New PX4 guide translations (Crowdin) - zh-CN

docs/zh/SUMMARY.md

@@ -436,6 +436,7 @@
       - [Attitude Tuning](config_rover/attitude_tuning.md)
       - [Velocity Tuning](config_rover/velocity_tuning.md)
       - [Position Tuning](config_rover/position_tuning.md)
+    - [Apps & API](flight_modes_rover/api.md)
     - [Complete Vehicles](complete_vehicles_rover/index.md)
       - [Aion Robotics R1](complete_vehicles_rover/aion_r1.md)
   - [Submarines (experimental)](frames_sub/index.md)
@@ -872,6 +873,7 @@
     - [PX4 ROS 2 Interface Library](ros2/px4_ros2_interface_lib.md)
       - [Control Interface](ros2/px4_ros2_control_interface.md)
       - [Navigation Interface](ros2/px4_ros2_navigation_interface.md)
+      - [Waypoint Missions](ros2/px4_ros2_waypoint_missions.md)
     - [ROS 2 Message Translation Node](ros2/px4_ros2_msg_translation_node.md)
   - [ROS 1 (Deprecated)](ros/ros1.md)
     - [ROS/MAVROS安装指南](ros/mavros_installation.md)

docs/zh/companion_computer/pixhawk_rpi.md

@@ -266,7 +266,7 @@ The configuration steps are:
    ```
 
    [MAV_1_CONFIG=0](../advanced_config/parameter_reference.md#MAV_1_CONFIG) and [UXRCE_DDS_CFG=102](../advanced_config/parameter_reference.md#UXRCE_DDS_CFG) disable MAVLink on TELEM2 and enable the uXRCE-DDS client on TELEM2, respectively.
-   The `SER_TEL2_BAUD` rate sets the comms link data rate.\
+   The `SER_TEL2_BAUD` rate sets the comms link data rate.  
    You could similarly configure a connection to `TELEM1` using either `MAV_1_CONFIG` or `MAV_0_CONFIG`.
 
    ::: info

docs/zh/config/_autotune.md

@@ -95,9 +95,17 @@ The test steps are:
 
    4. Read the warning popup and click on **OK** to start tuning.
 
+<div style="display: inline;" v-if="$frontmatter.frame === 'Multicopter'">
+
 4. The drone will first start to perform quick roll motions followed by pitch and yaw motions.
    The progress is shown in the progress bar, next to the _Autotune_ button.
 
+</div><div v-else-if="$frontmatter.frame === 'Plane'">
+
+4. The drone will first start to perform quick roll motions followed by pitch and yaw motions. When [`FW_AT_SYSID_TYPE`](../advanced_config/parameter_reference.md#FW_AT_SYSID_TYPE) is set to linear/logarithmic sine sweep (recommended), the max rates are approximately 45 deg/s for roll and 30 deg/s for pitch and yaw.
+   The progress is shown in the progress bar, next to the _Autotune_ button.
+
+</div>
 <div style="display: inline;" v-if="$frontmatter.frame === 'Multicopter'">
 
 5. Manually land and disarm to apply the new tuning parameters.
@@ -108,6 +116,13 @@ The test steps are:
 5. The tuning will be immediately/automatically be applied and tested in flight (by default).
    PX4 will then run a 4 second test and revert the new tuning if a problem is detected.
 
+The figure below shows how steps 4 and 5 might look in flight on the pitch axis.
+The pitch rate gradually increases up until it reaches the target.
+This amplitude is then held while the signal frequency is increased.
+You can then see how the tuned system is able to follow the setpoint in the test signal.
+
+<img src="../../assets/config/fw/autotune.png" title="Fixed-Wing Autotune"/>
+
 </div>
 
 :::warning
@@ -174,9 +189,20 @@ Fast oscillations (more than 1 oscillation per second): this is because the gain
 
 ### The auto-tuning sequence fails
 
+<div v-if="$frontmatter.frame === 'Multicopter'">
+
 If the drone was not moving enough during auto-tuning, the system identification algorithm might have issues to find the correct coefficients.
 
