docs: hiwonder rovers setup guide

docs/en/SUMMARY.md

@@ -418,7 +418,10 @@
       - [Position Tuning](config_rover/position_tuning.md)
     - [Apps & API](flight_modes_rover/api.md)
     - [Complete Vehicles](complete_vehicles_rover/index.md)
-      - [Aion Robotics R1](complete_vehicles_rover/aion_r1.md)
+      - [Hiwonder Ackermann Chassi](complete_vehicles_rover/hiwonder_ackermann.md)
+      - [Hiwonder Tracked Chassi](complete_vehicles_rover/hiwonder_tracked.md)
+      - [Hiwonder Mecanum Chassi](complete_vehicles_rover/hiwonder_mecanum.md)
+      - [Aion Robotics R1 (Discontinued)](complete_vehicles_rover/aion_r1.md)
   - [Submarines (experimental)](frames_sub/index.md)
     - [BlueROV2](frames_sub/bluerov2.md)
   - [Airframes Reference](airframes/airframe_reference.md)

docs/en/complete_vehicles_rover/hiwonder_ackermann.md

@@ -0,0 +1,98 @@
+# Hiwonder Ackermann
+
+The [Hiwonder Ackermann](https://www.hiwonder.com/products/ackermann-steering-chassis?variant=40382428348503) rover is a bare-bones platform including a chassi, four wheels, two [motors with encoders](https://www.hiwonder.com/products/hall-encoder-dc-geared-motor?variant=40451123675223), a servo and a [motor driver board](https://www.hiwonder.com/products/4-channel-encoder-motor-driver).
+The chassi offers many mounting points, providing the flexibility to attach your own flight controller, sensors and other payload.
+
+![Hiwonder Ackermann](../../assets/airframes/rover/hiwonder_rovers/hiwonder_ackermann.png)
+
+This documentation illustrates the setup of the rover and the configuration of the actuators.
+
+## Parts List
+
+::: info
+The specific hardware used here only serves to examplify the process and can be easily replaced with what you have access to.
+Ensure that the parts are compatible, including the ports available on your flight controller, and adapt the wiring to your hardware.
+:::
+
+The following parts are used in this build:
+- Frame: [Hiwonder Ackermann Chassi](https://www.hiwonder.com/products/ackermann-steering-chassis?variant=40382428348503)
+- Flight Controller: [Auterion Skynode S](https://auterion.com/product/skynode-s/) (Alternatives: [Flight Controllers](../flight_controller/index.md)).
+- Receiver: [TBS Crossfire Nano RX](https://www.team-blacksheep.com/products/prod:crossfire_nano_rx?srsltid=AfmBOopvPF1mhPRIS11amSwdKf4OFZlt2ibj7XJwu05kVWt4S_L-ZNuD) (Alternatives: [PX4-Compatible Receivers](../getting_started/rc_transmitter_receiver.md#px4-compatible-receivers-compatible_receivers)).
+- Power: 3S Lipo Battery
+
+::: info
+The motor driver board requires 3S, but your flight controller might require a different voltage.
+To power the flight controller with the same battery you need a Dc-to-DC converter such as the ones listed in [Power Modules & Power Distribution Boards](../power_module/index.md).
+(This is not the case in this build, since the flight controller used can be directly supplied by the 3S battery).
+:::
+
+- Dc-to-Dc Converter: [BEC12S-PRO](https://www.mateksys.com/?portfolio=bec12s-pro). The servo needs to be supplied with 6-8.4V. Since we are using a 3S battery, we need a Dc-to-Dc converter to transform the voltage into this range (Alternatives: Any other DC-to-DC converter with the correct input/output voltage and current rating higher than 3A).
+
+- GPS: [RTK F9P GPS](https://holybro.com/products/h-rtk-f9p-gnss-series?srsltid=AfmBOoqmsqKx8y60GRVGfWtbcMv_V2m19V4U7-ql9R4NXtrwqzcyXlcF) (Alternatives: [Supported GNSS](../gps_compass/index.md#supported-gnss)).
+- I2C Splitter
+
+::: info
+This part is only necessary if your flight controller has only one I2C port (we need one for the motor driver board and one for the compass in the gps module).
+Many boards will have a dedicated GPS port (which often includes an I2C port) and one or more separate I2C ports for additional peripherals.
+:::
+
