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https://github.com/mavlink/mavlink-devguide.git
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New Crowdin updates (#620)
* New translations uavionix.md (Korean) * New translations loweheiser.md (Korean) * New translations uavionix.md (Chinese Simplified) * New translations loweheiser.md (Chinese Simplified) * New translations common.md (Korean) * New translations common.md (Chinese Simplified) * New translations mavlink_version.md (Korean) * New translations mavlink_version.md (Chinese Simplified)
This commit is contained in:
PX4 Build Bot
@@ -44,7 +44,7 @@ This is sufficient if the communication link between autopilot and GCS is comple
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However, most communication links are not completely transparent as they either include routing or in case of fixed-length wireless implementations on packetization.
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In order to also test the link, the _MAVLink 2_ handshake protocol sends a _MAVLink 2_ frame to test the complete communication chain.
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To do so, the GCS sends a [COMMAND_LONG](../messages/common.md#COMMAND_LONG) or [COMMAND_INT](../messages/common.md#COMMAND_INT) message with the command ID [MAV_CMD_REQUEST_PROTOCOL_VERSION](../messages/common.md#MAV_CMD_REQUEST_PROTOCOL_VERSION).
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To do so, the GCS sends a [COMMAND_LONG](../messages/common.md#COMMAND_LONG) or [COMMAND_INT](../messages/common.md#COMMAND_INT) message with the command ID [MAV_CMD_REQUEST_MESSAGE](../messages/common.md#MAV_CMD_REQUEST_MESSAGE) and param1=300 (PROTOCOL_VERSION)
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If the system supports _MAVLink 2_ and the handshake it will respond with [PROTOCOL_VERSION](../messages/common.md#PROTOCOL_VERSION) **encoded as MAVLink 2 packet**.
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If it does not support _MAVLink 2_ it should `NACK` the command.
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@@ -52,13 +52,13 @@ The GCS should fall back to a timeout in case the command interface is not imple
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The diagram below illustrates the complete sequence.
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[](https://mermaid-js.github.io/mermaid-live-editor/#/edit/eyJjb2RlIjoic2VxdWVuY2VEaWFncmFtO1xuICAgIHBhcnRpY2lwYW50IEdDU1xuICAgIHBhcnRpY2lwYW50IERyb25lXG4gICAgR0NTLT4-RHJvbmU6IE1BVl9DTURfUkVRVUVTVF9QUk9UT0NPTF9WRVJTSU9OXG4gICAgR0NTLT4-R0NTOiBTdGFydCB0aW1lb3V0XG4gICAgRHJvbmUtPj5HQ1M6IFBST1RPQ09MX1ZFUlNJT04gaW4gTUFWTGluayAyIGZyYW1pbmdcbiAgICBHQ1MtPj5Ecm9uZTogSWYgQUNLOiBTd2l0Y2hlcyB0byBNQVZMaW5rIDJcbiAgICBEcm9uZS0-PkdDUzogU3dpdGNoZXMgdG8gTUFWTGluayAyIG9uIHJlY2VpdmUiLCJtZXJtYWlkIjp7InRoZW1lIjoiZGVmYXVsdCJ9LCJ1cGRhdGVFZGl0b3IiOmZhbHNlfQ)
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[](https://mermaid.live/edit#pako:eNptkG1rwjAQx79KuFcbOEkftJoxQWoRma6bdb4YBQntVcNs4mK6J_G7L1bcxmZeHLn_3f93x-0gUzkCgy2-VCgzHAi-1Ly8TiWxb8O1EZnYcGnIMEz-iwOtJB5lW7_q9WqBkUl_vggng8U0eniMktliEiVJfxhdWC8vnRuP0svfLhsZSYwFEyNKVJU5VmvaqX4_jWdxGI8X82iajOI7IuRhzljIZ-KSwoKFXJ7ZZVSQfnhr-W_CZCvcEqN-fGfmnO0jShKNGYpXhAYstciBGV1hA0rUJT-ksDvAUjArLDEFZr85FrxamxRSubc2e7InpcqTU6tquQJW8PXWZtUm5-Z0_z9qlAuj9LeoUeaoQ1VJAyzwazCwHbwDa9NW02tT2mlRt931g6ABH8Achzbdju90A-p4vuN3g30DPutVaLPjUK_luY5tdtuuu_8CvZ-j_w)
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<!-- Original sequence
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sequenceDiagram;
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participant GCS
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participant Drone
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GCS->>Drone: MAV_CMD_REQUEST_PROTOCOL_VERSION
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GCS->>Drone: MAV_CMD_REQUEST_MESSAGE(param1=300)
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GCS->>GCS: Start timeout
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Drone->>GCS: PROTOCOL_VERSION in MAVLink 2 framing
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GCS->>Drone: If ACK: Switches to MAVLink 2
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@@ -3143,9 +3143,7 @@ Large debug/prototyping array. The message uses the maximum available payload fo
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| array_id | `uint16_t` | | Unique ID used to discriminate between arrays<br>Messages with same value are from the same source (instance). |
