Move PX4 Guide source into /docs (#24490)

* Add vitepress tree * Update existing workflows so they dont trigger on changes in the docs path * Add nojekyll, package.json, LICENCE etc * Add crowdin docs upload/download scripts * Add docs flaw checker workflows * Used docs prefix for docs workflows * Crowdin obvious fixes * ci: docs move to self hosted runner runs on a beefy server for faster builds Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: don't run build action for docs or ci changes Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: update runners Signed-off-by: Ramon Roche <mrpollo@gmail.com> * Add docs/en * Add docs assets and scripts * Fix up editlinks to point to PX4 sources * Download just the translations that are supported * Add translation sources for zh, uk, ko * Update latest tranlsation and uorb graphs * update vitepress to latest --------- Signed-off-by: Ramon Roche <mrpollo@gmail.com> Co-authored-by: Ramon Roche <mrpollo@gmail.com>
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+# ARK Flow MR
+
+ARK Flow MR ("Mid Range") is an open source [DroneCAN](index.md) [optical flow](../sensor/optical_flow.md), [distance sensor](../sensor/rangefinders.md), and IMU module.
+It is the next generation of the [Ark Flow](ark_flow.md), designed for mid-range applications.
+
+![ARK Flow MR](../../assets/hardware/sensors/optical_flow/ark_flow_mr.jpg)
+
+## 구매처
+
+Order this module from:
+
+- [ARK Electronics](https://arkelectron.com/product/ark-flow-mr/) (US)
+
+## Hardware Specifications
+
+- [Open Source Schematic and BOM](https://github.com/ARK-Electronics/ARK_Flow_MR)
+- 센서
+  - PixArt PAA3905 Optical Flow Sensor
+    - Auto detection of challenging conditions, such as checker boards, stripes, glossy surface and yawing
+    - Wide working range from 80mm up to infinity
+    - Automatic switching of Operation Mode
+    - 40mW IR LED built onto board for improved low light operation
+  - Broadcom AFBR-S50LX85D Time-of-Flight Distance Sensor
+    - Laser Opening Angle of 2° x 2°
+    - Typical distance range up to 50m
+    - Operation in up to 200 kilolux ambient light
+    - Works well on all surface conditions
+- Invensense IIM-42653 6-Axis IMU
+- Two Pixhawk Standard CAN Connectors (4 Pin JST GH)
+- Pixhawk Standard Debug Connector (6 Pin JST SH)
+- Software controlled built-in CAN termination resistor via node parameter (CANNODE_TERM)
+- Small Form Factor
+  - 3cm x 3cm x 1.4cm
+- LED Indicators
+- USA Built
+
+## 하드웨어 설정
+
+### 배선
+
+The ARK Flow MR is connected to the CAN bus using a Pixhawk standard 4 pin JST GH cable.
+For more information, refer to the [CAN Wiring](../can/index.md#wiring) instructions.
+
+### 장착
+
+The recommended mounting orientation is with the connectors on the board pointing towards **back of vehicle**, as shown in the following picture.
+
+![ARK Flow MR align with Pixhawk](../../assets/hardware/sensors/optical_flow/ark_flow_orientation.png)
+
+This corresponds to the default value (`0`) of the parameter [SENS_FLOW_ROT](../advanced_config/parameter_reference.md#SENS_FLOW_ROT).
+Change the parameter appropriately if using a different orientation.
+
+The sensor can be mounted anywhere on the frame, but you will need to specify the focal point position, relative to vehicle centre of gravity, during [PX4 configuration](#px4-configuration).
+
+## Firmware Setup
+
+ARK Flow MR runs the [PX4 DroneCAN Firmware](px4_cannode_fw.md).
+As such, it supports firmware update over the CAN bus and [dynamic node allocation](index.md#node-id-allocation).
+
+ARK Flow MR boards ship with recent firmware pre-installed, but if you want to build and flash the latest firmware yourself see [PX4 DroneCAN Firmware > Building the Firmware](px4_cannode_fw.md#building-the-firmware).
+
+- Firmware target: `ark_can-flow-mr_default`
+- Bootloader target: `ark_can-flow-mr_canbootloader`
+
+## Flight Controller Setup
+
+:::info
+The Ark Flow MR will not boot if there is no SD card in the flight controller when powered on.
