Merge branch 'main' into pr-MPC_POS_MODE_readability

.vitepress/config.mjs

@@ -1,8 +1,6 @@
 import { defineConfig } from "vitepress";
 const getSidebar = require("./get_sidebar.js");
-//import { getSidebar } from "./get_sidebar";
 
-import markdownItVideo from "markdown-it-video";
 // Tabs: https://github.com/Red-Asuka/vitepress-plugin-tabs
 import tabsPlugin from "@red-asuka/vitepress-plugin-tabs";
 
@@ -26,15 +24,8 @@ export default defineConfig({
   ignoreDeadLinks: true,
   markdown: {
     math: true,
-
-    //   container: {
-    //     tipLabel: "Note",
-    //   },
-
     config: (md) => {
       // use more markdown-it plugins!
-      md.use(markdownItVideo);
-
       tabsPlugin(md); //https://github.com/Red-Asuka/vitepress-plugin-tabs
     },
   },
@@ -201,4 +192,12 @@ export default defineConfig({
       gtag('config', 'G-91EWVWRQ93');`,
     ],
   ],
+
+  vue: {
+    template: {
+      compilerOptions: {
+        isCustomElement: (tag) => tag === "lite-youtube",
+      },
+    },
+  },
 });

.vitepress/theme/index.js

@@ -1,5 +1,6 @@
 // https://vitepress.dev/guide/custom-theme
 import { h } from "vue";
+
 import DefaultTheme from "vitepress/theme";
 import "./style.css";
 
@@ -8,6 +9,14 @@ import { onMounted, watch, nextTick } from "vue";
 import { useRoute } from "vitepress";
 import mediumZoom from "medium-zoom";
 
+// For https://www.npmjs.com/package/lite-youtube-embed
+import { inBrowser } from "vitepress";
+import "lite-youtube-embed/src/lite-yt-embed.css";
+if (inBrowser) {
+  // @ts-ignore
+  import("lite-youtube-embed");
+}
+
 // Support redirect plugin
 import Redirect from "./components/Redirect.vue";
 

de/SUMMARY.md

@@ -143,6 +143,7 @@
       - [Holybro Pixhawk 6X-RT (FMUv6X-RT)](flight_controller/pixhawk6x-rt.md)
       - [Holybro Pixhawk 6X (FMUv6X)](flight_controller/pixhawk6x.md)
         - [Wiring Quickstart](assembly/quick_start_pixhawk6x.md)
+      - [RaccoonLab FMU6x](flight_controller/raccoonlab_fmu6x.md)
       - [Holybro Pixhawk 6C (FMUv6C)](flight_controller/pixhawk6c.md)
         - [Wiring Quickstart](assembly/quick_start_pixhawk6c.md)
       - [Holybro Pixhawk 6C Mini(FMUv6C)](flight_controller/pixhawk6c_mini.md)
@@ -322,6 +323,7 @@
       - [Holybro PM02D (digital)](power_module/holybro_pm02d.md)
       - [Holybro PM03D (digital)](power_module/holybro_pm03d.md)
       - [Pomegranate Systems Power Module](dronecan/pomegranate_systems_pm.md)
+      - [RaccoonLab Power Modules](dronecan/raccoonlab_power.md)
       - [Sky-Drones SmartAP PDB](power_module/sky-drones_smartap-pdb.md)
     - [Smart/MAVLink Batteries](smart_batteries/index.md)
       - [Rotoye Batmon Battery Smartification Kit](smart_batteries/rotoye_batmon.md)
@@ -347,6 +349,7 @@
   - [DroneCAN Peripherals](dronecan/index.md)
     - [PX4 DroneCAN Firmware](dronecan/px4_cannode_fw.md)
     - [ARK CANnode](dronecan/ark_cannode.md)
+    - [RaccoonLab CAN Nodes](dronecan/raccoonlab_nodes.md)
   - [Cable Wiring](assembly/cable_wiring.md)
   - [Companion Computers](companion_computer/index.md)
     - [Pixhawk + Companion Setup](companion_computer/pixhawk_companion.md)
@@ -380,9 +383,11 @@
   - [Helicopter (experimental)](frames_helicopter/index.md)
     - [Helicopter Config/Tuning](config_heli/index.md)
   - [Rovers (experimental)](frames_rover/index.md)
-    - [Flight Modes](flight_modes_rover/index.md)
-    - [Aion Robotics R1](frames_rover/aion_r1.md)
-    - [Traxxas Stampede](frames_rover/traxxas_stampede.md)
+    - [Drive Modes](flight_modes_rover/index.md)
+    - [Differential-steering Rover](frames_rover/differential_rover.md)
+      - [Aion Robotics R1](frames_rover/aion_r1.md)
+    - [Ackermann Rover](frames_rover/ackermann_rover.md)
+    - [(Deprecated) Rover Position Control](frames_rover/rover_position_control.md)
   - [Submarines (experimental)](frames_sub/index.md)
     - [BlueROV2](frames_sub/bluerov2.md)
   - [Airframes Reference](airframes/airframe_reference.md)
@@ -592,6 +597,8 @@
       - [RegisterExtComponentRequest](msg_docs/RegisterExtComponentRequest.md)
       - [RoverAckermannGuidanceStatus](msg_docs/RoverAckermannGuidanceStatus.md)
       - [RoverAckermannStatus](msg_docs/RoverAckermannStatus.md)
+      - [RoverDifferentialGuidanceStatus](msg_docs/RoverDifferentialGuidanceStatus.md)
+      - [RoverDifferentialStatus](msg_docs/RoverDifferentialStatus.md)
       - [Rpm](msg_docs/Rpm.md)
       - [RtlStatus](msg_docs/RtlStatus.md)
       - [RtlTimeEstimate](msg_docs/RtlTimeEstimate.md)

