From 96f428b6831285f14fd480c6b3524d08bb2e0df2 Mon Sep 17 00:00:00 2001 From: Hamish Willee Date: Wed, 24 Dec 2025 14:57:46 +1100 Subject: [PATCH] docs: Update metadata (#26167) --- .github/instructions/docs.en.instructions.md | 19 +- docs/en/SUMMARY.md | 1 + .../en/advanced_config/parameter_reference.md | 545 +++++++++++++++++- docs/en/assembly/_assembly.md | 3 +- docs/en/config_mc/filter_tuning.md | 10 +- docs/en/dronecan/escs.md | 9 +- docs/en/modules/modules_driver.md | 68 +-- docs/en/modules/modules_system.md | 4 + docs/en/msg_docs/BatteryStatus.md | 10 +- docs/en/msg_docs/BatteryStatusV0.md | 6 +- docs/en/msg_docs/DeviceInformation.md | 45 ++ docs/en/msg_docs/EstimatorStatus.md | 1 + docs/en/msg_docs/GpioIn.md | 1 + docs/en/msg_docs/GpsDump.md | 6 +- docs/en/msg_docs/VehicleCommand.md | 5 + docs/en/msg_docs/index.md | 1 + docs/en/peripherals/dshot.md | 6 +- docs/en/peripherals/esc_motors.md | 16 +- 18 files changed, 668 insertions(+), 88 deletions(-) create mode 100644 docs/en/msg_docs/DeviceInformation.md diff --git a/.github/instructions/docs.en.instructions.md b/.github/instructions/docs.en.instructions.md index e4b94bc154..97801a724f 100644 --- a/.github/instructions/docs.en.instructions.md +++ b/.github/instructions/docs.en.instructions.md @@ -25,7 +25,24 @@ applyTo: "docs/en/**" - **Inline Code:** Use backticks for file paths, parameters, and CLI commands (e.g., `prettier`). - **Structure:** End every line at the end of a sentence (Semantic Line Breaks). +## Linking & Navigation + +- **Standard Links:** Use standard inline syntax: `[link text](../category/filename.md)`. + Note relative link. +- **Table Links:** To keep tables readable, use reference-style links. + - Definition: `[Link Name]: https://example.com` (placed below the table). + - Usage: `[Link Name]` within the table cell. +- **Images:** All image links must include a descriptive, accessible alt-text in the brackets: `![Detailed description of the image content](../../assets/path/to/image.png)`. + Note that all images should be relative references to images stored in the assets folder, which should be two folders below the any markdown file (as they are stored in a "category" subfolder) + +- **Standard Links:** Use standard inline syntax: `[link text](../category/filename.md)`. Note the use of relative links. +- **Table Links:** To keep tables easier to edit, prefer reference-style links. + - Definition: `[Link Name]: https://example.com` (placed below the table). + - Usage: `[Link Name]` within the table cell. +- **Images:** All image links must include a descriptive, accessible alt-text: `![Detailed description of the image content](../../assets/path/to/image.png)`. + - **Note:** All images must be relative references to the `/docs/assets/` folder. Since documents are nested in a category folder, this is usually two levels up (`../../assets/`). + ## Quality Control -- **Formatting:** Ensure Prettier rules have been applied. +- **Prettier Check:** Ensure Prettier rules have been applied. If there is evidence of inconsistent indentation or spacing, request the author run `npx prettier --write .` before merging. - **Language:** Enforce **UK English** spelling and grammar. diff --git a/docs/en/SUMMARY.md b/docs/en/SUMMARY.md index 80252fbdba..aab7ed87c7 100644 --- a/docs/en/SUMMARY.md +++ b/docs/en/SUMMARY.md @@ -564,6 +564,7 @@ - [DebugKeyValue](msg_docs/DebugKeyValue.md) - [DebugValue](msg_docs/DebugValue.md) - [DebugVect](msg_docs/DebugVect.md) + - [DeviceInformation](msg_docs/DeviceInformation.md) - [DifferentialPressure](msg_docs/DifferentialPressure.md) - [DistanceSensor](msg_docs/DistanceSensor.md) - [DistanceSensorModeChangeRequest](msg_docs/DistanceSensorModeChangeRequest.md) diff --git a/docs/en/advanced_config/parameter_reference.md b/docs/en/advanced_config/parameter_reference.md index aa05292a85..71e4262e90 100644 --- a/docs/en/advanced_config/parameter_reference.md +++ b/docs/en/advanced_config/parameter_reference.md @@ -486,16 +486,6 @@ The integer refers to the I2C bus number where PCA9685 is connected. | ------ | -------- | -------- | --------- | ------- | ---- | |   | 0 | 10 | | 0 | -### PCA9685_I2C_ADDR (`INT32`) {#PCA9685_I2C_ADDR} - -I2C address of PCA9685. - -The default address is 0x40 (64). - -| Reboot | minValue | maxValue | increment | default | unit | -| ------ | -------- | -------- | --------- | ------- | ---- | -|   | 0 | 127 | | 64 | - ### PCA9685_FAIL1 (`INT32`) {#PCA9685_FAIL1} PCA9685 Output Channel 1 Failsafe Value. @@ -1808,6 +1798,16 @@ The default failsafe value is set according to the selected function: | ------ | -------- | -------- | --------- | ------- | ---- | |   | | | | 0 | +### PCA9685_I2C_ADDR (`INT32`) {#PCA9685_I2C_ADDR} + +I2C address of PCA9685. + +The default address is 0x40 (64). + +| Reboot | minValue | maxValue | increment | default | unit | +| ------ | -------- | -------- | --------- | ------- | ---- | +|   | 1 | 127 | | 64 | + ### PCA9685_MAX1 (`INT32`) {#PCA9685_MAX1} PCA9685 Output Channel 1 Maximum Value. @@ -4924,6 +4924,39 @@ Note that non-motor outputs might already be active in prearm state if COM_PREAR | ------ | -------- | -------- | --------- | ------- | ---- | |   | 0 | 1000 | | 0 | +### SIM_GZ_EC_DIS10 (`INT32`) {#SIM_GZ_EC_DIS10} + +SIM_GZ ESC 10 Disarmed Value. + +This is the output value that is set when not armed. +Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set. + +| Reboot | minValue | maxValue | increment | default | unit | +| ------ | -------- | -------- | --------- | ------- | ---- | +|   | 0 | 1000 | | 0 | + +### SIM_GZ_EC_DIS11 (`INT32`) {#SIM_GZ_EC_DIS11} + +SIM_GZ ESC 11 Disarmed Value. + +This is the output value that is set when not armed. +Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set. + +| Reboot | minValue | maxValue | increment | default | unit | +| ------ | -------- | -------- | --------- | ------- | ---- | +|   | 0 | 1000 | | 0 | + +### SIM_GZ_EC_DIS12 (`INT32`) {#SIM_GZ_EC_DIS12} + +SIM_GZ ESC 12 Disarmed Value. + +This is the output value that is set when not armed. +Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set. + +| Reboot | minValue | maxValue | increment | default | unit | +| ------ | -------- | -------- | --------- | ------- | ---- | +|   | 0 | 1000 | | 0 | + ### SIM_GZ_EC_DIS2 (`INT32`) {#SIM_GZ_EC_DIS2} SIM_GZ ESC 2 Disarmed Value. @@ -5001,6 +5034,17 @@ Note that non-motor outputs might already be active in prearm state if COM_PREAR | ------ | -------- | -------- | --------- | ------- | ---- | |   | 0 | 1000 | | 0 | +### SIM_GZ_EC_DIS9 (`INT32`) {#SIM_GZ_EC_DIS9} + +SIM_GZ ESC 9 Disarmed Value. + +This is the output value that is set when not armed. +Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set. + +| Reboot | minValue | maxValue | increment | default | unit | +| ------ | -------- | -------- | --------- | ------- | ---- | +|   | 0 | 1000 | | 0 | + ### SIM_GZ_EC_FAIL1 (`INT32`) {#SIM_GZ_EC_FAIL1} SIM_GZ ESC 1 Failsafe Value. @@ -5012,6 +5056,39 @@ When set to -1 (default), the value depends on the function (see SIM_GZ_EC_FUNC1 | ------ | -------- | -------- | --------- | ------- | ---- | |   | -1 | 1000 | | -1 | +### SIM_GZ_EC_FAIL10 (`INT32`) {#SIM_GZ_EC_FAIL10} + +SIM_GZ ESC 10 Failsafe Value. + +This is the output value that is set when in failsafe mode. +When set to -1 (default), the value depends on the function (see SIM_GZ_EC_FUNC10). + +| Reboot | minValue | maxValue | increment | default | unit | +| ------ | -------- | -------- | --------- | ------- | ---- | +|   | -1 | 1000 | | -1 | + +### SIM_GZ_EC_FAIL11 (`INT32`) {#SIM_GZ_EC_FAIL11} + +SIM_GZ ESC 11 Failsafe Value. + +This is the output value that is set when in failsafe mode. +When set to -1 (default), the value depends on the function (see SIM_GZ_EC_FUNC11). + +| Reboot | minValue | maxValue | increment | default | unit | +| ------ | -------- | -------- | --------- | ------- | ---- | +|   | -1 | 1000 | | -1 | + +### SIM_GZ_EC_FAIL12 (`INT32`) {#SIM_GZ_EC_FAIL12} + +SIM_GZ ESC 12 Failsafe Value. + +This is the output value that is set when in failsafe mode. +When set to -1 (default), the value depends on the function (see SIM_GZ_EC_FUNC12). + +| Reboot | minValue | maxValue | increment | default | unit | +| ------ | -------- | -------- | --------- | ------- | ---- | +|   | -1 | 1000 | | -1 | + ### SIM_GZ_EC_FAIL2 (`INT32`) {#SIM_GZ_EC_FAIL2} SIM_GZ ESC 2 Failsafe Value. @@ -5089,6 +5166,17 @@ When set to -1 (default), the value depends on the function (see SIM_GZ_EC_FUNC8 | ------ | -------- | -------- | --------- | ------- | ---- | |   | -1 | 1000 | | -1 | +### SIM_GZ_EC_FAIL9 (`INT32`) {#SIM_GZ_EC_FAIL9} + +SIM_GZ ESC 9 Failsafe Value. + +This is the output value that is set when in failsafe mode. +When set to -1 (default), the value depends on the function (see SIM_GZ_EC_FUNC9). + +| Reboot | minValue | maxValue | increment | default | unit | +| ------ | -------- | -------- | --------- | ------- | ---- | +|   | -1 | 1000 | | -1 | + ### SIM_GZ_EC_FUNC1 (`INT32`) {#SIM_GZ_EC_FUNC1} SIM_GZ ESC 1 Output Function. @@ -5160,6 +5248,219 @@ The default failsafe value is set according to the selected function: | ------ | -------- | -------- | --------- | ------- | ---- | |   | | | | 0 | +### SIM_GZ_EC_FUNC10 (`INT32`) {#SIM_GZ_EC_FUNC10} + +SIM_GZ ESC 10 Output Function. + +Select what should be output on SIM_GZ ESC 10. +The default failsafe value is set according to the selected function: + +- 'Min' for ConstantMin +- 'Max' for ConstantMax +- 'Max' for Parachute +- ('Max'+'Min')/2 for Servos +- 'Disarmed' for the rest + +**Values:** + +- `0`: Disabled +- `1`: Constant Min +- `2`: Constant Max +- `101`: Motor 1 +- `102`: Motor 2 +- `103`: Motor 3 +- `104`: Motor 4 +- `105`: Motor 5 +- `106`: Motor 6 +- `107`: Motor 7 +- `108`: Motor 8 +- `109`: Motor 9 +- `110`: Motor 10 +- `111`: Motor 11 +- `112`: Motor 12 +- `201`: Servo 1 +- `202`: Servo 2 +- `203`: Servo 3 +- `204`: Servo 4 +- `205`: Servo 5 +- `206`: Servo 6 +- `207`: Servo 7 +- `208`: Servo 8 +- `301`: Peripheral via Actuator Set 1 +- `302`: Peripheral via Actuator Set 2 +- `303`: Peripheral via Actuator Set 3 +- `304`: Peripheral via Actuator Set 4 +- `305`: Peripheral via Actuator Set 5 +- `306`: Peripheral via Actuator Set 6 +- `400`: Landing Gear +- `401`: Parachute +- `402`: RC Roll +- `403`: RC Pitch +- `404`: RC Throttle +- `405`: RC Yaw +- `406`: RC Flaps +- `407`: RC AUX 1 +- `408`: RC AUX 2 +- `409`: RC AUX 3 +- `410`: RC AUX 4 +- `411`: RC AUX 5 +- `412`: RC AUX 6 +- `420`: Gimbal Roll +- `421`: Gimbal Pitch +- `422`: Gimbal Yaw +- `430`: Gripper +- `440`: Landing Gear Wheel +- `450`: IC Engine Ignition +- `451`: IC Engine Throttle +- `452`: IC Engine Choke +- `453`: IC Engine Starter + +| Reboot | minValue | maxValue | increment | default | unit | +| ------ | -------- | -------- | --------- | ------- | ---- | +|   | | | | 0 | + +### SIM_GZ_EC_FUNC11 (`INT32`) {#SIM_GZ_EC_FUNC11} + +SIM_GZ ESC 11 Output Function. + +Select what should be output on SIM_GZ ESC 11. +The default failsafe value is set according to the selected function: + +- 'Min' for ConstantMin +- 'Max' for ConstantMax +- 'Max' for Parachute +- ('Max'+'Min')/2 for Servos +- 'Disarmed' for the rest + +**Values:** + +- `0`: Disabled +- `1`: Constant Min +- `2`: Constant Max +- `101`: Motor 1 +- `102`: Motor 2 +- `103`: Motor 3 +- `104`: Motor 4 +- `105`: Motor 5 +- `106`: Motor 6 +- `107`: Motor 7 +- `108`: Motor 8 +- `109`: Motor 9 +- `110`: Motor 10 +- `111`: Motor 11 +- `112`: Motor 12 +- `201`: Servo 1 +- `202`: Servo 2 +- `203`: Servo 3 +- `204`: Servo 4 +- `205`: Servo 5 +- `206`: Servo 6 +- `207`: Servo 7 +- `208`: Servo 8 +- `301`: Peripheral via Actuator Set 1 +- `302`: Peripheral via Actuator Set 2 +- `303`: Peripheral via Actuator Set 3 +- `304`: Peripheral via Actuator Set 4 +- `305`: Peripheral via Actuator Set 5 +- `306`: Peripheral via Actuator Set 6 +- `400`: Landing Gear +- `401`: Parachute +- `402`: RC Roll +- `403`: RC Pitch +- `404`: RC Throttle +- `405`: RC Yaw +- `406`: RC Flaps +- `407`: RC AUX 1 +- `408`: RC AUX 2 +- `409`: RC AUX 3 +- `410`: RC AUX 4 +- `411`: RC AUX 5 +- `412`: RC AUX 6 +- `420`: Gimbal Roll +- `421`: Gimbal Pitch +- `422`: Gimbal Yaw +- `430`: Gripper +- `440`: Landing Gear Wheel +- `450`: IC Engine Ignition +- `451`: IC Engine Throttle +- `452`: IC Engine Choke +- `453`: IC Engine Starter + +| Reboot | minValue | maxValue | increment | default | unit | +| ------ | -------- | -------- | --------- | ------- | ---- | +|   | | | | 0 | + +### SIM_GZ_EC_FUNC12 (`INT32`) {#SIM_GZ_EC_FUNC12} + +SIM_GZ ESC 12 Output Function. + +Select what should be output on SIM_GZ ESC 12. +The default failsafe value is set according to the selected function: + +- 'Min' for ConstantMin +- 'Max' for ConstantMax +- 'Max' for Parachute +- ('Max'+'Min')/2 for Servos +- 'Disarmed' for the rest + +**Values:** + +- `0`: Disabled +- `1`: Constant Min +- `2`: Constant Max +- `101`: Motor 1 +- `102`: Motor 2 +- `103`: Motor 3 +- `104`: Motor 4 +- `105`: Motor 5 +- `106`: Motor 6 +- `107`: Motor 7 +- `108`: Motor 8 +- `109`: Motor 9 +- `110`: Motor 10 +- `111`: Motor 11 +- `112`: Motor 12 +- `201`: Servo 1 +- `202`: Servo 2 +- `203`: Servo 3 +- `204`: Servo 4 +- `205`: Servo 5 +- `206`: Servo 6 +- `207`: Servo 7 +- `208`: Servo 8 +- `301`: Peripheral via Actuator Set 1 +- `302`: Peripheral via Actuator Set 2 +- `303`: Peripheral via Actuator Set 3 +- `304`: Peripheral via Actuator Set 4 +- `305`: Peripheral via Actuator Set 5 +- `306`: Peripheral via Actuator Set 6 +- `400`: Landing Gear +- `401`: Parachute +- `402`: RC Roll +- `403`: RC Pitch +- `404`: RC Throttle +- `405`: RC Yaw +- `406`: RC Flaps +- `407`: RC AUX 1 +- `408`: RC AUX 2 +- `409`: RC AUX 3 +- `410`: RC AUX 4 +- `411`: RC AUX 5 +- `412`: RC AUX 6 +- `420`: Gimbal Roll +- `421`: Gimbal Pitch +- `422`: Gimbal Yaw +- `430`: Gripper +- `440`: Landing Gear Wheel +- `450`: IC Engine Ignition +- `451`: IC Engine Throttle +- `452`: IC Engine Choke +- `453`: IC Engine Starter + +| Reboot | minValue | maxValue | increment | default | unit | +| ------ | -------- | -------- | --------- | ------- | ---- | +|   | | | | 0 | + ### SIM_GZ_EC_FUNC2 (`INT32`) {#SIM_GZ_EC_FUNC2} SIM_GZ ESC 2 Output Function. @@ -5657,6 +5958,77 @@ The default failsafe value is set according to the selected function: | ------ | -------- | -------- | --------- | ------- | ---- | |   | | | | 0 | +### SIM_GZ_EC_FUNC9 (`INT32`) {#SIM_GZ_EC_FUNC9} + +SIM_GZ ESC 9 Output Function. + +Select what should be output on SIM_GZ ESC 9. +The default failsafe value is set according to the selected function: + +- 'Min' for ConstantMin +- 'Max' for ConstantMax +- 'Max' for Parachute +- ('Max'+'Min')/2 for Servos +- 'Disarmed' for the rest + +**Values:** + +- `0`: Disabled +- `1`: Constant Min +- `2`: Constant Max +- `101`: Motor 1 +- `102`: Motor 2 +- `103`: Motor 3 +- `104`: Motor 4 +- `105`: Motor 5 +- `106`: Motor 6 +- `107`: Motor 7 +- `108`: Motor 8 +- `109`: Motor 9 +- `110`: Motor 10 +- `111`: Motor 11 +- `112`: Motor 12 +- `201`: Servo 1 +- `202`: Servo 2 +- `203`: Servo 3 +- `204`: Servo 4 +- `205`: Servo 5 +- `206`: Servo 6 +- `207`: Servo 7 +- `208`: Servo 8 +- `301`: Peripheral via Actuator Set 1 +- `302`: Peripheral via Actuator Set 2 +- `303`: Peripheral via Actuator Set 3 +- `304`: Peripheral via Actuator Set 4 +- `305`: Peripheral via Actuator Set 5 +- `306`: Peripheral via Actuator Set 6 +- `400`: Landing Gear +- `401`: Parachute +- `402`: RC Roll +- `403`: RC Pitch +- `404`: RC Throttle +- `405`: RC Yaw +- `406`: RC Flaps +- `407`: RC AUX 1 +- `408`: RC AUX 2 +- `409`: RC AUX 3 +- `410`: RC AUX 4 +- `411`: RC AUX 5 +- `412`: RC AUX 6 +- `420`: Gimbal Roll +- `421`: Gimbal Pitch +- `422`: Gimbal Yaw +- `430`: Gripper +- `440`: Landing Gear Wheel +- `450`: IC Engine Ignition +- `451`: IC Engine Throttle +- `452`: IC Engine Choke +- `453`: IC Engine Starter + +| Reboot | minValue | maxValue | increment | default | unit | +| ------ | -------- | -------- | --------- | ------- | ---- | +|   | | | | 0 | + ### SIM_GZ_EC_MAX1 (`INT32`) {#SIM_GZ_EC_MAX1} SIM_GZ ESC 1 Maximum Value. @@ -5667,6 +6039,36 @@ Maxmimum output value (when not disarmed). | ------ | -------- | -------- | --------- | ------- | ---- | |   | 0 | 1000 | | 1000 | +### SIM_GZ_EC_MAX10 (`INT32`) {#SIM_GZ_EC_MAX10} + +SIM_GZ ESC 10 Maximum Value. + +Maxmimum output value (when not disarmed). + +| Reboot | minValue | maxValue | increment | default | unit | +| ------ | -------- | -------- | --------- | ------- | ---- | +|   | 0 | 1000 | | 1000 | + +### SIM_GZ_EC_MAX11 (`INT32`) {#SIM_GZ_EC_MAX11} + +SIM_GZ ESC 11 Maximum Value. + +Maxmimum output value (when not disarmed). + +| Reboot | minValue | maxValue | increment | default | unit | +| ------ | -------- | -------- | --------- | ------- | ---- | +|   | 0 | 1000 | | 1000 | + +### SIM_GZ_EC_MAX12 (`INT32`) {#SIM_GZ_EC_MAX12} + +SIM_GZ ESC 12 Maximum Value. + +Maxmimum output value (when not disarmed). + +| Reboot | minValue | maxValue | increment | default | unit | +| ------ | -------- | -------- | --------- | ------- | ---- | +|   | 0 | 1000 | | 1000 | + ### SIM_GZ_EC_MAX2 (`INT32`) {#SIM_GZ_EC_MAX2} SIM_GZ ESC 2 Maximum Value. @@ -5737,6 +6139,16 @@ Maxmimum output value (when not disarmed). | ------ | -------- | -------- | --------- | ------- | ---- | |   | 0 | 1000 | | 1000 | +### SIM_GZ_EC_MAX9 (`INT32`) {#SIM_GZ_EC_MAX9} + +SIM_GZ ESC 9 Maximum Value. + +Maxmimum output value (when not disarmed). + +| Reboot | minValue | maxValue | increment | default | unit | +| ------ | -------- | -------- | --------- | ------- | ---- | +|   | 0 | 1000 | | 1000 | + ### SIM_GZ_EC_MIN1 (`INT32`) {#SIM_GZ_EC_MIN1} SIM_GZ ESC 1 Minimum Value. @@ -5747,6 +6159,36 @@ Minimum output value (when not disarmed). | ------ | -------- | -------- | --------- | ------- | ---- | |   | 0 | 1000 | | 0 | +### SIM_GZ_EC_MIN10 (`INT32`) {#SIM_GZ_EC_MIN10} + +SIM_GZ ESC 10 Minimum Value. + +Minimum output value (when not disarmed). + +| Reboot | minValue | maxValue | increment | default | unit | +| ------ | -------- | -------- | --------- | ------- | ---- | +|   | 0 | 1000 | | 0 | + +### SIM_GZ_EC_MIN11 (`INT32`) {#SIM_GZ_EC_MIN11} + +SIM_GZ ESC 11 Minimum Value. + +Minimum output value (when not disarmed). + +| Reboot | minValue | maxValue | increment | default | unit | +| ------ | -------- | -------- | --------- | ------- | ---- | +|   | 0 | 1000 | | 0 | + +### SIM_GZ_EC_MIN12 (`INT32`) {#SIM_GZ_EC_MIN12} + +SIM_GZ ESC 12 Minimum Value. + +Minimum output value (when not disarmed). + +| Reboot | minValue | maxValue | increment | default | unit | +| ------ | -------- | -------- | --------- | ------- | ---- | +|   | 0 | 1000 | | 0 | + ### SIM_GZ_EC_MIN2 (`INT32`) {#SIM_GZ_EC_MIN2} SIM_GZ ESC 2 Minimum Value. @@ -5817,6 +6259,16 @@ Minimum output value (when not disarmed). | ------ | -------- | -------- | --------- | ------- | ---- | |   | 0 | 1000 | | 0 | +### SIM_GZ_EC_MIN9 (`INT32`) {#SIM_GZ_EC_MIN9} + +SIM_GZ ESC 9 Minimum Value. + +Minimum output value (when not disarmed). + +| Reboot | minValue | maxValue | increment | default | unit | +| ------ | -------- | -------- | --------- | ------- | ---- | +|   | 0 | 1000 | | 0 | + ### SIM_GZ_EC_REV (`INT32`) {#SIM_GZ_EC_REV} Reverse Output Range for SIM_GZ. @@ -5834,10 +6286,14 @@ Note: this is only useful for servos. - `5`: SIM_GZ ESC 6 - `6`: SIM_GZ ESC 7 - `7`: SIM_GZ ESC 8 +- `8`: SIM_GZ ESC 9 +- `9`: SIM_GZ ESC 10 +- `10`: SIM_GZ ESC 11 +- `11`: SIM_GZ ESC 12 | Reboot | minValue | maxValue | increment | default | unit | | ------ | -------- | -------- | --------- | ------- | ---- | -|   | 0 | 255 | | 0 | +|   | 0 | 4095 | | 0 | ### SIM_GZ_SV_DIS1 (`INT32`) {#SIM_GZ_SV_DIS1} @@ -14553,16 +15009,21 @@ If non-negative, then this will be used instead of the online estimated internal Battery 1 monitoring source. -This parameter controls the source of battery data. The value 'Power Module' -means that measurements are expected to come from a power module. If the value is set to -'External' then the system expects to receive mavlink battery status messages. +This parameter controls the source of battery data. The value 'Power Module / Analog' +means that measurements are expected to come from either analog (ADC) inputs +or an I2C power monitor (e.g. INA226). Analog inputs are voltage and current +measurements read from the board's ADC channels, typically from an onboard +voltage divider and current shunt, or an external analog power module. +I2C power monitors are digital sensors on the I2C bus. +If the value is set to 'External' then the system expects to receive MAVLink +or CAN battery status messages, or the battery data is published by an external driver. If the value is set to 'ESCs', the battery information are taken from the esc_status message. -This requires the ESC to provide both voltage as well as current. +This requires the ESC to provide both voltage as well as current (via ESC telemetry). **Values:** - `-1`: Disabled -- `0`: Power Module +- `0`: Power Module / Analog - `1`: External - `2`: ESCs @@ -14713,16 +15174,21 @@ If non-negative, then this will be used instead of the online estimated internal Battery 2 monitoring source. -This parameter controls the source of battery data. The value 'Power Module' -means that measurements are expected to come from a power module. If the value is set to -'External' then the system expects to receive mavlink battery status messages. +This parameter controls the source of battery data. The value 'Power Module / Analog' +means that measurements are expected to come from either analog (ADC) inputs +or an I2C power monitor (e.g. INA226). Analog inputs are voltage and current +measurements read from the board's ADC channels, typically