+- LTE Dongle: Used to establish a data link between the vehicle and the ground control station (There are many alternative ways to achieve this such as the ones listed in [Data Links](../data_links/index.md)).
+
+## Wiring and Assembly
+
+The following images shows the wiring of the various components of this build. Missing are the connections from the motors to the motor controller board.
+
+![Hiwonder Wiring](../../assets/airframes/rover/hiwonder_rovers/hiwonder_wiring_annotated.png)
+
+::: info
+This image only serves as an example for the wiring process, with your hardware this can look very different.
+Check the documentation of your parts to ensure that you connect to correct pins.
+:::
+
+Now connect the battery to the Dc-to-Dc converter to give it power.
+To power the servo, connect the red (6-8.4V) and black (GND) wire to the output of the DC-to-Dc converter and the white (PWM) wire to a PWM output of your flight controller.
+
+![Hiwonder Ackermann Servo Wiring](../../assets/airframes/rover/hiwonder_rovers/hiwonder_ackermann_wiring_annotated.png)
+
+With the wiring complete, you can now securely attach your hardware to the chassi.
+
+::: info
+For a quick build you could use double sided tape, but for a long term solution we highly recommend 3d printing mounts that you attach to the chassi using the mounting points.
+:::
+
+## PX4 Configuration
+
+Use _QGroundControl_ for rover configuration:
+
+1. [Flash the rover build](../config_rover/index.md#flashing-the-rover-build) onto your flight controller with the following adjustments:
+
+      Navigate to the `rc.board_sensors` file of your board and add the following lines (for Skynode S this would be in [boards/auterion/fmu-v6s/init/rc.board_sensors](https://github.com/PX4/PX4-Autopilot/blob/main/boards/auterion/fmu-v6s/init/rc.board_sensors)):
+      ```sh
+      if param compare HIWONDER_EMM_EN 1
+      then
+         hiwonder_emm start
+      fi
+      ```
+      Also add the following line to the `rover.px4board` file of your board (for Skynode S this would be in [boards/auterion/fmu-v6s/rover.px4board](https://github.com/PX4/PX4-Autopilot/blob/main/boards/auterion/fmu-v6s/rover.px4board)):
+      ```sh
+      CONFIG_DRIVERS_HIWONDER_EMM=y
+      ```
+2. In the [Basic Configuration](../config/index.md) section, select the [Airframe](../config/airframe.md) tab.
+3. Choose **Hiwonder Ackermann** under the **Rover** category (Alternatively you can set the parameter `SYS_AUTOSTART` to `51002`).
+
+Then configure the actuators:
+
+1. Navigate to [Actuators Configuration & Testing](../config/actuators.md) in QGroundControl.
+2. Select the Hiwonder EMM driver from the list of _Actuator Outputs_.
+
+   Assign the two populated channels of the motor controller board to `Throttle`. The channels are noted on the motor controller board (alternatively randomly assign the channels and use the actuator testing tab to find the correct assignments).
+
+   ![Motor Setup](../../assets/airframes/rover/hiwonder_rovers/hiwonder_ackermann_motors.png)
+
+3. Now ensure that both motors are spinning in the same direction. If that is not the case check the `Rev Range` box on one of the motors.
+4. Arm the rover in [Manual Mode](../flight_modes_rover/manual.md#manual-mode) and use the trottle stick to drive forwards. If the rover drives backwards instead, invert the `Rev Range` checkboxes on **both** motors.
+5. To configure the servo motor, assign the populated PWM channel to `Steering`. Set the minimum value to `800`, the maximum to `2200` and the disarm value to `1500`.
+   ![Servo Setup](../../assets/airframes/rover/hiwonder_rovers/hiwonder_ackermann_servo.png)
+6. Arm the rover in [Manual Mode](../flight_modes_rover/manual.md#manual-mode) and use the steering stick to move the servo. If the rover steers in the wrong direction check the `Rev Range` checkbox of the servo.
+
+You have now successfully setup your rover and can start testing all [driving modes](../flight_modes_rover/index.md) PX4 has to offer!

