New Crowdin translations - zh-CN (#25590)

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

docs/zh/dronecan/ark_rtk_gps.md

@@ -27,7 +27,7 @@ Order this module from:
 - Safety Button
 - 蜂鸣器
 - Two Pixhawk Standard CAN Connectors (4 Pin JST GH)
-- F9P “UART 2” Connector
+- F9P `UART 2` Connector
   - 3 Pin JST GH
   - TX, RX, GND
 - Pixhawk Standard Debug Connector (6 Pin JST SH)
@@ -87,6 +87,25 @@ You need to set necessary [DroneCAN](index.md) parameters and define offsets if
 - The parameters [EKF2_GPS_POS_X](../advanced_config/parameter_reference.md#EKF2_GPS_POS_X), [EKF2_GPS_POS_Y](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Y) and [EKF2_GPS_POS_Z](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Z) can be set to account for the offset of the ARK RTK GPS from the vehicles centre of gravity.
 - Set [CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) to `1` on the GPS if this it that last node on the CAN bus.
 
+### Setting Up Rover and Fixed Base
+
+Position of the rover is established using RTCM messages from the RTK base module (the base module is connected to QGC, which sends the RTCM information to PX4 via MAVLink).
+
+PX4 DroneCAN parameters:
+
+- [UAVCAN_PUB_RTCM](../advanced_config/parameter_reference.md#UAVCAN_PUB_RTCM):
+  - Makes PX4 publish RTCM messages ([RTCMStream](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#rtcmstream)) to the bus (which it gets from the RTK base module via QGC).
+
+Rover module parameters (also [set using QGC](../dronecan/index.md#qgc-cannode-parameter-configuration)):
+
+- [CANNODE_SUB_RTCM](../advanced_config/parameter_reference.md#CANNODE_SUB_RTCM) tells the rover that it should subscribe to [RTCMStream](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#rtcmstream) RTCM messages on the bus (from the moving base).
+
+:::info
+Use [UAVCAN_PUB_MBD](../advanced_config/parameter_reference.md#UAVCAN_PUB_MBD) and [CANNODE_SUB_MBD](../advanced_config/parameter_reference.md#CANNODE_SUB_MBD) instead if you want to implement moving base (see below) at the same time.
+:::
+
+For more information see [Rover and Fixed Base](../dronecan/index.md#rover-and-fixed-base) in the DroneCAN guide.
+
 ### Setting Up Moving Baseline & GPS Heading
 
 The simplest way to set up moving baseline and GPS heading with two ARK RTK GPS modules is via CAN, though it can be done via UART to reduce traffic on the CAN bus if desired.
@@ -128,10 +147,11 @@ Setup via UART:
 - On the _Moving Base_, set the following:
   - [GPS_UBX_MODE](../advanced_config/parameter_reference.md#GPS_UBX_MODE) to `2`.
 
+For more information see [Rover and Moving Base](../dronecan/index.md#rover-and-moving-base) in the DroneCAN guide.
+
 ## LED含义
 
 - The GPS status lights are located to the right of the connectors
-
   - Blinking green is GPS fix
   - Blinking blue is received corrections and RTK Float
   - Solid blue is RTK Fixed

docs/zh/dronecan/escs.md

@@ -9,3 +9,18 @@ For more information, see the following articles for specific hardware/firmware:
 - [Vertiq](../peripherals/vertiq.md) (larger modules)
 - [VESC Project](../peripherals/vesc.md)
 - [RaccoonLab Cyphal and DroneCAN PWM nodes](raccoonlab_nodes.md)
+
+## 硬件配置
+
+General DroneCAN hardware configuration is covered in [DroneCAN > Hardware Setup](../dronecan/index.md#hardware-setup).
+
+DroneCAN ESCs should be on their own dedicated CAN interface(s) because ESC messages can saturate the bus and starve other nodes of bandwidth.
+
+## PX4 配置
+
+DroneCAN peripherals are configured by following the procedure outlined in [DroneCAN](../dronecan/index.md).
+
+In addition to the general setup, such as setting `UAVCAN_ENABLE` to `3`:
+
+- 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).
+- Configure the [motor order and servo outputs](../config/actuators.md).

docs/zh/dronecan/index.md

@@ -276,6 +276,9 @@ PX4 DroneCAN parameters:
 
 [DroneCAN ESCs and servos](../dronecan/escs.md) require the [motor order and servo outputs](../config/actuators.md) to be configured.
 
+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.
+
 ## 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.
@@ -313,7 +316,10 @@ If successful, the firmware binary will be removed from the root directory and t
 
 **Q**: The motors aren't spinning when armed.
 
-**A**: Make sure `UAVCAN_ENABLE` is set to `3` to enable DroneCAN ESC output.
+**A**:
+
+- Make sure `UAVCAN_ENABLE` is set to `3` to enable DroneCAN ESC output.
+- Make sure `UAVCAN_ESC_IFACE` is set to enable the CAN interface(s) used for ESCs.
 
 ---