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["Ardupilot固件多轴与固定翼消息警告提示、产生原因、解决方法汇总表"]
["             制表于：20260316\n对应固件版本-Copter/Plane4.6.3"]
["警告类型","地面站警告提示信息(英文)","警告提示信息(中文翻译)","出现该警告的原因","解决方案"]
["通用警告","3D Accel calibration needed","需进行 3D 加速度计校准","尚未进行加速度计校准","完成加速度计校准"]
["通用警告","Accels calibrated requires reboot","加速度计已校准，需重启","加速度计校准后需重启自动驾驶仪","重启自动驾驶仪"]
["通用警告","Accels calibrated requires reboot","高度差","气压计测得的高度与惯性导航（即气压计+加速度计）估算的高度相差超过1米。","此信息通常持续时间很短，可能在自动驾驶仪首次连接电源或受到剧烈震动（例如突然跌落）时出现。\n如果此信息持续存在，则可能需要校准加速度计或气压计硬件出现故障。"]
["通用警告","Accels inconsistent","加速度计数据不一致","两个加速度计数据偏差 0.75 米 / 秒 ²","重新进行加速度计校准；让自动驾驶仪预热后重启；\n若问题持续，更换自动驾驶仪；若内燃机启动后再解锁，可参考 ARMING_OPTIONS 参数第 2 位作为备选解决方案"]
["通用警告","ADSB out of memory","ADSB 系统内存不足","自动驾驶仪内存耗尽","禁用部分功能，或更换性能更强的自动驾驶仪"]
["通用警告","Accels not healthy","加速度计状态异常","至少一个加速度计未输出数据","重启自动驾驶仪；\n若问题持续，更换自动驾驶仪"]
["通用警告","AHRS: not using configured AHRS type","AHRS：未使用配置的姿态参考系统类型","扩展卡尔曼滤波器 3（EKF3）未就绪，设备当前使用 DCM（方向余弦矩阵）","若在室内，移至室外；确保 GPS 信号良好；检查 EKF 配置是否错误（参考 AHRS_EKF_TYPE 参数）"]
["通用警告","AHRS: waiting for home","AHRS：等待 Home 点（返航点）设置","GPS 未完成定位（未获取固定解）","若在室内，移至室外；确保指南针和加速度计已完成校准；排除可能干扰 GPS 的射频源"]
["通用警告","Airspeed 1 not healthy","空速传感器 1 状态异常","自动驾驶仪无法从传感器获取数据","检查传感器物理连接及配置"]
["通用警告","AP_Relay not available","AP_Relay（自动驾驶仪继电器）功能不可用","降落伞通过继电器控制，但继电器功能缺失（可能使用了自定义编译服务器，需重新编译并启用继电器功能）","重新编译固件并启用继电器功能"]
["通用警告","Auxiliary authorisation refused","辅助授权被拒绝","外部系统拒绝授权","检查外部授权系统"]
["通用警告","Batch sampling requires reboot","批量采样需重启","批量采样功能需重启自动驾驶仪才能生效","重启自动驾驶仪，或检查批量采样配置"]
["通用警告","Battery below minimum arming capacity","电池容量低于解锁最低要求","电池容量低于 BATT_ARM_MAH（电池解锁最小容量）参数值","更换电池，或调整 BATT_ARM_MAH 参数。\nBATT_ARM_MAH参数默认=0！\n用户设置后，解锁时飞控就会检查当前的电量是否比该参数的值要低，低的话飞控就会拒绝解锁！"]
["通用警告","Battery below minimum arming voltage","电池电压低于解锁最低要求","电池电压低于 BATT_ARM_VOLT（电池解锁最低电压）参数值","更换电池，或调整 BATT_ARM_VOLT 参数\nBATT_ARM_VOLT 参数默认=0！\n用户设置后，解锁时飞控就会检查当前的电量是否比该参数的值要低，低的话飞控就会拒绝解锁！"]
["通用警告","Battery capacity failsafe critical >= low","电池容量失效保护：紧急阈值≥低阈值","电池容量失效保护参数配置错误","确保 BATT_LOW_MAH（电池低容量阈值）高于 BATT_CRT_MAH（电池紧急容量阈值）"]
["通用警告","Battery critical capacity failsafe","电池容量紧急失效保护触发","电池容量低于 BATT_CRT_MAH（电池紧急容量阈值）参数值","更换电池，或调整 BATT_CRT_MAH 参数"]
["通用警告","Battery critical voltage failsafe","电池电压紧急失效保护触发","电池电压低于 BATT_CRT_VOLT（电池紧急电压阈值）参数值","更换电池，或调整 BATT_CRT_VOLT 参数"]
["通用警告","Battery low capacity failsafe","电池容量低失效保护触发","电池容量低于 BATT_LOW_MAH（电池低容量阈值）参数值","更换电池，或调整 BATT_LOW_MAH 参数"]
["通用警告","Battery low voltage failsafe","电池电压低失效保护触发","电池电压低于 BATT_LOW_VOLT（电池低电压阈值）参数值","更换电池，或调整 BATT_LOW_VOLT 参数"]
["通用警告","Battery unhealthy","电池状态异常","电池未输出数据（无法检测电池状态）","检查电池监测器的物理连接及配置"]
["通用警告","Battery voltage failsafe critical >= low","电池电压失效保护：紧急阈值≥低阈值","电池电压失效保护参数配置错误","确保 BATT_LOW_VOLT（电池低电压阈值）高于 BATT_CRT_VOLT（电池紧急电压阈值）"]
["通用警告","Baro not healthy","气压计不健康","气压计传感器报告其不健康，这通常是硬件故障的迹象。","重启自动驾驶仪；\n若问题持续，更换自动驾驶仪"]
["通用警告","BendyRuler OA requires reboot","BendyRuler 避障需重启","避障（OA）配置修改后需重启才能生效","重启自动驾驶仪；参考避障配置说明"]
["通用警告","Board (Xv) out of range 4.3-5.8v","主板电压（Xv）超出 4.3-5.8V 范围","主板电压低于 BRD_VBUS_MIN（主板最小供电电压）或过高","检查电源；若通过 USB 供电，需接入电池或更换 USB 线"]
["通用警告","BTN_PINx=y invalid","按钮引脚 BTN_PINx=y 配置无效","按钮配置错误","BTN_PINx 参数被设为无效值；参考按钮设置说明"]
["通用警告","BTN_PINx=y, set SERVOz_FUNCTION=-1","按钮引脚 BTN_PINx=y 需设置 SERVOz_FUNCTION=-1","按钮配置错误","将 SERVOz_FUNCTION（伺服通道功能）参数设为 - 1（禁用该通道功能）"]
["通用警告","Can't check rally without position","无位置信息，无法检查拉力点","扩展卡尔曼滤波器（EKF）尚未获取位置估算值","等待，或移至 GPS 信号更好的位置"]
["通用警告","Check fence","请检查地理围栏","地理围栏功能初始化失败","重启自动驾驶仪"]
