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ja/advanced/gimbal_control.md

@@ -81,41 +81,107 @@ The values may also be provided in gimbal documentation.
 For example [MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW) is supported in [multicopter mission mode](../flight_modes_mc/mission.md).
 
 In theory you can address commands to a particular gimbal, specifying its component id using the "Gimbal device id" parameter.
-However at time of writing (December 2024) this is [not supported](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/gimbal/input_mavlink.cpp#L889): all mission commands are sent to the gimbal managed by the PX4 gimbal manager (if this is a MAVLink gimbal, it will be the gimbal with component id defined in the parameter [MNT_MAV_COMPID](../advanced_config/parameter_reference.md#MNT_MAV_COMPID), which is set by default to [MAV_COMP_ID_GIMBAL (154)](https://mavlink.io/en/messages/common.html#MAV_COMP_ID_GIMBAL)).
+However at time of writing (December 2024) this is [not supported](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/gimbal/input_mavlink.cpp#L889): all mission commands are sent to the (only) gimbal managed by the PX4 gimbal manager (if this is a MAVLink gimbal, it will be the gimbal with component id defined in the parameter [MNT_MAV_COMPID](../advanced_config/parameter_reference.md#MNT_MAV_COMPID), which is set by default to [MAV_COMP_ID_GIMBAL (154)](https://mavlink.io/en/messages/common.html#MAV_COMP_ID_GIMBAL)).
 
 Gimbal movement is not immediate.
 To ensure that the gimbal has time to move into position before the mission progresses to the next item (if gimbal feedback is not provided or lost), you should set [MIS_COMMAND_TOUT](../advanced_config/parameter_reference.md#MIS_COMMAND_TOUT) to be greater than the time taken for the gimbal to traverse its full range.
 After this timeout the mission will proceed to the next item.
 
-## SITL
+## Simulation / SITL
 
-The [Gazebo Classic](../sim_gazebo_classic/index.md) simulation [Typhoon H480 model](../sim_gazebo_classic/vehicles.md#typhoon-h480-hexrotor) comes with a preconfigured simulated gimbal.
+The following simulation environments come with a preconfigured simulated gimbal.
+You can test the gimbal using the [QGroundControl UI](#qgc-testing) or by sending [driver commands](#driver-testing)
 
-To run it, use:
+:::tip
+If you only need to test the [gimbal driver](../modules/modules_driver.md#gimbal), then you can do this on any model or simulators.
+Just make sure that the driver runs, using `gimbal start` in the MAVLink console, then configure the driver parameters.
+:::
+
+### Gazebo
+
+To run the [Gazebo](../sim_gazebo_gz/index.md) simulation [Quadrotor(x500) with gimbal (Front-facing) in Gazebo](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-gimbal-front-facing), use:
+
+```sh
+make px4_sitl gz_x500_gimbal
+```
+
+![Quadrotor(x500) with gimbal (Front-facing) in Gazebo](../../assets/simulation/gazebo/vehicles/x500_gimbal.png)
+
+### Gazebo Classic
+
+To run the [Gazebo Classic](../sim_gazebo_classic/index.md) simulation [Typhoon H480 model](../sim_gazebo_classic/vehicles.md#typhoon-h480-hexrotor), use:
 
 ```sh
 make px4_sitl gazebo-classic_typhoon_h480
 ```
 
-To just test the [gimbal driver](../modules/modules_driver.md#gimbal) on other models or simulators, make sure the driver runs (using `gimbal start`), then configure its parameters.
+![Typhoon H480 in Gazebo Classic](../../assets/simulation/gazebo_classic/vehicles/typhoon.jpg)
+
+![Gazebo Gimbal Simulation](../../assets/simulation/gazebo_classic/gimbal-simulation.png)
 
