Fix up reciever

Update as suggested
Explicitly don't send ack
2026-06-19 05:40:36 +08:00 · 2025-07-30 17:58:27 +10:00 · 2025-07-30 17:48:31 +10:00 · 2025-07-23 14:35:56 +10:00 · 2025-07-23 13:32:18 +10:00 · 2025-07-23 09:58:57 +10:00
274 changed files with 754 additions and 715 deletions
@@ -29,6 +29,7 @@ set LOGGER_ARGS ""
 set LOGGER_BUF 8
 set PARAM_FILE ""
 set PARAM_BACKUP_FILE ""
+set RC_INPUT_ARGS ""
 set STORAGE_AVAILABLE no
 set SDCARD_EXT_PATH /fs/microsd/ext_autostart
 set SDCARD_FORMAT no
@@ -499,6 +500,9 @@ else
 	#
 	. ${R}etc/init.d/rc.serial

+	# Must be started after the serial config is read
+	rc_input start $RC_INPUT_ARGS
+
 	# Manages USB interface
 	if param greater -s SYS_USB_AUTO -1
 	then
@@ -660,6 +664,7 @@ unset LOGGER_BUF
 unset PARAM_FILE
 unset PARAM_BACKUP_FILE
 unset PARAM_DEFAULTS_VER
+unset RC_INPUT_ARGS
 unset STORAGE_AVAILABLE
 unset SDCARD_EXT_PATH
 unset SDCARD_FORMAT
@@ -4,7 +4,6 @@ CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS0"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS4"
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS3"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_DPS310=y
@@ -113,6 +113,9 @@
 #define HRT_PPM_CHANNEL         /* T3C3 */  3  /* use capture/compare channel 3 */
 #define GPIO_PPM_IN             /* PB0 T3C3 */ GPIO_TIM3_CH3IN_1

+/* RC Serial port */
+#define RC_SERIAL_PORT          "/dev/ttyS3"
+
 #define GPIO_RSSI_IN            /* PC1  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN1)

 /* Safety Switch: Enable the FMU to control it if there is no px4io fixme:This should be BOARD_SAFETY_LED(__ontrue) */
@@ -4,7 +4,6 @@ CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS3"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS2"
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS0"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_COMMON_BAROMETERS=y
@@ -110,6 +110,8 @@
 #define PWMIN_TIMER_CHANNEL	1
 #define GPIO_PWM_IN		GPIO_TIM1_CH1IN_2

+#define RC_SERIAL_PORT		"/dev/ttyS0"
+
 // #define GPIO_RSSI_IN                (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN1)
 #define GPIO_SBUS_INV                  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN10)
 #define RC_INVERT_INPUT(_invert_true)  px4_arch_gpiowrite(GPIO_SBUS_INV, _invert_true);
@@ -322,6 +322,10 @@
 #define HRT_PPM_CHANNEL         /* T8C1 */  1  /* use capture/compare channel 1 */
 #define GPIO_PPM_IN             /* PI5 T8C1 */ GPIO_TIM8_CH1IN_2

+/* RC Serial port */
+
+#define RC_SERIAL_PORT                     "/dev/ttyS5"
+
 /* Input Capture Channels. */
 #define INPUT_CAP1_TIMER                  1
 #define INPUT_CAP1_CHANNEL     /* T1C2 */ 2
@@ -270,6 +270,10 @@
 #define HRT_TIMER               8  /* use timer8 for the HRT */
 #define HRT_TIMER_CHANNEL       3  /* use capture/compare channel 3 */

+/* RC Serial port */
+
+#define RC_SERIAL_PORT                     "/dev/ttyS4"
+
 /* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2 */
 #define PWMIN_TIMER                       4
 #define PWMIN_TIMER_CHANNEL    /* T4C2 */ 2
@@ -1,6 +1,5 @@
 CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
 CONFIG_BOARD_ARCHITECTURE="cortex-m7"
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS5"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_MAIERTEK_MPC2520=y
 CONFIG_DRIVERS_CDCACM_AUTOSTART=y
@@ -142,6 +142,7 @@
 #define HRT_TIMER_CHANNEL       3  /* use capture/compare channel 3 */

 /* RC Serial port */
+#define RC_SERIAL_PORT                     "/dev/ttyS5"
 #define RC_SERIAL_SINGLEWIRE

 /* power on/off */
@@ -6,7 +6,6 @@ CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS0"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS3"
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_COMMON_BAROMETERS=y
@@ -102,6 +102,9 @@
 #define HRT_TIMER		     5  /* use timer5 for the HRT */
 #define HRT_TIMER_CHANNEL    1  /* use capture/compare channel 3 */

