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101 lines
5.1 KiB
Markdown
101 lines
5.1 KiB
Markdown
# 飞行终止配置
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The _Flight termination_ [failsafe action](../config/safety.md#failsafe-actions) irreversibly turns off controllers and sets PWM values to their parameter configured failsafe values.
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:::info
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Flight termination differs from the [Kill action](../config/safety.md#kill-switch) in that it is permanent until after reboot.
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:::
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:::warning
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This is _not_ an independent _Flight Termination System_.
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如果断电或者自驾仪完全失控，失效保护设备则不会触发。
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:::
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## 综述
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### Termination Triggers
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Termination may be triggered by:
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- [Safety checks](../config/safety.md) for RC Loss, geofence violation, and so on (on any vehicle type or in any flight mode).
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- [Failure Detector](../config/safety.md#failure-detector) trigger
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- RC termination switch (mapped to an RC channel using [RC_MAP_TERM_SW](../advanced_config/parameter_reference.md#RC_MAP_TERM_SW)).
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- The MAVLink [MAV_CMD_DO_FLIGHTTERMINATION](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_FLIGHTTERMINATION) MAVLink command from a GCS or companion computer (see [MAVLink Trigger](#mavlink-trigger) below).
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飞行终止是无法取消的。
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在飞行终止触发后，您应尽快拔下电池。
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您需要在重启载具或重新上电后才能再次使用。
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### Termination Actions
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When _Flight termination_ is activated, PX4 simultaneously turns off all controllers and sets all PWM outputs to their failsafe values.
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根据所连接的设备，PWM 故障保护输出可以用来完成以下动作：
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- Deploy a [parachute](../peripherals/parachute.md).
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- 伸展可伸缩起落架。
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- 将连接了 PWM 的云台移动到安全的方向（或将它回收）以保护摄像机。
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- 触发一个可充气的装置，如安全气囊。
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- 触发警报。
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:::tip
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PX4 does not know what safety devices are attached - it just applies a predefined set of PWM values to its outputs.
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:::
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:::tip
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Failsafe values are applied to all outputs on termination.
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无法配置电机或特定安全装置为独立的特定时间（或其他方式）触发。
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:::
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## 硬件配置
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Any _safety device(s)_ (e.g. a [parachute](../peripherals/parachute.md)) that can be triggered by changing a PWM value can be used, and may be connected to any free PWM port (both MAIN and AUX).
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:::info
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If you're using Pixhawk-series board you will have to separately power the servo rail (i.e. from a 5V BEC, which is often also available from your ESC).
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:::
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## 软件配置
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The [Safety](../config/safety.md) topic explains how to set the _flight termination_ as the [failsafe action](../config/safety.md#failsafe-actions) to be performed for particular failsafe check.
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The [Failure Detector](../config/safety.md#failure-detector) can also (optionally) be configured to trigger flight termination if the vehicle flips (exceeds a certain attitude) or if failure is detected by an external automatic trigger system (ATS):
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- Enable the failure detector during flight by setting [CBRK_FLIGHTTERM=0](../advanced_config/parameter_reference.md#CBRK_FLIGHTTERM).
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- [Safety > Failure Detector > Attitude Trigger](../config/safety.md#attitude-trigger) explains how to configure the attitude limits that trigger _Flight termination_.
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::: info
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During _takeoff_ excessive attitutes will trigger _lockdown_ (kill motors, but not launch parachute) rather than flight termination.
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This is always enabled, irrespective of the value of `CBRK_FLIGHTTERM`.
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:::
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- [Safety > External Automatic Trigger System (ATS)](../config/safety.md#external-automatic-trigger-system-ats) explains how to configure an external trigger system.
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对于每个与安全装置相连的 MAIN 输出，其中“n”指 PWM 端口号，设置：
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- [PWM_MAIN_DISn](../advanced_config/parameter_reference.md#PWM_MAIN_DIS1) to the device's "OFF" PWM value.
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- [PWM_MAIN_FAILn](../advanced_config/parameter_reference.md#PWM_MAIN_FAIL1) to the device's "ON" PWM value.
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对于每个与安全装置相连的 AUX 输出，其中“n”指 PWM 端口号，设置：
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- [PWM_AUX_DIS1](../advanced_config/parameter_reference.md#PWM_AUX_DIS1) to the device's "OFF" PWM value.
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- [PWM_AUX_FAILn](../advanced_config/parameter_reference.md#PWM_AUX_FAIL1) to the device's "ON" PWM value.
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Finally, set the `PWM_AUX_FAILn` and `PWM_MAIN_FAILn` PWM values for any motors.
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:::info
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Flight termination via ATS only works if `drivers/pwm_input` is included in the firmware for your board.
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If not, you need to add it manually to your board configuration using [boardconfig](../hardware/porting_guide_config.md#px4-menuconfig-setup).
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:::
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## MAVLink Trigger
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The [MAV_CMD_DO_FLIGHTTERMINATION](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_FLIGHTTERMINATION) command can be used to trigger Flight termination from a ground station or companion computer.
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This is sent, for example, when you call the [MAVSDK Action plugin](https://mavsdk.mavlink.io/main/en/cpp/api_reference/classmavsdk_1_1_action.html#classmavsdk_1_1_action_1a47536c4a4bc8367ccd30a92eb09781c5) `terminate()` or `terminate_async()` methods.
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## 逻辑图解
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下图显示了飞行终止的逻辑流程。
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