["通用警告","Check mag field (xy diff:x>875)","检查磁场（XY 轴偏差：x>875）","指南针水平磁场强度过大或过小","将设备移至远离环境中金属物体的位置；将指南针移至远离机架金属部件处；重新校准指南针；禁用内置指南针"]
["通用警告","Check mag field (z diff:x>875)","检查磁场（Z 轴偏差：x>875）","指南针垂直磁场强度过大或过小","将设备移至远离环境中金属物体的位置；将指南针移至远离机架金属部件处；重新校准指南针；禁用内置指南针"]
["通用警告","Check mag field: x, max y, min z","检查磁场：x（当前值）、y（最大值）、z（最小值）","指南针磁场强度过大或过小","将设备移至远离环境中金属物体的位置；将指南针移至远离机架金属部件处；重新校准指南针；禁用内置指南针"]
["通用警告","Chute has no channel","降落伞无控制通道","降落伞配置错误","降落伞通过 PWM（脉冲宽度调制）控制，但未配置伺服通道功能（例：需将 SERVOx_FUNCTION 设为 27）；参考降落伞设置说明"]
["通用警告","Chute has no relay","降落伞无继电器控制","降落伞配置错误","降落伞通过继电器控制，但未配置继电器输出；参考降落伞设置说明"]
["通用警告","Chute is released","降落伞已释放","降落伞已触发释放","重启自动驾驶仪"]
["通用警告","Compass calibrated requires reboot","指南针已校准，需重启","指南针校准后需重启自动驾驶仪","重启自动驾驶仪"]
["通用警告","Compass calibration running","指南针校准中","指南针校准流程正在进行","完成或取消指南针校准流程"]
["通用警告","Compass not healthy","指南针状态异常","至少一个指南针未输出数据。\n指南针传感器报告其不正常，这是硬件故障的迹象。","检查指南针与自动驾驶仪的连接及配置"]
["通用警告","Compass offsets too high","指南针偏移量过高","指南针偏移参数值过大","将指南针移至远离机架金属部件处；重新校准指南针；禁用内置指南针；增大 COMPASS_OFFS_MAX（指南针最大偏移量）参数"]
["通用警告","Compasses inconsistent","指南针数据不一致","两个指南针的角度或磁场强度数据不匹配","检查指南针安装方向（参考 COMPASS_ORIENT 参数）；将指南针移至远离机架金属部件处；重新校准指南针；禁用内置指南针"]
["通用警告","CrashDump data detected","检测到崩溃日志（CrashDump）","已记录崩溃日志数据（表明 CPU 曾崩溃）","CPU 曾发生崩溃并记录数据，设备可能无法安全飞行！参考 “看门狗 / 崩溃日志上报” 说明"]
["通用警告","Dijkstra OA requires reboot","Dijkstra 避障需重启","避障（OA）配置修改后需重启才能生效","重启自动驾驶仪；参考避障配置说明"]
["通用警告","Disarm Switch on","解锁开关处于开启状态","解锁开关处于高电平位置（未关闭）","将解锁开关拨至低电平位置，或检查辅助功能配置"]
["通用警告","Downloading logs","日志下载中","日志下载期间无法解锁设备","等待日志下载完成，或取消下载，或重启自动驾驶仪"]
["通用警告","DroneCAN: Duplicate Node x../y!","DroneCAN：节点 x../y 重复","DroneCAN 检测到两个设备使用相同节点 ID","设置 CAN_D1_UC_OPTION=1 以清除 DroneCAN DNS 服务器，然后重启"]
["通用警告","DroneCAN: Failed to access storage!","DroneCAN：存储访问失败","可能存在硬件问题","重启自动驾驶仪"]
["通用警告","DroneCAN: Failed to add Node x!","DroneCAN：无法添加节点 x","DroneCAN 无法初始化与某设备的连接","检查传感器的物理连接及供电"]
["通用警告","DroneCAN: Node x unhealthy!","DroneCAN：节点 x 状态异常","某 DroneCAN 设备未输出数据","检查传感器的物理连接及供电"]
["通用警告","Duplicate Aux Switch Options","辅助开关功能重复","两个辅助开关配置了相同功能","检查辅助功能配置；查看是否有 RCx_OPTION（遥控器通道功能）参数值重复"]
["通用警告","EKF3 Roll/Pitch inconsistent by x degs","EKF3：横滚 / 俯仰偏差 x 度","横滚或俯仰倾斜角估算值不一致","通常因 EKF3 未获取足够精度的 GPS 数据，也可能因其他传感器出错；移至室外，或等待，或重启自动驾驶仪"]
["通用警告","EKF3x vel error y","EKF3x：速度误差 y","EKF3 的速度新息（innovation）为 “y”（速度估算偏差）","EKF3 位置速度新息过高；检查 GPS，或等待，或重启"]
["通用警告","EKF3 waiting for GPS config data","EKF3：等待 GPS 配置数据","GPS 自动配置未完成","检查 GPS 连接及配置（使用 DroneCAN GPS 时需特别检查）"]
["通用警告","EKF3 Yaw inconsistent by x degs","EKF3：偏航偏差 x 度","偏航角估算值不一致","等待，或重启自动驾驶仪"]
["通用警告","Failed to open mission.stg","无法打开 mission.stg（任务文件）","无法从 SD 卡加载任务","检查 SD 卡；尝试重新将任务保存到 SD 卡"]
["通用警告","Failed to create log directory /APM/LOGS: ENOMEM","无法创建日志目录 / APM/LOGS：内存不足","无法在 SD 卡创建日志目录（内存不足）","减小 LOG_FILE_BUFSIZE（日志文件缓冲区大小）参数，或禁用其他功能以降低内存占用"]
["通用警告","Fence requires position","地理围栏需位置信息","若启用地理围栏，需获取位置估算值","等待，或移至天空视野开阔的位置；减少射频干扰源"]
["通用警告","FENCE_ALT_MAX < FENCE_ALT_MIN","地理围栏最大高度 < 最小高度","FENCE_ALT_MAX（围栏最大高度）必须大于 FENCE_ALT_MIN（围栏最小高度）","增大 FENCE_ALT_MAX，或降低 FENCE_ALT_MIN"]
["通用警告","FENCE_MARGIN is less than FENCE_RADIUS","地理围栏边际 < 半径","FENCE_MARGIN（围栏边际）必须大于 FENCE_RADIUS（围栏半径）","增大 FENCE_RADIUS，或减小 FENCE_MARGIN"]
["通用警告","FENCE_MARGIN too big","地理围栏边际过大","围栏最大高度与最小高度之差 < 2 倍围栏边际","减小 FENCE_MARGIN，或增大 FENCE_ALT_MAX 与 FENCE_ALT_MIN 的差值"]
["通用警告","Fences enabled, but none selected","地理围栏已启用，但未选择围栏类型","地理围栏已启用，但未定义任何围栏类型","通过 FENCE_ENABLE（围栏启用）或 FENCE_TYPE（围栏类型）禁用部分 / 全部围栏，或定义缺失的围栏"]
["通用警告","Fences invalid","地理围栏无效","多边形围栏配置无效","检查多边形围栏是否存在线条重叠"]