+/* RC Serial port */
+
+#define RC_SERIAL_PORT                     "/dev/ttyS4"

 /* Power switch controls ******************************************************/

@@ -6,7 +6,6 @@ CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS6"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS5"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS3"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP581=y
@@ -227,6 +227,8 @@
 #define GPIO_PPM_IN       	/* PC6 T8C1 */ GPIO_TIM3_CH1IN_3

 /* RC Serial port */
+
+#define RC_SERIAL_PORT                     "/dev/ttyS4"
 #define RC_SERIAL_SINGLEWIRE

 /* Input Capture Channels. */
@@ -4,7 +4,6 @@ CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
 CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS3"
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS5"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_COMMON_BAROMETERS=y
@@ -159,7 +159,7 @@

 #define HRT_PPM_CHANNEL         /* T3C1 */  1  /* use capture/compare channel 1 */
 #define GPIO_PPM_IN             /* PB4 T3C1 */ GPIO_TIM3_CH1IN_2
-
+#define RC_SERIAL_PORT          "/dev/ttyS5"
 #define RC_SERIAL_SINGLEWIRE

 /**
@@ -4,7 +4,6 @@ CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
 CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS3"
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS5"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_COMMON_BAROMETERS=y
@@ -159,7 +159,7 @@

 #define HRT_PPM_CHANNEL         /* T3C1 */  1  /* use capture/compare channel 1 */
 #define GPIO_PPM_IN             /* PB4 T3C1 */ GPIO_TIM3_CH1IN_2
-
+#define RC_SERIAL_PORT          "/dev/ttyS5"
 #define RC_SERIAL_SINGLEWIRE

 /**
@@ -6,7 +6,6 @@ CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_BOARD_EXTERNAL_METADATA=y
 CONFIG_BOARD_SERIAL_URT6="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS0"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP280=y
 CONFIG_DRIVERS_CDCACM_AUTOSTART=y
@@ -130,6 +130,7 @@
 #define HRT_PPM_CHANNEL              3 // capture/compare channel 3
 #define GPIO_PPM_IN                  (GPIO_ALT|GPIO_AF2|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN8)

+#define RC_SERIAL_PORT               "/dev/ttyS0"
 #define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT

 /*
@@ -5,7 +5,6 @@ CONFIG_BOARD_NO_HELP=y
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_BOARD_SERIAL_URT6="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS0"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP280=y
 CONFIG_DRIVERS_CDCACM_AUTOSTART=y
@@ -134,6 +134,7 @@
 #define HRT_PPM_CHANNEL              3 // capture/compare channel 3
 #define GPIO_PPM_IN                  (GPIO_ALT|GPIO_AF2|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN8)

+#define RC_SERIAL_PORT               "/dev/ttyS0"
 #define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT

 /*
@@ -145,6 +145,7 @@
 #define HRT_TIMER_CHANNEL       1  /* use capture/compare channel 1 */

 /* RC Serial port */
+#define RC_SERIAL_PORT                     "/dev/ttyS4"
 #define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT

 // #define GPIO_SBUS_INV                  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN14)
@@ -148,6 +148,7 @@
 #define HRT_TIMER_CHANNEL       1  /* use capture/compare channel 1 */

 /* RC Serial port */
+#define RC_SERIAL_PORT                     "/dev/ttyS5"
 #define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT

 /* SD card bringup does not work if performed on the IDLE thread because it
@@ -111,6 +111,8 @@
 #define HRT_TIMER_CHANNEL       1  /* use capture/compare channel 1 */

 /* RC Serial port */
+
+#define RC_SERIAL_PORT                     "/dev/ttyS4"
 #define RC_SERIAL_SINGLEWIRE

 #define GPIO_RSSI_IN                       /* PC5  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN5)
@@ -125,6 +125,7 @@

 // So we can run CRSF on ttyS4, which corresponds to the TX6/RX6 pins
 /* RC Serial port */
+#define RC_SERIAL_PORT          "/dev/ttyS4"
 #define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT

 /* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2 */
@@ -5,7 +5,6 @@ CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS4"
 CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS3"
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_COMMON_BAROMETERS=y
@@ -283,6 +283,8 @@
 #define GPIO_PPM_IN             /* PI5 T8C1 */ GPIO_TIM8_CH1IN_2

