New Crowdin translations - zh-CN (#26553)

Co-authored-by: Crowdin Bot <support+bot@crowdin.com>

docs/zh/dronecan/ark_cannode.md

@@ -28,7 +28,7 @@ Order this module from:
 - Pixhawk Standard SPI Connector
   - 7 Pin JST GH
 - PWM Connector
-  - 10 Pin JST JST
+  - 10 Pin JST
   - 8 PWM Outputs
   - Matches Pixhawk 4 PWM Connector Pinout
 - Pixhawk Standard Debug Connector
@@ -77,7 +77,7 @@ DroneCAN configuration in PX4 is explained in more detail in [DroneCAN > Enablin
 
 You will need to enable the subscriber appropriate for each of the sensors that are connected to the ARK CANnode.
 
-This is done using the the parameters named like `UAVCAN_SUB_*` in the parameter reference (such as [UAVCAN_SUB_ASPD](../advanced_config/parameter_reference.md#UAVCAN_SUB_ASPD), [UAVCAN_SUB_BARO](../advanced_config/parameter_reference.md#UAVCAN_SUB_BARO) etc.).
+This is done using the parameters named like `UAVCAN_SUB_*` in the parameter reference (such as [UAVCAN_SUB_ASPD](../advanced_config/parameter_reference.md#UAVCAN_SUB_ASPD), [UAVCAN_SUB_BARO](../advanced_config/parameter_reference.md#UAVCAN_SUB_BARO) etc.).
 
 ## Ark CANNode Configuration
 

docs/zh/dronecan/ark_g5_rtk_heading_gps.md

@@ -103,7 +103,7 @@ You need to set necessary [DroneCAN](index.md) parameters and define offsets if
 
 ### Parameter references
 
-This GPS is using ARK's private driver, the prameters below only exist on the firmware we ship the GPS with. You can set these params either in QGC or using the DroneCAN GUI Tool.
+This GPS is using ARK's private driver, the parameters below only exist on the firmware we ship the GPS with. You can set these params either in QGC or using the DroneCAN GUI Tool.
 
 #### SEP_OFFS_YAW (float)
 

docs/zh/dronecan/holybro_h_rtk_zed_f9p_gps.md

@@ -86,7 +86,7 @@ DroneCAN configuration in PX4 is explained in more detail in [DroneCAN > Enablin
 
 ### Sensor Position Configuration
 
-- For the the single Rover the module should be mounted with the included mast.
+- For the single Rover the module should be mounted with the included mast.
 - For the Dual ZED-F9P setup (moving baseline), the DroneCAN modules should be placed at least 30cm apart on the airframe and elevated on a mast also.
   See the following [mast](https://holybro.com/products/30-antenna-mount?_pos=20&_sid=67b49d76b&_ss=r).
 - F9P module arrow(s) should be pointing forward with respect to the autopilot orientation.

docs/zh/dronecan/index.md

@@ -158,7 +158,7 @@ DroneCAN peripherals connected to PX4 can also be [configured using parameters v
 By convention, parameters named with the prefix [CANNODE\_](../advanced_config/parameter_reference.md#CANNODE_BITRATE) have prefined meaning, and may be documented in the parameter reference.
 `CANNODE_` parameters prefixed with `CANNODE_PUB_` and `CANNODE_SUB_` enable the peripheral to publish or subscribe the associated DroneCAN message.
 These allow DroneCAN peripherals to be configured to only subscribe and publish messages that they actually need (in the same way that PX4 uses the corresponding `UAVCAN_PUB_`/`UAVCAN_SUB_` parameters).
-Note that a peripheral might might not use `CANNODE_` parameters, in which case it may have to publish/subscribe to particular messages whether or not they are needed.
+Note that a peripheral might not use `CANNODE_` parameters, in which case it may have to publish/subscribe to particular messages whether or not they are needed.
 
 The following sections provide additional detail on the PX4 and DroneCAN peripheral parameters used to enable particular features.
 
@@ -287,6 +287,14 @@ PX4 DroneCAN parameters:
 Select the specific CAN interface(s) used for ESC data output using the [UAVCAN_ESC_IFACE](../advanced_config/parameter_reference.md#UAVCAN_ESC_IFACE) parameter (all that all interfaces are selected by default).
 Note that DroneCAN ESCs should be on their own dedicated CAN interface(s) because ESC messages can saturate the bus and starve other nodes of bandwidth.
 