["通用警告","FETtec: Invalid motor mask","FETtec：电机掩码无效","FETtec（电调品牌）配置错误","参考 FETtec 配置说明"]
["通用警告","FETtec: Invalid pole count x","FETtec：磁极数 x 无效","FETtec 配置错误","参考 FETtec 配置说明"]
["通用警告","FETtec: No uart","FETtec：无 UART（串行通信）","FETtec 配置错误","参考 FETtec 配置说明"]
["通用警告","FETtec: Not initialised","FETtec：未初始化","FETtec 电调未与自动驾驶仪通信","参考 FETtec 配置说明"]
["通用警告","FETtec: x of y ESCs are not running","FETtec：y 个电调中有 x 个未运行","FETtec 电调未旋转（未工作）","参考 FETtec 配置说明"]
["通用警告","FETtec: x of y ESCs are not sending telem","FETtec：y 个电调中有 x 个未发送遥测","FETtec 电调未与自动驾驶仪通信","参考 FETtec 配置说明"]
["通用警告","FFT calibrating noise","FFT（快速傅里叶变换）噪声校准中","FFT 谐波陷波分析未完成","等待飞行中 FFT 分析完成"]
["通用警告","FFT config MAXHZ xHz > yHz","FFT 配置：最大频率 xHz>yHz","FFT 谐波陷波配置错误","参考 “飞行中 FFT 谐波陷波设置” 说明"]
["通用警告","FFT self-test failed, max error Hz","FFT 自检失败，最大误差 Hz","FFT 谐波陷波功能失败","参考 “飞行中 FFT 谐波陷波设置” 说明"]
["通用警告","FFT still analyzing","FFT 仍在分析中","FFT 谐波陷波分析未完成","等待飞行中 FFT 分析完成"]
["通用警告","FFT: calibrated xHz/xHz/xHz","FFT：已校准 xHz/xHz/xHz","FFT 谐波陷波相关问题","参考 “飞行中 FFT 谐波陷波设置” 说明"]
["通用警告","FFT: resolution is xHz, increase length","FFT：分辨率 xHz，需增加长度","FFT 谐波陷波配置错误","参考 “飞行中 FFT 谐波陷波设置” 说明"]
["通用警告","Generator: Not healthy","发电机状态异常","发电机未与自动驾驶仪通信","检查发电机配置"]
["通用警告","Generator: No backend driver","发电机：无后端驱动","固件未包含所选发电机的驱动","通过custom.ardupilot.org（自定义编译网站）编译包含所需发电机驱动的固件"]
["通用警告","GPS alt error xm (see BARO_ALTERR_MAX)","GPS 高度误差 xm（参考 BARO_ALTERR_MAX）","GPS 与气压计（BARO）高度偏差过大","查看 BARO_ALTERR_MAX（GPS 与气压计高度最大偏差）参数说明"]
["通用警告","GPS and AHRS differ by Xm","GPS 与 AHRS 位置偏差 X 米","GPS 与 EKF 位置偏差至少 10 米","等待 GPS 信号质量提升；移至天空视野开阔的位置；减少射频干扰源"]
["通用警告","GPS blending unhealthy","GPS 融合状态异常","至少一个 GPS 未提供有效数据","移至天空视野开阔的位置；减少射频干扰源；检查 GPS 融合配置"]
["通用警告","GPS Node x not set as instance y","GPS 节点 x 未设为实例 y","DroneCAN GPS 配置错误","检查 GPS1_CAN_NODEID（GPS1 节点 ID）和 GPS2_CAN_NODEID（GPS2 节点 ID）参数"]
["通用警告","GPS positions differ by Xm","GPS 位置偏差 X 米","两个 GPS 报告的位置偏差≥50 米","等待 GPS 信号质量提升；移至天空视野开阔的位置；减少射频干扰源"]
["通用警告","GPS x still configuring this GPS","GPS x：仍在配置中","GPS 自动配置未完成","等待配置完成；检查 GPS 连接及配置（使用 DroneCAN GPS 时需特别检查）"]
["通用警告","GPS x: Bad fix","GPS x：定位质量差","GPS 未获取良好定位（无固定解）","移至天空视野开阔的位置；减少射频干扰源"]
["通用警告","GPS x: not healthy","GPS x 状态异常","GPS 未输出数据","检查 GPS 与自动驾驶仪的物理连接及配置"]
["通用警告","GPS x: primary but TYPE 0","GPS x：为主 GPS 但类型为 0","主 GPS 未配置类型","检查 GPS_PRIMARY（主 GPS 选择）参数，确保对应 GPS1_TYPE 或 GPS2_TYPE（GPS 类型）与所用 GPS 匹配"]
["通用警告","GPS x: was not found","GPS x：未找到","GPS 断开连接或配置错误","检查 GPS 与自动驾驶仪的物理连接及配置"]
["通用警告","GPSx yaw not available","GPSx：偏航信息不可用","已配置 GPS 偏航功能但未生效","移至 GPS 信号更好的位置；检查 GPS 偏航配置"]
["通用警告","Gyro x rate yHz < loop rate z Hz","陀螺仪 x 速率 yHz < 循环速率 zHz","循环速率快于陀螺仪数据输出速率","降低 SCHED_LOOP_RATE（调度循环速率）参数"]
["通用警告","Gyros inconsistent","陀螺仪数据不一致","两个陀螺仪数据偏差≥5 度 / 秒","重启自动驾驶仪并保持设备静止，直至陀螺仪校准完成；让自动驾驶仪预热后重启；若问题持续，更换自动驾驶仪；若内燃机启动后再解锁，可参考 ARMING_OPTIONS 参数第 2 位作为备选解决方案"]
["通用警告","Gyros not calibrated","陀螺仪未校准","启动时默认执行的陀螺仪校准失败","重启并保持设备静止，直至陀螺仪校准完成"]
["通用警告","Gyros not healthy","陀螺仪状态异常","至少一个陀螺仪未输出数据","重启自动驾驶仪；若问题持续，更换自动驾驶仪"]
["通用警告","Hardware safety switch","硬件安全开关未触发","硬件安全开关（通常在 GPS 顶部）未按下","按下硬件安全开关（通常在 GPS 顶部），或设置 BRD_SAFETY_DEFLT=0（禁用硬件安全开关）并重启自动驾驶仪"]
["通用警告","heater temp low (x < 45)","加热器温度低（x < 45℃）","主板加热器温度低于 BRD_HEAT_TARG（主板加热目标温度）","等待主板加热至目标温度；可通过 BRD_HEAT_TARG 调整目标温度"]
["通用警告","In OSD menu","处于 OSD（屏幕显示）菜单中","正在配置 OSD","完成 OSD 配置；检查 OSD 配置"]
["通用警告","Internal errors 0x%x l:%u %s","内部错误 0x% x l:% u % s","发生内部错误","重启自动驾驶仪；向开发团队上报错误信息"]
["通用警告","Invalid FENCE_ALT_MAX value","FENCE_ALT_MAX 值无效","FENCE_ALT_MAX 必须为正值","增大 FENCE_ALT_MAX 参数"]