 /* RC Serial port */
+
+#define RC_SERIAL_PORT                     "/dev/ttyS4"
 #define RC_SERIAL_SINGLEWIRE

 /* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2 */
@@ -5,7 +5,6 @@ CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS3"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS5"
 CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS6"
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_DPS310=y
 CONFIG_DRIVERS_CDCACM_AUTOSTART=y
@@ -156,6 +156,7 @@


 /* RC Serial port */
+#define RC_SERIAL_PORT          "/dev/ttyS4"
 #define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT

 // #define GPIO_RSSI_IN            /* PC5  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN5)
@@ -5,7 +5,6 @@ CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS3"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS5"
 CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS6"
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
 CONFIG_BOARD_PARAM_FILE="/fs/microsd/params"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_DPS310=y
@@ -149,6 +149,7 @@


 /* RC Serial port */
+#define RC_SERIAL_PORT          "/dev/ttyS4"
 #define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT

 // #define GPIO_RSSI_IN            /* PC5  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN5)
@@ -5,7 +5,6 @@ CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS3"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS5"
 CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS6"
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_DPS310=y
 CONFIG_DRIVERS_CDCACM_AUTOSTART=y
@@ -156,6 +156,7 @@


 /* RC Serial port */
+#define RC_SERIAL_PORT          "/dev/ttyS4"
 #define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT

 // #define GPIO_RSSI_IN            /* PC5  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN5)
@@ -124,6 +124,7 @@


 /* RC Serial port */
+#define RC_SERIAL_PORT          "/dev/ttyS4"
 #define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT

 /* SD Card */
@@ -5,7 +5,6 @@ CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS3"
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS5"
 CONFIG_DRIVERS_ACTUATORS_VOXL_ESC=y
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
@@ -182,6 +182,8 @@
 #define GPIO_PPM_IN             /* PI5 T8C1 */ GPIO_TIM8_CH1IN_2

 /* RC Serial port */
+
+#define RC_SERIAL_PORT                     "/dev/ttyS5"
 #define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT

 /* Safety Switch: Enable the FMU to control it as there is no px4io in ModalAI FC-v1 */
@@ -3,7 +3,6 @@ CONFIG_BOARD_ARCHITECTURE="cortex-m7"
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS5"
 CONFIG_DRIVERS_ACTUATORS_VOXL_ESC=y
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
@@ -248,6 +248,9 @@
 //#define HRT_PPM_CHANNEL         /* T8C1 */  1  /* use capture/compare channel 1 */
 //#define GPIO_PPM_IN             /* PI5 T8C1 */ GPIO_TIM8_CH1IN_2

+/* RC Serial port */
+
+#define RC_SERIAL_PORT                     "/dev/ttyS5"

 /* Input Capture Channels. */
 #define INPUT_CAP1_TIMER                  1
@@ -6,7 +6,6 @@ CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS5"
 CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS0"
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS5"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_DPS310=y
@@ -126,6 +126,8 @@
 #define HRT_PPM_CHANNEL         /* T3C2 */  2  /* use capture/compare channel 2 */
 #define GPIO_PPM_IN             /* PC7 T3C2 */ GPIO_TIM3_CH2IN_3

+/* RC Serial port */
+#define RC_SERIAL_PORT          "/dev/ttyS5"

 #define GPIO_RSSI_IN            /* PC0  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN0)

@@ -4,7 +4,6 @@ CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS0"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS4"
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS3"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_DPS310=y
@@ -136,6 +136,8 @@
 #define HRT_PPM_CHANNEL         /* T3C3 */  3  /* use capture/compare channel 3 */
 #define GPIO_PPM_IN             /* PB0 T3C3 */ GPIO_TIM3_CH3IN_1

+/* RC Serial port */
+#define RC_SERIAL_PORT                     "/dev/ttyS3"

 #define GPIO_RSSI_IN                       /* PC1  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN1)

@@ -3,7 +3,6 @@ CONFIG_BOARD_ARCHITECTURE="cortex-m7"
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS0"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS3"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_DPS310=y
@@ -135,6 +135,8 @@
 #define HRT_PPM_CHANNEL         /* T3C3 */  3  /* use capture/compare channel 3 */
 #define GPIO_PPM_IN             /* PB0 T3C3 */ GPIO_TIM3_CH3IN_1

+/* RC Serial port */
+#define RC_SERIAL_PORT                     "/dev/ttyS3"

 #define GPIO_RSSI_IN                       /* PC1  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN1)

