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PX4 Guide (v1.15)

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PX4

Dronecode Camera Manager

中文 (Chinese)

中文 (Chinese)

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Introduction

基本概念

多旋翼

Features

飞行模式

位置模式（多旋翼）

Position Slow Mode (MC)

高度模式（多旋翼）

手动／自稳模式（多旋翼）

特技模式（多旋翼）

环绕模式（多旋翼）

Takeoff Mode (MC)

Land Mode (MC)

Hold Mode (MC)

Follow Me Mode (MC)

Mission Mode (MC)

Return Mode (MC)

Offboard Mode (MC)

精准着陆

地形跟随/保持

Throw Launch

Assembly

Configuration/Tuning

Filter/Control Latency Tuning

PID Tuning (Manual/Basic)

PID Tuning Guide (Manual/Advanced)

Setpoint Tuning (Trajectory Generator)

Jerk-limited Type Trajectory

Racer Setup

着陆探测器配置

静态压力生成

Flying (Basics)

整机

ModalAI Starling

PX4 视觉套件

MindRacer BNF & RTF

MindRacer 210

NanoMind 110

Holybro Kopis 2

Bitcraze Crazyflie 2.1

套装

X500 v2 (Pixhawk 6C)

X500 v2 (Pixhawk 5X)

X500 (Pixhawk 4)

S500 V2 (Pixhawk 4)

Lumenier QAV-R 5" Racer (Pixracer)

QAV250 (Pixhawk4 Mini) - Discontinued

DIY Builds

Omnicopter

DJI F450 (CUAV v5+)

DJI F450 (CUAV v5 nano)

Planes (Fixed-Wing)

Assembly

Config/Tuning

Rate/Attitude Controller Tuning Guide

Altitude/Position Controller Tuning Guide

Weight & Altitude Tuning

Trimming Guide

Flying (Basics)

飞行模式

位置模式（固定翼）

高度模式（固定翼）

自稳模式（固定翼）

特技模式（固定翼）

手动模式（固定翼）

Takeoff Mode (FW)

Land Mode (FW)

Hold Mode (FW)

任务模式

Return Mode (FW)

Offboard Mode (FW)

Complete Vehicles

DIY Builds

Reptile Dragon 2 (ARK6X)

Turbo Timber Evolution (Pixhawk 4 Mini)

Wing Wing Z84 (Pixracer)

垂直起降

Assembly

垂直起降配置/调试

四旋翼型固定翼配置

VTOL后转换调参

没有空速传感器的VTOL

垂直起降风向仪

飞行模式

Mission Mode (VTOL)

Return Mode (VTOL)

Land Mode (VTOL)

标准垂起固定翼

Build: Foxtech Loong 2160 VTOL

FunCub QuadPlane (Pixhawk)

Ranger QuadPlane (Pixhawk)

Falcon Vertigo 四旋翼 (Dropix)

尾座式垂起

构建：TBS Caipiroshka 尾座式构建(Pixracer)

倾转旋翼式VTOL

构建：Convergence 倾转旋翼机（Pixfalcon）

Build: OMP Hobby ZMO FPV

Complete Vehicles

Operations

安全性

Safety Configuration (Failsafes)

Failsafe Simulation

地理围栏

Safe Points (Rally)

解锁前/解锁/加锁配置

飞行终止配置

首次飞行指南

飞行

任务

飞行报告

飞行日志分析

使用 Flight Review 进行日志分析

Log Analysis using PlotJuggler

载具状态通知

LED灯含义

声调/声音含义

飞行前检查

Hardware Selection & Setup

飞行控制器(Autopilots)

Flight Controller Selection

Mounting the Flight Controller

Vibration Isolation

Updating Firmware

Flight Controller/Sensor Orientation

Level Horizon Calibration

Advanced Controller Orientation

Bootloader Update

Bootloader Update FMUv6X-RT via USB

Bootloader Flashing onto Betaflight Systems

Pixhawk Series

Silicon Errata

Pixhawk Standard Autopilots

CUAV Pixhawk V6X (FMUv6X)