de/advanced_config/ethernet_setup.md

@@ -26,6 +26,7 @@ Supported flight controllers include:
 - [CUAV Pixhawk V6X](../flight_controller/cuav_pixhawk_v6x.md)
 - [Holybro Pixhawk 5X](../flight_controller/pixhawk5x.md)
 - [Holybro Pixhawk 6X](../flight_controller/pixhawk6x.md)
+- [RaccoonLab FMUv6X Autopilot](../flight_controller/raccoonlab_fmu6x.md)
 
 ## Setting up the Ethernet Network
 

de/advanced_config/parameter_reference.md

@@ -9417,20 +9417,20 @@ table {
  <td><strong id="BAT_AVRG_CURRENT">BAT_AVRG_CURRENT</strong> (FLOAT)</td>
  <td>Expected battery current in flight <p><strong>Comment:</strong> This value is used to initialize the in-flight average current estimation, which in turn is used for estimating remaining flight time and RTL triggering.</p>   </td>
  <td>[0, 500] (0.1)</td>
- <td>15.0</td>
+ <td>15</td>
  <td>A</td>
 </tr>
 <tr>
  <td><strong id="BAT_CRIT_THR">BAT_CRIT_THR</strong> (FLOAT)</td>
  <td>Critical threshold <p><strong>Comment:</strong> Sets the threshold when the battery will be reported as critically low. This has to be lower than the low threshold. This threshold commonly will trigger RTL.</p>   </td>
- <td>[0.05, 0.25] (0.01)</td>
+ <td>[0.05, 0.5] (0.01)</td>
  <td>0.07</td>
  <td>norm</td>
 </tr>
 <tr>
  <td><strong id="BAT_EMERGEN_THR">BAT_EMERGEN_THR</strong> (FLOAT)</td>
  <td>Emergency threshold <p><strong>Comment:</strong> Sets the threshold when the battery will be reported as dangerously low. This has to be lower than the critical threshold. This threshold commonly will trigger landing.</p>   </td>
- <td>[0.03, 0.1] (0.01)</td>
+ <td>[0.03, 0.5] (0.01)</td>
  <td>0.05</td>
  <td>norm</td>
 </tr>
@@ -9778,34 +9778,6 @@ table {
  <td>Disabled (0)</td>
  <td></td>
 </tr>
-<tr>
- <td><strong id="COM_ARM_EKF_HGT">COM_ARM_EKF_HGT</strong> (FLOAT)</td>
- <td>Maximum EKF height innovation test ratio that will allow arming    </td>
- <td>[0.1, 1.0] (0.05)</td>
- <td>1.0</td>
- <td></td>
-</tr>
-<tr>
- <td><strong id="COM_ARM_EKF_POS">COM_ARM_EKF_POS</strong> (FLOAT)</td>
- <td>Maximum EKF position innovation test ratio that will allow arming    </td>
- <td>[0.1, 1.0] (0.05)</td>
- <td>0.5</td>
- <td></td>
-</tr>
-<tr>
- <td><strong id="COM_ARM_EKF_VEL">COM_ARM_EKF_VEL</strong> (FLOAT)</td>
- <td>Maximum EKF velocity innovation test ratio that will allow arming    </td>
- <td>[0.1, 1.0] (0.05)</td>
- <td>0.5</td>
- <td></td>
-</tr>
-<tr>
- <td><strong id="COM_ARM_EKF_YAW">COM_ARM_EKF_YAW</strong> (FLOAT)</td>
- <td>Maximum EKF yaw innovation test ratio that will allow arming    </td>
- <td>[0.1, 1.0] (0.05)</td>
- <td>0.5</td>
- <td></td>
-</tr>
 <tr>
  <td><strong id="COM_ARM_HFLT_CHK">COM_ARM_HFLT_CHK</strong> (INT32)</td>
  <td>Enable FMU SD card hardfault detection check <p><strong>Comment:</strong> This check detects if there are hardfault files present on the SD card. If so, and the parameter is enabled, arming is prevented.</p>   </td>
@@ -17907,6 +17879,13 @@ table {
  <td>Disabled (0)</td>
  <td></td>
 </tr>
+<tr>
+ <td><strong id="RC_GHST_TEL_EN">RC_GHST_TEL_EN</strong> (INT32)</td>
+ <td>Ghost RC telemetry enable <p><strong>Comment:</strong> Ghost telemetry enable</p>   </td>
+ <td></td>
+ <td>Disabled (0)</td>
+ <td></td>
+</tr>
 </tbody></table>
 