@@ -4,7 +4,6 @@ CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS0"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS4"
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS3"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_DPS310=y
@@ -112,6 +112,9 @@
 #define HRT_PPM_CHANNEL         /* T3C3 */  3  /* use capture/compare channel 3 */
 #define GPIO_PPM_IN             /* PB0 T3C3 */ GPIO_TIM3_CH3IN_1

+/* RC Serial port */
+#define RC_SERIAL_PORT          "/dev/ttyS3"
+
 #define GPIO_RSSI_IN            /* PC1  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN1)

 /* Safety Switch: Enable the FMU to control it if there is no px4io fixme:This should be BOARD_SAFETY_LED(__ontrue) */
@@ -4,7 +4,6 @@ CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS0"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS4"
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS3"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_DPS310=y
@@ -112,6 +112,8 @@
 #define HRT_PPM_CHANNEL         /* T3C3 */  3  /* use capture/compare channel 3 */
 #define GPIO_PPM_IN             /* PB0 T3C3 */ GPIO_TIM3_CH3IN_1

+/* RC Serial port */
+#define RC_SERIAL_PORT          "/dev/ttyS3"

 #define GPIO_RSSI_IN            /* PC1  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN1)

@@ -3,7 +3,6 @@ CONFIG_BOARD_ARCHITECTURE="cortex-m7"
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS3"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS2"
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_DPS310=y
@@ -117,6 +117,7 @@
 #define GPIO_PPM_IN             /* PB0 T3C3 */ GPIO_TIM3_CH3IN_1

 /* RC Serial port */
+#define RC_SERIAL_PORT          "/dev/ttyS4"
 #define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT

 #define GPIO_RSSI_IN            /* PC1  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN1)
@@ -4,7 +4,6 @@ CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS3"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS4"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS2"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_COMMON_BAROMETERS=y
@@ -130,6 +130,9 @@ __END_DECLS
 #define SPEKTRUM_RX_AS_UART()        px4_arch_configgpio(PIN_UART1_RX)
 #define SPEKTRUM_OUT(_one_true)      px4_arch_gpiowrite(GPIO_PPM_IN_AS_OUT, (_one_true))

+/* RC input */
+
+#define RC_SERIAL_PORT          "/dev/ttyS2"      /* UART1 */
 #define GPIO_RSSI_IN            PIN_ADC1_SE13

 /* Ethernet Control
@@ -4,7 +4,6 @@ CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS3"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS4"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS2"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_COMMON_BAROMETERS=y
@@ -130,6 +130,9 @@ __END_DECLS
 #define SPEKTRUM_RX_AS_UART()        px4_arch_configgpio(PIN_UART1_RX)
 #define SPEKTRUM_OUT(_one_true)      px4_arch_gpiowrite(GPIO_PPM_IN_AS_OUT, (_one_true))

+/* RC input */
+
+#define RC_SERIAL_PORT          "/dev/ttyS2"      /* UART1 */
 #define GPIO_RSSI_IN            PIN_ADC1_SE13

 /* Ethernet Control
@@ -87,6 +87,7 @@ __BEGIN_DECLS

 #define DIRECT_PWM_OUTPUT_CHANNELS  8

+#define RC_SERIAL_PORT          "/dev/ttyS5"
 #define RC_SERIAL_SINGLEWIRE_FORCE
 #define RC_SERIAL_INVERT_RX_ONLY

@@ -5,7 +5,6 @@ CONFIG_BOARD_NO_HELP=y
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_BOARD_SERIAL_URT6="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS0"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP280=y
 CONFIG_DRIVERS_CDCACM_AUTOSTART=y
@@ -122,6 +122,7 @@
 #define HRT_PPM_CHANNEL              3 // capture/compare channel 3
 #define GPIO_PPM_IN                  (GPIO_ALT|GPIO_AF2|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN8)

+#define RC_SERIAL_PORT               "/dev/ttyS0"
 #define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT

 /*
@@ -4,7 +4,6 @@ CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS3"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS2"
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
 CONFIG_BOARD_SERIAL_WIFI="/dev/ttyS0"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
@@ -113,6 +113,10 @@
 #define HRT_PPM_CHANNEL              3  /* use capture/compare channel 3 */
 #define GPIO_PPM_IN                  (GPIO_ALT|GPIO_AF2|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN0)