Wiring QuickStart

Holybro Pixhawk 6X-RT (FMUv6X-RT)

Holybro Pixhawk 6X (FMUv6X)

Wiring Quickstart

Holybro Pixhawk 6C (FMUv6C)

Wiring Quickstart

Holybro Pixhawk 6C Mini(FMUv6C)

Holybro Pix32 v6 (FMUv6C)

Holybro Pixhawk 5X (FMUv5X)

Wiring Quickstart

Holybro Pixhawk 4 (FMUv5)

Wiring Quickstart

Holybro Pixhawk 4 Mini (FMUv5) - Discontinued

Wiring Quickstart

Drotek Pixhawk 3 Pro (FMUv4pro) - Discontinued

mRo Pixracer (FMUv4)

Wiring Quickstart

Hex Cube Black (FMUv3)

mRo Pixhawk (FMUv3)

mRo (3DR) Pixhawk Wiring Quickstart

Holybro Pixhawk Mini (FMUv3) - Discontinued

Manufacturer-Supported Autopilots

AirMind MindPX

AirMind MindRacer

ARK Electronics ARKV6X

CUAV X7

CUAV Nora

CUAV V5+ (FMUv5)

Wiring Quickstart

CUAV V5 nano (FMUv5)

CUAV V5 nano Wiring Quickstart

CUAV Pixhack v3 (FMUv3)

CubePilot Cube Orange+ (CubePilot)

CubePilot Cube Orange (CubePilot)

CubePilot Cube Yellow (CubePilot)

Cube Wiring Quickstart

Holybro Kakute H7v2

Holybro Kakute H7mini

Holybro Kakute H7

Holybro Durandal

Wiring Quickstart

Holybro Pix32 v5

Wiring Quickstart

ModalAI Flight Core v1

ModalAI VOXL Flight

ModalAI VOXL 2

mRobotics-X2.1 (FMUv2)

mRo Control Zero F7)

NXP RDDRONE-FMUK66 FMU

Sky-Drones AIRLink

SPRacing SPRacingH7EXTREME

ThePeach FCC-K1

ThePeach FCC-R1

Experimental Autopilots

BeagleBone Blue

Raspberry Pi 2/3 Navio2

Raspberry Pi 2/3/4 PilotPi

PilotPi with Raspberry Pi OS

PilotPi with Ubuntu Server

Discontinued Autopilots/Vehicles

Drotek Dropix (FMUv2)

Omnibus F4 SD

BetaFPV Beta75X 2S Brushless Whoop

Bitcraze Crazyflie 2.0

Aerotenna OcPoC-Zynq Mini

CUAV v5

Holybro Kakute F7 (Discontinued)

Holybro Pixfalcon

Holybro pix32 (FMUv2)

mRo AUAV-X2

3DR Pixhawk 1

Snapdragon Flight

Intel® Aero RTF Drone (Discontinued)

Pixhawk Autopilot Bus (PAB) & Carriers

ARK Electronics Pixhawk Autopilot Bus Carrier

Airframe Selection

传感器

加速度计

Calibration

陀螺仪

Calibration

Magnetometer (Compass)

Mounting a Compass

Calibration

指南针动力补偿

空速传感器

Calibration

TFSlot Airspeed Sensor

Barometers

距离传感器 (测距仪)

Lightware SFxx 激光雷达

Ainstein US-D1 标准雷达高度计

LeddarOne 激光雷达

北醒 TFmini 激光雷达

Lidar-Lite

TeraRanger

兰宝 PSK-CM8JL65-CC5

Avionics Anonymous Laser Altimeter UAVCAN Interface (CAN)

GNSS (GPS)

ARK GPS (CAN)

CUAV NEO 3 GPS

CUAV NEO 3 Pro GPS (CAN)

CUAV NEO 3X GPS (CAN)

