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-Створює команду для місії транспортного засобу, а потім викликає `publish_vehicle_command`для публікації її (`_navigator->publish_vehicle_command(vehicle_command);`)
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-Creates a vehicle command for the mission item then calls `publish_vehicle_command`to publish it (`_navigator->publish_vehicle_command(vehicle_command);`)
-Для деяких команд камери це встановлює ідентифікатор компонента на ідентифікатор компонента камери (`vehicle_command.target_component = 100; // MAV_COMP_ID_CAMERA`)
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-For some camera commands it sets the component ID to the camera component id (`vehicle_command.target_component = 100; // MAV_COMP_ID_CAMERA`)
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- Усі інші просто публікуються під стандартний компонент ID.
If your logs are secret enough to require encryption it is likely that you will not trust them on the public [Flight Review](../getting_started/flight_reporting.md) server (this is not particularly hardened against data loss or theft).
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:::info
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The public [Flight Review](../getting_started/flight_reporting.md) service does not support encrypted logs.
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If you wish to use the service you can use the tools here to download and decrypt the files first.
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:::
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This section explains how you can host a _private_ instance of the Flight Review server.
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This can use logs that you have downloaded and decrypted yourself, or you can include your private key in the server for automatic decryption of logs on upload.
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Кроки наступні:
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1. Follow the Flight Review [installation and setup](https://github.com/PX4/flight_review?tab=readme-ov-file#installation-and-setup) instructions to clone and setup the server.
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2. Put your private key in the source code at: `flight_review/app/private_key/private_key.pem`
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3. Add this key location into the server config file: `flight_review/app/config_default.ini`.
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The line to add should look something like this (for the file above):
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```sh
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ulge_private_key = ../private_key/private_key.pem
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```
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4. Follow the Flight Review Instructions to start your server.
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Спочатку ми зберемо цільову платформу симуляції з використанням консольного середовища.
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Це дозволяє нам перевірити налаштування системи перед її запуском на реальному обладнанні та IDE.
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Navigate into the **PX4-Autopilot** directory.
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Depending on your operating system you will have installed either [Gazebo SITL](../sim_gazebo_gz/index.md) or [Gazebo Classic SITL](../sim_gazebo_classic/index.md) (if you don't know which you can try both).
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:::: tabs
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:::tab Gazebo
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Start [Gazebo SITL](../sim_gazebo_gz/index.md) using the following command:
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Navigate into the **PX4-Autopilot** directory and start [Gazebo SITL](../sim_gazebo_gz/index.md) using the following command:
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```sh
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make px4_sitl gz_x500
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```
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:::
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:::tab Gazebo-Classic
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Start [Gazebo SITL](../sim_gazebo_gz/index.md) using the following command:
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:::details
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If you installed Gazebo Classic
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Start [Gazebo Classic SITL](../sim_gazebo_classic/index.md) using the following command:
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# Середовище розробки Ubuntu
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The following instructions use a bash script to set up the PX4 development environment on the [Ubuntu Linux LTS](https://wiki.ubuntu.com/LTS) versions supported by PX4: Ubuntu 22.04 (Jammy Jellyfish), 20.04 (Focal Fossa), and 18.04 (Bionic Beaver).
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The following instructions use a bash script to set up the PX4 development environment on the [Ubuntu Linux LTS](https://wiki.ubuntu.com/LTS) versions supported by PX4: Ubuntu 24.04 (Nimble Numbat) and Ubuntu 22.04 (Jammy Jellyfish).
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The environment includes:
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-[Gazebo Simulator](../sim_gazebo_gz/index.md) ("Harmonic") on Ubuntu 22.04
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-[Gazebo Classic Simulator](../sim_gazebo_classic/index.md) on Ubuntu 20.04 and Ubuntu 18.04
-[Build toolchain for Pixhawk (and other NuttX-based hardware)](../dev_setup/building_px4.md#nuttx-pixhawk-based-boards).