+/* RC Serial port */
+
+#define RC_SERIAL_PORT               "/dev/ttyS4"
+
 /* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2. */
 #define PWMIN_TIMER                  4
 #define PWMIN_TIMER_CHANNEL          2
@@ -4,7 +4,6 @@ CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS3"
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_COMMON_BAROMETERS=y
@@ -297,6 +297,8 @@
 #define GPIO_PPM_IN             /* PI5 T8C1 */ GPIO_TIM8_CH1IN_2

 /* RC Serial port */
+
+#define RC_SERIAL_PORT                     "/dev/ttyS4"
 #define RC_SERIAL_SINGLEWIRE
 #define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT

@@ -6,7 +6,6 @@ CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS7"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS5"
 CONFIG_BOARD_SERIAL_EXT2="/dev/ttyS3"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
@@ -40,6 +39,7 @@ CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
 CONFIG_DRIVERS_POWER_MONITOR_PM_SELECTOR_AUTERION=y
+CONFIG_DRIVERS_PWM_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PX4IO=y
 CONFIG_COMMON_RC=y
@@ -287,6 +287,7 @@
 #define GPIO_PPM_IN             /* PI5 T8C1 */ GPIO_TIM8_CH1IN_2

 /* RC Serial port */
+#define RC_SERIAL_PORT                     "/dev/ttyS5"
 /* Some RC protocols are bi-directional, therefore we need a half-duplex UART */
 #define RC_SERIAL_SINGLEWIRE
 /* The STM32 UART by default wires half-duplex mode to the TX pin, but our
@@ -5,7 +5,6 @@ CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS7"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS5"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_COMMON_BAROMETERS=y
@@ -257,6 +257,8 @@
 #define GPIO_PPM_IN             /* PI5 T8C1 */ GPIO_TIM8_CH1IN_2

 /* RC Serial port */
+
+#define RC_SERIAL_PORT                     "/dev/ttyS5"
 #define RC_SERIAL_SINGLEWIRE
 #define RC_SERIAL_SWAP_RXTX

@@ -6,7 +6,6 @@ CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS7"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS5"
 CONFIG_BOARD_SERIAL_EXT2="/dev/ttyS3"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
@@ -40,6 +39,7 @@ CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
 CONFIG_DRIVERS_POWER_MONITOR_PM_SELECTOR_AUTERION=y
+CONFIG_DRIVERS_PWM_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PX4IO=y
 CONFIG_DRIVERS_RC_INPUT=y
@@ -324,6 +324,7 @@
 #define GPIO_PPM_IN             /* PI5 T8C1 */ GPIO_TIM8_CH1IN_2

 /* RC Serial port */
+#define RC_SERIAL_PORT                     "/dev/ttyS5"
 /* Some RC protocols are bi-directional, therefore we need a half-duplex UART */
 #define RC_SERIAL_SINGLEWIRE
 /* The STM32 UART by default wires half-duplex mode to the TX pin, but our
@@ -6,7 +6,6 @@ CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS3"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS5"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS6"
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
@@ -451,6 +451,7 @@
 #define HRT_PPM_CHANNEL         /* GPIO_EMC_B1_09 GPIO_GPT5_CAPTURE1_1 */  1  /* use capture/compare channel 1 */
 #define GPIO_PPM_IN             /* GPIO_EMC_B1_09 GPT1_CAPTURE2 */ (GPIO_GPT5_CAPTURE1_1 | GENERAL_INPUT_IOMUX)

+#define RC_SERIAL_PORT                  "/dev/ttyS4"
 #define RC_SERIAL_SINGLEWIRE            1 // Suport Single wire wiring
 #define RC_SERIAL_SWAP_RXTX             1 // Set Swap (but not supported in HW) to use Single wire
 #define RC_SERIAL_SWAP_USING_SINGLEWIRE 1 // Set to use Single wire swap as HW does not support swap
@@ -4,7 +4,6 @@ CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1"
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS3"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP280=y
 CONFIG_DRIVERS_CDCACM_AUTOSTART=y
@@ -70,7 +70,7 @@
 #define HRT_TIMER_CHANNEL 1
 #define HRT_PPM_CHANNEL 1	// Number really doesn't matter for this board
 #define GPIO_PPM_IN		(16 | GPIO_FUN(RP2040_GPIO_FUNC_SIO))
-
+#define RC_SERIAL_PORT               "/dev/ttyS3"
 #define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT

 /* This board provides a DMA pool and APIs */			// Needs to be figured out
@@ -6,7 +6,6 @@ CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS7"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS5"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_COMMON_BAROMETERS=y
 CONFIG_DRIVERS_BATT_SMBUS=y
@@ -251,6 +251,8 @@
 #define GPIO_PPM_IN             /* PI5 T8C1 */ GPIO_TIM8_CH1IN_2