Holybro DroneCAN M8N GPS (CAN)

LOCOSYS Hawk A1 GNSS

Hex Here2 (Discontinued)

Holybro M8N & M9N GPS

Sky-Drones SmartAP GPS

RTK GNSS

ARK RTK GPS (CAN)

RTK GPS Heading with Dual u-blox F9P

CUAV C-RTK

CUAV C-RTK2 PPK/RTK GNSS

CUAV C-RTK 9Ps

Femtones MINI2 Receiver

Freefly RTK GPS

Holybro H-RTK-F9P

Holybro H-RTK-M8P

Holybro H-RTK Unicore UM982 GPS

Locosys Hawk R1

Locosys Hawk R2

Septentrio GNSS Receivers

Septentrio AsteRx-m3 Pro

Septentrio mosaic-go

Trimble MB-Two

CubePilot Here+ (Discontined)

INS (Inertial Navigation/GNSS)

VectorNav

光流

ARK 光流

PMW3901

PX4FLOW (Deprecated)

转速计（转数计数器）

ThunderFly TFRPM01 转速传感器

IMU Factory Calibration

传感器热补偿

执行器

ADSB/FLARM (空中防撞)

电调（ESC）校准

电调 & 电机

PWM 电调和伺服系统

DShot 电调

OneShot 电调和伺服系统

DroneCAN ESCs

Zubax Telega

PX4 Sapog ESC Firmware

Holybro Kotleta

Zubax Orel

Vertiq

VESC

Radio Control (RC)

无线电系统设置

飞行模式

Joysticks

Data Links

MAVLink 回传（OSD/GCS）

数传电台

SiK 电台

RFD900 (SiK) 数传电台

HolyBro (SIK) 数传电台

WiFi 数传

ESP8266 WiFi 模块

ESP32 WiFi 模块

3DR Wifi 数传(停产)

Microhard Serial Telemetry Radio

ARK Electron Microhard Serial Telemetry Radio

Holybro Microhard P900 Telemetry Radio

CUAV P8 Telemetry Radio

HolyBro XBP9X - Discontinued

睿思凯数传

TBS Crossfire (CRSF) Telemetry

Satellite Comms (Iridium/RockBlock)

Power Systems

Battery Estimation Tuning

Power Modules/PDB

雷迅 HV pm

雷迅 CAN PMU

Holybro PM02

Holybro PM07

Holybro PM06 V2

Holybro PM02D (digital)

Holybro PM03D (digital)

Pomegranate Systems Power Module

Sky-Drones SmartAP PDB

Smart/MAVLink Batteries

Rotoye Batmon 电池智能套装

载荷 & 相机

Use Cases

Package Delivery Mission

Generic Actuator Control

相机

MAVLink Camera (v2 protocol)

MAVLink Camera (v1 protocol)

Camera Connected to FC Outputs

Gimbal (Mount) Configuration

Grippers

Servo Gripper

Peripherals

ADSB/FLARM/UTM (Traffic Avoidance)

降落伞

Remote ID

I2C Peripherals

I2C bus accelerators

TFI2CADT01 I2C address translator

CAN Peripherals

DroneCAN Peripherals

PX4 DroneCAN Firmware

ARK CANnode

Cable Wiring

机载电脑

Pixhawk + Companion Setup

RasPi Pixhawk Companion

机载计算机外设

Holybro Pixhawk RPI CM4 Baseboard

Auterion Skynode

机器视觉

自主避障

安全着陆

防撞功能

路径规划接口

运动捕捉（MoCap）

视觉惯性里程计(VIO)

Realsense T265 跟踪相机 (VIO)

视频流

Video Streaming using WFB-ng Wifi (Long range)

串口配置

PX4 Ethernet Setup

Standard Configuration

自动调参

高级配置

ECL/EKF 概述 &调试

查找/更新参数

Full Parameter Reference

Other Vehicles

Airships (experimental)

