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Move PX4 Guide source into /docs (#24490)

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* 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

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Signed-off-by: Ramon Roche <mrpollo@gmail.com>
Co-authored-by: Ramon Roche <mrpollo@gmail.com>
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Hamish Willee
2025-03-13 16:08:27 +11:00
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docs/zh/dronecan/raccoonlab_nodes.md
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# RaccoonLab Mini/Micro Nodes
Mini/Micro are general purpose CAN nodes. The functionality of these devices depends on the firmware they are running.
The default and most popular usage is as a PWM-CAN adapter to control ESCs and servos using CAN (Cyphal or DroneCAN) communication:
- Micro is the smallest node with 2 groups of pins (PWM/5V/GND) to control 2 servos or ESCs.
- Mini v2: Features 2 x PWM/5V/GND for controlling servos or ESCs and 2 x PWM/FB/GND for controlling and receiving feedback from ESCs via UART.
## Cyphal/DroneCAN CAN-PWM Adapter Firmware
_Cyphal/DroneCAN CAN-PWM_ firmwares are the default for Mini and Micro nodes.
These convert a typical PX4 CAN setpoint to PWM for controlling ESCs or servos.
Please refer to the corresponding RaccoonLab docs pages for details: [Cyphal/CAN-PWM](https://docs.raccoonlab.co/guide/can_pwm/cyphal.html), [DroneCAN-PWM](https://docs.raccoonlab.co/guide/can_pwm/dronecan.html).
![Mini v2 Node with Servo and ESC](../../assets/hardware/can_nodes/raccoonlab_mini_v2_with_servo.png)
## Cyphal & DroneCAN Rangefinder Firmware
The _Cyphal & DroneCAN Rangefinder_ firmware is a single firmware that can work in either Cyphal or DroneCAN mode.
It supports LW20/I2C, Garmin Lite v3/I2C and TL-Luna/UART lidars.
For details, please check the [Rangefinder](https://docs.raccoonlab.co/guide/can_pwm/rangefinder.html) page.
![Mini v2 Node with servo and ESC](../../assets/hardware/can_nodes/raccoonlab_mini_v2_lw20_i2c.png)
## DroneCAN Fuel Sensor Firmware
_DroneCAN fuel tank_ firmware is based on the [AS5600 sensor board](https://docs.raccoonlab.co/guide/as5600/).
Please refer to [DroneCAN Fuel Tank](https://docs.raccoonlab.co/guide/can_pwm/fuel_tank.html) for details.
## DroneCAN Servo Gripper Firmware
_DroneCAN servo gripper_ is part of a [Mini Node Template Application](https://github.com/RaccoonlabDev/mini_v2_node).
Please refer to [DroneCAN Servo Gripper](https://docs.raccoonlab.co/guide/can_pwm/servo_gripper.html) for details.
## Custom Firmware
**Custom firmware** can be developed by anyone.
If you require custom features, you can use the [Mini Node Template Application](https://github.com/RaccoonlabDev/mini_v2_node).
You can configure the external pins to work in UART, I2C or ADC mode.
From the box, it supports basic Cyphal/DroneCAN features.
It has publishers and subscribers as an example.
## Which node to choose?
The differences between [Mini v2](https://docs.raccoonlab.co/guide/can_pwm/can_pwm_mini_v2.html) and [Micro](https://docs.raccoonlab.co/guide/can_pwm/can_pwm_micro.html) are summarized in the table below.
For more details, please refer to the corresponding pages.
| | | Mini v2 | Micro |
| - | --------------- | ----------------------------------------- | ------------------------------------------- |
| | Image | ![RaccoonLab Mini v2 Node][Mini v2 Node] | ![RaccoonLab Micro Node][Micro Node] |
| 1 | Input voltage | 5.5V – 30V | 4.5V – 5.5V |
| 2 | DC-DC | Yes | No |
| 3 | Groups of pins | - PWM+5V+GND x2 </br> - PWM+FB+GND x2 | - PWM+5V+GND x2 |
| 4 | CAN connectors | - UCANPHY Micro x2 </br> - 6-pin Molex x2 | - UCANPHY Micro x2 |
| 5 | SWD interface | + | + |
| 6 | Size, LxWxH, mm | 42x35x12 | 20x10x5 |
| 7 | Mass, g | 5 | 3 |
[Mini v2 Node]: ../../assets/hardware/can_nodes/raccoonlab_mini_node.png
[Micro Node]: ../../assets/hardware/can_nodes/raccoonlab_micro_node.png
## 购买渠道
[RaccoonLab Store](https://raccoonlab.co/store)
[Cyphal store](https://cyphal.store/search?q=raccoonlab)