["通用警告","Invalid FENCE_ALT_MIN value","FENCE_ALT_MIN 值无效","FENCE_ALT_MIN 必须大于 - 100","增大 FENCE_ALT_MIN 参数"]
["通用警告","Invalid FENCE_MARGIN value","FENCE_MARGIN 值无效","FENCE_MARGIN 必须为正值","增大 FENCE_MARGIN 参数"]
["通用警告","Invalid FENCE_RADIUS value","FENCE_RADIUS 值无效","FENCE_RADIUS 必须为正值","增大 FENCE_RADIUS 参数"]
["通用警告","Logging failed","日志记录失败","无法写入日志，可能为硬件故障","重启自动驾驶仪；更换自动驾驶仪"]
["通用警告","Logging not started","日志记录未启动","无法写入日志，可能为硬件故障","重启自动驾驶仪；更换自动驾驶仪"]
["通用警告","Main loop slow (xHz < 400Hz)","主循环缓慢（xHz < 400Hz）","自动驾驶仪 CPU 过载","观察错误是否为暂时性；禁用部分功能或更换性能更强的自动驾驶仪；降低 SCHED_LOOP_RATE 参数"]
["通用警告","Margin is less than inclusion circle radius","边际小于包含圆半径","圆形围栏半径小于 FENCE_MARGIN（围栏边际）","增大相关圆形围栏的半径，或减小 FENCE_MARGIN 参数"]
["通用警告","memory low for auxiliary authorisation","辅助授权内存不足","自动驾驶仪内存耗尽","禁用部分功能，或更换性能更强的自动驾驶仪"]
["通用警告","Missing mission item: do land start","缺失任务项：DO_LAND_START（着陆启动）","自动任务需包含 DO_LAND_START 指令","在任务中添加 DO_LAND_START 指令，或调整 ARMING_MIS_ITEMS（解锁任务项要求）参数"]
["通用警告","Missing mission item: land","缺失任务项：LAND（着陆）","自动任务需包含 LAND 指令","在任务中添加 LAND 指令，或调整 ARMING_MIS_ITEMS 参数"]
["通用警告","Missing mission item: RTL","缺失任务项：RTL（返航）","自动任务需包含 RTL 指令","在任务中添加 RTL 指令，或调整 ARMING_MIS_ITEMS 参数"]
["通用警告","Missing mission item: takeoff","缺失任务项：TAKEOFF（起飞）","自动任务需包含 TAKEOFF 指令","在任务中添加 TAKEOFF 指令，或调整 ARMING_MIS_ITEMS 参数"]
["通用警告","Missing mission item: vtol land","缺失任务项：VTOL_LAND（垂直起降着陆）","自动任务需包含 VTOL_LAND 指令","在任务中添加 VTOL_LAND 指令，或调整 ARMING_MIS_ITEMS 参数"]
["通用警告","Missing mission item: vtol takeoff","缺失任务项：VTOL_TAKEOFF（垂直起降起飞）","自动任务需包含 VTOL_TAKEOFF 指令","在任务中添加 VTOL_TAKEOFF 指令，或调整 ARMING_MIS_ITEMS 参数"]
["通用警告","Mode channel and RCx_OPTION conflict","模式通道与 RCx_OPTION 冲突","遥控器飞行模式开关同时被用作辅助功能","修改 FLTMODE_CH（飞行模式通道， Rover 车型为 MODE_CH）或 RCx_OPTION 参数以消除冲突"]
["通用警告","Mode requires mission","该模式需任务支持","尝试在自动（Auto）模式下解锁，但无任务","在其他模式下解锁，或创建并上传自动任务"]
["通用警告","Motors Emergency Stopped","电机紧急停止","电机已触发紧急停止","解除紧急停止；参考辅助功能说明"]
["通用警告","Mount: check TYPE","云台：检查类型","云台（相机云台）配置错误","检查 MNT1_TYPE（云台 1 类型）是否有效；参考云台配置说明"]
["通用警告","Mount: not healthy","云台状态异常","云台未与自动驾驶仪通信","检查自动驾驶仪与云台的物理连接；参考云台配置说明"]
["通用警告","Multiple SERIAL ports configured for RC input","多个串口配置为遥控器输入","遥控器配置错误","参考 “多遥控器接收器” 说明"]
["通用警告","No mission library present","无任务库","自动任务功能已被禁用","固件可能通过自定义编译服务器生成（未包含自动任务功能）；重新编译并启用自动任务"]
["通用警告","No rally library present","无拉力点库","拉力点功能已被禁用","固件可能通过自定义编译服务器生成（未包含拉力点功能）；重新编译并包含拉力点功能"]
["通用警告","No SD card","无 SD 卡","SD 卡损坏或缺失","格式化 SD 卡，或更换 SD 卡"]
["通用警告","No sufficiently close rally point located","未找到足够近的拉力点","拉力点距离超过 RALLY_LIMIT_KM（拉力点最大距离限制）","将拉力点移至更靠近设备当前位置处，或增大 RALLY_LIMIT_KM 参数"]
["通用警告","OA requires reboot","避障（OA）需重启","避障配置修改后需重启才能生效","重启自动驾驶仪；参考避障配置说明"]
["通用警告","OpenDroneID: ARM_STATUS not available","OpenDroneID：解锁状态不可用","OpenDroneID（无人机远程识别）配置错误","参考 “远程识别（Remote ID）” 配置说明"]
["通用警告","OpenDroneID: operator location must be set","OpenDroneID：需设置操作员位置","操作员位置未设置（不可用）","参考 “远程识别（Remote ID）” 配置说明"]
["通用警告","OpenDroneID: SYSTEM not available","OpenDroneID：系统信息不可用","OpenDroneID 配置错误","参考 “远程识别（Remote ID）” 配置说明"]
["通用警告","OpenDroneID: UA_TYPE required in BasicID","OpenDroneID：BasicID 中需包含 UA_TYPE（无人机类型）","OpenDroneID 配置错误","参考 “远程识别（Remote ID）” 配置说明"]
["通用警告","OSD_TYPE2 not compatible with first OSD","OSD_TYPE2 与第一个 OSD 不兼容","第一个 OSD 与第二个 OSD 配置不兼容","禁用第二个 OSD（设置 OSD_TYPE2=0），或检查 OSD 配置"]
["通用警告","Param storage failed","参数存储失败","EEPROM（电可擦除存储器）硬件故障","检查电源，或更换自动驾驶仪"]
["通用警告","parameter storage full","参数存储已满","EEPROM 存储已满","保存当前参数；恢复出厂默认参数；重新加载保存的参数"]