from an onboard +voltage divider and current shunt, or an external analog power module. +I2C power monitors are digital sensors on the I2C bus. +If the value is set to 'External' then the system expects to receive MAVLink +or CAN battery status messages, or the battery data is published by an external driver. If the value is set to 'ESCs', the battery information are taken from the esc_status message. -This requires the ESC to provide both voltage as well as current. +This requires the ESC to provide both voltage as well as current (via ESC telemetry). **Values:** - `-1`: Disabled -- `0`: Power Module +- `0`: Power Module / Analog - `1`: External - `2`: ESCs @@ -14834,16 +15300,21 @@ If non-negative, then this will be used instead of the online estimated internal Battery 3 monitoring source. -This parameter controls the source of battery data. The value 'Power Module' -means that measurements are expected to come from a power module. If the value is set to -'External' then the system expects to receive mavlink battery status messages. +This parameter controls the source of battery data. The value 'Power Module / Analog' +means that measurements are expected to come from either analog (ADC) inputs +or an I2C power monitor (e.g. INA226). Analog inputs are voltage and current +measurements read from the board's ADC channels, typically from an onboard +voltage divider and current shunt, or an external analog power module. +I2C power monitors are digital sensors on the I2C bus. +If the value is set to 'External' then the system expects to receive MAVLink +or CAN battery status messages, or the battery data is published by an external driver. If the value is set to 'ESCs', the battery information are taken from the esc_status message. -This requires the ESC to provide both voltage as well as current. +This requires the ESC to provide both voltage as well as current (via ESC telemetry). **Values:** - `-1`: Disabled -- `0`: Power Module +- `0`: Power Module / Analog - `1`: External - `2`: ESCs @@ -17270,10 +17741,11 @@ Each threshold value is defined by the parameter indicated next to the check. Dr - `8`: Vertical speed offset (EKF2_REQ_VDRIFT) - `9`: Spoofing - `10`: GPS fix type (EKF2_REQ_FIX) +- `11`: Jamming | Reboot | minValue | maxValue | increment | default | unit | | ------ | -------- | -------- | --------- | ------- | ---- | -|   | 0 | 2047 | | 2047 | +|   | 0 | 4095 | | 2047 | ### EKF2_GPS_CTRL (`INT32`) {#EKF2_GPS_CTRL} @@ -20170,6 +20642,14 @@ Mode 6 is intended for use with a ground control station (not necessarily an RTK | ------- | -------- | -------- | --------- | ------- | ---- | | ✓ | 0 | 1 | | 0 | +### GPS_UBX_PPK (`INT32`) {#GPS_UBX_PPK} + +Enable MSM7 message output for PPK workflow. + +| Reboot | minValue | maxValue | increment | default | unit | +| ------- | -------- | -------- | --------- | ------------ | ---- | +| ✓ | | | | Disabled (0) | + ### GPS_YAW_OFFSET (`FLOAT`) {#GPS_YAW_OFFSET} Heading/Yaw offset for dual antenna GPS. @@ -39457,6 +39937,17 @@ uavcan::equipment::ahrs::MagneticFieldStrength2 | ------- | -------- | -------- | --------- | ----------- | ---- | | ✓ | | | | Enabled (1) | +### UAVCAN_SUB_MBD (`INT32`) {#UAVCAN_SUB_MBD} + +subscription MovingBaselineData. + +Enable UAVCAN MovingBaselineData subscription. +ardupilot::gnss::MovingBaselineData + +| Reboot | minValue | maxValue | increment | default | unit | +| ------- | -------- | -------- | --------- | ------------ | ---- | +| ✓ | | | | Disabled (0) | + ### UAVCAN_SUB_RNG (`INT32`) {#UAVCAN_SUB_RNG} subscription range finder. diff --git a/docs/en/assembly/_assembly.md b/docs/en/assembly/_assembly.md index a704ce788a..b5082bedd1 100644 --- a/docs/en/assembly/_assembly.md +++ b/docs/en/assembly/_assembly.md @@ -284,7 +284,7 @@ A particular vehicle might have more/fewer motors and actuators, but the wiring The following sections explain each part in more detail. ::: tip -If you're using [DroneCAN ESC](../peripherals/esc_motors.md#dronecan) the control signals will be connected to the CAN BUS instead of the PWM outputs as shown. +If you're using [DroneCAN ESC](../dronecan/escs.md) the control signals will be connected to the CAN BUS instead of the PWM outputs as shown. ::: ### Flight Controller Power @@ -425,7 +425,6 @@ They recommend sensors, power systems, and other components from the same manufa - [Drone Components & Parts](../getting_started/px4_basic_concepts.md#drone-components-parts) (Basic Concepts) - [Payloads](../getting_started/px4_basic_concepts.md#payloads) (Basic Concepts) - [Hardware Selection & Setup](../hardware/drone_parts.md) — information about connecting and configuring specific flight controllers, sensors and other peripherals (e.g. airspeed sensor for planes). - - [Mounting the Flight Controller](../assembly/mount_and_orient_controller.md) - [Vibration Isolation](../assembly/vibration_isolation.md) - [Mounting a Compass](../assembly/mount_gps_compass.md) diff --git a/docs/en/config_mc/filter_tuning.md b/docs/en/config_mc/filter_tuning.md index 1add3a8f02..868c350d9c 100644 --- a/docs/en/config_mc/filter_tuning.md +++ b/docs/en/config_mc/filter_tuning.md @@ -70,7 +70,7 @@ Airframes with more than two frequency noise spikes typically clean the first tw Dynamic notch filters use ESC RPM feedback and/or the onboard FFT analysis. The ESC RPM feedback is used to track the rotor blade pass frequency and its harmonics, while the FFT