 ## RC Input
@@ -23880,6 +23859,48 @@ table {
  <td>0</td>
  <td></td>
 </tr>
+<tr>
+ <td><strong id="RC_DSM_PRT_CFG">RC_DSM_PRT_CFG</strong> (INT32)</td>
+ <td>Serial Configuration for DSM RC Input Driver <p><strong>Comment:</strong> Configure on which serial port to run DSM RC Input Driver. DSM RC (Spektrum) driver.</p> <strong>Values:</strong><ul>
+<li><strong>0:</strong> Disabled</li>
+<li><strong>6:</strong> UART 6</li>
+<li><strong>101:</strong> TELEM 1</li>
+<li><strong>102:</strong> TELEM 2</li>
+<li><strong>103:</strong> TELEM 3</li>
+<li><strong>104:</strong> TELEM/SERIAL 4</li>
+<li><strong>201:</strong> GPS 1</li>
+<li><strong>202:</strong> GPS 2</li>
+<li><strong>203:</strong> GPS 3</li>
+<li><strong>300:</strong> Radio Controller</li>
+<li><strong>301:</strong> Wifi Port</li>
+<li><strong>401:</strong> EXT2</li>
+</ul>  <p><b>Reboot required:</b> true</p>
+</td>
+ <td></td>
+ <td>0</td>
+ <td></td>
+</tr>
+<tr>
+ <td><strong id="RC_GHST_PRT_CFG">RC_GHST_PRT_CFG</strong> (INT32)</td>
+ <td>Serial Configuration for GHST RC Input Driver <p><strong>Comment:</strong> Configure on which serial port to run GHST RC Input Driver. Ghost (GHST) RC driver.</p> <strong>Values:</strong><ul>
+<li><strong>0:</strong> Disabled</li>
+<li><strong>6:</strong> UART 6</li>
+<li><strong>101:</strong> TELEM 1</li>
+<li><strong>102:</strong> TELEM 2</li>
+<li><strong>103:</strong> TELEM 3</li>
+<li><strong>104:</strong> TELEM/SERIAL 4</li>
+<li><strong>201:</strong> GPS 1</li>
+<li><strong>202:</strong> GPS 2</li>
+<li><strong>203:</strong> GPS 3</li>
+<li><strong>300:</strong> Radio Controller</li>
+<li><strong>301:</strong> Wifi Port</li>
+<li><strong>401:</strong> EXT2</li>
+</ul>  <p><b>Reboot required:</b> true</p>
+</td>
+ <td></td>
+ <td>0</td>
+ <td></td>
+</tr>
 <tr>
  <td><strong id="RC_PORT_CONFIG">RC_PORT_CONFIG</strong> (INT32)</td>
  <td>Serial Configuration for RC Input Driver <p><strong>Comment:</strong> Configure on which serial port to run RC Input Driver. Setting this to &#x27;Disabled&#x27; will use a board-specific default port for RC input.</p> <strong>Values:</strong><ul>
@@ -23901,6 +23922,27 @@ table {
  <td>300</td>
  <td></td>
 </tr>
+<tr>
+ <td><strong id="RC_SBUS_PRT_CFG">RC_SBUS_PRT_CFG</strong> (INT32)</td>