docs/en/complete_vehicles_rover/hiwonder_mecanum.md

@@ -0,0 +1,88 @@
+# Hiwonder Mecanum
+
+The [Hiwonder Mecanum](https://www.hiwonder.com/products/large-metal-4wd-vehicle-chassis-green) rover is a bare-bones platform including a chassi, four [mecanum wheels](https://www.hiwonder.com/products/97mm-mecanum-wheel), four [motors with encoders](https://www.hiwonder.com/products/hall-encoder-dc-geared-motor?variant=40451123675223) and a [motor driver board](https://www.hiwonder.com/products/4-channel-encoder-motor-driver).
+The chassi offers many mounting points, providing the flexibility to attach your own flight controller, sensors and other payload.
+
+![Hiwonder Mecanum](../../assets/airframes/rover/hiwonder_rovers/hiwonder_mecanum.png)
+
+This documentation illustrates the setup of the rover and the configuration of the actuators.
+
+## Parts List
+
+::: info
+The specific hardware used here only serves to examplify the process and can be easily replaced with what you have access to.
+Ensure that the parts are compatible, including the ports available on your flight controller, and adapt the wiring to your hardware.
+:::
+
+The following parts are used in this build:
+- Frame: [Hiwonder Mecanum Chassi](https://www.hiwonder.com/products/large-metal-4wd-vehicle-chassis-green)
+- Flight Controller: [Auterion Skynode S](https://auterion.com/product/skynode-s/) (Alternatives: [Flight Controllers](../flight_controller/index.md)).
+- Receiver: [TBS Crossfire Nano RX](https://www.team-blacksheep.com/products/prod:crossfire_nano_rx?srsltid=AfmBOopvPF1mhPRIS11amSwdKf4OFZlt2ibj7XJwu05kVWt4S_L-ZNuD) (Alternatives: [PX4-Compatible Receivers](../getting_started/rc_transmitter_receiver.md#px4-compatible-receivers-compatible_receivers)).
+- Power: 3S Lipo Battery
+
+::: info
+The motor driver board requires 3S, but your flight controller might require a different voltage.
+To power the flight controller with the same battery you need a Dc-to-DC converter such as the ones listed in [Power Modules & Power Distribution Boards](../power_module/index.md).
+(This is not the case in this build, since the flight controller used can be directly supplied by the 3S battery).
+:::
+
+- GPS: [RTK F9P GPS](https://holybro.com/products/h-rtk-f9p-gnss-series?srsltid=AfmBOoqmsqKx8y60GRVGfWtbcMv_V2m19V4U7-ql9R4NXtrwqzcyXlcF) (Alternatives: [Supported GNSS](../gps_compass/index.md#supported-gnss)).
+- I2C Splitter
+
+::: info
+This part is only necessary if your flight controller has only one I2C port (we need one for the motor driver board and one for the compass in the gps module).
+Many boards will have a dedicated GPS port (which often includes an I2C port) and one or more separate I2C ports for additional peripherals.
+:::
+
+- LTE Dongle: Used to establish a data link between the vehicle and the ground control station (There are many alternative ways to achieve this such as the ones listed in [Data Links](../data_links/index.md)).
+
+## Wiring and Assembly
+