analysis can be used to track a frequency of another vibration source, such as a fuel engine. -ESC RPM feedback requires ESCs capable of providing RPM feedback such as [DShot](../peripherals/esc_motors.md#dshot) with telemetry connected, a bidirectional DShot set up ([work in progress](https://github.com/PX4/PX4-Autopilot/pull/23863)), or [UAVCAN/DroneCAN ESCs](../dronecan/escs.md). +ESC RPM feedback requires ESCs capable of providing RPM feedback such as [DShot](../peripherals/dshot.md) with telemetry connected, a bidirectional DShot set up ([work in progress](https://github.com/PX4/PX4-Autopilot/pull/23863)), or [UAVCAN/DroneCAN ESCs](../dronecan/escs.md). Before enabling, make sure that the ESC RPM is correct. You might have to adjust the [pole count of the motors](../advanced_config/parameter_reference.md#MOT_POLE_COUNT). @@ -92,10 +92,10 @@ To reduce the control latency, we want to increase the cutoff frequency for the The effect on latency of increasing `IMU_GYRO_CUTOFF` is approximated below. | Cutoff (Hz) | Delay approx. (ms) | -| ------------ | ------------------ | -| 30 | 8 | -| 60 | 3.8 | -| 120 | 1.9 | +| ----------- | ------------------ | +| 30 | 8 | +| 60 | 3.8 | +| 120 | 1.9 | However this is a trade-off as increasing `IMU_GYRO_CUTOFF` will also increase the noise of the signal that is fed to the motors. Noise on the motors has the following consequences: diff --git a/docs/en/dronecan/escs.md b/docs/en/dronecan/escs.md index d65b854877..4b6eb3fafb 100644 --- a/docs/en/dronecan/escs.md +++ b/docs/en/dronecan/escs.md @@ -1,7 +1,14 @@ # DroneCAN ESCs PX4 supports DroneCAN compliant ESCs. -For more information, see the following articles for specific hardware/firmware: + +## Supported ESC + +:::info +[Supported ESCs](../peripherals/esc_motors#supported-esc) in _ESCs & Motors_ may include additional devices that are not listed below. +::: + +The following articles have specific hardware/firmware information: - [PX4 Sapog ESC Firmware](sapog.md) - [Holybro Kotleta 20](holybro_kotleta.md) diff --git a/docs/en/modules/modules_driver.md b/docs/en/modules/modules_driver.md index 9db2c26c0c..f4ebd987eb 100644 --- a/docs/en/modules/modules_driver.md +++ b/docs/en/modules/modules_driver.md @@ -15,38 +15,6 @@ Subcategories: - [Rpm Sensor](modules_driver_rpm_sensor.md) - [Transponder](modules_driver_transponder.md) -## MCP23009 - -Source: [drivers/gpio/mcp23009](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/gpio/mcp23009) - -### Usage {#MCP23009_usage} - -``` -MCP23009 [arguments...] - Commands: - start - [-I] Internal I2C bus(es) - [-X] External I2C bus(es) - [-b ] board-specific bus (default=all) (external SPI: n-th bus - (default=1)) - [-f ] bus frequency in kHz - [-q] quiet startup (no message if no device found) - [-a ] I2C address - default: 37 - [-D ] Direction - default: 0 - [-O ] Output - default: 0 - [-P ] Pullups - default: 0 - [-U ] Update Interval [ms] - default: 0 - - stop - - status print status info -``` - ## atxxxx Source: [drivers/osd/atxxxx](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/osd/atxxxx) @@ -749,6 +717,40 @@ lsm303agr [arguments...] status print status info ``` +## mcp230xx + +Source: [lib/drivers/mcp_common](https://github.com/PX4/PX4-Autopilot/tree/main/src/lib/drivers/mcp_common) + +### Usage {#mcp230xx_usage} + +``` +mcp230xx [arguments...] + Commands: + start + [-I] Internal I2C bus(es) + [-X] External I2C bus(es) + [-b ] board-specific bus (default=all) (external SPI: n-th bus + (default=1)) + [-f ] bus frequency in kHz + [-q] quiet startup (no message if no device found) + [-a ] I2C address + default: 39 + [-D ] Direction (1=Input, 0=Output) + default: 0 + [-O ] Output + default: 0 + [-P ] Pullups + default: 0 + [-U ] Update Interval [ms] + default: 0 + [-M ] First minor number + default: 0 + + stop + + status print status info +``` + ## mcp9808 Source: [drivers/temperature_sensor/mcp9808](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/temperature_sensor/mcp9808) @@ -899,8 +901,6 @@ fetching the latest mixing result and write them to PCA9685 at its scheduling ti It can do full 12bits output as duty-cycle mode, while also able to output precious pulse width that can be accepted by most ESCs and servos. -The I2C bus and address can be configured via parameters `PCA9685_EN_BUS` and `PCA9685_I2C_ADDR`, or via command line arguments. - ### Examples It is typically started with: diff --git a/docs/en/modules/modules_system.md b/docs/en/modules/modules_system.md index 57c36506d8..fe9b467cf6 100644 --- a/docs/en/modules/modules_system.md +++ b/docs/en/modules/modules_system.md @@ -127,6 +127,10 @@ commander [arguments...] check Run preflight checks + safety Change prearm safety state + on|off [on] to activate safety, [off] to deactivate safety and allow + control surface movements + arm [-f] Force arming (do not run preflight checks) diff --git a/docs/en/msg_docs/BatteryStatus.md b/docs/en/msg_docs/BatteryStatus.md index addd1ae524..ec2c19c59e 100644 --- a/docs/en/msg_docs/BatteryStatus.md +++ b/docs/en/msg_docs/BatteryStatus.md @@ -2,7 +2,7 @@ Battery status -Battery status information for up to 4 battery instances. +Battery status information for up to 3 battery instances. These are populated from power module and smart battery device drivers, and one battery updated from MAVLink. Battery instance information is also logged and streamed in MAVLink telemetry. @@ -11,7 +11,7 @@ Battery