From e30fe88754f1e3940f38fef2420a77d3f8f147c4 Mon Sep 17 00:00:00 2001 From: PX4 Build Bot Date: Wed, 11 Dec 2024 14:18:14 +1100 Subject: [PATCH] New translations rangefinders.md (Chinese Simplified) --- zh/sensor/rangefinders.md | 38 ++++++++++++++++++++------------------ 1 file changed, 20 insertions(+), 18 deletions(-) diff --git a/zh/sensor/rangefinders.md b/zh/sensor/rangefinders.md index 925b7ada5d4d..f7eca8aaaf2b 100644 --- a/zh/sensor/rangefinders.md +++ b/zh/sensor/rangefinders.md @@ -69,10 +69,12 @@ The [Benewake TFmini Lidar](../sensor/tfmini.md) is a tiny, low cost, and low po ### PSK-CM8JL65-CC5 + + The [Lanbao PSK-CM8JL65-CC5 ToF Infrared Distance Measuring Sensor](../sensor/cm8jl65_ir_distance_sensor.md) is a very small (38 mm x 18mm x 7mm, <10g) IR distance sensor with a 0.17m-8m range and millimeter resolution. It must be connected to a UART/serial bus. -### Avionics Anonymous UAVCAN 激光高度计接口 +### Avionics Anonymous UAVCAN Laser Altimeter Interface The [Avionics Anonymous UAVCAN Laser Altimeter Interface](../dronecan/avanon_laser_interface.md) allows several common rangefinders (e.g. [Lightware SF11/c, SF30/D](../sensor/sfxx_lidar.md), etc) to be connected to the [CAN](../can/index.md) bus via [DroneCAN](../dronecan/index.md), a more robust interface than I2C. @@ -101,30 +103,30 @@ Features: ## Configuration/Setup {#configuration} -测距仪通常连接到串口(PWM)或者 I2C 接口(取决于设备驱动），并通过设置特定的参数在端口上启用。 +Rangefinders are usually connected to either a serial (PWM) or I2C port (depending on the device driver), and are enabled on the port by setting a particular parameter. The hardware and software setup that is _specific to each distance sensor_ is covered in their individual topics. The generic configuration that is _common to all distance sensors_, covering both the physical setup and usage, is given below. -### 常规配置 +### Generic Configuration The common rangefinder configuration is specified using [EKF2_RNG\_\*](../advanced_config/parameter_reference.md#EKF2_RNG_CTRL) parameters. -这些包括（非详尽）： +These include (non exhaustively): - [EKF2_RNG_POS_X](../advanced_config/parameter_reference.md#EKF2_RNG_POS_X), [EKF2_RNG_POS_Y](../advanced_config/parameter_reference.md#EKF2_RNG_POS_Y), [EKF2_RNG_POS_Z](../advanced_config/parameter_reference.md#EKF2_RNG_POS_Z) - offset of the rangefinder from the vehicle centre of gravity in X, Y, Z directions. - [EKF2_RNG_PITCH](../advanced_config/parameter_reference.md#EKF2_RNG_PITCH) - A value of 0 degrees (default) corresponds to the range finder being exactly aligned with the vehicle vertical axis (i.e. straight down), while 90 degrees indicates that the range finder is pointing forward. - 如果使用非零间距，则使用简单的三角法计算到地面的距离。 + Simple trigonometry is used to calculate the distance to ground if a non-zero pitch is used. - [EKF2_RNG_DELAY](../advanced_config/parameter_reference.md#EKF2_RNG_DELAY) - approximate delay of data reaching the estimator from the sensor. - [EKF2_RNG_SFE](../advanced_config/parameter_reference.md#EKF2_RNG_SFE) - Range finder range dependent noise scaler. - [EKF2_RNG_NOISE](../advanced_config/parameter_reference.md#EKF2_RNG_NOISE) - Measurement noise for range finder fusion ## 测试 -测试测距仪最简单的方法是改变距离并与 PX4 检测到的值进行比较 -以下部分显示了一些获取测量范围的方法。 +The easiest way to test the rangefinder is to vary the range and compare to the values detected by PX4. +The sections below show some approaches to getting the measured range. -### QGroundControl MAVLink 检查器 +### QGroundControl MAVLink Inspector The _QGroundControl MAVLink Inspector_ lets you view messages sent from the vehicle, including `DISTANCE_SENSOR` information from the rangefinder. The main difference between the tools is that the _Analyze_ tool can plot values in a graph. @@ -134,7 +136,7 @@ The messages that are sent depend on the vehicle configuration. You will only get `DISTANCE_SENSOR` messages if the connected vehicle has a rangefinder installed and is publishing sensor values. ::: -查看测距仪输出： +To view the rangefinder output: 1. Open the menu **Q > Select Tool > Analyze Tools**: @@ -144,7 +146,7 @@ You will only get `DISTANCE_SENSOR` messages if the connected vehicle has a rang The tool will then plot the result: ![QGC Analyze DISTANCE\_SENSOR value](../../assets/qgc/analyze/qgc_analyze_tool_distance_sensor.png) -### QGroundControl MAVLink 控制台 +### QGroundControl MAVLink Console You can also use the _QGroundControl MAVLink Console_ to observe the `distance_sensor` uORB topic: @@ -154,17 +156,17 @@ listener distance_sensor 5 :::info The _QGroundControl MAVLink Console_ works when connected to Pixhawk or other NuttX targets, but not the Simulator. -在模拟器上可以直接在终端中运行命令。 +On the Simulator you can run the commands directly in the terminal. ::: For more information see: [Development > Debugging/Logging > Sensor/Topic Debugging using the Listener Command](../debug/sensor_uorb_topic_debugging.md). ## 仿真 -### Gazebo 仿真 +### Gazebo Simulation Lidar and sonar rangefinders can be used in the [Gazebo](../sim_gazebo_gz/index.md) simulator. -要做到这一点，你必须在启动模拟器时使用一个拥有测距仪的机体模型。 +To do this you must start the simulator using a vehicle model that includes the rangefinder. Downward facing sensors that write to the [DistanceSensor](../msg_docs/DistanceSensor.md) UORB topic can be used to test use cases such as [landing](../flight_modes_mc/land.md) and [terrain following](../flying/terrain_following_holding.md): @@ -191,22 +193,22 @@ Front-facing sensors that write to [ObstacleDistance](../msg_docs/ObstacleDistan ### Gazebo-Classic Simulation Lidar and sonar rangefinders can be used in the [Gazebo Classic](../sim_gazebo_classic/index.md) simulator. -要做到这一点，你必须在启动模拟器时使用一个拥有测距仪的机体模型。 +To do this you must start the simulator using a vehicle model that includes the rangefinder. -iris 光流模型包括激光雷达测距仪： +The iris optical flow model includes a Lidar rangefinder: ```sh make px4_sitl gazebo-classic_iris_opt_flow ``` -typhoon_h480 包括一个声纳测距仪： +The typhoon_h480 includes a sonar rangefinder: ```sh make px4_sitl gazebo-classic_typhoon_h480 ``` -如果你需要使用一个不同的车辆，你可以在它的配置文件中包含此模型。 -你可以看到如何在相应的 Iris 和 Typhoon 配置文件： +If you need to use a different vehicle you can include the model in its configuration file. +You can see how in the respective Iris and Typhoon configuration files: - [iris_opt_flow.sdf](https://github.com/PX4/PX4-SITL_gazebo-classic/blob/main/models/iris_opt_flow/iris_opt_flow.sdf)