+The following images shows the wiring of the various components of this build. Missing are the connections from the motors to the motor controller board.
+
+![Hiwonder Wiring](../../assets/airframes/rover/hiwonder_rovers/hiwonder_wiring_annotated.png)
+
+::: info
+This image only serves as an example for the wiring process, with your hardware this can look very different.
+Check the documentation of your parts to ensure that you connect to correct pins.
+:::
+
+To assemble your rover connect the motors to the chassi using the supplied screws, mount the wheels to the motor shafts (there are 2 different types of mecanum wheels, make sure you mount them to the correct motor!) and securely attach your hardware.
+
+::: info
+For a quick build you could use double sided tape, but for a long term solution we highly recommend 3d printing mounts that you attach to the chassi using the mounting points.
+:::
+
+## PX4 Configuration
+
+Use _QGroundControl_ for rover configuration:
+
+1. [Flash the rover build](../config_rover/index.md#flashing-the-rover-build) onto your flight controller with the following adjustments:
+
+      Navigate to the `rc.board_sensors` file of your board and add the following lines (for Skynode S this would be in [boards/auterion/fmu-v6s/init/rc.board_sensors](https://github.com/PX4/PX4-Autopilot/blob/main/boards/auterion/fmu-v6s/init/rc.board_sensors)):
+      ```sh
+      if param compare HIWONDER_EMM_EN 1
+      then
+         hiwonder_emm start
+      fi
+      ```
+      Also add the following line to the `rover.px4board` file of your board (for Skynode S this would be in [boards/auterion/fmu-v6s/rover.px4board](https://github.com/PX4/PX4-Autopilot/blob/main/boards/auterion/fmu-v6s/rover.px4board)):
+      ```sh
+      CONFIG_DRIVERS_HIWONDER_EMM=y
+      ```
+2. In the [Basic Configuration](../config/index.md) section, select the [Airframe](../config/airframe.md) tab.
+3. Choose **Hiwonder Mecanum** under the **Rover** category (Alternatively you can set the parameter `SYS_AUTOSTART` to `52001`).
+
+Then configure the actuators:
+
+1. Navigate to [Actuators Configuration & Testing](../config/actuators.md) in QGroundControl.
+1. Select the Hiwonder EMM driver from the list of _Actuator Outputs_.
+
+   Assign the channels to the corresponding motor. The channels are noted on the motor controller board (alternatively randomly assign the channels and use the actuator testing tab to find the correct assignments).
+   Now ensure that the motors are all spinning in the same direction. If that is not the case check the `Rev Range` box on the ones that are spinning in the opposite direction.
+
+   ![Motor Setup](../../assets/airframes/rover/hiwonder_rovers/hiwonder_mecanum_motors.png)
+
+1. Arm the rover in [Manual Mode](../flight_modes_rover/manual.md#manual-mode) and use the trottle stick to drive forwards. If the rover drives backwards instead, invert the `Rev Range` checkboxes on **all** motors.
+
+You have now successfully setup your rover and can start testing all [driving modes](../flight_modes_rover/index.md) PX4 has to offer!