+ <td>Serial Configuration for SBUS RC Input Driver <p><strong>Comment:</strong> Configure on which serial port to run SBUS RC Input Driver. SBUS RC driver.</p> <strong>Values:</strong><ul>
+<li><strong>0:</strong> Disabled</li>
+<li><strong>6:</strong> UART 6</li>
+<li><strong>101:</strong> TELEM 1</li>
+<li><strong>102:</strong> TELEM 2</li>
+<li><strong>103:</strong> TELEM 3</li>
+<li><strong>104:</strong> TELEM/SERIAL 4</li>
+<li><strong>201:</strong> GPS 1</li>
+<li><strong>202:</strong> GPS 2</li>
+<li><strong>203:</strong> GPS 3</li>
+<li><strong>300:</strong> Radio Controller</li>
+<li><strong>301:</strong> Wifi Port</li>
+<li><strong>401:</strong> EXT2</li>
+</ul>  <p><b>Reboot required:</b> true</p>
+</td>
+ <td></td>
+ <td>300</td>
+ <td></td>
+</tr>
 <tr>
  <td><strong id="SER_EXT2_BAUD">SER_EXT2_BAUD</strong> (INT32)</td>
  <td>Baudrate for the EXT2 Serial Port <p><strong>Comment:</strong> Configure the Baudrate for the EXT2 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.</p> <strong>Values:</strong><ul>
@@ -24417,14 +24459,14 @@ table {
 <tr>
  <td><strong id="SIH_L_PITCH">SIH_L_PITCH</strong> (FLOAT)</td>
  <td>Pitch arm length <p><strong>Comment:</strong> This is the arm length generating the pitching moment This value can be measured with a ruler. This corresponds to half the distance between the front and rear motors.</p>   </td>
- <td>[0.0, ?] (0.1) (0.05)</td>
+ <td>[0.0, ?] (0.05)</td>
  <td>0.2</td>
  <td>m</td>
 </tr>
 <tr>
  <td><strong id="SIH_L_ROLL">SIH_L_ROLL</strong> (FLOAT)</td>
  <td>Roll arm length <p><strong>Comment:</strong> This is the arm length generating the rolling moment This value can be measured with a ruler. This corresponds to half the distance between the left and right motors.</p>   </td>
- <td>[0.0, ?] (0.05)</td>
+ <td>[0.0, ?] (0.1) (0.05)</td>
  <td>0.2</td>
  <td>m</td>
 </tr>

de/advanced_config/prearm_arm_disarm.md

@@ -33,16 +33,14 @@ PX4 allows you to configure how pre-arming, arming and disarming work using para
 Arming/disarming parameters can be found in [Parameter Reference > Commander](../advanced_config/parameter_reference.md#commander) (search for `COM_ARM_*` and `COM_DISARM_*`).
 :::
 
-<a id="arm_disarm_gestures"></a>
-
-## Arming Gesture
+## Arming/Disarming Gestures {#arm_disarm_gestures}
 
 By default, the vehicle is armed and disarmed by moving RC throttle/yaw sticks to particular extremes and holding them for 1 second.
 
