diff --git a/.vitepress/config.mjs b/.vitepress/config.mjs index 3ffba802f1eb..6dfa48d30b77 100644 --- a/.vitepress/config.mjs +++ b/.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"; @@ -21,19 +19,13 @@ export default defineConfig({ //"kr/**/*.md", //"zh/**/*.md", //"uk/**/*.md", + "**/_*.md", //Remove source docs that start with "_" (included/not rendered) ], 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 }, }, @@ -200,4 +192,12 @@ export default defineConfig({ gtag('config', 'G-91EWVWRQ93');`, ], ], + + vue: { + template: { + compilerOptions: { + isCustomElement: (tag) => tag === "lite-youtube", + }, + }, + }, }); diff --git a/.vitepress/theme/index.js b/.vitepress/theme/index.js index 8ffe22f6fa49..6747f4a083ad 100644 --- a/.vitepress/theme/index.js +++ b/.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"; diff --git a/_link_checker_sc/ignore_errors.json b/_link_checker_sc/ignore_errors.json index a06dec3348a2..3e06929decc1 100644 --- a/_link_checker_sc/ignore_errors.json +++ b/_link_checker_sc/ignore_errors.json @@ -937,5 +937,24 @@ "type": "PageNotLinkedInternally", "fileRelativeToRoot": "en\\assembly\\_assembly.md", "hideReason": "Its a convenience file" + }, + { + "type": "LinkedFileMissingAnchor", + "fileRelativeToRoot": "en\\frames_plane\\reptile_dragon_2.md", + "link": { + "url": "../config/autotune_fw.md#enable-disable-autotune-switch", + "text": "autotuning switch" + }, + "hideReason": "The link is in an imported document. Link checker doesn't know about imports." + }, + { + "type": "PageNotInTOC", + "fileRelativeToRoot": "en\\config\\_autotune.md", + "hideReason": "It is not intended to be built" + }, + { + "type": "PageNotLinkedInternally", + "fileRelativeToRoot": "en\\config\\_autotune.md", + "hideReason": "Page is intended to be an orphan" } ] \ No newline at end of file diff --git a/assets/airframes/rover/flight_modes/manual_inputs.png b/assets/airframes/rover/flight_modes/manual_inputs.png new file mode 100644 index 000000000000..91d8f29cb53f Binary files /dev/null and b/assets/airframes/rover/flight_modes/manual_inputs.png differ diff --git a/assets/airframes/rover/flight_modes/pure_pursuit_algorithm.png b/assets/airframes/rover/flight_modes/pure_pursuit_algorithm.png new file mode 100644 index 000000000000..3fbe6d1bfb09 Binary files /dev/null and b/assets/airframes/rover/flight_modes/pure_pursuit_algorithm.png differ diff --git a/assets/airframes/rover/rover_ackermann/axial_trail_honcho.png 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b/assets/simulation/gazebo/worlds/rover.png differ diff --git a/assets/simulation/gazebo/worlds/walls.png b/assets/simulation/gazebo/worlds/walls.png new file mode 100644 index 000000000000..3f306d6267ff Binary files /dev/null and b/assets/simulation/gazebo/worlds/walls.png differ diff --git a/de/SUMMARY.md b/de/SUMMARY.md index 73622afce1da..f0cea36b2da2 100644 --- a/de/SUMMARY.md +++ b/de/SUMMARY.md @@ -22,6 +22,7 @@ - [Throw Launch](flight_modes_mc/throw_launch.md) - [Assembly](assembly/assembly_mc.md) - [Configuration/Tuning](config_mc/index.md) + - [Auto-tune](config/autotune_mc.md) - [Filter/Control Latency Tuning](config_mc/filter_tuning.md) - [PID Tuning (Manual/Basic)](config_mc/pid_tuning_guide_multicopter_basic.md) - [PID Tuning Guide (Manual/Advanced)](config_mc/pid_tuning_guide_multicopter.md) @@ -54,6 +55,7 @@ - [Planes (Fixed-Wing)](frames_plane/index.md) - [Assembly](assembly/assembly_fw.md) - [Config/Tuning](config_fw/index.md) + - [Auto-tune](config/autotune_fw.md) - [Rate/Attitude Controller Tuning Guide](config_fw/pid_tuning_guide_fixedwing.md) - [Altitude/Position Controller Tuning Guide](config_fw/position_tuning_guide_fixedwing.md) - [Weight & Altitude Tuning](config_fw/weight_and_altitude_tuning.md) @@ -80,6 +82,7 @@ - [VTOL](frames_vtol/index.md) - [Assembly](assembly/assembly_vtol.md) - [VTOL Config/Tuning](config_vtol/index.md) + - [Auto-tune](config/autotune_vtol.md) - [QuadPlane Configuration](config_vtol/vtol_quad_configuration.md) - [Back-transition Tuning](config_vtol/vtol_back_transition_tuning.md) - [VTOL w/o Airspeed Sensor](config_vtol/vtol_without_airspeed_sensor.md) @@ -118,7 +121,7 @@ - [Vehicle Status Notifications](getting_started/vehicle_status.md) - [LED Meanings](getting_started/led_meanings.md) - [Tune/Sound Meanings](getting_started/tunes.md) - - [Preflight Checks](flying/pre_flight_checks.md) + - [QGroundControl Flight-Readiness Status](flying/pre_flight_checks.md) - [Hardware Selection & Setup](hardware/drone_parts.md) - [Flight Controllers (Autopilots)](flight_controller/index.md) @@ -140,6 +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) @@ -319,6 +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) @@ -344,6 +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) @@ -364,7 +370,6 @@ - [Serial Port Configuration](peripherals/serial_configuration.md) - [PX4 Ethernet Setup](advanced_config/ethernet_setup.md) - [Standard Configuration](config/index.md) - - [Autotune](config/autotune.md) - [Advanced Configuration](advanced_config/index.md) - [ECL/EKF Overview & Tuning](advanced_config/tuning_the_ecl_ekf.md) - [Finding/Updating Parameters](advanced_config/parameters.md) @@ -378,9 +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) @@ -589,6 +596,9 @@ - [RegisterExtComponentReply](msg_docs/RegisterExtComponentReply.md) - [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) diff --git a/de/advanced_config/ethernet_setup.md b/de/advanced_config/ethernet_setup.md index 9a03da9bc93f..00ec1911d0d6 100644 --- a/de/advanced_config/ethernet_setup.md +++ b/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 diff --git a/de/advanced_config/parameter_reference.md b/de/advanced_config/parameter_reference.md index bc9043491c63..ebb7447e1611 100644 --- a/de/advanced_config/parameter_reference.md +++ b/de/advanced_config/parameter_reference.md @@ -8768,9 +8768,10 @@ table {
  • 1: Data stuck (triggers if data is exactly constant for 2s in FW mode)
  • 2: Innovation check (see ASPD_FS_INNOV)
  • 3: Load factor check (triggers if measurement is below stall speed)
    • +
  • 4: First principle check (airspeed change vs. throttle and pitch)
    • - [0, 15] + [0, 31] 7 @@ -8784,6 +8785,13 @@ table { Disabled (0) + + ASPD_FP_T_WINDOW (FLOAT) + First principle airspeed check time window