docs/en/complete_vehicles_rover/hiwonder_tracked.md

@@ -0,0 +1,88 @@
+# Hiwonder Tracked
+
+The [Hiwonder Tracked](https://www.hiwonder.com/products/suspended-shock-absorbing-tracked-chassis?variant=40378709835863) rover is a bare-bones platform including a chassi, two tracks, two [motors with encoders](https://www.hiwonder.com/products/hall-encoder-dc-geared-motor?variant=40451123675223) and a [motor driver board](https://www.hiwonder.com/products/4-channel-encoder-motor-driver).
+The chassi offers many mounting points, providing the flexibility to attach your own flight controller, sensors and other payload.
+
+![Hiwonder Tracked](../../assets/airframes/rover/hiwonder_rovers/hiwonder_tracked.png)
+
+This documentation illustrates the setup of the rover and the configuration of the actuators.
+
+## Parts List
+
+::: info
+The specific hardware used here only serves to examplify the process and can be easily replaced with what you have access to.
+Ensure that the parts are compatible, including the ports available on your flight controller, and adapt the wiring to your hardware.
+:::
+
+The following parts are used in this build:
+- Frame: [Hiwonder Tracked Chassi](https://www.hiwonder.com/products/suspended-shock-absorbing-tracked-chassis?variant=40378709835863)
+- Flight Controller: [Auterion Skynode S](https://auterion.com/product/skynode-s/) (Alternatives: [Flight Controllers](../flight_controller/index.md)).
+- Receiver: [TBS Crossfire Nano RX](https://www.team-blacksheep.com/products/prod:crossfire_nano_rx?srsltid=AfmBOopvPF1mhPRIS11amSwdKf4OFZlt2ibj7XJwu05kVWt4S_L-ZNuD) (Alternatives: [PX4-Compatible Receivers](../getting_started/rc_transmitter_receiver.md#px4-compatible-receivers-compatible_receivers)).
+- Power: 3S Lipo Battery
+
+::: info
+The motor driver board requires 3S, but your flight controller might require a different voltage.
+To power the flight controller with the same battery you need a Dc-to-DC converter such as the ones listed in [Power Modules & Power Distribution Boards](../power_module/index.md).
+(This is not the case in this build, since the flight controller used can be directly supplied by the 3S battery).
+:::
+
+- GPS: [RTK F9P GPS](https://holybro.com/products/h-rtk-f9p-gnss-series?srsltid=AfmBOoqmsqKx8y60GRVGfWtbcMv_V2m19V4U7-ql9R4NXtrwqzcyXlcF) (Alternatives: [Supported GNSS](../gps_compass/index.md#supported-gnss)).
+- I2C Splitter
+
+::: info
+This part is only necessary if your flight controller has only one I2C port (we need one for the motor driver board and one for the compass in the gps module).
+Many boards will have a dedicated GPS port (which often includes an I2C port) and one or more separate I2C ports for additional peripherals.
+:::
+
+- LTE Dongle: Used to establish a data link between the vehicle and the ground control station (There are many alternative ways to achieve this such as the ones listed in [Data Links](../data_links/index.md)).
+
+## Wiring and Assembly
+
+The following images shows the wiring of the various components of this build. Missing are the connections from the motors to the motor controller board.
+
+![Hiwonder Wiring](../../assets/airframes/rover/hiwonder_rovers/hiwonder_wiring_annotated.png)
+
+::: info
+This image only serves as an example for the wiring process, with your hardware this can look very different.
+Check the documentation of your parts to ensure that you connect to correct pins.
+:::
+
+With the wiring complete, you can now securely attach your hardware to the chassi.
+
+::: info
+For a quick build you could use double sided tape, but for a long term solution we highly recommend 3d printing mounts that you attach to the chassi using the mounting points.
+:::
+
+## PX4 Configuration
+
+Use _QGroundControl_ for rover configuration:
+
+1. [Flash the rover build](../config_rover/index.md#flashing-the-rover-build) onto your flight controller with the following adjustments:
+
+      Navigate to the `rc.board_sensors` file of your board and add the following lines (for Skynode S this would be in [boards/auterion/fmu-v6s/init/rc.board_sensors](https://github.com/PX4/PX4-Autopilot/blob/main/boards/auterion/fmu-v6s/init/rc.board_sensors)):
+      ```sh
+      if param compare HIWONDER_EMM_EN 1
+      then
+         hiwonder_emm start
+      fi
+      ```
+      Also add the following line to the `rover.px4board` file of your board (for Skynode S this would be in [boards/auterion/fmu-v6s/rover.px4board](https://github.com/PX4/PX4-Autopilot/blob/main/boards/auterion/fmu-v6s/rover.px4board)):
+      ```sh
+      CONFIG_DRIVERS_HIWONDER_EMM=y
+      ```
+2. In the [Basic Configuration](../config/index.md) section, select the [Airframe](../config/airframe.md) tab.
+3. Choose **Hiwonder Tracked** under the **Rover** category (Alternatively you can set the parameter `SYS_AUTOSTART` to `50002`).
+
+Then configure the actuators:
+
+1. Navigate to [Actuators Configuration & Testing](../config/actuators.md) in QGroundControl.
+1. Select the Hiwonder EMM driver from the list of _Actuator Outputs_.
+
+   Assign one of the populated channels of the motor controller board to the `Left Motor` and one to the `Right Motor`. The channels are noted on the motor controller board (alternatively randomly assign the channels and use the actuator testing tab to find the correct assignments).
+   Now ensure that both motors are spinning in the same direction. If that is not the case check the `Rev Range` box on one of the motors.
+
+   ![Motor Setup](../../assets/airframes/rover/hiwonder_rovers/hiwonder_tracked_motors.png)
+
+2. Arm the rover in [Manual Mode](../flight_modes_rover/manual.md#manual-mode) and use the trottle stick to drive forwards. If the rover drives backwards instead, invert the `Rev Range` checkboxes on **both** motors.
+
+You have now successfully setup your rover and can start testing all [driving modes](../flight_modes_rover/index.md) PX4 has to offer!