-Increase the <div style="display: inline;" v-if="$frontmatter.frame === 'Multicopter'">[MC_AT_SYSID_AMP](../advanced_config/parameter_reference.md#MC_AT_SYSID_AMP)</div><div style="display: inline;" v-else-if="$frontmatter.frame === 'Plane'">[FW_AT_SYSID_AMP](../advanced_config/parameter_reference.md#FW_AT_SYSID_AMP)</div> parameter by steps of 1 and trigger the auto-tune again.
+Increase the [MC_AT_SYSID_AMP](../advanced_config/parameter_reference.md#MC_AT_SYSID_AMP) parameter by steps of 1 and trigger the auto-tune again.
+
+</div>
+<div v-else-if="$frontmatter.frame === 'Plane'">
+
+By default, the autotune maneuvers ensure that a sufficient angular rate is reached for system identification. The target rates are approximately 45 deg/s for roll and 30 deg/s for pitch and yaw.
+
+If the signal-to-noise ratio of the vehicle is low, the system identification algorithm might have issues finding the correct coefficients. Ensure that there is no excessive noise and/or platform vibration.
+
+</div>
 
 ### The drone oscillates after auto-tuning
 

docs/zh/debug/failure_injection.md

@@ -9,7 +9,7 @@ Failure injection is disabled by default, and can be enabled using the [SYS_FAIL
 Failure injection still in development.
 At time of writing (PX4 v1.14):
 
-- It can only be used in simulation (support for both failure injection in real flight is planned).
+- Support may vary by failure type and between simulatiors and real vehicle.
 - It requires support in the simulator.
   It is supported in Gazebo Classic
 - Many failure types are not broadly implemented.
@@ -33,39 +33,39 @@ where:
 
 - _component_:
   - 传感器：
-    - `gyro`: Gyro.
-    - `accel`: Accelerometer.
+    - `gyro`: Gyroscope
+    - `accel`: Accelerometer
     - `mag`: Magnetometer
     - `baro`: Barometer
-    - `gps`: GPS
+    - `gps`: Global navigation satellite system
     - `optical_flow`: Optical flow.
-    - `vio`: Visual inertial odometry.
+    - `vio`: Visual inertial odometry
     - `distance_sensor`: Distance sensor (rangefinder).
-    - `airspeed`: Airspeed sensor.
+    - `airspeed`: Airspeed sensor
   - Systems:
-    - `battery`: Battery.
-    - `motor`: Motor.
-    - `servo`: Servo.
-    - `avoidance`: Avoidance.
-    - `rc_signal`: RC Signal.
-    - `mavlink_signal`: MAVLink signal (data telemetry).
+    - `battery`: Battery
+    - `motor`: Motor
+    - `servo`: Servo
+    - `avoidance`: Avoidance
+    - `rc_signal`: RC Signal
+    - `mavlink_signal`: MAVLink data telemetry connection
 - _failure_type_:
-  - `ok`: Publish as normal (Disable failure injection).
-  - `off`: Stop publishing.
-  - `stuck`: Report same value every time (_could_ indicate a malfunctioning sensor).
-  - `garbage`: Publish random noise. This looks like reading uninitialized memory.
-  - `wrong`: Publish invalid values (that still look reasonable/aren't "garbage").
-  - `slow`: Publish at a reduced rate.
-  - `delayed`: Publish valid data with a significant delay.
-  - `intermittent`: Publish intermittently.
+  - `ok`: Publish as normal (Disable failure injection)
+  - `off`: Stop publishing
+  - `stuck`: Constantly report the same value which _can_ happen on a malfunctioning sensor
+  - `garbage`: Publish random noise. This looks like reading uninitialized memory
+  - `wrong`: Publish invalid values that still look reasonable/aren't "garbage"
+  - `slow`: Publish at a reduced rate
+  - `delayed`: Publish valid data with a significant delay
+  - `intermittent`: Publish intermittently
 - _instance number_ (optional): Instance number of affected sensor.
   0 (default) indicates all sensors of specified type.
 
 ### Example
 
 To simulate losing RC signal without having to turn off your RC controller:
 
-1. Enable the parameter [SYS_FAILURE_EN](../advanced_config/parameter_reference.md#SYS_FAILURE_EN).
+1. Enable the parameter [SYS_FAILURE_EN](../advanced_config/parameter_reference.md#SYS_FAILURE_EN). And specifically to turn off motors also [CA_FAILURE_MODE](../advanced_config/parameter_reference.md#CA_FAILURE_MODE).
 2. Enter the following commands on the MAVLink console or SITL _pxh shell_:
 
    ```sh