_VEL_MAX](../advanced_config/parameter_reference.md#MPC_XY_VEL_MAX) | Tangential speed limit. Stick input won't accelerate beyond this limit. Higher commands are accepted but capped. |
The following limits are hard coded:
- Initial/default rotation is 1 m/s in a clockwise direction.
- The maximum acceleration is limited to 2 m/s^2, with priority on keeping the commanded circle trajectory rather than commanded ground speed (i.e. the vehicle will slow down in order to achieve the correct circle if the acceleration exceeds 2m/s^2).
- Initial/default rotation is 1m/s in a clockwise direction.
- The maximum acceleration is limited to 2m/s^2, with priority on keeping the commanded circle trajectory rather than commanded ground speed (i.e. the vehicle will slow down in order to achieve the correct circle if the acceleration exceeds 2m/s^2).
## MAVLink Messages (Developers)
Orbit mode uses the following MAVLink commands:
- [MAV_CMD_DO_ORBIT](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_ORBIT) - Start an orbit with specified center point, radius, direction, altitude, speed and [yaw direction](https://mavlink.io/en/messages/common.html#ORBIT_YAW_BEHAVIOUR) (vehicle defaults to faceing centre of orbit).
- [MAV_CMD_DO_ORBIT](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_ORBIT) - Start an orbit with specified center point, radius, direction, altitude, speed and [yaw direction](https://mavlink.io/en/messages/common.html#ORBIT_YAW_BEHAVIOUR).
The same defaults and limits apply.
When exceeding limits the command is accepted but velocity and radius capped.
- [ORBIT_EXECUTION_STATUS](https://mavlink.io/en/messages/common.html#ORBIT_EXECUTION_STATUS) - Orbit status emitted during orbit to update GCS of current orbit parameters (these may be changed by the RC controller).

8
docs/ko/frames_autogyro/thunderfly_auto_g2.md
View File

@ -11,7 +11,7 @@ Check out our site for more information on the current [TF-G2 commercial airfram
:::
All the added parts are available on [GitHub](https://github.com/ThunderFly-aerospace/Auto-G2) as an open-source project.
Printed parts are designed in [OpenSCAD](https://www.openscad.org/).
Printed parts are designed in [OpenSCAD](https://openscad.org/).
## 수정 내역
@ -70,7 +70,7 @@ The rotor's central part consists of several components, which have the followin
#### HobbyKing 로터 블레이드
원 블레이드와 함께 로터의 인쇄된 중앙 부분을 사용할 수 있습니다.
These blades can be bought on [HobbyKing](https://hobbyking.com/en_us/duraflytm-auto-g-gyrocopter-821mm-replacement-main-blade-1pcs-bag.html).
The blades used were "Durafly™ Auto-G2 Gyrocopter 821mm - Replacement Main Blade" (Discontinued)
Hobbyking blades differ in the position of the center of gravity, and it is therefore necessary to balance them properly.
#### 3D 프린팅 로터 블레이드
@ -106,7 +106,7 @@ It is a small box equipped with a servo that pulls out the pin and releases the
- Autopilot ([Holybro pix32](../flight_controller/holybro_pix32.md), [CUAV nano](../flight_controller/cuav_v5_nano.md))
- GPS (GPS Module NEO-6M, with patch antenna)
- Airspeed sensor ([SDP3x](https://www.sensirion.com/en/flow-sensors/differential-pressure-sensors/worlds-smallest-differential-pressure-sensor/))
- Airspeed sensor ([SDP3x series](https://sensirion.com/products/catalog?categories=differential-pressure&series=SDP3x&page=1&page_size=12))
- Stronger servos as a substitution for the original ones (optional), ([BlueBird BMS-125WV](https://www.blue-bird-model.com/products_detail/411.htm))
- 릴리스 장치용 추가 서보 (옵션)
@ -143,7 +143,7 @@ It is a small box equipped with a servo that pulls out the pin and releases the
- Servos with improved quality (recommended [BlueBird BMS-125WV](https://www.blue-bird-model.com/products_detail/411.htm), original servos are not very durable))
- Propeller ([APC 10x7](https://www.apcprop.com/product/10x7e/))
- 변형 영역이있는 로터 중앙 플레이트 (3D 인쇄)
- Rotor blades ([HobbyKing](https://hobbyking.com/en_us/duraflytm-auto-g-gyrocopter-821mm-replacement-main-blade-1pcs-bag.html) or 3D printed)
- Rotor blades ("Durafly™ Auto-G2 Gyrocopter 821mm" (Discontinued on HobbyKing), similar blades, or 3D printed)
## 비디오