Autogyros (experimental)

ThunderFly Auto-G2 (Holybro pix32)

Balloons (experimental)

Helicopter (experimental)

Helicopter Config/Tuning

Rovers (experimental)

Flight Modes

Aion Robotics R1

Traxxas Stampede

Submarines (experimental)

BlueROV2

机架参考

Assembly (Generic-Vehicle)

Flight Modes

Return Mode (Generic/All)

Offboard Mode (Generic/All)

开发

入门指南

推荐的硬件/设置

工具链安装

Ubuntu设置

Windows 设置

MacOS 设置

Visual Studio Code IDE

QGC Daily Build

构建代码

编写您的第一个应用程序

应用/模块模板

概念

PX4 架构

PX4 飞行堆栈结构

控制器框图

参数&配置

事件接口

Flight Modes

飞行任务

Control Allocation

PWM 限制状态机

系统启动

SD 卡布局

仿真

Gazebo 仿真

Vehicles

Advanced Lift Drag Tool

Gazebo Models Repository

Multi-Vehicle Sim

Gazebo Classic Simulation

Vehicles

Worlds

Multi-Vehicle Sim

仿真故障保护

硬件

飞行控制器参考设计

制造商的版面支持指南

飞行控制器移植指南

PX4 板配置 (kconfig)

NuttX 板移植指南

串口映射

机型

增加一个新的机型

设备驱动

数传电台

SiK 电台

传感器和执行器 I/O

DroneCAN

I2C 总线

UART/串口

可配置的串口驱动

RTK GPS (集成)