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:::info
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On Ubuntu 22.04:
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-[Gazebo Classic Simulator](../sim_gazebo_classic/index.md) can be used instead of Gazebo.
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Gazebo is nearing feature-parity with Gazebo-Classic on PX4, and will soon replace it for all use cases.
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The build toolchain for other flight controllers, simulators, and working with ROS are discussed in the [Other Targets](#other-targets) section below.
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:::
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:::tip
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if you need to use Gazebo on Ubuntu 20.04 you can [manually install Gazebo "Garden"](../sim_gazebo_gz/index.md#installation-ubuntu-linux), with the caveat that this is end-of-life in November 2024.
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If you want to use Gazebo Classic on Ubuntu 22.04 (say) then you can manually install it by following the instructions in [Gazebo Classic > Installation](../sim_gazebo_classic/index.md#installation).
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:::details
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Can I use an older version of Ubuntu?
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PX4 supports the current and last Ubuntu LTS release where possible.
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Older releases are not supported (so you can't raise defects against them), but may still work.
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For example, Gazebo Classic setup is included in our standard build instructions for macOS, Ubuntu 18.04 and 20.04, and Windows on WSL2 for the same hosts.
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:::
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## Симуляція та NuttX (Pixhawk)
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- При появі підказки по ходу виконання скрипту підтвердить вибір.
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- You can use the `--no-nuttx` and `--no-sim-tools` options to omit the NuttX and/or simulation tools.
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3. Перезавантажте комп'ютер при завершенні.
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3. If you need Gazebo Classic (Ubuntu 22.04 only) then you can manually remove Gazebo and install it by following the instructions in [Gazebo Classic > Installation](../sim_gazebo_classic/index.md#installation).
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4. Перезавантажте комп'ютер при завершенні.
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:::details
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Additional notes
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```sh
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$arm-none-eabi-gcc --version
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arm-none-eabi-gcc (GNU Arm Embedded Toolchain 9-2020-q2-update) 9.3.1 20200408 (release)
This is free software; see the sourcefor copying conditions. There is NO
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warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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```
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:::
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## Відеоінструкція
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This video shows how to install the toolchain for NuttX and simulation targets ([as covered below](#simulation-and-nuttx-pixhawk-targets)) along with the basic testing covered in [Building PX4 Software](../dev_setup/building_px4.md).
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:::warning
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The video suggests that you build source using JMAVSim, entering the command: `make px4_sitl jmavsim`.
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As JMAVSim is now community-supported, you should instead build using Gazebo or Gazebo Classic, as shown in [Building the Code](../dev_setup/building_px4.md#first-build-using-a-simulator)
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:::
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<lite-youtubevideoid="OtValQdAdrU"title=" Setting up your PX4 development environment on Linux"/>
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## Other Targets
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The Ubuntu development environment for ROS, other simulators, and other hardware targets, is covered in their respective documentation.
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Є багато причин використання VSCode для розробки PX4:
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- Getting setup _really_ only takes a few minutes.
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- A rich extension ecosystem that enables a huge range of tools needed for PX4 development: C/C++ (with solid _cmake_ integration), _Python_, _Jinja2_, ROS messages, and even DroneCAN dsdl.
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- A rich extension ecosystem that enables a huge range of tools needed for PX4 development: C/C++ (with solid _cmake_ integration), _Python_, _Jinja2_, ROS messages, and even DroneCAN DSDL.
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- Чудова інтеграція з Github.
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Цей розділ пояснює, як налаштувати IDE і почати розробку.
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2. Відкрийте VSCode і додайте вихідний код PX4:
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- Select _Open folder ..._ option on the welcome page (or using the menu: **File > Open Folder**):
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_Pixhawk 6C Mini_<sup>®</sup> is the latest update to the successful family of Pixhawk® flight controllers designed and made in collaboration with Holybro<sup>®</sup> and the PX4 team.
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Він оснащений високопродуктивним процесором H7, резервуванням IMU, платою IMU з контролем температури та економічно вигідним дизайном, що забезпечує неймовірну продуктивність і надійність.