["通用警告","PiccoloCAN: Servo x not detected","PiccoloCAN：未检测到伺服 x","PiccoloCAN 配置错误或伺服故障","参考 Currawong Velocity ESC（电调品牌）设置说明"]
["通用警告","Pin x disabled (ISR flood)","引脚 x 已禁用（中断请求 ISR 溢出）","GPIO（通用输入输出）引脚连接的传感器信号频繁变化","检查指定引脚连接的传感器"]
["通用警告","Pitch (RCx) is not neutral","俯仰（RCx 通道）未回中","遥控器俯仰摇杆未回中","将遥控器俯仰摇杆回中，或重新进行遥控器校准"]
["通用警告","Pitch radio max too low","俯仰遥控器最大行程过低","遥控器俯仰通道最大行程低于 1700（PWM 值）","重新进行遥控器校准，或增大 RC2_MAX（俯仰通道最大行程）至 1700 以上"]
["通用警告","Pitch radio min too high","俯仰遥控器最小行程过高","遥控器俯仰通道最小行程高于 1300（PWM 值）","重新进行遥控器校准，或减小 RC2_MIN（俯仰通道最小行程）至 1300 以下"]
["通用警告","PRXx: No Data","PRXx（接近传感器 x）：无数据","接近传感器未输出数据","检查接近传感器的物理连接及配置"]
["通用警告","PRXx: Not Connected","PRXx（接近传感器 x）：未连接","接近传感器未输出数据（未连接）","检查接近传感器的物理连接及配置"]
["通用警告","Radio failsafe on","遥控器失效保护已触发","遥控器失效保护被触发","打开遥控器，或检查遥控器失效保护配置"]
["通用警告","Rangefinder x: Not Connected","测距仪 x：未连接","测距仪未输出数据（未连接）","检查测距仪与自动驾驶仪的物理连接及配置；同时确认固件是否包含该测距仪驱动（多数测距仪需通过自定义编译服务器添加驱动）"]
["通用警告","RC calibrating","遥控器校准中","遥控器校准流程正在进行","完成遥控器校准流程"]
["通用警告","RC not calibrated","遥控器未校准","尚未进行遥控器校准","完成遥控器校准；RC3_MIN（油门通道最小行程）和 RC3_MAX（油门通道最大行程）需偏离默认值 1100 和 1900；且 1-4 通道的 MIN 值需≤1300、MAX 值需≥1700"]
["通用警告","RC not found","未检测到遥控器","已启用遥控器失效保护，但未检测到遥控器信号","打开遥控器，或检查遥控器与自动驾驶仪的连接；若仅通过地面站（GCS）操作，参考 “仅使用地面站操作” 说明"]
["通用警告","RCx_MAX is less than RCx_TRIM","RCx 通道最大行程 < 微调值","遥控器配置错误","调整 RCx_TRIM（通道 x 微调）至低于 RCx_MAX（通道 x 最大行程），或重新进行遥控器校准"]
["通用警告","RCx_MIN is greater than RCx_TRIM","RCx 通道最小行程 > 微调值","遥控器配置错误","调整 RCx_TRIM（通道 x 微调）至高于 RCx_MIN（通道 x 最小行程），或重新进行遥控器校准"]
["通用警告","RELAYx_PIN=y invalid","继电器引脚 RELAYx_PIN=y 配置无效","继电器配置错误","RELAYx_PIN 参数被设为无效值；参考继电器设置说明"]
["通用警告","RELAYx_PIN=y, set SERVOx_FUNCTION=-1","继电器引脚 RELAYx_PIN=y 需设置 SERVOx_FUNCTION=-1","继电器配置错误","将 SERVOx_FUNCTION（伺服通道功能）参数设为 - 1（禁用该通道功能）"]
["通用警告","RNGFNDDx_PIN not set","测距仪引脚 RNGFNDDx_PIN 未设置","测距仪配置错误","将 RNGFNDDx_PIN 参数设为非零值；参考测距仪配置说明"]
["通用警告","RNGFNDDx_PIN=y invalid","测距仪引脚 RNGFNDDx_PIN=y 配置无效","测距仪配置错误","RNGFNDDx_PIN 参数被设为无效值；参考测距仪配置说明"]
["通用警告","RNGFNDDx_PIN=y, set SERVOx_FUNCTION=-1","测距仪引脚 RNGFNDDx_PIN=y 需设置 SERVOx_FUNCTION=-1","测距仪配置错误","将 SERVOx_FUNCTION（伺服通道功能）参数设为 - 1（禁用该通道功能）"]
["通用警告","Roll (RCx) is not neutral","横滚（RCx 通道）未回中","遥控器横滚摇杆未回中","将遥控器横滚摇杆回中，或重新进行遥控器校准"]
["通用警告","Roll radio max too low","横滚遥控器最大行程过低","遥控器横滚通道最大行程低于 1700（PWM 值）","重新进行遥控器校准，或增大 RC1_MAX（横滚通道最大行程）至 1700 以上"]
["通用警告","Roll radio min too high","横滚遥控器最小行程过高","遥控器横滚通道最小行程高于 1300（PWM 值）","重新进行遥控器校准，或减小 RC1_MIN（横滚通道最小行程）至 1300 以下"]
["通用警告","RPMx_PIN not set","RPM（转速）传感器引脚 RPMx_PIN 未设置","RPM 传感器配置错误","检查 RPMx_PIN 参数值；参考 RPM 传感器设置说明"]
["通用警告","RPMx_PIN=y invalid","RPM 传感器引脚 RPMx_PIN=y 配置无效","RPM 传感器配置错误","RPMx_PIN 参数被设为无效值；参考 RPM 传感器设置说明"]
["通用警告","RPMx_PIN=y, set SERVOx_FUNCTION=-1","RPM 传感器引脚 RPMx_PIN=y 需设置 SERVOx_FUNCTION=-1","RPM 传感器配置错误","将 SERVOx_FUNCTION（伺服通道功能）参数设为 - 1（禁用该通道功能）"]
["通用警告","Same Node Id x set for multiple GPS","多个 GPS 设置相同节点 ID x","DroneCAN GPS 配置错误","确保 GPS1_CAN_NODEID 和 GPS2_CAN_NODEID 参数值不同；将其中一个设为 0 并重启自动驾驶仪"]
["通用警告","Same rnd on different CAN ports","不同 CAN 端口出现相同 RND（测距仪）","两个测距仪出现在不同 CAN 端口（冲突）","参考 USD1、TOFSensP、NanoRadar 或 Benewake（均为测距仪品牌）设置说明"]
["通用警告","Scripting: loaded CRC incorrect want: x","脚本：加载的 CRC（循环冗余校验）错误，期望 x","脚本 CRC 校验错误","替换为预期版本的 Lua 脚本"]
["通用警告","Scripting: running CRC incorrect want: x","脚本：运行中 CRC 错误，期望 x","脚本 CRC 校验错误","替换为预期版本的 Lua 脚本"]
["通用警告","Scripting: xxx failed to start","脚本：xxx 启动失败","Lua 脚本启动失败","自动驾驶仪内存不足或 Lua 脚本配置错误；参考 Lua 脚本说明"]
["通用警告","Scripting: xxx out of memory","脚本：xxx 内存不足","Lua 脚本内存耗尽","增大 SCR_HEAP_SIZE（脚本堆内存大小）参数，或检查 Lua 脚本配置"]
