New Crowdin translations - zh-CN (#26111)

Co-authored-by: Crowdin Bot <support+bot@crowdin.com>

Author: PX4BuildBot

docs/zh/advanced/neural_networks.md

@@ -26,6 +26,10 @@ If you are looking for more resources to learn about the module, a website has b
 
 ## Neural Network PX4 Firmware
 
+:::warning
+This module requires Ubuntu 24.04 or newer (it is not supported in Ubuntu 22.04).
+:::
+
 The module has been tested on a number of configurations, which can be build locally using the commands:
 
 ```sh

docs/zh/config/compass.md

@@ -10,7 +10,7 @@ If you have [mounted the compass](../assembly/mount_gps_compass.md#compass-orien
 
 ## 综述
 
-You will need to calibrate your compass(es) when you first setup your vehicle, and you may need to recalibrate it if the vehicles is ever exposed to a very strong magnetic field, or if it is used in an area with abnormal magnetic characteristics.
+You will need to calibrate your compass(es) when you first setup your vehicle, and you may need to [recalibrate](#recalibration) it if the vehicles is ever exposed to a very strong magnetic field, or if it is used in an area with abnormal magnetic characteristics.
 
 :::tip
 Indications of a poor compass calibration include multicopter circling during hover, toilet bowling (circling at increasing radius/spiraling-out, usually constant altitude, leading to fly-way), or veering off-path when attempting to fly straight.
@@ -20,13 +20,16 @@ _QGroundControl_ should also notify the error `mag sensors inconsistent`.
 The process calibrates all compasses and autodetects the orientation of any external compasses.
 If any external magnetometers are available, it then disables the internal magnetometers (these are primarily needed for automatic rotation detection of external magnetometers).
 
+### Types of Calibration
+
 Several types of compass calibration are available:
 
 1. [Complete](#complete-calibration): This calibration is required after installing the autopilot on an airframe for the first time or when the configuration of the vehicle has changed significantly.
    It compensates for hard and soft iron effects by estimating an offset and a scale factor for each axis.
 2. [Partial](#partial-quick-calibration): This calibration can be performed as a routine when preparing the vehicle for a flight, after changing the payload, or simply when the compass rose seems inaccurate.
    This type of calibration only estimates the offsets to compensate for a hard iron effect.
-3. [Large vehicle](#large-vehicle-calibration): This calibration can be performed when the vehicle is too large or heavy to perform a complete calibration. This type of calibration only estimates the offsets to compensate for a hard iron effect.
+3. [Large vehicle](#large-vehicle-calibration): This calibration can be performed when the vehicle is too large or heavy to perform a complete calibration.
+   This type of calibration only estimates the offsets to compensate for a hard iron effect.
 
 ## 执行校准
 
@@ -57,19 +60,23 @@ The calibration steps are:
    ![Select Compass calibration PX4](../../assets/qgc/setup/sensor/sensor_compass_select_px4.png)
 
    ::: info
-   You should already have set the [Autopilot Orientation](../config/flight_controller_orientation.md). If not, you can also set it here.
+   You should already have set the [Autopilot Orientation](../config/flight_controller_orientation.md).
+   If not, you can also set it here.
 
 :::
 
 4. Click **OK** to start the calibration.
 
-5. 把你的飞机放置在下面显示的某一个方向，并保持静止。 随后提示（方向图像变为黄色）在指定方向旋转飞行器。 该位置标定完成后，屏幕上的相应图示将变成绿色。
+5. 把你的飞机放置在下面显示的某一个方向，并保持静止。
+   随后提示（方向图像变为黄色）在指定方向旋转飞行器。
+   该位置标定完成后，屏幕上的相应图示将变成绿色。
 
    ![Compass calibration steps on PX4](../../assets/qgc/setup/sensor/sensor_compass_calibrate_px4.png)
 
 6. 在机体的所有方向上重复校准步骤。
 
-Once you've calibrated the vehicle in all the positions _QGroundControl_ will display _Calibration complete_ (all orientation images will be displayed in green and the progress bar will fill completely). You can then proceed to the next sensor.
+Once you've calibrated the vehicle in all the positions _QGroundControl_ will display _Calibration complete_ (all orientation images will be displayed in green and the progress bar will fill completely).
+You can then proceed to the next sensor.
 
 ### Partial "Quick" Calibration
 
@@ -92,7 +99,8 @@ This calibration is similar to the well-known figure-8 compass calibration done
 
 This calibration process leverages external knowledge of vehicle's orientation and location, and a World Magnetic Model (WMM) to calibrate the hard iron biases.
 
-1. Ensure GNSS Fix. This is required to find the expected Earth magnetic field in WMM tables.
+1. Ensure GNSS Fix.
+   This is required to find the expected Earth magnetic field in WMM tables.
 2. Align the vehicle to face True North.
    Be as accurate as possible for best results.
 3. Open the [QGroundControl MAVLink Console](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/analyze_view/mavlink_console.html) and send the following command:
@@ -112,6 +120,30 @@ This calibration process leverages external knowledge of vehicle's orientation a
 
 After the calibration is complete, check that the heading indicator and the heading of the arrow on the map are stable and match the orientation of the vehicle when turning it e.g. to the cardinal directions.
 