中间件

uORB 通讯

uORB 图

uORB 消息参考

ActionRequest

ActuatorArmed

ActuatorControlsStatus

ActuatorMotors

ActuatorOutputs

ActuatorServos

ActuatorServosTrim

ActuatorTest

AdcReport

空速：

AirspeedValidated

AirspeedWind

ArmingCheckReply

ArmingCheckRequest

AutotuneAttitudeControlStatus

BatteryStatus

Buffer128

ButtonEvent

CameraCapture

CameraStatus

CameraTrigger

CanInterfaceStatus

CellularStatus

CollisionConstraints

CollisionReport

ConfigOverrides

ControlAllocatorStatus

Cpuload

DatamanRequest

DatamanResponse

DebugArray

DebugKeyValue

DebugValue

DebugVect

DifferentialDriveSetpoint

DifferentialPressure

DistanceSensor

Ekf2Timestamps

EscReport

EscStatus

EstimatorAidSource1d

EstimatorAidSource2d

EstimatorAidSource3d

EstimatorBias

EstimatorBias3d

EstimatorEventFlags

EstimatorGpsStatus

EstimatorInnovations

EstimatorSelectorStatus

EstimatorSensorBias

EstimatorStates

EstimatorStatus

EstimatorStatusFlags

Event

FailsafeFlags

FailureDetectorStatus

FigureEightStatus

FlightPhaseEstimation

FollowTarget

FollowTargetEstimator

FollowTargetStatus

FuelTankStatus

GeneratorStatus

GeofenceResult

GeofenceStatus

GimbalControls

GimbalDeviceAttitudeStatus

GimbalDeviceInformation

GimbalDeviceSetAttitude

GimbalManagerInformation

GimbalManagerSetAttitude

GimbalManagerSetManualControl

GimbalManagerStatus

GotoSetpoint

GpioConfig

GpioIn

GpioOut

GpioRequest

GpsDump

GpsInjectData

Gripper

HealthReport

HeaterStatus

HomePosition

HoverThrustEstimate

InputRc

InternalCombustionEngineStatus

IridiumsbdStatus

IrlockReport

LandingGear

LandingGearWheel

LandingTargetInnovations

LandingTargetPose

LaunchDetectionStatus

LedControl

LogMessage

LoggerStatus

MagWorkerData

MagnetometerBiasEstimate

ManualControlSetpoint

ManualControlSwitches

MavlinkLog

MavlinkTunnel

MessageFormatRequest

MessageFormatResponse

Mission

MissionResult

ModeCompleted

MountOrientation

NavigatorMissionItem

NormalizedUnsignedSetpoint

NpfgStatus

ObstacleDistance

OffboardControlMode

OnboardComputerStatus

OrbTest

OrbTestLarge

OrbTestMedium

OrbitStatus

ParameterResetRequest

ParameterSetUsedRequest

ParameterSetValueRequest

ParameterSetValueResponse

ParameterUpdate

Ping

PositionControllerLandingStatus

PositionControllerStatus

PositionSetpoint

PositionSetpointTriplet

PowerButtonState

PowerMonitor

PpsCapture

PwmInput

Px4ioStatus

QshellReq

QshellRetval

RadioStatus

RateCtrlStatus

RcChannels

RcParameterMap

RegisterExtComponentReply

RegisterExtComponentRequest

RoverAckermannGuidanceStatus

Rpm

RtlStatus

RtlTimeEstimate

SatelliteInfo

SensorAccel

SensorAccelFifo

SensorAirflow

SensorBaro

SensorCombined

SensorCorrection

SensorGnssRelative

SensorGps

SensorGyro

SensorGyroFft

SensorGyroFifo

SensorHygrometer

SensorMag

SensorOpticalFlow

SensorPreflightMag

SensorUwb

SensorSelection

SensorsStatus

SensorsStatusImu

SystemPower

TakeoffStatus

TaskStackInfo

TecsStatus

TelemetryStatus

TiltrotorExtraControls

TimesyncStatus

TrajectoryBezier

TrajectorySetpoint

TrajectoryWaypoint

TransponderReport

TuneControl

UavcanParameterRequest

UavcanParameterValue

UlogStream

UlogStreamAck

UnregisterExtComponent

VehicleAcceleration

VehicleAirData

VehicleAngularAccelerationSetpoint

VehicleAngularVelocity

VehicleAttitude

VehicleAttitudeSetpoint

VehicleCommand

VehicleCommandAck

VehicleConstraints

VehicleControlMode

VehicleGlobalPosition

VehicleImu

VehicleImuStatus

VehicleLandDetected

VehicleLocalPosition

VehicleLocalPositionSetpoint

VehicleMagnetometer

VehicleOdometry

VehicleOpticalFlow

VehicleOpticalFlowVel

VehicleRatesSetpoint

VehicleRoi

VehicleStatus

VehicleThrustSetpoint

VehicleTorqueSetpoint

VehicleTrajectoryBezier

VehicleTrajectoryWaypoint

VelocityLimits

VtolVehicleStatus

WheelEncoders

Wind

YawEstimatorStatus

MAVLink通讯

uXRCE-DDS (PX4-ROS 2/DDS Bridge)

模块 & 命令

自动调参

命令

通信

控制器

驱动

空速传感器

气压计

Camera

距离传感器

IMU

INS

磁罗盘

光流

Rpm Sensor

Transponder

估计器

仿真

系统

模板

调试/日志

常见问题

控制台

MAVLink 控制台

系统控制台

Debugging with GDB

SWD Debug Port

JLink Probe

Black Magic/DroneCode Probe

STLink Probe

MCU-Link Probe

Hardfault Debugging

Debugging with Eclipse

故障注入

传感器/主题调试

仿真调试

发送调试值

全系统回放

分析

二进制大小分析

日志

飞行日志分析

ULog 文件格式

高级主题

PX4 Metadata

Package Delivery Architecture

Camera Integration/Architecture

机器视觉

Motion Capture (VICON, Optitrack, NOKOV)

安装英特尔 RealSense R200 的驱动程序

切换状态估计器

外部模块

STM32 Bootloader

系统提示音

高级 Linux 安装用例

Connecting an RC Receiver to PX4 on Linux (Tutorial)