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It is equipped with a high performance H7 Processor and comes with IMU redundancy, temperature-controlled IMU board, and cost effective design, delivering incredible performance and reliability.
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It complies with the Pixhawk [Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf).
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:::tip
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This autopilot is [supported](../flight_controller/autopilot_pixhawk_standard.md) by the PX4 maintenance and test teams.
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Inside the Pixhawk® 6C Mini, you can find an STMicroelectronics® based STM32H743, paired with sensor technology from Bosch® & InvenSense®, giving you flexibility and reliability for controlling any autonomous vehicle, suitable for both academic and commercial applications.
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Мікроконтролер H7 Pixhawk® 6C Mini містить ядро Arm® Cortex®-M7 до 480 MHz, має 2MB flash пам’яті та 1MB RAM.
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The Pixhawk® 6C Mini's H7 microcontroller contain the Arm® Cortex®-M7 core running up to 480 MHz, and has 2MB flash memory and 1MB RAM.
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Завдяки оновленій потужності обробки розробники можуть бути більш продуктивними та ефективними у своїй роботі з розробкою, що дозволяє використовувати складні алгоритми та моделі.
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Pixhawk 6C Mini включає високопродуктивні, низькошумні IMU на борту, розроблені бути економічними, але водночас маючи резервування IMU.
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Система віброізоляції для фільтрації високочастотної вібрації та зменшення шуму для забезпечення точних показань, що дозволяє транспортним засобам досягати кращих загальних характеристик польоту.
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Pixhawk® 6C Mini ідеально підходить для розробників у корпоративних дослідницьких лабораторіях, стартапах, академічних закладах (дослідники, професори, студенти) та комерційних застосувань.
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The Pixhawk® 6C Mini is perfect for developers at corporate research labs, startups, academics (research, professors, students), and commercial applications.
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**Key Design Points**
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- High performance STM32H743 Processor with more computing power & RAM
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- Новий економічний дизайн із низькопрофільним форм-фактором
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- Нова інтегрована система віброізоляції, призначена для фільтрації високочастотних вібрацій та зменшення шуму для забезпечення точних даних
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- IMUs are temperature-controlled by onboard heating resistors, allowing optimum working temperature of IMUs 
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- IMUs are temperature-controlled by onboard heating resistors, allowing optimum working temperature of IMUs 
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## Технічні характеристики
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### **Processors & Sensors**
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- FMU Processor: STM32H743 
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- 32 Bit Arm® Cortex®-M7, 480MHz, 2MB memory, 1MB SRAM 
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- FMU Processor: STM32H743 
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- 32 Bit Arm® Cortex®-M7, 480MHz, 2MB memory, 1MB SRAM 
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- IO Processor: STM32F103
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- 32 Bit Arm® Cortex®-M3, 72MHz, 64KB SRAM 
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- On-board sensors 
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- Accel/Gyro: ICM-42688-P 
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- Accel/Gyro: BMI055 
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- Mag: IST8310 
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- 32 Bit Arm® Cortex®-M3, 72MHz, 64KB SRAM 
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- On-board sensors 
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- Accel/Gyro: ICM-42688-P 
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- Accel/Gyro: BMI055 
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- Mag: IST8310 
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- Барометр: MS5611
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### **Electrical data**
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### **Mechanical data**
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- Розміри: 53.3 x 39 x 16.2 mm
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-Вага: 39.2г
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-Weight: 39.2g
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### **Interfaces**
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## Розміри
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## Номінальна напруга
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**Absolute Maximum Ratings**
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За таких умов система не буде витрачати жодної потужності (не буде працювати), але залишиться неушкодженою.
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Under these conditions, the system will not draw any power (will not be operational), but will remain intact.
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1.**POWER1** inputs (operational range 4.1V to 5.7V, 0V to 10V undamaged)
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2.**USB** input (operational range 4.1V to 5.7V, 0V to 6V undamaged)
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