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| <span class='ext'>data</span> <a href='#mav2_extension_field'>++</a> | `float[58]` | | data |
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### ORBIT_EXECUTION_STATUS (360) — [WIP] {#ORBIT_EXECUTION_STATUS}
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<span class="warning">**WORK IN PROGRESS**: Do not use in stable production environments (it may change).</span>
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### ORBIT_EXECUTION_STATUS (360) {#ORBIT_EXECUTION_STATUS}
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Vehicle status report that is sent out while orbit execution is in progress (see [MAV_CMD_DO_ORBIT](#MAV_CMD_DO_ORBIT)).
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@@ -6346,9 +6344,7 @@ Reposition the MAV after a follow target command has been sent
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| 6 (X Offset) | X offset from target | m |
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| 7 (Y Offset) | Y offset from target | m |
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### MAV_CMD_DO_ORBIT (34) — [WIP] {#MAV_CMD_DO_ORBIT}
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<span class="warning">**WORK IN PROGRESS**: Do not use in stable production environments (it may change).</span>
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### MAV_CMD_DO_ORBIT (34) {#MAV_CMD_DO_ORBIT}
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Start orbiting on the circumference of a circle defined by the parameters. Setting values to NaN/INT32_MAX (as appropriate) results in using defaults.
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@@ -61,7 +61,7 @@ Composite EFI and Governor data from Loweheiser equipment. This message is crea
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| generator_temp | `float` | degC | The temperature of the mechanical motor, fuel cell core or generator. |
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| efi_batt | `float` | V | EFI Supply Voltage. |
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| efi_rpm | `float` | rpm | Motor RPM. |
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| efi_pw | `float` | ms | Injector pulse-width in miliseconds. |
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| efi_pw | `float` | ms | Injector pulse-width in milliseconds. |
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| efi_fuel_flow | `float` | | Fuel flow rate in litres/hour. |
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| efi_fuel_consumed | `float` | l | Fuel consumed. |
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| efi_baro | `float` | kPa | Atmospheric pressure. |
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@@ -56,7 +56,7 @@ Static data to configure the ADS-B transponder (send within 10 sec of a POR and
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| gpsOffsetLat | `uint8_t` | | [UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT](#UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT) | GPS antenna lateral offset (table 2-36 of DO-282B) |
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| gpsOffsetLon | `uint8_t` | | [UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LON](#UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LON) | GPS antenna longitudinal offset from nose [if non-zero, take position (in meters) divide by 2 and add one] (table 2-37 DO-282B) |
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| stallSpeed | `uint16_t` | cm/s | | Aircraft stall speed in cm/s |
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| rfSelect | `uint8_t` | | [UAVIONIX_ADSB_OUT_RF_SELECT](#UAVIONIX_ADSB_OUT_RF_SELECT) | ADS-B transponder reciever and transmit enable flags |
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| rfSelect | `uint8_t` | | [UAVIONIX_ADSB_OUT_RF_SELECT](#UAVIONIX_ADSB_OUT_RF_SELECT) | ADS-B transponder receiver and transmit enable flags |
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### UAVIONIX_ADSB_OUT_DYNAMIC (10002) {#UAVIONIX_ADSB_OUT_DYNAMIC}
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@@ -44,7 +44,7 @@ Support for _MAVLink 2_ is indicated in the [AUTOPILOT_VERSION](../messages/comm
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但是, 大多数通信链路并不完全透明, 因为它们要么包括路由, 要么在数据化上固定长度的无线实现的情况下。
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In order to also test the link, the _MAVLink 2_ handshake protocol sends a _MAVLink 2_ frame to test the complete communication chain.