 ## Testing
 
-The driver provides a simple test command.
-The following describes testing in SITL, but the commands also work on a real device.
+### QGC Testing
+
+The on-screen gimbal control can be used to move/test a connected MAVLink camera:
+
+1. Start your preferred [simulator](#simulation-sitl) or connect to a real device.
+
+2. Open QGroundControl and enable the on-screen camera control (Application settings).
+
+   ![Quadrotor(x500) with gimbal (Front-facing) in Gazebo](../../assets/qgc/fly/gimbal_control_x500gz.png)
+
+3. Make sure the vehicle is armed and flying, e.g. by entering with `commander takeoff`.
+
+4. To change gimbal target position, click in the QGC GUI up, down, left, right, or use the buttons on the gimbal control (**Center**, **Tilt 90**, **Yaw lock**).
+
+### Driver Testing
+
+You can test a gimbal by sending `gimbal` driver commands in the [QGroundControl MAVLink Console](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/analyze_view/mavlink_console.html):
 
-Start the simulation with (no parameter needs to be changed for that):
+1. Start your preferred [simulator](#simulation-sitl) or connect to a real device.
+2. Open QGroundControl and connect to your vehicle.
+3. Open the MAVLink Console using the menu: **Analyze > Mavlink Console**.
+4. Make sure the vehicle is armed and flying, e.g. by entering the command: `commander takeoff`.
+
+To check gimbal status enter:
 
 ```sh
-make px4_sitl gazebo-classic_typhoon_h480
+gimbal status
 ```
 
-Make sure it's armed, eg. with `commander takeoff`, then use the following command to control the gimbal (for example):
+To set the gimbal yaw to 30 degrees, use the command:
 
 ```sh
 gimbal test yaw 30
 ```
 
-Note that the simulated gimbal stabilizes itself, so if you send MAVLink commands, set the `stabilize` flags to `false`.
+More generally, you can set the angle or angular rate command using a command with this format:
 
-![Gazebo Gimbal Simulation](../../assets/simulation/gazebo_classic/gimbal-simulation.png)
+```sh
+gimbal test <axis> <value>
+```
+
+- `axis`:
+  - `<roll|pitch|yaw>` for angles
+  - `<rollrate|pitchrate|yawrate>` for angular rates
+- `value`:
+  - `<degrees>` for angles
+  - `<degrees / second>` for angular rates
+
+To set the MAVLink component that is in primary control of the gimbal:
+
+```sh
+gimbal primary-control <sys_id> <comp_id>
+```
+
+- `sys_id`: MAVLink system ID
+- `comp_id`: MAVLink component ID
+
+For other commands, see the [`gimbal`](../modules/modules_driver.md#gimbal) driver module document.
+
+### MAVLink Testing
+
+The gimbal can be tested by sending MAVLink gimbal manager commands using [MAVSDK](../robotics/mavsdk.md) or some other MAVLink library.
+
+Note that the simulated gimbal stabilizes itself, so if you send MAVLink commands, set the `stabilize` flags to `false`.

ja/airframes/airframe_reference.md

@@ -688,15 +688,6 @@ div.frame_variant td, div.frame_variant th {
 
 <div class="frame_common">
 <img src="../../assets/airframes/types/AirframeSimulation.svg"/>
-<table>
- <thead>
-   <tr><th>Common Outputs</th></tr>
- </thead>
- <tbody>
-<tr>
- <td><ul><li><b>Motor1</b>: motor right</li><li><b>Motor2</b>: motor left</li><li><b>Servo1</b>: elevon right</li><li><b>Servo2</b>: elevon left</li></ul></td>
-</tr>
-</tbody></table>
 </div>
 