+## Recalibration
+
+Recalibration is recommended whenever the magnetic environment of the vehicle has changed or when heading behavior appears unreliable.
+
+You can use either complete calibration or mag quick calibration depending on the size of the vehicle and your ability to rotate it through the required orientations.
+Complete calibration provides the most accurate soft-iron compensation.
+
+Recalibrate the compass when:
+
+- _The compass module or its mounting orientation has changed._
+  This includes replacing the GPS or mag unit, rotating the mast, or altering how the module is fixed to the airframe.
+- _The vehicle has been exposed to a strong magnetic disturbance._
+  Examples include transport or storage near large steel structures, welding operations near the airframe, or operation close to high-current equipment.
+- _Structural, wiring, or payload changes may have altered the magnetic field around the sensors._
+  New payloads, rerouted wires, additional batteries, or metal fasteners can introduce soft-iron effects that affect heading accuracy.
+- _The vehicle is operated in a region with significantly different magnetic characteristics._
+  Large changes in latitude, longitude, or magnetic inclination can require re-estimation of offsets.
+- _QGroundControl reports magnetometer inconsistencies_.
+  For example, if you see the error `mag sensors inconsistent`.
+- _Heading behavior does not match the vehicle’s observed orientation._
+  Symptoms include drifting yaw, sudden heading jumps when attempting to fly straight, and toilet bowling
+- _QGroundControl_ sends the error `mag sensors inconsistent`.
+  This indicates that multiple magnetometers are reporting different headings.
+
 ## Additional Calibration/Configuration
 
 The process above will autodetect, [set default rotations](../advanced_config/parameter_reference.md#SENS_MAG_AUTOROT), calibrate, and prioritise, all available magnetometers.

docs/zh/mavlink/standard_modes.md

@@ -2,7 +2,7 @@
 
 <Badge type="tip" text="PX4 v1.15" />
 
-PX4 implements the MAVLink [Standard Modes Protocol](https://mavlink.io/en/services/standard_modes.md) from PX4 v1.15, with a corresponding implementation in QGroundControl Daily builds (and future release builds).
+PX4 implements the MAVLink [Standard Modes Protocol](https://mavlink.io/en/services/standard_modes.html) from PX4 v1.15, with a corresponding implementation in QGroundControl Daily builds (and future release builds).
 
 The protocol allows you to discover all flight modes available to the vehicle, including PX4 External modes created using the [PX4 ROS 2 Control Interface](../ros2/px4_ros2_control_interface.md), and get or set the current mode.
 

docs/zh/modules/modules_driver.md

@@ -899,6 +899,8 @@ fetching the latest mixing result and write them to PCA9685 at its scheduling ti
 It can do full 12bits output as duty-cycle mode, while also able to output precious pulse width
 that can be accepted by most ESCs and servos.
 
+The I2C bus and address can be configured via parameters `PCA9685_EN_BUS` and `PCA9685_I2C_ADDR`, or via command line arguments.
+
 ### 示例
 
 It is typically started with:

docs/zh/msg_docs/VehicleCommand.md

@@ -69,6 +69,7 @@ uint16 VEHICLE_CMD_DO_PARACHUTE=208 # Mission command to trigger a parachute. |a
 uint16 VEHICLE_CMD_DO_MOTOR_TEST=209 # Motor test command. |Instance (@range 1, )|throttle type|throttle|timeout [s]|Motor count|Test order|Unused|
 uint16 VEHICLE_CMD_DO_INVERTED_FLIGHT=210 # Change to/from inverted flight. |inverted (0=normal, 1=inverted)|Unused|Unused|Unused|Unused|Unused|Unused|
 uint16 VEHICLE_CMD_DO_GRIPPER = 211 # Command to operate a gripper.
+uint16 VEHICLE_CMD_DO_AUTOTUNE_ENABLE = 212 # Enable autotune module. |1 to enable|Unused|Unused|Unused|Unused|Unused|Unused|
 uint16 VEHICLE_CMD_DO_SET_CAM_TRIGG_INTERVAL=214 # Mission command to set TRIG_INTERVAL for this flight. |[m] Camera trigger distance|Shutter integration time (ms)|Unused|Unused|Unused|Unused|Unused|
 uint16 VEHICLE_CMD_DO_MOUNT_CONTROL_QUAT=220 # Mission command to control a camera or antenna mount, using a quaternion as reference. |q1 - quaternion param #1, w (1 in null-rotation)|q2 - quaternion param #2, x (0 in null-rotation)|q3 - quaternion param #3, y (0 in null-rotation)|q4 - quaternion param #4, z (0 in null-rotation)|Unused|Unused|Unused|
 uint16 VEHICLE_CMD_DO_GUIDED_MASTER=221 # Set id of master controller. |System ID|Component ID|Unused|Unused|Unused|Unused|Unused|

docs/zh/releases/main.md

@@ -55,6 +55,7 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
 ### 传感器
 
 - Add [sbgECom INS driver](../sensor/sbgecom.md) ([PX4-Autopilot#24137](https://github.com/PX4/PX4-Autopilot/pull/24137))
+- Quick magnetometer calibration now supports specifying an arbitrary initial heading ([PX4-Autopilot#24637](https://github.com/PX4/PX4-Autopilot/pull/24637))
 
 ### 仿真
 

docs/zh/ros2/user_guide.md

@@ -552,8 +552,8 @@ ros2 run ros_gz_bridge parameter_bridge /clock@rosgraph_msgs/msg/Clock[gz.msgs.C
 代码首先导入了与 ROS 2 中间件进行交互所需的 C++ 库，以及该节点所订阅的SensorCombined消息对应的头部文件：
 
 ```cpp
-#include <0>
-#include <1>
+#include <rclcpp/rclcpp.hpp>
+#include <px4_msgs/msg/sensor_combined.hpp>
 ```
 
 随后，代码创建了一个 SensorCombinedListener 类，该类继承自通用的 rclcpp::Node 基类。