4
docs/ko/frames_multicopter/dji_f450_cuav_5plus.md
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@ -14,8 +14,8 @@ This topic provides full instructions for building the kit and configuring PX4 u
조립에 필요한 부품들입니다.
- Flight controller: [CUAV V5+](https://store.cuav.net/index.php?id_product=95&id_product_attribute=0&rewrite=cuav-new-pixhack-v5-autopilot-m8n-gps-for-fpv-rc-drone-quadcopter-helicopter-flight-simulator-free-shipping-whole-sale&controller=product&id_lang=1):
- GPS: [CUAV NEO V2 GPS](https://store.cuav.net/index.php?id_product=97&id_product_attribute=0&rewrite=cuav-new-ublox-neo-m8n-gps-module-with-shell-stand-holder-for-flight-controller-gps-compass-for-pixhack-v5-plus-rc-parts-px4&controller=product&id_lang=1)
- Flight controller: [CUAV V5+](https://store.cuav.net/uav-flight-controller/):
- GPS: CUAV NEO V2 GPS (Discontined)
- 전원 모듈
- Frame: [DJI F450](https://www.amazon.com/Flame-Wheel-Basic-Quadcopter-Drone/dp/B00HNMVQHY)
- Propellers: [DJI Phantom Built-in Nut Upgrade Propellers 9.4x5](https://www.masterairscrew.com/products/dji-phantom-built-in-nut-upgrade-propellers-in-black-mr-9-4x5-prop-set-x4-phantom)

8
docs/ko/frames_multicopter/omnicopter.md
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@ -19,8 +19,8 @@ This build follows the original design from [Brescianini, Dario, and Raffaello D
You can select your own flight controller of choice, it just needs to support 8 DShot outputs.
:::
- GPS: [ZED-F9P](https://www.gnss.store/gnss-gps-modules/105-ublox-zed-f9p-rtk-gnss-receiver-board-with-sma-base-or-rover.html?search_query=ZED-F9P&results=11)
- [GPS helix antenna](https://www.gnss.store/rf-gps-antennas/28-high-performance-multi-band-gnss-active-quad-helix-antenna-for-rtk.html)
- GPS: [ZED-F9P](https://gnss.store/zed-f9p-gnss-modules/105-elt0092.html)
- [GPS helix antenna](https://gnss.store/gnss-rtk-multiband-antennas/28-elt0014.html)
::: info
Any other GPS may work as well, however a helix antenna is expected to perform better for inverted flights.
@ -34,8 +34,8 @@ This build follows the original design from [Brescianini, Dario, and Raffaello D
- Battery: we used a 6S 3300mAh LiPo. Make sure to check the dimensions so it fits the frame.
- Battery strap
- Frame:
- Carbon square tube R 8mm X 7mm X 1000mm, e.g. [here](https://shop.swiss-composite.ch/pi/Halbfabrikate/Rohre/Vierkant-Rohre/CFK-Vierkantrohr-8x8-7x7mm.html)
- Carbon Rods R 3mm X 2mm X 1000mm, e.g. [here](https://shop.swiss-composite.ch/pi/Halbfabrikate/Rohre/CFK-Rohre-pultrudiert-pullwinding/Carbon-Microtubes-100cm-x-20-3mm.html)
- Carbon square tube R 8mm X 7mm X 1000mm, e.g. [here on shop.swiss-composite.ch](https://shop.swiss-composite.ch/pi.php/Halbfabrikate/Rohre/Vierkant-Rohre/CFK-Vierkantrohr-8x8-7x7mm.html)
- Carbon Rods R 3mm X 2mm X 1000mm, e.g. [here on shop.swiss-composite.ch](https://shop.swiss-composite.ch/pi.php/Halbfabrikate/Rohre/CFK-Rohre-pultrudiert-pullwinding/Carbon-Microtubes-100cm-x-20-3mm.html)
- Required lengths:
- square tube: 8 pieces with length of 248mm
- rods: 12x328mm, 6x465mm