+### Lights
+
+PX4 can control external LEDs on a connected DroneCAN peripheral using the standard DroneCAN [LightsCommand](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#lightscommand) message.
+Up to 2 lights acan be controlled.
+Each light can independently show [system status colours](../getting_started/led_meanings.md#ui-led), a fixed colour (commonly used for indicating aircraft orientation), or switch between both depending on arm state.
+
+See [DroneCAN Lights](lights.md) for full configuration details.
+
 ## QGC CANNODE Parameter Configuration
 
 QGroundControl can inspect and modify parameters belonging to CAN devices attached to the flight controller, provided the device are connected to the flight controller before QGC is started.

docs/zh/dronecan/lights.md

@@ -0,0 +1,61 @@
+# DroneCAN Lights
+
+PX4 can control external LEDs on a connected DroneCAN peripheral using the standard DroneCAN [LightsCommand](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#lightscommand) message.
+
+Up to 2 lights are supported.
+These can show [system status colours](../getting_started/led_meanings.md#ui-led), a fixed colour (used for indicating aircraft orientation), or switch between both depending on arm state.
+
+## 支持的 RTK 设备
+
+Any DroneCAN peripheral implementing the standard `LightsCommand` message type should work.
+
+The following have been tested:
+
+- **Vertiq ESC LED add-ons**: Each ESC exposes two light IDs — one RGB (for status) and one white.
+  The `light_id` for each is calculated as `esc_index × 3 + BASE_ID`, where `BASE_ID` is 1 for RGB and 2 for white.
+  See [Vertiq](../peripherals/vertiq.md) for other ESC setup details.
+
+## PX4 配置
+
+1. Set up DroneCAN as described in [DroneCAN](index.md) (`UAVCAN_ENABLE` ≥ 2).
+2. Set [UAVCAN_LGT_NUM](../advanced_config/parameter_reference.md#UAVCAN_LGT_NUM) to the number of lights (1 or 2).
+   Then reboot and reopen the ground station so that parameters for the new instances become visible.
+3. Set the `light_id` and [light functions](#light_functions) of each light:
+   - [UAVCAN_LGT_ID0](../advanced_config/parameter_reference.md#UAVCAN_LGT_ID0) / [UAVCAN_LGT_ID1](../advanced_config/parameter_reference.md#UAVCAN_LGT_ID1): Set to a `light_id` value (as defined by the specific product).
+   - [UAVCAN_LGT_FN0](../advanced_config/parameter_reference.md#UAVCAN_LGT_FN0) / [UAVCAN_LGT_FN1](../advanced_config/parameter_reference.md#UAVCAN_LGT_FN1): Choose the desired [light function](#light_functions).
+4. Set [UAVCAN_LGT_MODE](#UAVCAN_LGT_MODE) to control when fixed "orientation" colours activate.
+5. Reboot for changes to take effect.
+
+### Light Functions {#light_functions}
+
+The functions of enabled lights are configured using [UAVCAN_LGT_FN0](../advanced_config/parameter_reference.md#UAVCAN_LGT_FN0) and [UAVCAN_LGT_FN1](../advanced_config/parameter_reference.md#UAVCAN_LGT_FN1), respectively.
+Each function is represented by a value that defines two behaviours: one when the activation mode is **inactive** and one when it is **active**.
+
+| 值 | 参数名           | When mode inactive   | When mode active     |
+| - | ------------- | -------------------- | -------------------- |
+| 0 | Status/Status | System status colour | System status colour |
+| 1 | Off/White     | Off                  | White                |
+| 2 | Off/Red       | Off                  | Red                  |
+| 3 | Off/Green     | Off                  | 绿色                   |
+| 4 | Status/White  | System status colour | White                |
+| 5 | Status/Red    | System status colour | Red                  |
+| 6 | Status/Green  | System status colour | 绿色                   |
+| 7 | Status/Off    | System status colour | Off                  |
+
+备注：
+
+- The [system status colours](../getting_started/led_meanings.md#ui-led) is the same LED pattern used by the flight controller's onboard status LED (e.g. red when disarmed, green when armed and ready).
+- A fixed colour, commonly used to indicate aircraft orientation. For example it is a common convention to have a red light on the port side, green on starboard, or white to the rear.
+  These colours do not change with flight controller state.
+- For _hybrid_ functions, such as `Status/Red`, the light shows the Status colour while the activation mode is inactive, then switches to the "fixed" light colour once the mode becomes active.
+
+### Activation Mode (`UAVCAN_LGT_MODE`) {#UAVCAN_LGT_MODE}
+
+The activation mode parameter ([UAVCAN_LGT_MODE](#UAVCAN_LGT_MODE)) controls when each light switches from its _inactive_ to its _active_ behaviour (configured with the [Light function](#light_functions)):
+
+| 值 | 含义                                                                          |
+| - | --------------------------------------------------------------------------- |
+| 0 | Always inactive (lights always show the inactive column) |
+| 1 | Active when armed (default)                              |
+| 2 | Active when prearmed or armed                                               |
+| 3 | Always active (lights always show the active column)     |