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To do so, the GCS sends a [COMMAND_LONG](../messages/common.md#COMMAND_LONG) or [COMMAND_INT](../messages/common.md#COMMAND_INT) message with the command ID [MAV_CMD_REQUEST_PROTOCOL_VERSION](../messages/common.md#MAV_CMD_REQUEST_PROTOCOL_VERSION).
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To do so, the GCS sends a [COMMAND_LONG](../messages/common.md#COMMAND_LONG) or [COMMAND_INT](../messages/common.md#COMMAND_INT) message with the command ID [MAV_CMD_REQUEST_MESSAGE](../messages/common.md#MAV_CMD_REQUEST_MESSAGE) and param1=300 (PROTOCOL_VERSION)
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If the system supports _MAVLink 2_ and the handshake it will respond with [PROTOCOL_VERSION](../messages/common.md#PROTOCOL_VERSION) **encoded as MAVLink 2 packet**.
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If it does not support _MAVLink 2_ it should `NACK` the command.
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@@ -52,13 +52,13 @@ If it does not support _MAVLink 2_ it should `NACK` the command.
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下表显示完整顺序。
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[](https://mermaid-js.github.io/mermaid-live-editor/#/edit/eyJjb2RlIjoic2VxdWVuY2VEaWFncmFtO1xuICAgIHBhcnRpY2lwYW50IEdDU1xuICAgIHBhcnRpY2lwYW50IERyb25lXG4gICAgR0NTLT4-RHJvbmU6IE1BVl9DTURfUkVRVUVTVF9QUk9UT0NPTF9WRVJTSU9OXG4gICAgR0NTLT4-R0NTOiBTdGFydCB0aW1lb3V0XG4gICAgRHJvbmUtPj5HQ1M6IFBST1RPQ09MX1ZFUlNJT04gaW4gTUFWTGluayAyIGZyYW1pbmdcbiAgICBHQ1MtPj5Ecm9uZTogSWYgQUNLOiBTd2l0Y2hlcyB0byBNQVZMaW5rIDJcbiAgICBEcm9uZS0-PkdDUzogU3dpdGNoZXMgdG8gTUFWTGluayAyIG9uIHJlY2VpdmUiLCJtZXJtYWlkIjp7InRoZW1lIjoiZGVmYXVsdCJ9LCJ1cGRhdGVFZGl0b3IiOmZhbHNlfQ)
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[](https://mermaid.live/edit#pako:eNptkG1rwjAQx79KuFcbOEkftJoxQWoRma6bdb4YBQntVcNs4mK6J_G7L1bcxmZeHLn_3f93x-0gUzkCgy2-VCgzHAi-1Ly8TiWxb8O1EZnYcGnIMEz-iwOtJB5lW7_q9WqBkUl_vggng8U0eniMktliEiVJfxhdWC8vnRuP0svfLhsZSYwFEyNKVJU5VmvaqX4_jWdxGI8X82iajOI7IuRhzljIZ-KSwoKFXJ7ZZVSQfnhr-W_CZCvcEqN-fGfmnO0jShKNGYpXhAYstciBGV1hA0rUJT-ksDvAUjArLDEFZr85FrxamxRSubc2e7InpcqTU6tquQJW8PXWZtUm5-Z0_z9qlAuj9LeoUeaoQ1VJAyzwazCwHbwDa9NW02tT2mlRt931g6ABH8Achzbdju90A-p4vuN3g30DPutVaLPjUK_luY5tdtuuu_8CvZ-j_w)
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<!-- Original sequence
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sequenceDiagram;
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participant GCS
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participant Drone
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GCS->>Drone: MAV_CMD_REQUEST_PROTOCOL_VERSION
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GCS->>Drone: MAV_CMD_REQUEST_MESSAGE(param1=300)
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GCS->>GCS: Start timeout
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Drone->>GCS: PROTOCOL_VERSION in MAVLink 2 framing
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GCS->>Drone: If ACK: Switches to MAVLink 2
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@@ -3143,9 +3143,7 @@ Large debug/prototyping array. The message uses the maximum available payload fo
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| array_id | `uint16_t` | | Unique ID used to discriminate between arrays<br>Messages with same value are from the same source (instance). |
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| <span class='ext'>data</span> <a href='#mav2_extension_field'>++</a> | `float[58]` | | data |
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### ORBIT_EXECUTION_STATUS (360) — [WIP] {#ORBIT_EXECUTION_STATUS}