Community Supported Developer Setup

Arch Linux

CentOS Linux

Windows VM 工具链

Windows Cygwin Toolchain

Windows Cygwin 工具链维护

Qt Creator IDE

Simulators

FlightGear 仿真

FlightGear 机体

用 FlightGear 进行多机仿真

jMAVSim 模拟

使用 JMAVSim 进行多飞行器仿真

JSBSim Simulation

AirSim Simulation

HITL Simulation

Simulation-In-Hardware

Multi-vehicle simulation

平台测试和连续集成

试飞

测试 MC_01 - 手动模式

测试 MC_02-完全自主

测试 MC_03 - 自动手动混合

测试 MC_04 -故障安全测试

测试 MC_05-室内飞行（手动模式）

单元测试

持续集成

MAVSDK集成测试

ROS集成测试

Docker 容器

维护

无人机应用程序 & APIs

Linux 的外部控制

ROS

ROS 2

ROS 2 用户指南

ROS 2 Offboard Control Example

ROS 2 Multi Vehicle Simulation

PX4 ROS 2 Interface Library

Control Interface

Navigation Interface

ROS 1 with MAVROS

ROS/MAVROS安装指南

ROS/MAVROS Offboard Example (C++)

ROS/MAVROS Offboard Example (Python)

ROS/MAVROS 发送自定义消息

ROS/MAVROS with Gazebo Classic Simulation

Gazebo Classic OctoMap Models with ROS 1

在 RPi 安装 ROS/MAVROS

外部位置估计（基于视觉/运动）

DroneKit

Community

开发者会议

技术支持

源代码管理

GIT 示例

文档

翻译

术语/符号

许可证

版本发布

main (alpha)

1.15 (beta)

1.14 (stable)

1.13

1.12

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Modules

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Next pageIntroduction

飞行模式

Setpoint Tuning (Trajectory Generator)

MindRacer BNF & RTF

Bootloader Update

Pixhawk Series

Pixhawk Standard Autopilots

CUAV Pixhawk V6X (FMUv6X)

Holybro Pixhawk 6X (FMUv6X)

Holybro Pixhawk 6C (FMUv6C)

Holybro Pixhawk 5X (FMUv5X)

Holybro Pixhawk 4 (FMUv5)

Holybro Pixhawk 4 Mini (FMUv5) - Discontinued

mRo Pixracer (FMUv4)

mRo Pixhawk (FMUv3)

Manufacturer-Supported Autopilots

CUAV V5+ (FMUv5)

CUAV V5 nano (FMUv5)

CubePilot Cube Yellow (CubePilot)

Holybro Durandal

Holybro Pix32 v5

Experimental Autopilots

Raspberry Pi 2/3/4 PilotPi

Discontinued Autopilots/Vehicles

Pixhawk Autopilot Bus (PAB) & Carriers

加速度计

陀螺仪

Magnetometer (Compass)

空速传感器

距离传感器 (测距仪)

GNSS (GPS)

RTK GNSS

Septentrio GNSS Receivers

INS (Inertial Navigation/GNSS)

光流

转速计（转数计数器）

电调 & 电机

DroneCAN ESCs

PX4 Sapog ESC Firmware

数传电台

SiK 电台

WiFi 数传

Microhard Serial Telemetry Radio

Power Modules/PDB

Smart/MAVLink Batteries

相机

Grippers

Pixhawk + Companion Setup

机器视觉

视觉惯性里程计(VIO)

视频流

工具链安装

PX4 飞行堆栈结构

Gazebo 仿真

Vehicles

Gazebo Classic Simulation

飞行控制器移植指南

机型

数传电台

传感器和执行器 I/O

UART/串口

uORB 消息参考

驱动

控制台

Debugging with GDB

机器视觉

Windows Cygwin Toolchain

Simulators

FlightGear 仿真

jMAVSim 模拟

试飞

ROS 2

PX4 ROS 2 Interface Library

ROS 1 with MAVROS

Modules ​

Modules