+:::
+
+### Enable DroneCAN
+
+단계는 다음과 같습니다:
+
+- In _QGroundControl_ set the parameter [UAVCAN_ENABLE](../advanced_config/parameter_reference.md#UAVCAN_ENABLE) to `2` for dynamic node allocation (or `3` if using [DroneCAN ESCs](../dronecan/escs.md)) and reboot (see [Finding/Updating Parameters](../advanced_config/parameters.md)).
+- Connect ARK Flow MR CAN to the Pixhawk CAN.
+
+Once enabled, the module will be detected on boot.
+Flow data should arrive at 100Hz.
+Distance sensor data should arrive at 40Hz.
+
+DroneCAN configuration in PX4 is explained in more detail in [DroneCAN > Enabling DroneCAN](../dronecan/index.md#enabling-dronecan).
+
+### PX4 설정
+
+You need to set the EKF optical flow parameters to enable fusing optical flow measurements for velocity calculation, set necessary [DroneCAN](index.md) parameters, and define offsets if the sensor is not centred within the vehicle.
+
+Set the following parameters in _QGroundControl_:
+
+- Enable optical flow fusion by setting [EKF2_OF_CTRL](../advanced_config/parameter_reference.md#EKF2_OF_CTRL).
+- To optionally disable GPS aiding, set [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL) to `0`.
+- Enable [UAVCAN_SUB_FLOW](../advanced_config/parameter_reference.md#UAVCAN_SUB_FLOW).
+- Enable [UAVCAN_SUB_RNG](../advanced_config/parameter_reference.md#UAVCAN_SUB_RNG).
+- Set [EKF2_RNG_A_HMAX](../advanced_config/parameter_reference.md#EKF2_RNG_A_HMAX) to `10`.
+- Set [EKF2_RNG_QLTY_T](../advanced_config/parameter_reference.md#EKF2_RNG_QLTY_T) to `0.2`.
+- Set [UAVCAN_RNG_MIN](../advanced_config/parameter_reference.md#UAVCAN_RNG_MIN) to `0.08`.
+- Set [UAVCAN_RNG_MAX](../advanced_config/parameter_reference.md#UAVCAN_RNG_MAX) to `50`.
+- Set [SENS_FLOW_MINHGT](../advanced_config/parameter_reference.md#SENS_FLOW_MINHGT) to `0.08`.
+- Set [SENS_FLOW_MAXHGT](../advanced_config/parameter_reference.md#SENS_FLOW_MAXHGT) to `25`.
+- Set [SENS_FLOW_MAXR](../advanced_config/parameter_reference.md#SENS_FLOW_MAXR) to `7.4` to match the PAW3902 maximum angular flow rate.
+- The parameters [EKF2_OF_POS_X](../advanced_config/parameter_reference.md#EKF2_OF_POS_X), [EKF2_OF_POS_Y](../advanced_config/parameter_reference.md#EKF2_OF_POS_Y) and [EKF2_OF_POS_Z](../advanced_config/parameter_reference.md#EKF2_OF_POS_Z) can be set to account for the offset of the Ark Flow MR from the vehicle centre of gravity.
+
+## Ark Flow MR Configuration
+
+You may need to [configure the following parameters](../dronecan/index.md#qgc-cannode-parameter-configuration) on the ARK Flow MR itself:
+
+| 매개변수                                                                                                                 | 설명                                            |
+| -------------------------------------------------------------------------------------------------------------------- | --------------------------------------------- |
+| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) | CAN built-in bus termination. |
+
+## LED 신호의 의미
+
+You will see both red and blue LEDs on the ARK Flow MR when it is being flashed, and a solid blue LED if it is running properly.
+
+If you see a solid red LED there is an error and you should check the following:
+
+- Make sure the flight controller has an SD card installed.
+- Make sure the Ark Flow MR has `ark_can-flow-mr_canbootloader` installed prior to flashing `ark_can-flow-mr_default`.
+- Remove binaries from the root and ufw directories of the SD card and try to build and flash again.
+
+## 비디오
+
+<lite-youtube videoid="SAbRe1fi7bU" params="list=PLUepQApgwSozmwhOo-dXnN33i2nBEl1c0" title="ARK Flow Indoor Position Hold x64"/>
+
+<!-- ARK Flow MR with PX4 Optical Flow Position Hold: 20210605 -->
+
+_PX4 holding position using the ARK Flow MR sensor for velocity estimation (in [Position Mode](../flight_modes_mc/position.md))._
+
+## See Also
+
+- [ARK Flow MR](https://arkelectron.gitbook.io/ark-documentation/sensors/ark-flow-mr) (ARK Docs)