New Crowdin translations - zh-CN (#26148)

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docs/zh/esc/ark_4in1_esc.md

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+# ARK 4IN1 ESC (with/without Connectors)
+
+4 in 1 Electronic Speed Controller (ESC) that is made in the USA, NDAA compliant, and DIU Blue Framework listed.
+
+The ESC comes in variants without connectors that you can solder in place, and a variant that has built-in motor and battery connectors (no soldering required).
+
+![ARK 4IN1 ESC without connectors ](../../assets/hardware/esc/ark/ark_4_in_1_esc.jpg)![ARK 4IN1 ESC with connectors](../../assets/hardware/esc/ark/ark_4_in_1_esc_with_connectors.jpg)
+
+## 购买渠道
+
+Order this module from:
+
+- [4IN1 ESC (with connectors)](https://arkelectron.com/product/ark-4in1-esc/) (ARK Electronics - US)
+- [ARK Electronics (without connectors)](https://arkelectron.com/product/ark-4in1-esc-cons/) (ARK Electronics US)
+
+## Hardware Specifications
+
+- Battery Voltage: 3-8s
+  - 6V Minimum
+  - 65V Absolute Maximum
+
+- Current Rating: 50A Continuous, 75A Burst Per Motor
+
+- [STM32F0](https://www.st.com/en/microcontrollers-microprocessors/stm32f0-series.html)
+
+- [AM32 Firmware](https://github.com/am32-firmware/AM32/pull/27)
+
+- Onboard Current Sensor, Serial Telemetry
+  - 100V/A
+
+- Input Protocols
+  - DShot (300, 600)
+  - Bi-directional DShot
+  - KISS Serial Telemetry
+  - PWM
+
+- 8 Pin JST-SH Input/Output
+
+- 10 Pin JST-SH Debug
+
+- Motor & Battery Connectors (with-connector version)
+
+  - MR30 Connector Limit Per Motor: 30A Continuous, 40A Burst
+  - Four MR30 Motor Connectors
+
+- Dimensions (with connectors)
+
+  - Size: 77.00mm x 42.00mm x 9.43mm
+  - Mounting Pattern: 30.5mm
+  - Weight: 24g
+
+- Dimensions (without connectors)
+  - Size: 43.00mm x 40.50mm x 7.60mm
+  - Mounting Pattern: 30.5mm
+  - Weight: 14.5g
+
+Other
+
+- Made in the USA
+- Open source AM32 firmware
+- [DIU Blue Framework Listed](https://www.diu.mil/blue-uas/framework)
+
+## 另见
+
+- [ARK 4IN1 ESC CONS](https://docs.arkelectron.com/electronic-speed-controller/ark-4in1-esc) (ARK Docs)

docs/zh/esc/esc_protocols.md

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+# ESC Protocols
+
+This topic lists the main [Electronic Speed Controller (ESC)](../peripherals/esc_motors.md) protocols supported by PX4.
+
+## DShot
+
+[DShot](../peripherals/dshot.md) is a digital ESC protocol that is highly recommended for vehicles that can benefit from reduced latency, in particular racing multicopters, VTOL vehicles, and so on.
+
+It has reduced latency and is more robust than both [PWM](#pwm) and [OneShot](#oneshot-125).
+In addition it does not require ESC calibration, telemetry is available from some ESCs, and you can reverse motor spin directions.
+
+PX4 configuration is done in the [Actuator Configuration](../config/actuators.md).
+Selecting a higher rate DShot ESC in the UI results in lower latency, but lower rates are more robust (and hence more suitable for large aircraft with longer leads); some ESCs only support lower rates (see datasheets for information).
+
+Setup:
+
+- [ESC Wiring](../peripherals/pwm_escs_and_servo.md) (same as for PWM ESCs)
+- [DShot](../peripherals/dshot.md) also contains information about how to send commands etc.
+
+## DroneCAN
+
+[DroneCAN ESCs](../dronecan/escs.md) are recommended when DroneCAN is the primary bus used for your vehicle.
+The PX4 implementation is currently limited to update rates of 200 Hz.
+
+DroneCAN shares many similar benefits to [DShot](#dshot) including high data rates, robust connection over long leads, telemetry feedback, no need for calibration of the ESC itself.
+
+[DroneCAN ESCs](../dronecan/escs.md) are connected via the DroneCAN bus (setup and configuration are covered at that link).
+
+## PWM
+
+[PWM ESCs](../peripherals/pwm_escs_and_servo.md) are commonly used for fixed-wing vehicles and ground vehicles (vehicles that require a lower latency like multicopters typically use oneshot or dshot ESCs).
+
+PWM ESCs communicate using a periodic pulse, where the _width_ of the pulse indicates the desired speed.
+The pulse width typically ranges between 1000 μs for zero power and 2000 μs for full power.
+The periodic frame rate of the signal depends on the capability of the ESC, and commonly ranges between 50 Hz and 490 Hz (the theoretical maximum being 500 Hz for a very small "off" cycle).
+A higher rate is better for ESCs, in particular where a rapid response to setpoint changes is needed.
+For PWM servos 50 Hz is usually sufficient, and many don't support higher rates.
+
+![duty cycle for PWM](../../assets/peripherals/esc_pwm_duty_cycle.png)
+
+In addition to being a relatively slow protocol PWM ESCs require [calibration](../advanced_config/esc_calibration.md) because the pulse widths representing low and high values can vary significantly.
+Unlike [DShot](#dshot) and [DroneCAN ESC](#dronecan) they do not have the ability to provide telemetry and feedback on ESC (or servo) state.
+
+Setup:
+
+- [ESC Wiring](../peripherals/pwm_escs_and_servo.md)
+- [PX4 Configuration](../peripherals/pwm_escs_and_servo.md#px4-configuration)
+- [ESC Calibration](../advanced_config/esc_calibration.md)
+
+## OneShot 125
+
+[OneShot 125 ESCs](../peripherals/oneshot.md) are usually much faster than PWM ESCs, and hence more responsive and easier to tune.
+They are preferred over PWM for multicopters (but not as much as [DShot ESCs](#dshot), which do not require calibration, and may provide telemetry feedback).
+There are a number of variants of the OneShot protocol, which support different rates.
+PX4 only supports OneShot 125.
+
+OneShot 125 is the same as PWM but uses pulse widths that are 8 times shorter (from 125 μs to 250 μs for zero to full power).
+This allows OneShot 125 ESCs to have a much shorter duty cycle/higher rate.
+For PWM the theoretical maximum is close to 500 Hz while for OneShot it approaches 4 kHz.
+The actual supported rate depends on the ESC used.
+
+Setup:
+
+- [ESC Wiring](../peripherals/pwm_escs_and_servo.md) (same as for PWM ESCs)
+- [PX4 Configuration](../peripherals/oneshot.md#px4-configuration)
+- [ESC Calibration](../advanced_config/esc_calibration.md)