["通用警告","Servo voltage to low (Xv < 4.3v)","伺服电压过低（Xv < 4.3V）","伺服电源轨电压低于 4.3V","检查后部伺服电源轨的供电"]
["通用警告","SERVOx_FUNCTION=y on disabled channel","禁用通道上配置了 SERVOx_FUNCTION=y","PWM（脉冲宽度调制）输出配置错误","SERVOx_FUNCTION 参数被设置在已禁用的伺服通道上；参考 BLHeli（电调固件）设置说明"]
["通用警告","SERVOx_MAX is less than SERVOx_TRIM","SERVOx 通道最大行程 < 微调值","PWM 输出配置错误","将 SERVOx_TRIM（伺服 x 微调）设为低于 SERVOx_MAX（伺服 x 最大行程）"]
["通用警告","SERVOx_MIN is greater than SERVOx_TRIM","SERVOx 通道最小行程 > 微调值","PWM 输出配置错误","将 SERVOx_TRIM（伺服 x 微调）设为高于 SERVOx_MIN（伺服 x 最小行程）"]
["通用警告","System not initialized","系统未初始化","系统仍在启动中","等待；若短时间内未解决，可能存在其他诊断未检测到的传感器问题"]
["通用警告","temperature cal running","温度校准中","温度校准流程正在进行","等待温度校准完成，或重启自动驾驶仪"]
["通用警告","terrain disabled","地形功能已禁用","自动任务需地形数据，但地形功能已禁用","启用地形数据库（设置 TERRAIN_ENABLE=1），或移除自动任务中使用地形高度的任务项；多旋翼机型还需检查 RTL_ALT_TYPE（返航高度类型）参数"]
["通用警告","Terrain out of memory","地形功能内存不足","自动驾驶仪内存耗尽","禁用部分功能，或更换性能更强的自动驾驶仪"]
["通用警告","terrain required but disabled","需地形功能但已禁用","自动任务需地形数据，但固件未包含地形功能","通过自定义编译服务器编译包含地形数据库的固件，或移除自动任务中使用地形高度的任务项；多旋翼机型还需检查 RTL_ALT_TYPE 参数"]
["通用警告","Throttle (RCx) is not neutral","油门（RCx 通道）未回中","遥控器油门摇杆过高（未回中至最低位）","降低油门摇杆至最低位，或重新进行遥控器校准"]
["通用警告","Throttle radio max too low","油门遥控器最大行程过低","遥控器油门通道最大行程低于 1700（PWM 值）","重新进行遥控器校准，或增大 RC2_MAX（油门通道最大行程）至 1700 以上"]
["通用警告","Throttle radio min too high","油门遥控器最小行程过高","遥控器油门通道最小行程高于 1300（PWM 值）","重新进行遥控器校准，或减小 RC1_MIN（油门通道最小行程）至 1300 以下"]
["通用警告","Too many auxiliary authorisers","辅助授权器过多","超过 3 个外部系统控制解锁权限","检查外部授权系统"]
["通用警告","vehicle outside fence","设备在地理围栏外","设备当前位置在地理围栏范围外","将设备移至地理围栏范围内"]
["通用警告","VisOdom: not healthy","视觉里程计（VisOdom）状态异常","视觉里程计传感器未输出数据","检查视觉里程计的物理连接及配置"]
["通用警告","VisOdom: out of memory","视觉里程计（VisOdom）内存不足","自动驾驶仪内存耗尽","禁用部分功能，或更换性能更强的自动驾驶仪"]
["通用警告","VTOL Fwd Throttle iz not zero","垂直起降（VTOL）前向油门非零","遥控器垂直起降前向油门摇杆过高","降低垂直起降前向油门摇杆，或重新进行遥控器校准"]
["通用警告","waiting for terrain data","等待地形数据","等待地面站（GCS）提供所需地形数据","等待，或移至 GPS 信号更好的位置"]
["通用警告","Yaw (RCx) is not neutral","偏航（RCx 通道）未回中","遥控器偏航摇杆未回中","将遥控器偏航摇杆回中，或重新进行遥控器校准"]
["通用警告","Yaw radio max too low","偏航遥控器最大行程过低","遥控器偏航通道最大行程低于 1700（PWM 值）","重新进行遥控器校准，或增大 RC2_MAX（偏航通道最大行程）至 1700 以上"]
["通用警告","Yaw radio min too high","偏航遥控器最小行程过高","遥控器偏航通道最小行程高于 1300（PWM 值）","重新进行遥控器校准，或减小 RC1_MIN（偏航通道最小行程）至 1300 以下"]
["仅多轴或直升机的警告","ADSB threat detected","检测到ADSB威胁","ADSB故障保护。附近有载人飞行器","参见ADSB配置 (前提是要加装了ADSB装置)"]
["仅多轴或直升机的警告","AHRS not healthy","AHRS不健康","AHRS/EKF尚未准备就绪","等待。重启自动驾驶仪"]
["仅多轴或直升机的警告","Altitude disparity","高度差异","气压计和EKF高度相差至少1米","等待EKF高度稳定。重启自动驾驶仪"]
["仅多轴或直升机的警告","Auto mode not armable","自动模式无法解锁","飞行器在自动模式下无法解锁","切换到其他模式（如悬停）或设置 RTL_OPTIONS = 3。参见自动模式"]
["仅多轴或直升机的警告","Bad parameter: ATC_ANG_PIT_P must be > 0","参数错误：ATC_ANG_PIT_P 必须 > 0","姿态控制器配置错误","增加指定参数值至零以上。参见调参过程说明"]
["仅多轴或直升机的警告","Bad parameter: PSC_POSXY_P must be > 0","参数错误：PSC_POSXY_P 必须 > 0","位置控制器配置错误","增加指定参数值至零以上。参见调参过程说明"]
["仅多轴或直升机的警告","Battery failsafe","电池故障保护","电池故障保护已触发","连接电池并检查其电压和容量。参见：电池故障保护配置"]
["仅多轴或直升机的警告","Check ACRO_BAL_ROLL/PITCH","检查 ACRO_BAL_ROLL/PITCH","ACRO_BAL_ROLL 或 ACRO_BAL_PITCH 过高","降低 ACRO_BAL_ROLL 至 ATC_ANG_P 以下，和/或降低 ACRO_BAL_PITCH 至 ATC_ANG_P 以下。参见特技模式"]
["仅多轴或直升机的警告","Check ANGLE_MAX","检查 ANGLE_MAX","ANGLE_MAX 设置过高","将 ANGLE_MAX 降低至 8000（例如 80 度）或更低"]
["仅多轴或直升机的警告","Check FS_THR_VALUE","检查 FS_THR_VALUE","遥控器故障保护配置错误","将 FS_THR_VALUE 设置在 910 和遥控器油门最小值之间（例如 RC3_MIN）。参见：电池故障保护配置"]
["仅多轴或直升机的警告","Check PILOT_SPEED_UP","检查 PILOT_SPEED_UP","PILOT_SPEED_UP 设置过低","将 PILOT_SPEED_UP 增加到正数（例如 100 = 1m/s）。参见定高模式"]