2
docs/ko/frames_plane/reptile_dragon_2.md
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@ -56,7 +56,7 @@ Key build features
- MS4525DO differential pressure module and pitot tube
- [Caddx Vista FPV air unit](https://caddxfpv.com/products/caddx-vista-kit)
- [Caddx Vista FPV air unit](https://caddxfpv.com/collections/vista-kit)
- [Emax ES08MA ii](https://emaxmodel.com/products/emax-es08ma-ii-12g-mini-metal-gear-analog-servo-for-rc-model-robot-pwm-servo)

2
docs/ko/frames_plane/turbo_timber_evolution.md
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@ -50,7 +50,7 @@ Key Build Features:
- MS4525DO differential pressure module and pitot tube
- [Caddx Vista FPV air unit](https://caddxfpv.com/products/caddx-vista-kit)
- [Caddx Vista FPV air unit](https://caddxfpv.com/collections/vista-kit)
- [DJI FPV Goggles](https://www.dji.com/fpv)

6
docs/ko/frames_plane/wing_wing_z84.md
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@ -14,10 +14,7 @@ It is small, rugged and just large enough to host a [Pixracer](../flight_control
### Z-84 Plug n' Fly (PNF/PNP) 또는 키트
다음 중 하나 :
- [Banggood](https://www.banggood.com/Wing-Wing-Z-84-Z84-EPO-845mm-Wingspan-Flying-Wing-PNP-p-973125.html)
- [Hobbyking US Warehouse](https://hobbyking.com/en_us/wing-wing-z-84-epo-845mm-kit.html)
:::tip
PNF (or "PNP") versions include motor, propeller and electronic speed controller.
@ -26,9 +23,8 @@ PNF (or "PNP") versions include motor, propeller and electronic speed controller
### 전기 속도 컨트롤러 (ESC)
One of these (any small (>=12A) ESC will do):
Any small (>=12A) ESC will do:
- [Turnigy 20A Brushed ESC ESC](https://hobbyking.com/en_us/turnigy-20a-brushed-esc.html) (Hobbyking)
- [Lumenier Regler 30A BLHeli_S ESC OPTO](https://www.getfpv.com/lumenier-30a-blheli-s-esc-opto-2-4s.html) (GetFPV)
### Autopilot 및 필수 부품들

1
docs/ko/getting_started/px4_basic_concepts.md
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@ -266,7 +266,6 @@ SD 카드가 없는 비행 콘트롤어는 다음의 작업들을 수행하여
- Disable notification beeps are disabled using the parameter [CBRK_BUZZER](../advanced_config/parameter_reference.md#CBRK_BUZZER).
- [Stream logs](../dev_log/logging.md#log-streaming) to another component (companion).
- Store missions in RAM/FLASH.
<!-- Too low-level for this. But see FLASH_BASED_DATAMAN in Intel Aero: https://github.com/PX4/PX4-Autopilot/blob/main/boards/intel/aerofc-v1/src/board_config.h#L115 -->
## Payloads