 /* RC Serial port */
+
+#define RC_SERIAL_PORT                     "/dev/ttyS5"
 #define RC_SERIAL_SINGLEWIRE

 /* Input Capture Channels. */
@@ -1,6 +1,5 @@
 CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
 CONFIG_BOARD_ARCHITECTURE="cortex-m7"
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS0"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_COMMON_BAROMETERS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
@@ -107,6 +107,10 @@
 #define HRT_TIMER_CHANNEL       3  /* use capture/compare channel 3 */


+/* RC Serial port */
+
+#define RC_SERIAL_PORT          "/dev/ttyS0"
+
 #define GPIO_RSSI_IN            /* PC5  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN5)

 #define SDIO_SLOTNO             0  /* Only one slot */
@@ -5,7 +5,6 @@ CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS3"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS6"
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_MS5611=y
 CONFIG_DRIVERS_BATT_SMBUS=y
@@ -111,6 +111,10 @@
 #define HRT_PPM_CHANNEL              3  /* use capture/compare channel 3 */
 #define GPIO_PPM_IN                  (GPIO_ALT|GPIO_AF2|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN0)

+/* RC Serial port */
+
+#define RC_SERIAL_PORT               "/dev/ttyS4"
+
 /* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2. */
 #define PWMIN_TIMER                  4
 #define PWMIN_TIMER_CHANNEL          2
@@ -136,6 +136,7 @@
 #define HRT_TIMER_CHANNEL       1  /* use capture/compare channel 1 */

 /* RC Serial port */
+#define RC_SERIAL_PORT                     "/dev/ttyS4"
 #define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT

 // #define GPIO_SBUS_INV                  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN14)
@@ -7,7 +7,6 @@ CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_EXT2="/dev/ttyS3"
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS5"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP201XX=y
@@ -318,6 +318,8 @@
 #define GPIO_PPM_IN             /* PI5 T8C1 */ GPIO_TIM8_CH1IN_2

 /* RC Serial port */
+
+#define RC_SERIAL_PORT                     "/dev/ttyS5"
 #define RC_SERIAL_SINGLEWIRE

 /* Input Capture Channels. */
@@ -69,6 +69,11 @@ For each AUX output to which a safety device is attached, where "n" is the PWM p

 Finally, set the `PWM_AUX_FAILn` and `PWM_MAIN_FAILn` PWM values for any motors.

+::: info
+Flight termination via ATS only works if `drivers/pwm_input` is included in the firmware for your board.
+If not, you need to add it manually to your board configuration using [boardconfig](../hardware/porting_guide_config.md#px4-menuconfig-setup).
+:::
+
 ## Logic Diagram

 The diagram below shows the logical flow around flight termination.
@@ -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)

@@ -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)
@@ -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).
@@ -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).
@@ -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:

@@ -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).

@@ -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).

@@ -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)
@@ -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**.

@@ -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**.

@@ -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

@@ -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
@@ -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_.

@@ -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.
@@ -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
@@ -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.
 :::

@@ -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

@@ -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)

 :::
@@ -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).

--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
PX4BuildBot	c43d3f368c	Fix up reciever	2025-07-30 17:58:27 +10:00
PX4BuildBot	6f099b62ce	Update as suggested	2025-07-30 17:48:31 +10:00
PX4BuildBot	46158cbcb5	Explicitly don't send ack	2025-07-23 14:35:56 +10:00
Hamish Willee	cebf5bb42a	Support MAV_CMD_DO_SET_GLOBAL_ORIGIN	2025-07-23 13:32:18 +10:00
Crowdin Bot	f413b0c4d2	New Crowdin translations - ko	2025-07-23 09:58:57 +10:00
Crowdin Bot	fea845082f	New Crowdin translations - uk	2025-07-23 09:58:46 +10:00
PX4 Build Bot	5cd7cd9389	New Crowdin translations - zh-CN (#25256 ) Co-authored-by: Crowdin Bot <support+bot@crowdin.com>	2025-07-23 09:58:30 +10:00
Claudio Chies	095ab9d27a	add PWM_Input as default for ats-based flight termination (#25209 )	2025-07-22 09:30:53 +02:00
William Freidank	13122c29c0	Fix simulated gimbal behavior with zero velocity (#25217 ) * fix simulated gimbal behavior with zero velocity * check for PX4_ISFINITE before checking for magnitude	2025-07-21 12:59:55 -08:00