 <div class="frame_variant">
@@ -707,7 +698,11 @@ div.frame_variant td, div.frame_variant th {
 <tbody>
 <tr id="vtol_simulation_sih_tailsitter_duo">
  <td>SIH Tailsitter Duo</td>
- <td>Maintainer: Romain Chiappinelli &lt;romain.chiap@gmail.com&gt;<p><code>SYS_AUTOSTART</code> = 1102</p></td>
+ <td>Maintainer: Romain Chiappinelli &lt;romain.chiap@gmail.com&gt;<p><code>SYS_AUTOSTART</code> = 1102</p><br><b>Specific Outputs:</b><ul><li><b>Motor1</b>: motor right</li><li><b>Motor2</b>: motor left</li><li><b>Servo1</b>: elevon right</li><li><b>Servo2</b>: elevon left</li></ul></td>
+</tr>
+<tr id="vtol_simulation_sih_standard_vtol_quadplane">
+ <td>SIH Standard VTOL QuadPlane</td>
+ <td>Maintainer: John Doe &lt;john@example.com&gt;<p><code>SYS_AUTOSTART</code> = 1103</p><br><b>Specific Outputs:</b><ul><li><b>Motor1</b>: MC motor front right</li><li><b>Motor2</b>: MC motor back left</li><li><b>Motor3</b>: MC motor front left</li><li><b>Motor4</b>: MC motor back right</li><li><b>Motor5</b>: Forward thrust motor</li><li><b>Servo1</b>: Aileron</li><li><b>Servo2</b>: Elevator</li><li><b>Servo3</b>: Rudder</li></ul></td>
 </tr>
 </tbody>
 </table>
@@ -727,7 +722,7 @@ div.frame_variant td, div.frame_variant th {
 <tbody>
 <tr id="vtol_standard_vtol_hil_standard_vtol_quadplane">
  <td>HIL Standard VTOL QuadPlane</td>
- <td>Maintainer: Roman Bapst &lt;roman@auterion.com&gt;<p><code>SYS_AUTOSTART</code> = 1002</p></td>
+ <td>Maintainer: Roman Bapst &lt;roman@auterion.com&gt;<p><code>SYS_AUTOSTART</code> = 1002</p><br><b>Specific Outputs:</b><ul><li><b>Motor1</b>: MC motor front right</li><li><b>Motor2</b>: MC motor back left</li><li><b>Motor3</b>: MC motor front left</li><li><b>Motor4</b>: MC motor back right</li><li><b>Motor5</b>: Forward thrust motor</li><li><b>Servo1</b>: Aileron</li><li><b>Servo2</b>: Elevator</li><li><b>Servo3</b>: Rudder</li></ul></td>
 </tr>
 <tr id="vtol_standard_vtol_generic_standard_vtol">
  <td>Generic Standard VTOL</td>

ja/config_rover/differential.md

@@ -32,6 +32,13 @@ To configure the differential rover frame and outputs:
 
 The basic setup (above) is all that is required to use the rover in [Manual mode](../flight_modes_rover/differential.md#manual-mode).
 
+:::info
+In manual mode the stick inputs are directly mapped to motor commands.
+Especially moving the stick that controls the yaw rate all the way to one side will cause the wheels on the left and right to spin at full speed in opposite directions.
+Depending on the rover this can lead to a very aggressive rotation.
+The parameters [RD_MAX_YAW_RATE](#RD_MAX_YAW_RATE) and [RD_MAX_THR_YAW_R](#RD_MAX_THR_YAW_R) can be used to scale the manual input for the yaw rate.
+:::
+
 ## Acro Mode
 
 :::warning
@@ -132,7 +139,7 @@ To configure set the following parameters:
 1. [RD_MAX_SPEED](#RD_MAX_SPEED) [m/s]: This is the maximum speed you want to allow for your rover.
    This will define the stick-to-speed mapping for position mode and set an upper limit for the speed setpoint for all [auto modes](#auto-modes).
 
-2. [RD_MAX_THR_SPD](#RD_MAX_SPEED) [m/s]: This parameter is used to calculate the feed-forward term of the closed loop speed control which linearly maps desired speeds to normalized motor commands.
+2. [RD_MAX_THR_SPD](#RD_MAX_THR_SPD) [m/s]: This parameter is used to calculate the feed-forward term of the closed loop speed control which linearly maps desired speeds to normalized motor commands.
    A good starting point is the observed ground speed when the rover drives at maximum throttle in [Manual mode](../flight_modes_rover/differential.md#manual-mode).
 
    <a id="RD_SPEED_P_TUNING"></a>
@@ -211,14 +218,14 @@ The required parameters are separated into the following sections:
 
 These parameters are used to calculate the speed setpoint in auto modes:
 
-1. [RM_MAX_SPEED](#RM_MAX_SPEED): Sets the default velocity ($m/s$) for the rover during the mission (as well as the maximum speed)..
+1. [RD_MAX_SPEED](#RD_MAX_SPEED): Sets the default velocity ($m/s$) for the rover during the mission (as well as the maximum speed)..
 
