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PX4-Autopilot/docs/zh/modules/modules_simulation.md
Hamish Willee 88d623bedb
Move PX4 Guide source into /docs (#24490) 
* 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>
2025-03-13 16:08:27 +11:00

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模块参考：仿真

simulator_sih

Source: modules/simulation/simulator_sih

描述

This module provides a simulator for quadrotors and fixed-wings running fully inside the hardware autopilot.

This simulator subscribes to "actuator_outputs" which are the actuator pwm signals given by the control allocation module.

模拟器发布了被真实噪声污染的传感器信号以便在环路中加入状态估计器。

实现

模拟器运用矩阵代数方法实现了运动方程。 姿态采用四元数表示。 积分计算采用前向欧拉法。 为避免堆栈溢出，大部分变量在 .hpp 文件中声明为全局变量。

用法

simulator_sih <command> [arguments...]
 Commands:
   start

   stop

   status        print status info