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New Crowdin updates #3486

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New translations rangefinders.md (Ukrainian)
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commit ac3096b6cd381152e5d5052970756adedcb06ed8
42 changes: 22 additions & 20 deletions uk/sensor/rangefinders.md
Original file line number Diff line number Diff line change
@@ -69,10 +69,12 @@ The [Benewake TFmini Lidar](../sensor/tfmini.md) is a tiny, low cost, and low po

### PSK-CM8JL65-CC5

<Badge type="info" text="Discontinued" />

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.
Це повинно бути підключено до шини UART/серійного порту.

### Авіоніка Анонімний UAVCAN Лазерний Альтиметр Інтерфейс
### 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.

@@ -93,38 +95,38 @@ Supported rangefinders include:
[RaccoonLab µRANGEFINDER](https://docs.raccoonlab.co/guide/rangefinder/uRANGEFINDER.html) is designed to measure distance and publish it via Cyphal/DroneCAN protocols.
It can be used to estimate precision landing or object avoidance.

Функції:
Features:

- [VL53L1CBV0FY-1](https://www.st.com/resource/en/datasheet/vl53l1.pdf) sensor
- Input voltage sensor
- CAN connectors: 2 [UCANPHY Micro (JST-GH 4)](https://raccoonlabdev.github.io/docs/guide/wires/).

## Configuration/Setup {#configuration}

Дальні вимірювачі зазвичай підключаються до порту або послідовного (PWM), або I2C (залежно від драйвера пристрою), і активуються на порту шляхом встановлення певного параметра.
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.

### Загальна конфігурація
### Generic Configuration

The common rangefinder configuration is specified using [EKF2_RNG\_\*](../advanced_config/parameter_reference.md#EKF2_RNG_CTRL) parameters.
Ці включають (не вичерпно):
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.
Проста тригонометрія використовується для обчислення відстані до землі, якщо використовується ненульовий кут нахилу.
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

## Тестування

Найлегший спосіб перевірити дальномер - змінювати діапазон і порівнювати зі значеннями, виявленими PX4.
Нижче наведено деякі підходи до отримання виміряного діапазону.
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.

### Інспектор MAVLink QGroundControl
### 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.
:::

Для перегляду виводу дальномера:
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)

### Консоль QGroundControl MAVLink
### 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.
На симуляторі ви можете виконувати команди безпосередньо в терміналі.
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).

## Симуляція

### Симуляція Gazebo
### Gazebo Simulation

Lidar and sonar rangefinders can be used in the [Gazebo](../sim_gazebo_gz/index.md) simulator.
Для цього вам потрібно запустити симулятор, використовуючи модель автомобіля, яка включає дальномір.
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):

@@ -188,25 +190,25 @@ Front-facing sensors that write to [ObstacleDistance](../msg_docs/ObstacleDistan
make px4_sitl gz_x500_lidar_front
```

### Класичний симулятор Gazebo
### Gazebo-Classic Simulation

Lidar and sonar rangefinders can be used in the [Gazebo Classic](../sim_gazebo_classic/index.md) simulator.
Для цього вам потрібно запустити симулятор, використовуючи модель автомобіля, яка включає дальномір.
To do this you must start the simulator using a vehicle model that includes the rangefinder.

Модель оптичного потоку ірису включає лідарний дальномер:
The iris optical flow model includes a Lidar rangefinder:

```sh
make px4_sitl gazebo-classic_iris_opt_flow
```

Тайфун_h480 включає в себе зондовий дальномер:
The typhoon_h480 includes a sonar rangefinder:

```sh
make px4_sitl gazebo-classic_typhoon_h480
```

Якщо вам потрібно використовувати інше транспортний засіб, ви можете включити модель у файл конфігурації.
Ви можете побачити, як у відповідних файлах конфігурації Iris та Typhoon:
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)