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<span class="warning">**WORK IN PROGRESS**: Do not use in stable production environments (it may change).</span>
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### ORBIT_EXECUTION_STATUS (360) {#ORBIT_EXECUTION_STATUS}
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Vehicle status report that is sent out while orbit execution is in progress (see [MAV_CMD_DO_ORBIT](#MAV_CMD_DO_ORBIT)).
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@@ -6346,9 +6344,7 @@ Reposition the MAV after a follow target command has been sent
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| 6 (X Offset) | X offset from target | m |
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| 7 (Y Offset) | Y offset from target | m |
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### MAV_CMD_DO_ORBIT (34) — [WIP] {#MAV_CMD_DO_ORBIT}
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<span class="warning">**WORK IN PROGRESS**: Do not use in stable production environments (it may change).</span>
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### MAV_CMD_DO_ORBIT (34) {#MAV_CMD_DO_ORBIT}
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Start orbiting on the circumference of a circle defined by the parameters. Setting values to NaN/INT32_MAX (as appropriate) results in using defaults.
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@@ -61,7 +61,7 @@ Composite EFI and Governor data from Loweheiser equipment. This message is crea
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| generator_temp | `float` | degC | The temperature of the mechanical motor, fuel cell core or generator. |
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| efi_batt | `float` | V | EFI Supply Voltage. |
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| efi_rpm | `float` | rpm | Motor RPM. |
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| efi_pw | `float` | ms | Injector pulse-width in miliseconds. |
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| efi_pw | `float` | ms | Injector pulse-width in milliseconds. |
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| efi_fuel_flow | `float` | | Fuel flow rate in litres/hour. |
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| efi_fuel_consumed | `float` | l | Fuel consumed. |
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| efi_baro | `float` | kPa | Atmospheric pressure. |
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@@ -56,7 +56,7 @@ Static data to configure the ADS-B transponder (send within 10 sec of a POR and
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| gpsOffsetLat | `uint8_t` | | [UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT](#UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT) | GPS天线纬度偏移（DO-282B的表2-36） |
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| gpsOffsetLon | `uint8_t` | | [UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LON](#UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LON) | GPS天线从机头经度偏移[如果非零，取得位置（以米为单位）除以2并加一]（DO-282B的表2-37） |
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| stallSpeed | `uint16_t` | 厘米/秒 | | 飞机失速速度（厘米/秒） |
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| rfSelect | `uint8_t` | | [UAVIONIX_ADSB_OUT_RF_SELECT](#UAVIONIX_ADSB_OUT_RF_SELECT) | ADS-B transponder reciever and transmit enable flags |
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| rfSelect | `uint8_t` | | [UAVIONIX_ADSB_OUT_RF_SELECT](#UAVIONIX_ADSB_OUT_RF_SELECT) | ADS-B transponder receiver and transmit enable flags |
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### UAVIONIX_ADSB_OUT_DYNAMIC (10002) {#UAVIONIX_ADSB_OUT_DYNAMIC}
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