 - **Arming:** Throttle minimum, yaw maximum
 - **Disarming:** Throttle minimum, yaw minimum
 
-RC controllers will have different gestures [based on their mode](../getting_started/rc_transmitter_receiver.md#types-of-remote-controllers) (as controller mode affects the sticks used for throttle and yaw):
+RC controllers will use different sticks for throttle and yaw [based on their mode](../getting_started/rc_transmitter_receiver.md#types-of-remote-controllers), and hence different gestures:
 
 - **Mode 2**:
   - _Arm:_ Left stick to bottom right.
@@ -51,15 +49,15 @@ RC controllers will have different gestures [based on their mode](../getting_sta
   - _Arm:_ Left-stick to right, right-stick to bottom.
   - _Disarm:_ Left-stick to left, right-stick to the bottom.
 
-The required hold time can be configured using [COM_RC_ARM_HYST](#COM_RC_ARM_HYST).
-
-| Parameter                                                                                               | Description                                                                                                |
-| ------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------- |
-| <a id="COM_RC_ARM_HYST"></a>[COM_RC_ARM_HYST](../advanced_config/parameter_reference.md#COM_RC_ARM_HYST) | Time that RC stick must be held in arm/disarm position before arming/disarming occurs (default: 1 second). |
+The required hold time can be configured using [COM_RC_ARM_HYST](#COM_RC_ARM_HYST). Note that by default ([COM_DISARM_MAN](#COM_DISARM_MAN)) you can also disarm in flight using gestures/buttons: you may choose to disable this to avoid accidental disarming.
 
-<a id="arm_disarm_switch"></a>
+| Parameter                                                                                               | Description                                                                                                          |
+| ------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------- |
+| <a id="MAN_ARM_GESTURE"></a>[MAN_ARM_GESTURE](../advanced_config/parameter_reference.md#MAN_ARM_GESTURE) | Enable arm/disarm stick guesture. `0`: Disabled, **`1`**: Enabled (default).                                         |
+| <a id="COM_DISARM_MAN"></a>[COM_DISARM_MAN](../advanced_config/parameter_reference.md#COM_DISARM_MAN)   | Enable disarming in flight via switch/stick/button in MC manual thrust modes. `0`: Disabled, `1`: Enabled (default). |
+| <a id="COM_RC_ARM_HYST"></a>[COM_RC_ARM_HYST](../advanced_config/parameter_reference.md#COM_RC_ARM_HYST) | Time that RC stick must be held in arm/disarm position before arming/disarming occurs (default: 1 second).           |
 
-## Arming Button/Switch
+## Arming Button/Switch {#arm_disarm_switch}
 
 The button should be held down for ([nominally](#COM_RC_ARM_HYST)) one second to arm (when disarmed) or disarm (when armed). An _arming button_ or "momentary switch" can be configured to trigger arm/disarm _instead_ of [gesture-based arming](#arm_disarm_gestures) (setting an arming switch disables arming gestures).
 
@@ -90,14 +88,14 @@ By default vehicles will automatically disarm on landing, or if you take too lon
 
 ## Pre-Arm Checks
 
-To reduce accidents, vehicles are only allowed to arm certain conditions are met. Arming is prevented if: Arming is prevented if: Arming is prevented if: Arming is prevented if:
+To reduce accidents, vehicles are only allowed to arm certain conditions are met (some of which are configurable). Arming is prevented if:
 
 - The vehicle is not in a "healthy" state. For example it is not calibrated, or is reporting sensor errors.
 - The vehicle has a [safety switch](../getting_started/px4_basic_concepts.md#safety-switch) that has not been engaged.
 - The vehicle has a [remote ID](../peripherals/remote_id.md) that is unhealthy or otherwise not ready
 - A VTOL vehicle is in fixed-wing mode ([by default](../advanced_config/parameter_reference.md#CBRK_VTOLARMING)).
 - The current mode requires an adequate global position estimate but the vehicle does not have GPS lock.
-- Many more ...
+- Many more (see [arming/disarming safety settings](../config/safety.md#arming-disarming-settings) for more information).
 