-2. [RD_MAX_ACCEL](#RD_MAX_ACCEL) ($m/s^2$) and [RD_MAX_JERK](#RD_MAX_JERK) ($m/s^3$) are used to calculate a velocity trajectory such that the rover comes to a smooth stop as it reaches a waypoint.
+2. [RD_MAX_DECEL](#RD_MAX_DECEL) ($m/s^2$) and [RD_MAX_JERK](#RD_MAX_JERK) ($m/s^3$) are used to calculate a velocity trajectory such that the rover comes to a smooth stop as it reaches a waypoint.
 
    ::: tip
    Plan a mission for the rover to drive a square and observe how it slows down when approaching a waypoint.
-   If the rover decelerates too quickly decrease the [RD_MAX_ACCEL](#RD_MAX_ACCEL) parameter, if it starts slowing down too early increase the parameter.
-   If you observe a jerking motion as the rover slows down, decrease the [RD_MAX_JERK](#RD_MAX_JERK) parameter otherwise increase it as much as possible as it can interfere with the tuning of [RD_MAX_ACCEL](#RD_MAX_ACCEL).
+   If the rover decelerates too quickly decrease the [RD_MAX_DECEL](#RD_MAX_DECEL) parameter, if it starts slowing down too early increase the parameter.
+   If you observe a jerking motion as the rover slows down, decrease the [RD_MAX_JERK](#RD_MAX_JERK) parameter otherwise increase it as much as possible as it can interfere with the tuning of [RD_MAX_DECEL](#RD_MAX_DECEL).
    These two parameters have to be tuned as a pair, repeat until you are satisfied with the behaviour.
 
 :::
@@ -303,8 +310,9 @@ List of all parameters of the differential rover module:
 | <a id="PP_LOOKAHD_GAIN"></a>[PP_LOOKAHD_GAIN](../advanced_config/parameter_reference.md#PP_LOOKAHD_GAIN)                                              | Main tuning parameter for pure pursuit                                                              | -       |
 | <a id="PP_LOOKAHD_MAX"></a>[PP_LOOKAHD_MAX](../advanced_config/parameter_reference.md#PP_LOOKAHD_MAX)                                                 | Maximum value for the look ahead radius of the pure pursuit algorithm                               | m       |
 | <a id="PP_LOOKAHD_MIN"></a>[PP_LOOKAHD_MIN](../advanced_config/parameter_reference.md#PP_LOOKAHD_MIN)                                                 | Minimum value for the look ahead radius of the pure pursuit algorithm                               | m       |
-| <a id="RM_MAX_SPEED"></a>[RM_MAX_SPEED](../advanced_config/parameter_reference.md#RM_MAX_SPEED)                                                       | Maximum allowed speed for the rover (and default mission speed). | m/s     |
+| <a id="RD_MAX_SPEED"></a>[RD_MAX_SPEED](../advanced_config/parameter_reference.md#RD_MAX_SPEED)                                                       | Maximum allowed speed for the rover (and default mission speed). | m/s     |
 | <a id="RD_MAX_ACCEL"></a>[RD_MAX_ACCEL](../advanced_config/parameter_reference.md#RD_MAX_ACCEL)                                                       | Maximum acceleration for the rover                                                                  | $m/s^2$ |
+| <a id="RD_MAX_DECEL"></a>[RD_MAX_DECEL](../advanced_config/parameter_reference.md#RD_MAX_DECEL)                                                       | Maximum deceleration for the rover                                                                  | $m/s^2$ |
 | <a id="RD_MAX_JERK"></a>[RD_MAX_JERK](../advanced_config/parameter_reference.md#RD_MAX_JERK)                                                          | Maximum jerk for the rover                                                                          | $m/s^3$ |
 | <a id="RD_TRANS_DRV_TRN"></a>[RD_TRANS_DRV_TRN](../advanced_config/parameter_reference.md#RD_TRANS_DRV_TRN)                      | Heading error threshold to switch from driving to spot turning                                      | deg     |
 | <a id="RD_TRANS_TRN_DRV"></a>[RD_TRANS_TRN_DRV](../advanced_config/parameter_reference.md#RD_TRANS_TRN_DRV)                      | Heading error threshold to switch from spot turning to driving                                      | deg     |

ja/config_rover/mecanum.md

@@ -37,8 +37,6 @@ In manual mode the stick inputs are directly mapped to motor commands.
 Especially moving the stick that controls the yaw rate all the way to one side will cause the wheels on the left and right to spin at full speed in opposite directions.
 Depending on the rover this can lead to a very aggressive rotation.
 The parameters [RM_MAX_YAW_RATE](#RM_MAX_YAW_RATE) and [RM_MAX_THR_YAW_R](#RM_MAX_THR_YAW_R) can be used to scale the manual input for the yaw rate.
-By reducing the parameter from the default value of 1 this behaviour can be tuned.
-Note that this parameter only affects this mode, not any of the following ones.
 :::
 