docs/en/complete_vehicles_rover/index.md

@@ -1,5 +1,13 @@
 # Complete Vehicles (Rover)
 
-This section contains information about fully assembled vehicles that use PX4:
+The following guides exemplify the build process for various hardware setups and can be used as reference for your own rover:
 
-1. [Aion Robotics R1 UGV (Differential Rover)](../complete_vehicles_rover/aion_r1.md)
+## Ackermann
+1. [Hiwonder Ackermann Chassi](../complete_vehicles_rover/hiwonder_ackermann.md)
+
+## Differential
+1. [Hiwonder Tracked Chassi](../complete_vehicles_rover/hiwonder_tracked.md)
+2. [(Discontinued) Aion Robotics R1 UGV](../complete_vehicles_rover/aion_r1.md)
+
+## Mecanum
+1. [Hiwonder Mecanum Chassi](../complete_vehicles_rover/hiwonder_mecanum.md)

docs/en/frames_rover/index.md

@@ -7,7 +7,7 @@ Support for rover is [experimental](../airframes/index.md#experimental-vehicles)
 Maintainer volunteers, [contribution](../contribute/index.md) of new features, new frame configurations, or other improvements would all be very welcome!
 :::
 
-![Rovers](../../assets/airframes/rover/rovers.png)
+![Rovers](../../assets/airframes/rover/hiwonder_rovers/hiwonder_rovers.png)
 
 
 PX4 provides support for the three most common types of rovers:
@@ -26,12 +26,12 @@ The supported frames can be seen in [Airframes Reference > Rover](../airframes/a
 An Ackermann rover controls its direction by pointing the front wheels in the direction of travel — the [Ackermann steering geometry](https://en.wikipedia.org/wiki/Ackermann_steering_geometry) compensates for the fact that wheels on the inside and outside of the turn move at different rates.
 This kind of steering is used on most commercial vehicles, including cars, trucks etc.
 
+![Ackermann rover](../../assets/airframes/rover/hiwonder_rovers/hiwonder_ackermann.png)
+
 ::: info
 PX4 does not require that the vehicle uses the Ackermann geometry and will work with any front-steering rover.
 :::
 
-![Axial Trail Honcho](../../assets/airframes/rover/axial_trail_honcho.png)
-
 ## Differential
 
 <Badge type="tip" text="PX4 v1.16" /> <Badge type="warning" text="Experimental" />
@@ -40,7 +40,7 @@ A differential rover's motion is controlled using a differential drive mechanism
 Forward motion is achieved by driving both wheels at the same speed in the same direction.
 Rotation is achieved by driving the wheels at different speeds in opposite directions, allowing the rover to turn on the spot.
 
-![Aion R1](../../assets/airframes/rover/aion_r1/r1_rover_no_bg.png)
+![Tracked Rover](../../assets/airframes/rover/hiwonder_rovers/hiwonder_tracked.png)
 
 ::: info
 The differential setup also work for rovers with skid or tank steering.
@@ -53,7 +53,7 @@ The differential setup also work for rovers with skid or tank steering.
 A Mecanum rover is a type of mobile robot that uses Mecanum wheels to achieve omnidirectional movement. These wheels are unique because they have rollers mounted at a 45-degree angle around their circumference, allowing the rover to move not only forward and backward but also side-to-side and diagonally without needing to rotate first.
 Each wheel is driven by its own motor, and by controlling the speed and direction of each motor, the rover can move in any direction or spin in place.
 
-![Mecanum rover](../../assets/airframes/rover/rover_mecanum.png)
+![Mecanum rover](../../assets/airframes/rover/hiwonder_rovers/hiwonder_mecanum.png)
 
 ## See Also