Move PX4 Guide source into /docs (#24490)

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runs on a beefy server for faster builds

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---------

Signed-off-by: Ramon Roche <mrpollo@gmail.com>
Co-authored-by: Ramon Roche <mrpollo@gmail.com>

docs/zh/tutorials/linux_sbus.md

@@ -0,0 +1,63 @@
+# 将RC接收器连接到基于PX4 Linux的自动驾驶仪
+
+This topic shows how to setup a PX4 Linux-based autopilot to connect and use a [supported RC receiver](../getting_started/rc_transmitter_receiver.md) on any serial port.
+
+对于S.Bus以外的遥控类型，您可以将接收器直接连接到串口，或者使用USB转TTY串行线（例如 PL2302 USB转串行TTL转换器）。
+
+:::info
+For an S.Bus receiver (or encoder - e.g. from Futaba, RadioLink, etc.) you will usually need to connect the receiver and device via a [signal inverter circuit](#signal_inverter_circuit), but otherwise the setup is the same.
+:::
+
+Then [Start the PX4 RC Driver](#start_driver) on the device, as shown below.
+
+<a id="start_driver"></a>
+
+## 启动驱动程序
+
+To start the RC driver on a particular UART (e.g. in this case `/dev/ttyS2`):
+
+```sh
+linux_sbus start|stop|status -d &lt;device&gt; -c &lt;channel&gt;
+```
+
+For other driver usage information see: [rc_input](../modules/modules_driver.md#rc-input).
+
+<a id="signal_inverter_circuit"></a>
+
+## 信号反相器电路 (仅限S.Bus)
+
+S.Bus is an _inverted_ UART communication signal.
+
+虽然一些串行端口/飞行控制器可以读取反转的 UART 信号，但大多数需要在接收器和串行端口之间使用信号反相器电路来反转信号。
+
+:::tip
+This circuit is also required to read S.Bus remote control signals through the serial port or USB-to-TTY serial converter.
+:::
+
+本节介绍如何创建合适的电路。
+
+### 所需组件
+
+- 1x NPN 晶体管（例如 NPN S9014 TO92）
+- 1x 10K 电阻
+- 1x 1K 电阻
+
+:::info
+Any type/model of transistor can be used because the current drain is very low.
+:::
+
+### 电路图/连接
+
+按如下所述（也显示在电路图中）连接组件：
+
+- S.Bus 信号&rarr;1K 电阻&rarr;NPN 晶体管
+- NPN晶体管发射极&rarr; GND
+- 3.3VCC＆&rarr; 10K电阻&rarr; NPN晶体管集电极&rarr; USB-to-TTY的RXD
+- 5.0VCC&rarr;S.Bus VCC
+- GND &rarr; S.Bus GND
+
+![Signal inverter circuit diagram](../../assets/sbus/driver_sbus_signal_inverter_circuit_diagram.png)
+
+下面的图片显示了面包板上的连接。
+
+![Signal inverter breadboard](../../assets/sbus/driver_sbus_signal_inverter_breadboard.png)

docs/zh/tutorials/motion-capture.md

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+# 使用 Motion Capture 飞行（VICON，Optitrack）
+
+:::warning
+**WORK IN PROGRESS**
+
+This topic shares significant overlap with [External Position Estimation (ROS)](../ros/external_position_estimation.md).
+:::
+
+Indoor motion capture systems like VICON, NOKOV and Optitrack can be used to provide position and attitude data for vehicle state estimation, orto serve as ground-truth for analysis.
+The motion capture data can be used to update PX4's local position estimate relative to the local origin. Heading (yaw) from the motion capture system can also be optionally integrated by the attitude estimator.
+
+Pose (position and orientation) data from the motion capture system is sent to the autopilot over MAVLink, using the [ATT_POS_MOCAP](https://mavlink.io/en/messages/common.html#ATT_POS_MOCAP) message. See the section below on coordinate frames for data representation conventions. The [mavros](../ros/mavros_installation.md) ROS-Mavlink interface has a default plugin to send this message. They can also be sent using pure C/C++ code and direct use of the MAVLink library.
+
+## Computing Architecture
+
+It is **highly recommended** that you send motion capture data via an **onboard** computer (e.g Raspberry Pi, ODroid, etc.) for reliable communications. The onboard computer can be connected to the motion capture computer through WiFi, which offers reliable, high-bandwidth connection.
+
+Most standard telemetry links like 3DR/SiK radios are **not** suitable for high-bandwidth motion capture applications.
+
+## Coordinate Frames
+
+This section shows how to setup the system with the proper reference frames. There are various representations but we will use two of them: ENU and NED.
+
+- ENU is a ground-fixed frame where **X** axis points East, **Y** points North and **Z** up. The robot/vehicle body frame is **X** towards the front, **Z** up and **Y** towards the left.
+- NED has **X** towards North, **Y** East and **Z** down. The robot/vehicle body frame has **X** towards the front, **Z** down and **Y** accordingly.
+
+Frames are shown in the image below. NED on the left, ENU on the right:
+
+![Reference frames](../../assets/lpe/ref_frames.png)
+
+With the external heading estimation, however, magnetic North is ignored and faked with a vector corresponding to world _x_ axis (which can be placed freely at mocap calibration); yaw angle will be given respect to local _x_.
+
+:::warning
+When creating the rigid body in the motion capture software, remember to first align the robot with the world **X** axis otherwise yaw estimation will have an initial offset.
+:::
+
+## Estimator Choice
+
+EKF2 is recommended for GPS-enabled systems (LPE is deprecated, and hence no longer supported or maintained).
+The Q-Estimator is recommended if you don't have GPS, as it works without a magnetometer or barometer.
+
+See [Switching State Estimators](../advanced/switching_state_estimators.md) for more information.
+
+### EKF2
+
+The ROS topic for motion cap `mocap_pose_estimate` for mocap systems and `vision_pose_estimate` for vision.
+Check [mavros_extras](http://wiki.ros.org/mavros_extras) for further info.
+
+## 测试
+
+## 故障处理