 The current failed checks can be viewed in QGroundControl (v4.2.0 and later) [Arming Check Report](../flying/pre_flight_checks.md#qgc-arming-check-report) (see also [Fly View > Arming and Preflight Checks](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/fly_view/fly_view.md#arm)).
 

de/airframes/airframe_reference.md

@@ -592,21 +592,29 @@ div.frame_variant td, div.frame_variant th {
    <tr><th>Name</th><th></th></tr>
  </thead>
 <tbody>
-<tr id="rover_rover_generic_ground_vehicle_(ackermann)">
- <td>Generic Ground Vehicle (Ackermann)</td>
- <td><p><code>SYS_AUTOSTART</code> = 50000</p><p><b>Specific Outputs:</b><ul><li><b>Motor1</b>: throttle</li><li><b>Servo1</b>: steering</li></ul></p></td>
+<tr id="rover_rover_generic_rover_differential">
+ <td>Generic Rover Differential</td>
+ <td>Maintainer: John Doe &lt;[email protected]&gt;<p><code>SYS_AUTOSTART</code> = 50000</p></td>
 </tr>
 <tr id="rover_rover_aion_robotics_r1_ugv">
  <td><a href="https://www.aionrobotics.com/r1">Aion Robotics R1 UGV</a></td>
- <td>Maintainer: John Doe &lt;[email protected]&gt;<p><code>SYS_AUTOSTART</code> = 50003</p></td>
+ <td>Maintainer: John Doe &lt;[email protected]&gt;<p><code>SYS_AUTOSTART</code> = 50001</p></td>
 </tr>
-<tr id="rover_rover_nxp_cup_car:_df_robot_gpx">
- <td>NXP Cup car: DF Robot GPX</td>
- <td>Maintainer: Katrin Moritz<p><code>SYS_AUTOSTART</code> = 50004</p><p><b>Specific Outputs:</b><ul><li><b>Motor1</b>: Speed of left wheels</li><li><b>Servo1</b>: Steering servo</li></ul></p></td>
+<tr id="rover_rover_generic_rover_ackermann">
+ <td>Generic Rover Ackermann</td>
+ <td>Maintainer: John Doe &lt;[email protected]&gt;<p><code>SYS_AUTOSTART</code> = 51000</p></td>
 </tr>
-<tr id="rover_rover_generic_ackermann_rover">
- <td>Generic ackermann rover</td>
- <td>Maintainer: John Doe &lt;[email protected]&gt;<p><code>SYS_AUTOSTART</code> = 50010</p></td>
+<tr id="rover_rover_axial_scx10_2_trail_honcho">
+ <td><a href="https://www.axialadventure.com/product/1-10-scx10-ii-trail-honcho-4wd-rock-crawler-brushed-rtr/AXID9059.html">Axial SCX10 2 Trail Honcho</a></td>
+ <td>Maintainer: John Doe &lt;[email protected]&gt;<p><code>SYS_AUTOSTART</code> = 51001</p></td>
+</tr>
+<tr id="rover_rover_generic_ground_vehicle_(deprecated)">
+ <td>Generic Ground Vehicle (Deprecated)</td>
+ <td><p><code>SYS_AUTOSTART</code> = 59000</p><p><b>Specific Outputs:</b><ul><li><b>Motor1</b>: throttle</li><li><b>Servo1</b>: steering</li></ul></p></td>
+</tr>
+<tr id="rover_rover_nxp_cup_car:_df_robot_gpx_(deprecated)">
+ <td>NXP Cup car: DF Robot GPX (Deprecated)</td>
+ <td>Maintainer: Katrin Moritz<p><code>SYS_AUTOSTART</code> = 59001</p><p><b>Specific Outputs:</b><ul><li><b>Motor1</b>: Speed of left wheels</li><li><b>Servo1</b>: Steering servo</li></ul></p></td>
 </tr>
 </tbody>
 </table>