 ## Acro Mode
@@ -293,13 +291,13 @@ These parameters are used to calculate the velocity setpoint in auto modes:
 1. [RM_MAX_SPEED](#RM_MAX_SPEED): Sets the default speed ($m/s$) for the rover during the mission (as well as the maximum speed).
    For mecanum rovers the speed is defined in the direction of travel (magnitude of the velocity vector consisting of the forward and lateral speed).
 
-2. [RM_MAX_ACCEL](#RM_MAX_ACCEL) ($m/s^2$) and [RM_MAX_JERK](#RM_MAX_JERK) ($m/s^3$) are used to calculate a velocity trajectory such that the rover comes to a smooth stop as it reaches a waypoint.
+2. [RM_MAX_DECEL](#RM_MAX_DECEL) ($m/s^2$) and [RM_MAX_JERK](#RM_MAX_JERK) ($m/s^3$) are used to calculate a velocity trajectory such that the rover comes to a smooth stop as it reaches a waypoint.
 
    ::: tip
    Plan a mission for the rover to drive a square and observe how it slows down when approaching a waypoint:
 
-   - If the rover decelerates too quickly decrease the [RM_MAX_ACCEL](#RM_MAX_ACCEL) parameter, if it starts slowing down too early increase the parameter.
-   - If you observe a jerking motion as the rover slows down, decrease the [RM_MAX_JERK](#RM_MAX_JERK) parameter otherwise increase it as much as possible as it can interfere with the tuning of [RM_MAX_ACCEL](#RM_MAX_ACCEL).
+   - If the rover decelerates too quickly decrease the [RM_MAX_DECEL](#RM_MAX_DECEL) parameter, if it starts slowing down too early increase the parameter.
+   - If you observe a jerking motion as the rover slows down, decrease the [RM_MAX_JERK](#RM_MAX_JERK) parameter otherwise increase it as much as possible as it can interfere with the tuning of [RM_MAX_DECEL](#RM_MAX_DECEL).
 
    These two parameters have to be tuned as a pair, repeat until you are satisfied with the behaviour.
 
@@ -385,6 +383,7 @@ List of all parameters of the mecanum rover module:
 | <a id="PP_LOOKAHD_MAX"></a>[PP_LOOKAHD_MAX](../advanced_config/parameter_reference.md#PP_LOOKAHD_MAX)                                                 | Maximum value for the look ahead radius of the pure pursuit algorithm                               | m       |
 | <a id="PP_LOOKAHD_MIN"></a>[PP_LOOKAHD_MIN](../advanced_config/parameter_reference.md#PP_LOOKAHD_MIN)                                                 | Minimum value for the look ahead radius of the pure pursuit algorithm                               | m       |
 | <a id="RM_MAX_ACCEL"></a>[RM_MAX_ACCEL](../advanced_config/parameter_reference.md#RM_MAX_ACCEL)                                                       | Maximum acceleration for the rover                                                                  | $m/s^2$ |
+| <a id="RM_MAX_DECEL"></a>[RM_MAX_DECEL](../advanced_config/parameter_reference.md#RM_MAX_DECEL)                                                       | Maximum deceleration for the rover                                                                  | $m/s^2$ |
 | <a id="RM_MAX_JERK"></a>[RM_MAX_JERK](../advanced_config/parameter_reference.md#RM_MAX_JERK)                                                          | Maximum jerk for the rover                                                                          | $m/s^3$ |
 | <a id="RM_MISS_VEL_GAIN"></a>[RM_MISS_VEL_GAIN](../advanced_config/parameter_reference.md#RM_MISS_VEL_GAIN)                      | Tuning parameter for the velocity reduction during waypoint transition                              | -       |