88d623bedb
* Add vitepress tree * Update existing workflows so they dont trigger on changes in the docs path * Add nojekyll, package.json, LICENCE etc * Add crowdin docs upload/download scripts * Add docs flaw checker workflows * Used docs prefix for docs workflows * Crowdin obvious fixes * ci: docs move to self hosted runner runs on a beefy server for faster builds Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: don't run build action for docs or ci changes Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: update runners Signed-off-by: Ramon Roche <mrpollo@gmail.com> * Add docs/en * Add docs assets and scripts * Fix up editlinks to point to PX4 sources * Download just the translations that are supported * Add translation sources for zh, uk, ko * Update latest tranlsation and uorb graphs * update vitepress to latest --------- Signed-off-by: Ramon Roche <mrpollo@gmail.com> Co-authored-by: Ramon Roche <mrpollo@gmail.com>
2.7 KiB
Sensor Hardware & Setup
This section describes the mandatory and optional sensors and their setup/configuration.
综述
PX4-based systems use sensors to estimate vehicle state, which is needed for stabilization and to enable autonomous control. Vehicle state information includes: position/altitude, heading, speed, airspeed, orientation (attitude), rates of rotation in different directions, battery level, and so on.
PX4 minimally requires a gyroscope, accelerometer, magnetometer (compass), and barometer to measure the above states. Fixed-wing and VTOL-vehicles should also include an airspeed sensor. A GPS or other positioning system is needed to enable all automatic modes, and some manual/assisted modes.
Pixhawk Series flight controllers already have the minimum set of sensors (other controller platforms often do too). Additional/external sensors can be attached to the controller — an external GPS and compass are recommended, along with an airspeed sensor for VTOL and Fixed wing vehicles.
Sensor Topics
Mandatory (included in Pixhawk series FCs):
- Accelerometer — Measures changing acceleration.
- Gyroscope — Measures orientation.
- Magnetometer (Compass) — Measures heading/direction. External compass recommended!
- Barometers — Measures altitude (via air pressure).
Recommended:
- Airspeed Sensors — Measures airspeed. Highly recommended for VTOL and Fixed-wing as they are the only mechanism to detect stall.
- GNSS (GPS) — Measures global position. Needed for missions, and some other automatic and manual/assisted modes.
- RTK GNSS (GPS) — GNSS with centimetre-level accuracy. Some setups also allow heading to be determine from GNSS rather than a magnetometer.
Optional:
- Distance Sensors (Rangefinders) — Measures distance to target. Aids landing, object avoidance, and terrain following.
- Optical Flow — Estimates velocity using a downward facing camera and a downward facing distance sensor. Enables a more accurate position lock than GPS alone, and can be used indoors when no GPS signal is available.
- Tachometers (Revolution Counters) — Only used for logging.
Other optional:
- IMU/Compass Factory Calibration — Save calibration settings to persistent storage.
- Sensor Thermal Compensation — Compensate sensors for temperature variations.