2
docs/ko/peripherals/parachute.md
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@ -67,7 +67,7 @@ You then need to ensure that the parachute pin will be set to a value that will
The output is automatically set to the maximum PWM value when a failsafe is triggered.
::: info
For the spring-loaded launcher from [Fruity Chutes](https://fruitychutes.com/buyachute/drone-and-uav-parachute-recovery-c-21/harrier-drone-parachute-launcher-c-21_33/) the minimum PWM value should be between 700 and 1000ms, and the maximum value between 1800 and 2200ms.
For the spring-loaded launcher from [Fruity Chutes](https://fruitychutes.com/uav_rpv_drone_recovery_parachutes/drone_multicopter_quadcopter_recovery_parachutes#Harrier) the minimum PWM value should be between 700 and 1000ms, and the maximum value between 1800 and 2200ms.
:::

4
docs/ko/releases/1.12.md
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@ -54,8 +54,8 @@
- CUAV X7 / X7Pro
- CUAV Nora
- CUAV CAN GPS (Neo-3-2)
- SP Racing H7 Extreme ([Read more about this product on the manufacturers site](http://seriouslypro.com/spracingh7extreme))
- Bitcraze Crazyflie v2.1 ([Read more about this product on the manufacturers site](https://www.bitcraze.io/products/crazyflie-2-1/))
- SP Racing H7 Extreme ([Read more about this product on the manufacturers site](http://seriouslypro.com/products/spracingh7extreme))
- Bitcraze Crazyflie v2.1 ([Read more about this product on the manufacturers site](https://www.bitcraze.io/products/crazyflie-2-1-brushless/))
- ARK CAN Flow ([Read more about this product on the manufacturers site](https://arkelectron.com/product/ark-flow/))
- mRo Ctrl Zero H7 (Experimental) ([Read more about this product on the manufacturers site](https://store.mrobotics.io/mRo-Control-Zero-F7-p/mro-ctrl-zero-f7.htm))

3
docs/ko/releases/main.md
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@ -80,7 +80,8 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
### Fixed-wing
- TBD
- [Fixed Wing Takeoff mode](../flight_modes_fw/takeoff.md) will now keep climbing with level wings on position loss.
A target takeoff waypoint can be set to control takeoff course and loiter altitude. ([PX4-Autopilot#25083](https://github.com/PX4/PX4-Autopilot/pull/25083)).
### 탐사선

14
docs/ko/ros/external_position_estimation.md
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@ -90,9 +90,7 @@ You can also disable GNSS, baro and range finder fusion using [EKF2_GPS_CTRL](..
Reboot the flight controller in order for parameter changes to take effect.
:::
<a id="tuning-EKF2_EV_DELAY"></a>
#### EKF2_EV_DELAY 튜닝
#### Tuning EKF2_EV_DELAY {#tuning-EKF2_EV_DELAY}
[EKF2_EV_DELAY](../advanced_config/parameter_reference.md#EKF2_EV_DELAY) is the _Vision Position Estimator delay relative to IMU measurements_.
@ -171,9 +169,7 @@ VIO와 MoCap 시스템은 포즈 데이터를 얻는 방법이 다르며, 자체
The setup for specific systems is covered [below](#setup_specific_systems).
다른 시스템의 경우에는 공급업체의 설정 문서를 참고하십시오.
<a id="relaying_pose_data_to_px4"></a>
### 포즈 데이터를 PX4로 중계
### Relaying Pose Data to PX4 {#relaying_pose_data_to_px4}
MAVROS에는 다음 파이프라인을 사용하여 VIO 또는 MoCap 시스템에서 시각적 추정을 릴레이하는 플러그인이 있습니다.
@ -253,13 +249,11 @@ When using the MAVROS _odom_ plugin, it is important that no other node is publi
This might break the _tf_ tree.
:::
<a id="setup_specific_systems"></a>
## 특정 시스템 설정
## Specific System Setups {#setup_specific_systems}
### OptiTrack MoCap
The following steps explain how to feed position estimates from an [OptiTrack](https://optitrack.com/motion-capture-robotics/) system to PX4.
The following steps explain how to feed position estimates from an [OptiTrack](https://optitrack.com/applications/robotics/) system to PX4.
MoCap 시스템이 보정된 것으로 가정합니다.
See [this video](https://www.youtube.com/watch?v=cNZaFEghTBU) for a tutorial on the calibration process.