["仅多轴或直升机的警告","Collective below failsafe (TradHeli only)","总距低于故障保护值（仅限传统直升机）","遥控器总距输入低于 FS_THR_VALUE","打开遥控器发射机或检查 FS_THR_VALUE。检查遥控器故障保护设置"]
["仅多轴或直升机的警告","EKF attitude is bad","EKF 姿态不佳","EKF 没有良好的姿态估计","等待EKF姿态稳定。重启自动驾驶仪。更换自动驾驶仪"]
["仅多轴或直升机的警告","EKF compass variance","EKF 罗盘方差","罗盘方向似乎不正确","将飞行器移离环境中的金属。将罗盘移离机架中的金属。重新进行罗盘校准。禁用内部罗盘。"]
["仅多轴或直升机的警告","EKF height variance","EKF 高度方差","气压计值不稳定或振动过大","等待。测量振动并添加减震装置"]
["仅多轴或直升机的警告","EKF position variance","EKF 位置方差","GPS 位置不稳定","等待。如果在室内，请到室外。消除可能干扰GPS的射频源"]
["仅多轴或直升机的警告","EKF velocity variance","EKF 速度方差","GPS 或光流速度不稳定","等待。如果在室内，请到室外。消除可能干扰GPS的射频源。检查光流校准"]
["仅多轴或直升机的警告","Fence enabled, need position estimate","电子围栏已启用，需要位置估计","电子围栏已启用，因此需要位置估计","等待。如果在室内，请到室外。确保罗盘和加速度计校准已完成。消除可能干扰GPS的射频源。参见电子围栏配置"]
["仅多轴或直升机的警告","FS_GCS_ENABLE=2 removed, see FS_OPTIONS","FS_GCS_ENABLE=2 已移除，参见 FS_OPTIONS","地面站故障保护配置错误","设置 FS_GCS_ENABLE = 1 并检查 FS_OPTIONS 参数。参见：地面站故障保护配置"]
["仅多轴或直升机的警告","GCS failsafe on","地面站故障保护开启","地面站故障保护已触发","检查数传连接。参见：地面站故障保护配置"]
["仅多轴或直升机的警告","GPS glitching","GPS 信号跳动","GPS 位置不稳定","等待。如果在室内，请到室外。消除可能干扰GPS的射频源"]
["仅多轴或直升机的警告","High GPS HDOP","GPS HDOP 过高","GPS 水平质量太低","等待或移动到GPS接收更好的位置。您可以提高 GPS_HDOP_GOOD，但这通常不是个好主意"]
["仅多轴或直升机的警告","Home too far from EKF origin","返航点距离EKF原点太远","返航点距离EKF原点超过50公里","重启自动驾驶仪以将EKF原点重置为当前位置"]
["仅多轴或直升机的警告","Interlock/E-Stop Conflict (TradHeli only)","互锁/急停冲突（仅限传统直升机）","配置了不兼容的辅助功能开关","从辅助功能设置中移除互锁、急停或紧急停止"]
["仅多轴或直升机的警告","Invalid MultiCopter FRAME_CLASS","无效的多旋翼 FRAME_CLASS","FRAME_CLASS 参数配置错误","加载了多旋翼固件但 FRAME_CLASS 设置为直升机。加载直升机固件或更改 FRAME_CLASS"]
["仅多轴或直升机的警告","Inverted flight option not supported","不支持倒飞选项","不支持倒飞辅助功能","移除倒飞辅助功能开关"]
["仅多轴或直升机的警告","Leaning","倾斜","飞行器倾斜角度超过 ANGLE_MAX","将飞行器调平"]
["仅多轴或直升机的警告","Motor Interlock Enabled","电机互锁已启用","电机互锁处于中间或高位","将电机互锁辅助功能开关移到低位"]
["仅多轴或直升机的警告","Motor Interlock not configured","未配置电机互锁","直升机需要配置电机互锁","启用电机互锁辅助功能开关"]
["仅多轴或直升机的警告","Motors: Check frame class and type","电机：检查机架类别和类型","机架类别或类型未知或配置错误","输入有效的机架类别和/或类型"]
["仅多轴或直升机的警告","Motors: Check MOT_PWM_MIN and MOT_PWM_MAX","电机：检查 MOT_PWM_MIN 和 MOT_PWM_MAX","MOT_PWM_MIN 或 MOT_PWM_MAX 配置错误","设置 MOT_PWM_MIN = 1000 和 MOT_PWM_MAX = 2000 并重新进行电调校准"]
["仅多轴或直升机的警告","Motors: MOT_SPIN_ARM > MOT_SPIN_MIN","电机：MOT_SPIN_ARM > MOT_SPIN_MIN","MOT_SPIN_ARM 过高或 MOT_SPIN_MIN 过低","降低 MOT_SPIN_ARM 至 MOT_SPIN_MIN 以下。参见设置电机范围"]
["仅多轴或直升机的警告","Motors: MOT_SPIN_MIN too high x > 0.3","电机：MOT_SPIN_MIN 过高 x > 0.3","MOT_SPIN_MIN 参数值过高","降低 MOT_SPIN_MIN 至 0.3 以下。参见设置电机范围"]
["仅多轴或直升机的警告","Motors: no SERVOx_FUNCTION set to MotorX","电机：没有 SERVOx_FUNCTION 设置为 MotorX","至少有一个电机输出未配置","检查 SERVOx_FUNCTION 值是否为 \"Motor1\", \"Motor2\" 等。检查电调和电机配置"]
["仅多轴或直升机的警告","Need Alt Estimate","需要高度估计","EKF 尚未计算出高度","等待。允许自动驾驶仪预热。确保加速度计校准已完成。"]
["仅多轴或直升机的警告","Need Position Estimate","需要位置估计","EKF 没有位置估计","等待。如果在室内，请到室外。确保罗盘和加速度计校准已完成。消除可能干扰GPS的射频源"]
["仅多轴或直升机的警告","Proximity x deg, ym (want > Zm)","接近障碍物 x 度, y米 (需要 > Z米)","障碍物离飞行器太近","将障碍物移开或检查传感器。参见接近传感器配置"]
["仅多轴或直升机的警告","RTL mode not armable","RTL 模式无法解锁","飞行器在RTL模式下无法解锁","切换到其他飞行模式"]
["仅多轴或直升机的警告","RTL_ALT_TYPE is above- terrain but no rangefinder unavailable","RTL_ALT_TYPE 是高于地形但无测距仪可用","RTL 使用测距仪但测距仪不可用","检查测距仪配置，包括 RNGFNDx_ORIENT=251"]
["仅多轴或直升机的警告","RTL_ALT_TYPE is above- terrain but no terrain data","RTL_ALT_TYPE 是高于地形但无地形数据","RTL 使用地形但地形数据库不可用","设置 TERRAIN_ENABLE = 1。参见地形跟随"]
["仅多轴或直升机的警告","RTL_ALT_TYPE is above- terrain but RTL_ALT>RNGFND_MAX","RTL_ALT_TYPE 是高于地形但 RTL_ALT>RNGFND_MAX","RTL 返航高度超过测距仪范围","降低 RTL_ALT 至小于 RNGFNDx_MAX。参见地形跟随"]
["仅多轴或直升机的警告","Safety Switch","安全开关","硬件安全开关未被按下","按下安全开关（通常在GPS顶部）或通过设置 BRD_SAFETY_DEFLT 为零并重启自动驾驶仪来禁用"]
