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* Add vitepress tree * Update existing workflows so they dont trigger on changes in the docs path * Add nojekyll, package.json, LICENCE etc * Add crowdin docs upload/download scripts * Add docs flaw checker workflows * Used docs prefix for docs workflows * Crowdin obvious fixes * ci: docs move to self hosted runner runs on a beefy server for faster builds Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: don't run build action for docs or ci changes Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: update runners Signed-off-by: Ramon Roche <mrpollo@gmail.com> * Add docs/en * Add docs assets and scripts * Fix up editlinks to point to PX4 sources * Download just the translations that are supported * Add translation sources for zh, uk, ko * Update latest tranlsation and uorb graphs * update vitepress to latest --------- Signed-off-by: Ramon Roche <mrpollo@gmail.com> Co-authored-by: Ramon Roche <mrpollo@gmail.com>
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RaccoonLab Mini/Micro Nodes
Mini/Micro are general purpose CAN nodes. The functionality of these devices depends on the firmware they are running. The default and most popular usage is as a PWM-CAN adapter to control ESCs and servos using CAN (Cyphal or DroneCAN) communication:
- Micro is the smallest node with 2 groups of pins (PWM/5V/GND) to control 2 servos or ESCs.
- Mini v2: Features 2 x PWM/5V/GND for controlling servos or ESCs and 2 x PWM/FB/GND for controlling and receiving feedback from ESCs via UART.
Cyphal/DroneCAN CAN-PWM Adapter Firmware
Cyphal/DroneCAN CAN-PWM firmwares are the default for Mini and Micro nodes. These convert a typical PX4 CAN setpoint to PWM for controlling ESCs or servos.
Please refer to the corresponding RaccoonLab docs pages for details: Cyphal/CAN-PWM, DroneCAN-PWM.
Cyphal & DroneCAN Rangefinder Firmware
The Cyphal & DroneCAN Rangefinder firmware is a single firmware that can work in either Cyphal or DroneCAN mode. It supports LW20/I2C, Garmin Lite v3/I2C and TL-Luna/UART lidars. For details, please check the Rangefinder page.
DroneCAN Fuel Sensor Firmware
DroneCAN fuel tank firmware is based on the AS5600 sensor board. Please refer to DroneCAN Fuel Tank for details.
DroneCAN Servo Gripper Firmware
DroneCAN servo gripper is part of a Mini Node Template Application. Please refer to DroneCAN Servo Gripper for details.
Custom Firmware
Custom firmware can be developed by anyone. If you require custom features, you can use the Mini Node Template Application. You can configure the external pins to work in UART, I2C or ADC mode. From the box, it supports basic Cyphal/DroneCAN features. It has publishers and subscribers as an example.
Which node to choose?
The differences between Mini v2 and Micro are summarized in the table below. For more details, please refer to the corresponding pages.
| Mini v2 | Micro | ||
|---|---|---|---|
| Image |  |
 |
|
| 1 | Input voltage | 5.5V – 30V | 4.5V – 5.5V |
| 2 | DC-DC | Yes | No |
| 3 | Groups of pins | - PWM+5V+GND x2 - PWM+FB+GND x2 |
- PWM+5V+GND x2 |
| 4 | CAN connectors | - UCANPHY Micro x2 - 6-pin Molex x2 |
- UCANPHY Micro x2 |
| 5 | SWD interface | + | + |
| 6 | Size, LxWxH, mm | 42x35x12 | 20x10x5 |
| 7 | Mass, g | 5 | 3 |