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67 lines
3.6 KiB
Markdown
67 lines
3.6 KiB
Markdown
# 비행 콘트롤러와 센서 방향
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기본적으로 비행 콘트롤러와 외장 나침반 센서는 윗면이 위를 향하고 화살표가 기체 정면을 향하도록 기체에 장착합니다.
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보드나 외장 나침반 센서가 다른 방향으로 설치된 경우에는 펌웨어에서 해당 방향을 설정하여야 합니다.
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## 방향 알아내기
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비행 컨트롤러의 ROLL, PITCH 및 YAW 오프셋은 기체의 전진(x), 오른쪽(y), 아래(z) 축을 중심을 기준으로 계산됩니다.
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회전 축은 한 회전 단계에서 다음 단계까지 동일하게 유지됩니다.
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따라서 회전을 수행하는 프레임은 고정되어 있습니다.
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This is also known as _extrinsic rotation_.
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For example, the vehicles shown below have rotations around the z-axis (i.e. yaw only) corresponding to: `ROTATION_NONE`, `ROTATION_YAW_90`,`ROTATION_YAW_180`,`ROTATION_YAW_270`.
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:::info
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For a VTOL Tailsitter airframe set the vehicle orientation according to its multirotor configuration (i.e. relative to the vehicle during, takeoff, hovering, landing) for all sensor calibrations.
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축은 일반적으로 전진 비행에 대하여는 차량의 방향에 상대적입니다.
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For more information see [Basic Concepts](../getting_started/px4_basic_concepts.md#heading-and-directions).
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:::
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## 방향 설정
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방향을 설정하려면:
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1. Start _QGroundControl_ and connect the vehicle.
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2. Select **"Q" icon > Vehicle Setup > Sensors** (sidebar) to open _Sensor Setup_.
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3. Select the **Orientations** button.
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4. Select the **AutoPilot Orientation** (as [calculated above](#calculating-orientation)).
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5. Press **OK**.
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:::info
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You can use [Level Horizon Calibration](../config/level_horizon_calibration.md) to compensate for small miss-alignments in controller orientation and to level the horizon in flight view.
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:::
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## 미세 보정
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PX4 will automatically detect the compass orientation as part of [compass calibration](../config/compass.md) ([by default](../advanced_config/parameter_reference.md#SENS_MAG_AUTOROT)) for any of the [standard MAVLink orientations](https://mavlink.io/en/messages/common.html#MAV_SENSOR_ORIENTATION) (upright and facing forward, or any multiple of 45° offset in any axis) .
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:::info
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You can confirm that auto detection worked by looking at the [CAL_MAGn_ROT](../advanced_config/parameter_reference.md#CAL_MAG0_ROT) parameters.
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:::
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If a non-standard orientation has been used you will need to set the [CAL_MAGx_ROLL](../advanced_config/parameter_reference.md#CAL_MAG0_ROLL), [CAL_MAGx_PITCH](../advanced_config/parameter_reference.md#CAL_MAG0_PITCH), and [CAL_MAGx_YAW](../advanced_config/parameter_reference.md#CAL_MAG0_YAW) parameters for each compass to the angles that were used.
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This will automatically set [CAL_MAGn_ROT](../advanced_config/parameter_reference.md#CAL_MAG0_ROT) to "custom euler angle" and prevents automatic calibration for the selected compass (even if [SENS_MAG_AUTOROT](../advanced_config/parameter_reference.md#SENS_MAG_AUTOROT) is set).
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## 추가 정보
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- [Advanced Orientation Tuning](../advanced_config/advanced_flight_controller_orientation_leveling.md) (advanced users only).
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- [QGroundControl User Guide > Sensors](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/setup_view/sensors_px4.html#flight_controller_orientation)
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