instance information is also logged and streamed in MAVLink telemetry. ```c # Battery status # -# Battery status information for up to 4 battery instances. +# Battery status information for up to 3 battery instances. # These are populated from power module and smart battery device drivers, and one battery updated from MAVLink. # Battery instance information is also logged and streamed in MAVLink telemetry. @@ -33,9 +33,9 @@ uint8 cell_count # [-] [@invalid 0] Number of cells uint8 source # [@enum SOURCE] Battery source -uint8 SOURCE_POWER_MODULE = 0 # Power module -uint8 SOURCE_EXTERNAL = 1 # External -uint8 SOURCE_ESCS = 2 # ESCs +uint8 SOURCE_POWER_MODULE = 0 # Power module (analog ADC or I2C power monitor) +uint8 SOURCE_EXTERNAL = 1 # External (MAVLink, CAN, or external driver) +uint8 SOURCE_ESCS = 2 # ESCs (via ESC telemetry) uint8 priority # [-] Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1 uint16 capacity # [mAh] Capacity of the battery when fully charged diff --git a/docs/en/msg_docs/BatteryStatusV0.md b/docs/en/msg_docs/BatteryStatusV0.md index 86500d17a6..cd900a1f17 100644 --- a/docs/en/msg_docs/BatteryStatusV0.md +++ b/docs/en/msg_docs/BatteryStatusV0.md @@ -32,9 +32,9 @@ uint8 cell_count # [@invalid 0] Number of cells uint8 source # [@enum SOURCE] Battery source -uint8 SOURCE_POWER_MODULE = 0 # Power module -uint8 SOURCE_EXTERNAL = 1 # External -uint8 SOURCE_ESCS = 2 # ESCs +uint8 SOURCE_POWER_MODULE = 0 # Power module (analog ADC or I2C power monitor) +uint8 SOURCE_EXTERNAL = 1 # External (MAVLink, CAN, or external driver) +uint8 SOURCE_ESCS = 2 # ESCs (via ESC telemetry) uint8 priority # Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1 uint16 capacity # [mAh] Capacity of the battery when fully charged diff --git a/docs/en/msg_docs/DeviceInformation.md b/docs/en/msg_docs/DeviceInformation.md new file mode 100644 index 0000000000..d415461f94 --- /dev/null +++ b/docs/en/msg_docs/DeviceInformation.md @@ -0,0 +1,45 @@ +# DeviceInformation (UORB message) + +Device information + +Can be used to uniquely associate a device_id from a sensor topic with a physical device using serial number. +as well as tracking of the used firmware versions on the devices. + +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DeviceInformation.msg) + +```c +# Device information +# +# Can be used to uniquely associate a device_id from a sensor topic with a physical device using serial number. +# as well as tracking of the used firmware versions on the devices. + +uint64 timestamp # time since system start (microseconds) + +uint8 device_type # [@enum DEVICE_TYPE] Type of the device. Matches MAVLink DEVICE_TYPE enum + +uint8 DEVICE_TYPE_GENERIC = 0 # Generic/unknown sensor +uint8 DEVICE_TYPE_AIRSPEED = 1 # Airspeed sensor +uint8 DEVICE_TYPE_ESC = 2 # ESC +uint8 DEVICE_TYPE_SERVO = 3 # Servo +uint8 DEVICE_TYPE_GPS = 4 # GPS +uint8 DEVICE_TYPE_MAGNETOMETER = 5 # Magnetometer +uint8 DEVICE_TYPE_PARACHUTE = 6 # Parachute +uint8 DEVICE_TYPE_RANGEFINDER = 7 # Rangefinder +uint8 DEVICE_TYPE_WINCH = 8 # Winch +uint8 DEVICE_TYPE_BAROMETER = 9 # Barometer +uint8 DEVICE_TYPE_OPTICAL_FLOW = 10 # Optical flow +uint8 DEVICE_TYPE_ACCELEROMETER = 11 # Accelerometer +uint8 DEVICE_TYPE_GYROSCOPE = 12 # Gyroscope +uint8 DEVICE_TYPE_DIFFERENTIAL_PRESSURE = 13 # Differential pressure +uint8 DEVICE_TYPE_BATTERY = 14 # Battery +uint8 DEVICE_TYPE_HYGROMETER = 15 # Hygrometer + +char[32] vendor_name # Name of the device vendor +char[32] model_name # Name of the device model + +uint32 device_id # [-] [@invalid 0 if not available] Unique device ID for the sensor. Does not change between power cycles. +char[24] firmware_version # [-] [@invalid empty if not available] Firmware version. +char[24] hardware_version # [-] [@invalid empty if not available] Hardware version. +char[33] serial_number # [-] [@invalid empty if not available] Device serial number or unique identifier. + +``` diff --git a/docs/en/msg_docs/EstimatorStatus.md b/docs/en/msg_docs/EstimatorStatus.md index 9c24221691..aca77484b9 100644 --- a/docs/en/msg_docs/EstimatorStatus.md +++ b/docs/en/msg_docs/EstimatorStatus.md @@ -21,6 +21,7 @@ uint8 GPS_CHECK_FAIL_MAX_VERT_DRIFT = 7 # 7 : maximum allowed vertical position uint8 GPS_CHECK_FAIL_MAX_HORZ_SPD_ERR = 8 # 8 : maximum allowed horizontal speed fail - requires stationary vehicle uint8 GPS_CHECK_FAIL_MAX_VERT_SPD_ERR = 9 # 9 : maximum allowed vertical velocity discrepancy fail uint8 GPS_CHECK_FAIL_SPOOFED = 10 # 10 : GPS signal is spoofed +uint8 GPS_CHECK_FAIL_JAMMED = 11 # 11 : GPS signal is jammed uint64 control_mode_flags # Bitmask to indicate EKF logic state uint8 CS_TILT_ALIGN = 0 # 0 - true if the filter tilt alignment is complete diff --git a/docs/en/msg_docs/GpioIn.md b/docs/en/msg_docs/GpioIn.md index 039ed02851..589e7d7841 100644 --- a/docs/en/msg_docs/GpioIn.md +++ b/docs/en/msg_docs/GpioIn.md @@ -6,6 +6,7 @@ GPIO mask and state ```c # GPIO mask and state +uint8 MAX_INSTANCES = 8 uint64 timestamp # time since system start (microseconds) uint32 device_id # Device id diff --git a/docs/en/msg_docs/GpsDump.md b/docs/en/msg_docs/GpsDump.md index 1f96901671..03910da906 100644 --- a/docs/en/msg_docs/GpsDump.md +++ b/docs/en/msg_docs/GpsDump.md @@ -9,11 +9,15 @@ This message is used to dump the raw gps communication to the log. uint64 timestamp # time since system start (microseconds) +uint8 INSTANCE_MAIN = 0 +uint8 INSTANCE_SECONDARY = 1 + uint8 instance # Instance of GNSS receiver +uint32 device_id uint8 len # length of data, MSB bit set = message to the gps device, # clear = message from the device uint8[79] data # data to write to the log -uint8 ORB_QUEUE_LENGTH = 8 +uint8 ORB_QUEUE_LENGTH = 16 ``` diff --git a/docs/en/msg_docs/VehicleCommand.md b/docs/en/msg_docs/VehicleCommand.md index 1b1b3ed658..225f680857 100644 --- a/docs/en/msg_docs/VehicleCommand.md +++ b/docs/en/msg_docs/VehicleCommand.md @@ -108,6 +108,7 @@ uint16 VEHICLE_CMD_LOGGING_START = 2510 # Start streaming ULog data. uint16 VEHICLE_CMD_LOGGING_STOP = 2511 # Stop streaming ULog data. uint16 VEHICLE_CMD_CONTROL_HIGH_LATENCY = 2600 # Control starting/stopping transmitting data over the high latency link. uint16 VEHICLE_CMD_DO_VTOL_TRANSITION = 3000 # Command VTOL transition. +uint16 VEHICLE_CMD_DO_SET_SAFETY_SWITCH_STATE = 5300 # Command safety on/off. |1 to activate safety, 0 to deactivate safety and allow control surface movements|Unused|Unused|Unused|Unused|Unused|Unused| uint16 VEHICLE_CMD_ARM_AUTHORIZATION_REQUEST = 3001 # Request arm authorization. uint16 VEHICLE_CMD_PAYLOAD_PREPARE_DEPLOY = 30001 # Prepare a payload deployment in the flight plan. uint16 VEHICLE_CMD_PAYLOAD_CONTROL_DEPLOY = 30002 # Control a pre-programmed payload deployment. @@ -187,6 +188,10 @@ int8 ARMING_ACTION_ARM = 1 uint8 GRIPPER_ACTION_RELEASE = 0 uint8 GRIPPER_ACTION_GRAB = 1 +# Used as param1 in DO_SET_SAFETY_SWITCH_STATE command. +uint8 SAFETY_OFF = 0 +uint8 SAFETY_ON = 1 + uint8 ORB_QUEUE_LENGTH = 8 float32 param1 # Parameter 1, as defined by MAVLink uint16 VEHICLE_CMD enum. diff --git a/docs/en/msg_docs/index.md b/docs/en/msg_docs/index.md index ed723276e8..359abfc67f 100644 --- a/docs/en/msg_docs/index.md +++ b/docs/en/msg_docs/index.md @@ -105,6 +105,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [DebugKeyValue](DebugKeyValue.md) - [DebugValue](DebugValue.md) - [DebugVect](DebugVect.md) +- [DeviceInformation](DeviceInformation.md) — Device information - [DifferentialPressure](DifferentialPressure.md) — Differential-pressure (airspeed) sensor - [DistanceSensor](DistanceSensor.md) — DISTANCE_SENSOR message data - [DistanceSensorModeChangeRequest](DistanceSensorModeChangeRequest.md) diff --git a/docs/en/peripherals/dshot.md b/docs/en/peripherals/dshot.md index fdd986e06a..2030946d1a 100644 --- a/docs/en/peripherals/dshot.md +++ b/docs/en/peripherals/dshot.md @@ -11,6 +11,10 @@ DShot is an alternative ESC protocol that has several advantages over [PWM](../p This topic shows how to connect and configure DShot ESCs. +## Supported ESC + +[ESCs & Motors > Supported ESCs](../peripherals/esc_motors#supported-esc) has a list of supported ESC (check "Protocols" column for DShot ESC). + ## Wiring/Connections {#wiring} DShot ESC are wired the same way as [PWM ESCs](pwm_escs_and_servo.md). @@ -76,7 +80,6 @@ The most important ones are: ``` - Permanently set the spin direction of a motor connected to FMU output pin 1 (while motors are _not_ spinning): - - Set spin direction to `reversed`: ```sh @@ -104,7 +107,6 @@ The most important ones are: ``` ::: info - - The commands will have no effect if the motors are spinning, or if the ESC is already set to the corresponding direction. - The ESC will revert to its last saved direction (normal or reversed) on reboot if `save` is not called after changing the direction. diff --git a/docs/en/peripherals/esc_motors.md b/docs/en/peripherals/esc_motors.md index 5badeebd3a..77a02eba5b 100644 --- a/docs/en/peripherals/esc_motors.md +++ b/docs/en/peripherals/esc_motors.md @@ -9,13 +9,14 @@ PX4 supports a number of [common protocols](../esc/esc_protocols.md) for sending The following list is non-exhaustive. -| ESC Device | Protocols | Firmwares | Notes | -| ---------------------------- | ------------------------------------ | ------------------------ | ----------------------------------------------------- | -| [ARK 4IN1 ESC] | [Dshot], [PWM] | [AM32] | Has versions with/without connnectors | -| [Holybro Kotleta 20] | [DroneCAN], [PWM] | [PX4 Sapog ESC Firmware] | | -| [Vertiq Motor & ESC modules] | [Dshot], [OneShot], Multishot, [PWM] | Vertiq firmware | Larger modules support DroneCAN, ESC and Motor in one | -| [VESC ESCs] | [DroneCAN], [PWM] | VESC project firmware | | -| [Zubax Telega] | [DroneCAN], [PWM] | Telega-based | ESC and Motor in one | +| ESC Device | Protocols | Firmwares | Notes | +| ------------------------------ | ------------------------------------ | ------------------------ | ----------------------------------------------------- | +| [ARK 4IN1 ESC] | [Dshot], [PWM] | [AM32] | Has versions with/without connnectors | +| [Holybro Kotleta 20] | [DroneCAN], [PWM] | [PX4 Sapog ESC Firmware] | | +| [Vertiq Motor & ESC modules] | [Dshot], [OneShot], Multishot, [PWM] | Vertiq firmware | Larger modules support DroneCAN, ESC and Motor in one | +| [RaccoonLab CAN PWM ESC nodes] | [DroneCAN], Cyphal | | Cyphal and DroneCAN notes for PWM ESC | +| [VESC ESCs] | [DroneCAN], [PWM] | VESC project firmware | | +| [Zubax Telega] | [DroneCAN], [PWM] | Telega-based | ESC and Motor in one | @@ -29,6 +30,7 @@ The following list is non-exhaustive. [PWM]: ../peripherals/pwm_escs_and_servo.md [Holybro Kotleta 20]: ../dronecan/holybro_kotleta.md [Vertiq Motor & ESC modules]: ../peripherals/vertiq.md +[RaccoonLab CAN PWM nodes]: ../dronecan/raccoonlab_nodes.md [Zubax Telega]: ../dronecan/zubax_telega.md ## See Also