["仅多轴或直升机的警告","Throttle below failsafe","油门低于故障保护值","遥控器油门输入低于 FS_THR_VALUE","打开遥控器发射机或检查 FS_THR_VALUE。检查遥控器故障保护设置"]
["仅多轴或直升机的警告","Vehicle too far from EKF origin","飞行器距离EKF原点太远","飞行器距离EKF原点超过50公里","重启自动驾驶仪以将EKF原点重置为当前位置"]
["仅多轴或直升机的警告","winch unhealthy","绞车不健康","绞车未与自动驾驶仪通信","检查绞车的物理连接和配置"]
["仅固定翼的警告","ADSB threat detected","检测到 ADSB 威胁","ADSB 故障保护；附近存在载人飞行器","参阅 ADSB 配置"]
["仅固定翼的警告","AHRS not healthy","航姿参考系统（AHRS）异常","航姿参考系统 / 扩展卡尔曼滤波器尚未就绪","等待；重启自动驾驶仪"]
["仅固定翼的警告","AIRSPEED_MIN too low x<5 m/s","空速最小值过低（<5 米 / 秒）","参数设置过低，低于 5 米 / 秒","调至失速速度的 120% 及以上"]
["仅固定翼的警告","Bad parameter: ATC_ANG_PIT_P must be > 0","参数错误：姿态角俯仰控制器参数（ATC_ANG_PIT_P）必须＞0","姿态控制器配置错误","将该参数值调至大于 0；参阅调试流程说明"]
["仅固定翼的警告","Bad parameter: PSC_POSXY_P must be > 0","参数错误：位置控制器参数（PSC_POSXY_P）必须＞0","位置控制器配置错误","将该参数值调至大于 0；参阅调试流程说明"]
["仅固定翼的警告","Check Q_ANGLE_MAX","检查 Q_ANGLE_MAX 参数","设置值超过 80 度","将 Q_ANGLE_MAX 调至 80 度以下；30 度为推荐值"]
["仅固定翼的警告","In landing sequence","处于着陆序列中","在着陆序列中尝试解锁","重置任务；切换至非着陆序列的任务项"]
["仅固定翼的警告","Invalid THR_FS_VALUE for reversed throttle input","油门反向输入对应的 THR_FS_VALUE 参数无效","THR_FS_VALUE 的脉冲宽度值未高于最大油门脉冲宽度","将 THR_FS_VALUE 调至最大油门脉冲宽度值之上"]
["仅固定翼的警告","ROLL_LIMIT_DEG too small x","横滚限制角度（ROLL_LIMIT_DEG）过小","参数设置低于 3 度","调大参数；45 度为保证控制效果的推荐最小值"]
["仅固定翼的警告","PTCH_LIM_MAX_DEG too small x","俯仰最大限制角度（PTCH_LIM_MAX_DEG）过小","参数设置低于 3 度","调大参数；45 度为保证控制效果的推荐最小值"]
["仅固定翼的警告","PTCH_LIM_MIN_DEG too large x","俯仰最小限制角度（PTCH_LIM_MIN_DEG）过大","参数设置高于 3 度","调大参数；45 度为保证控制效果的推荐最小值"]
["仅固定翼的警告","Mode not armable","该模式无法解锁","此模式下不支持解锁","切换模式"]
["仅固定翼的警告","Mode not QMODE","非 Q 模式（QMODE）","Q_OPTION 设置为仅在 Q 模式 / 自动模式下允许解锁","切换模式或重置 Q_OPTIONS 第 18 位"]
["仅固定翼的警告","Motors: Check frame class and type","电机：检查机架类型与分类","机架类型 / 分类未知或配置错误","输入有效的机架分类和 / 或类型"]
["仅固定翼的警告","Motors: Check MOT_PWM_MIN and MOT_PWM_MAX","电机：检查 MOT_PWM_MIN/MOT_PWM_MAX 参数","MOT_PWM_MIN 或 MOT_PWM_MAX 配置错误","设置 MOT_PWM_MIN=1000、MOT_PWM_MAX=2000，重新执行电子调速器（ESC）校准"]
["仅固定翼的警告","Motors: MOT_SPIN_ARM > MOT_SPIN_MIN","电机：解锁自旋值（MOT_SPIN_ARM）大于最小自旋值（MOT_SPIN_MIN）","解锁自旋值过高或最小自旋值过低","将解锁自旋值调至低于最小自旋值；参阅电机范围设置说明"]
["仅固定翼的警告","Motors: MOT_SPIN_MIN too high x > 0.3","电机：最小自旋值（MOT_SPIN_MIN）过高（＞0.3）","MOT_SPIN_MIN 参数值过高","将最小自旋值调至 0.3 以下；参阅电机范围设置说明"]
["仅固定翼的警告","Motors: no SERVOx_FUNCTION set to MotorX","电机：未将任意伺服通道功能（SERVOx_FUNCTION）设为电机 X","至少一个电机输出未配置","检查 “Motor1”“Motor2” 等对应的 SERVOx_FUNCTION 参数；检查电子调速器（ESC）和电机配置"]
["仅固定翼的警告","Q_ASSIST_SPEED is not set","未设置 Q 辅助速度（Q_ASSIST_SPEED）","Q_ASSIST_SPEED 参数未配置","设置 Q_ASSIST_SPEED；参阅固定翼辅助飞行说明"]
["仅固定翼的警告","Quadplane enabled but not running","四旋翼机型已启用但未运行","已设置 Q_ENABLE 参数，但四旋翼机型代码未启动","重启"]
["仅固定翼的警告","quadplane needs SCHED_LOOP_RATE >= 100","四旋翼机型要求调度循环频率（SCHED_LOOP_RATE）≥100","四旋翼机型需更高循环频率保证性能","调高 SCHED_LOOP_RATE；300 为推荐值"]
["仅固定翼的警告","set Q_FWD_THR_USE to 0","将 Q 前向油门使用参数（Q_FWD_THR_USE）设为 0","尾座式机型尝试使用前向油门","尾座式机型需将 Q_FWD_THR_USE 设为 0"]
["仅固定翼的警告","set TAILSIT_ENABLE 0 or TILT_ENABLE 0","将尾座模式使能（TAILSIT_ENABLE）设为 0 或 将倾转使能（TILT_ENABLE）设为 0","倾转旋翼与尾座模式无法同时启用","选择与机型匹配的一项并重启"]
["仅固定翼的警告","tiltsitter setup not complete, reboot","尾座式机型设置未完成，请重启","已启用倾转旋翼但未重启","重启"]
["仅固定翼的警告","Throttle trim not near center stick %x","油门微调未接近摇杆中心位置","油门摇杆居中对应的遥控器（RC）微调设置错误","若已设置 FLIGHT_OPTIONS 第 10 位，将油门通道的遥控器微调设至中心位置（怠速）"]
["仅固定翼的警告","unset one of RTL_AUTOLAND or Q_RTL_MODE","仅保留自动返航着陆（RTL_AUTOLAND）或 Q 模式自动返航（Q_RTL_MODE）其中一项","两项参数均已设置","垂直起降飞行器（VTOL）中仅用其一设置自动返航（RTL）模式行为"]
["仅固定翼的警告","Waiting for RC","等待遥控器（RC）信号","已启用遥控器故障保护但无信号","开启遥控器发射机；检查遥控器与自动驾驶仪的连接；若仅用地面控制站（GCS），参阅《仅使用 GCS 操作》说明"]