    Comment: Window for comparing airspeed change to throttle and pitch change. Triggers when the airspeed change within this window is negative while throttle increases and the vehicle pitches down. Is meant to catch degrading airspeed blockages as can happen when flying through icing conditions. Relies on FW_THR_TRIM being set accurately.

    + [0, ?] + 2.0 + s + ASPD_FS_INNOV (FLOAT) Airspeed failure innovation threshold

    Comment: This specifies the minimum airspeed innovation required to trigger a failsafe. Larger values make the check less sensitive, smaller values make it more sensitive. Large innovations indicate an inconsistency between predicted (groundspeed - windspeeed) and measured airspeed. The time required to detect a fault when the threshold is exceeded depends on the size of the exceedance and is controlled by the ASPD_FS_INTEG parameter.

    @@ -9409,20 +9417,20 @@ table { BAT_AVRG_CURRENT (FLOAT) Expected battery current in flight

    Comment: 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.

    [0, 500] (0.1) - 15.0 + 15 A BAT_CRIT_THR (FLOAT) Critical threshold

    Comment: 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.

    - [0.05, 0.25] (0.01) + [0.05, 0.5] (0.01) 0.07 norm BAT_EMERGEN_THR (FLOAT) Emergency threshold

    Comment: 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.

    - [0.03, 0.1] (0.01) + [0.03, 0.5] (0.01) 0.05 norm @@ -9770,34 +9778,6 @@ table { Disabled (0) - - COM_ARM_EKF_HGT (FLOAT) - Maximum EKF height innovation test ratio that will allow arming - [0.1, 1.0] (0.05) - 1.0 - - - - COM_ARM_EKF_POS (FLOAT) - Maximum EKF position innovation test ratio that will allow arming - [0.1, 1.0] (0.05) - 0.5 - - - - COM_ARM_EKF_VEL (FLOAT) - Maximum EKF velocity innovation test ratio that will allow arming - [0.1, 1.0] (0.05) - 0.5 - - - - COM_ARM_EKF_YAW (FLOAT) - Maximum EKF yaw innovation test ratio that will allow arming - [0.1, 1.0] (0.05) - 0.5 - - COM_ARM_HFLT_CHK (INT32) Enable FMU SD card hardfault detection check

    Comment: This check detects if there are hardfault files present on the SD card. If so, and the parameter is enabled, arming is prevented.

    @@ -10620,6 +10600,62 @@ table { -1 + + UCAN1_FB0_SUB (INT32) + Cyphal ESC 0 zubax feedback port ID + [-1, 6143] + -1 + + + + UCAN1_FB1_SUB (INT32) + Cyphal ESC 1 zubax feedback port ID + [-1, 6143] + -1 + + + + UCAN1_FB2_SUB (INT32) + Cyphal ESC 2 zubax feedback port ID + [-1, 6143] + -1 + + + + UCAN1_FB3_SUB (INT32) + Cyphal ESC 3 zubax feedback port ID + [-1, 6143] + -1 + + + + UCAN1_FB4_SUB (INT32) + Cyphal ESC 4 zubax feedback port ID + [-1, 6143] + -1 + + + + UCAN1_FB5_SUB (INT32) + Cyphal ESC 5 zubax feedback port ID + [-1, 6143] + -1 + + + + UCAN1_FB6_SUB (INT32) + Cyphal ESC 6 zubax feedback port ID + [-1, 6143] + -1 + + + + UCAN1_FB7_SUB (INT32) + Cyphal ESC 7 zubax feedback port ID + [-1, 6143] + -1 + + UCAN1_GPS0_SUB (INT32) GPS 0 subscription port ID @@ -10648,6 +10684,13 @@ table { -1 + + UCAN1_READ_PUB (INT32) + Cyphal ESC readiness port ID + [-1, 6143] + -1 + + UCAN1_SERVO_PUB (INT32) Cyphal Servo publication port ID @@ -11101,19 +11144,20 @@ table { EKF2_GPS_CHECK (INT32) - Integer bitmask controlling GPS checks

    Comment: Set bits to 1 to enable checks. Checks enabled by the following bit positions 0 : Minimum required sat count set by EKF2_REQ_NSATS 1 : Maximum allowed PDOP set by EKF2_REQ_PDOP 2 : Maximum allowed horizontal position error set by EKF2_REQ_EPH 3 : Maximum allowed vertical position error set by EKF2_REQ_EPV 4 : Maximum allowed speed error set by EKF2_REQ_SACC 5 : Maximum allowed horizontal position rate set by EKF2_REQ_HDRIFT. This check will only run when the vehicle is on ground and stationary. 6 : Maximum allowed vertical position rate set by EKF2_REQ_VDRIFT. This check will only run when the vehicle is on ground and stationary. 7 : Maximum allowed horizontal speed set by EKF2_REQ_HDRIFT. This check will only run when the vehicle is on ground and stationary. 8 : Maximum allowed vertical velocity discrepancy set by EKF2_REQ_VDRIFT

    Bitmask: