Raccoonlab devices (#3295)

* Add descriptions for supported RaccoonLab devices:
- manufacturer-supported FMUv6X Autopilot;
- magnetometer module;
- airspeed sensor;
- barometers;
- rangefinders;
- GNSS modules;
- PWM-ESC adapters and general-purpose DroneCAN and Cyphal/CAN nodes;
- DroneCAN power modules

* Add RaccoonLab nodes, autopilot and power modules pages to SUMMARY.md

* Shrink images

* FC subedit

* Gnss subedit

* rtk/mag subedit (table tidy)

* Only add redirects if you need the link or to redirect

* Rangefinder subedit

* minor updates to pm and dronecan

* RTK fix - linkchecker fail on anchor so revert otherwise good changes

* FC is pixhawk standard

---------

Co-authored-by: Roman Fedorenko <[email protected]>

en/SUMMARY.md

@@ -143,6 +143,7 @@
       - [Holybro Pixhawk 6X-RT (FMUv6X-RT)](flight_controller/pixhawk6x-rt.md)
       - [Holybro Pixhawk 6X (FMUv6X)](flight_controller/pixhawk6x.md)
         - [Wiring Quickstart](assembly/quick_start_pixhawk6x.md)
+      - [RaccoonLab FMU6x](flight_controller/raccoonlab_fmu6x.md)
       - [Holybro Pixhawk 6C (FMUv6C)](flight_controller/pixhawk6c.md)
         - [Wiring Quickstart](assembly/quick_start_pixhawk6c.md)
       - [Holybro Pixhawk 6C Mini(FMUv6C)](flight_controller/pixhawk6c_mini.md)
@@ -322,6 +323,7 @@
       - [Holybro PM02D (digital)](power_module/holybro_pm02d.md)
       - [Holybro PM03D (digital)](power_module/holybro_pm03d.md)
       - [Pomegranate Systems Power Module](dronecan/pomegranate_systems_pm.md)
+      - [RaccoonLab Power Modules](dronecan/raccoonlab_power.md)
       - [Sky-Drones SmartAP PDB](power_module/sky-drones_smartap-pdb.md)
     - [Smart/MAVLink Batteries](smart_batteries/index.md)
       - [Rotoye Batmon Battery Smartification Kit](smart_batteries/rotoye_batmon.md)
@@ -347,6 +349,7 @@
   - [DroneCAN Peripherals](dronecan/index.md)
     - [PX4 DroneCAN Firmware](dronecan/px4_cannode_fw.md)
     - [ARK CANnode](dronecan/ark_cannode.md)
+    - [RaccoonLab CAN Nodes](dronecan/raccoonlab_nodes.md)
   - [Cable Wiring](assembly/cable_wiring.md)
   - [Companion Computers](companion_computer/index.md)
     - [Pixhawk + Companion Setup](companion_computer/pixhawk_companion.md)

en/advanced_config/ethernet_setup.md

@@ -28,6 +28,7 @@ Supported flight controllers include:
 - [CUAV Pixhawk V6X](../flight_controller/cuav_pixhawk_v6x.md)
 - [Holybro Pixhawk 5X](../flight_controller/pixhawk5x.md)
 - [Holybro Pixhawk 6X](../flight_controller/pixhawk6x.md)
+- [RaccoonLab FMUv6X Autopilot](../flight_controller/raccoonlab_fmu6x.md)
 
 ## Setting up the Ethernet Network
 

en/dronecan/escs.md

@@ -9,3 +9,4 @@ For more information, see the following articles for specific hardware/firmware:
 - [Zubax Telega](zubax_telega.md)
 - [Vertiq](../peripherals/vertiq.md) (larger modules)
 - [VESC Project](../peripherals/vesc.md)
+- [RaccoonLab Cyphal and DroneCAN PWM nodes](raccoonlab_nodes.md)

en/dronecan/raccoonlab_nodes.md

@@ -0,0 +1,67 @@
+# 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](https://docs.raccoonlab.co/guide/can_pwm/cyphal.html), [DroneCAN-PWM](https://docs.raccoonlab.co/guide/can_pwm/dronecan.html).
+
+![Mini v2 Node with Servo and ESC](../../assets/hardware/can_nodes/raccoonlab_mini_v2_with_servo.png)
+
+## 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](https://docs.raccoonlab.co/guide/can_pwm/rangefinder.html) page.
+
+![Mini v2 Node with servo and ESC](../../assets/hardware/can_nodes/raccoonlab_mini_v2_lw20_i2c.png)
+
+## DroneCAN Fuel Sensor Firmware
+
+_DroneCAN fuel tank_ firmware is based on the [AS5600 sensor board](https://docs.raccoonlab.co/guide/as5600/).
+Please refer to [DroneCAN Fuel Tank](https://docs.raccoonlab.co/guide/can_pwm/fuel_tank.html) for details.
+
+## DroneCAN Servo Gripper Firmware
+
+_DroneCAN servo gripper_ is part of a [Mini Node Template Application](https://github.com/RaccoonlabDev/mini_v2_node).
+Please refer to [DroneCAN Servo Gripper](https://docs.raccoonlab.co/guide/can_pwm/servo_gripper.html) for details.
+
+## Custom Firmware
+
+**Custom firmware** can be developed by anyone.
+If you require custom features, you can use the [Mini Node Template Application](https://github.com/RaccoonlabDev/mini_v2_node).
+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](https://docs.raccoonlab.co/guide/can_pwm/can_pwm_mini_v2.html) and [Micro](https://docs.raccoonlab.co/guide/can_pwm/can_pwm_micro.html) are summarized in the table below.
+For more details, please refer to the corresponding pages.
+
+|     |                 | Mini v2                                   | Micro                                |
+| --- | --------------- | ----------------------------------------- | ------------------------------------ |
+|     | Image           | ![RaccoonLab Mini v2 Node][Mini v2 Node]  | ![RaccoonLab Micro Node][Micro Node] |
+| 1   | Input voltage   | 5.5V – 30V                                | 4.5V – 5.5V                          |
+| 2   | DC-DC           | Yes                                       | No                                   |
+| 3   | Groups of pins  | - PWM+5V+GND x2 </br> - PWM+FB+GND x2     | - PWM+5V+GND x2                      |
+| 4   | CAN connectors  | - UCANPHY Micro x2 </br> - 6-pin Molex x2 | - UCANPHY Micro x2                   |
+| 5   | SWD interface   | +                                         | +                                    |
+| 6   | Size, LxWxH, mm | 42x35x12                                  | 20x10x5                              |
+| 7   | Mass, g         | 5                                         | 3                                    |
+
+[Mini v2 Node]: ../../assets/hardware/can_nodes/raccoonlab_mini_node.png
+[Micro Node]: ../../assets/hardware/can_nodes/raccoonlab_micro_node.png
+
+## Where to Buy
+
+[RaccoonLab Store](https://raccoonlab.co/store)
+
+[Cyphal store](https://cyphal.store/search?q=raccoonlab)

en/dronecan/raccoonlab_power.md

@@ -0,0 +1,41 @@
+# RaccoonLab Power Connectors and Management Units
+
+## CAN Power Connectors
+
+CAN power connectors are designed for light unmanned aerial (UAV) and other vehicles for providing power over CAN using [CAN power cables](https://docs.raccoonlab.co/guide/pmu/wires/).
+
+There are two types of devices:
+
+1. `CAN-MUX` devices provide power from XT30 connector to CAN.
+   There are 2 variation of this type of the device with different number of connectors.
+2. `Power connector node` is designed to pass current (up to 60A) to power load and CAN, measure voltage and current on load.
+   It behaves as Cyphal/DroneCAN node.
+
+Please refer to the RaccoonLab docs [CAN Power Connectors](https://docs.raccoonlab.co/guide/pmu/power/) page.
+
+**Connection example diagram**
+
+Here are the examples:
+
+- The first shows how to use both external high voltage power and 5V CAN power for different nodes with MUX.
+  The [NODE](raccoonlab_nodes.md) (the large one in the left diagram) is connected to a high-voltage power source (here 30 V).
+  In this case, the [uNODE](raccoonlab_nodes.md) (smaller one on the left schematic) is powered directly from the autopilot.
+- The second example shows how to connect multiple [uNODEs](raccoonlab_nodes.md) that are powered by the autopilot (5V).
+  If these nodes are powered from a separate DCDC, that DCDC should also be connected to one of these connectors.
+
+![RaccoonLab CAN Power Connector Example Diagram](../../assets/hardware/power_module/raccoonlab_can/raccoonlab_power_connector_example.png)
+
+## Power Management Unit
+
+![raccoonlab pmu ](../../assets/hardware/power_module/raccoonlab_can/raccoonlab_pmu.jpg)
+
+This board monitors the battery (voltage and current) and allows control over charging, source and load using he DroneCAN interface.
+It might be useful for applications where you need to control the power of the drone including the board computer and charging process.
+
+Please refer to the RaccoonLab docs [Power & Connectivity](https://docs.raccoonlab.co/guide/pmu/) page.
+
+## Where to Buy
+
+[RaccoonLab Store](https://raccoonlab.co/store)
+
+[Cyphal store](https://cyphal.store/search?q=raccoonlab)

en/flight_controller/autopilot_pixhawk_standard.md

@@ -13,6 +13,7 @@ The boards in this category are:
 - [Holybro Pixhawk 6X-RT](../flight_controller/pixhawk6x-rt.md) (FMUv6X)
 - [CUAV Pixahwk V6X](../flight_controller/cuav_pixhawk_v6x.md) (FMUv6X)
 - [Holybro Pixhawk 6X](../flight_controller/pixhawk6x.md) (FMUv6X)
+- [RaccoonLab FMUv6X Autopilot](../flight_controller/raccoonlab_fmu6x.md) (FMUv6X)
 - [Holybro Pixhawk 6C](../flight_controller/pixhawk6c.md) (FMUv6C)
 - [Holybro Pixhawk 6C Mini](../flight_controller/pixhawk6c_mini.md) (FMUv6C)
 - [Holybro Pix32 v6](../flight_controller/holybro_pix32_v6.md) (FMUv6C)

en/flight_controller/index.md

@@ -33,6 +33,7 @@ There are other compatible flight controllers and variants, including those [doc
   - [Holybro pix32 v6 (FMUv6C)](../flight_controller/holybro_pix32_v6.md)
   - [mRo Pixracer (FMUv4)](../flight_controller/pixracer.md)
   - [mRo Pixhawk (FMUv2)](../flight_controller/mro_pixhawk.md)
+  - [RaccoonLab FMUv6X Autopilot (FMUv6X)](../flight_controller/raccoonlab_fmu6x.md)
 - [Manufacturer-Supported Autopilots](../flight_controller/autopilot_manufacturer_supported.md)
   - [AIRLink](../flight_controller/airlink.md)
   - [AirMind MindPX](../flight_controller/mindpx.md)

en/flight_controller/raccoonlab_fmu6x.md

@@ -0,0 +1,162 @@
+# RaccoonLab FMUv6X Autopilot
+
+:::warning
+PX4 does not manufacture this (or any) autopilot.
+Contact the [manufacturer](https://raccoonlab.co) for hardware support or compliance issues.
+:::
+
+The [RaccoonLab FMUv6X](https://docs.raccoonlab.co/guide/autopilot/RCLv6X.html) flight controller is based on the following Pixhawk​® standards: [Pixhawk Autopilot FMUv6X Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-012%20Pixhawk%20Autopilot%20v6X%20Standard.pdf), [Autopilot Bus Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-010%20Pixhawk%20Autopilot%20Bus%20Standard.pdf), and [Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf).
+
+Equipped with a high-performance H7 Processor, modular design, triple redundancy, temperature-controlled IMU board, and isolated sensor domains, it delivers exceptional performance, reliability, and flexibility.
+At RaccoonLab, we focus on DroneCAN and Cyphal-based onboard control system buses.
+Our autopilot is part of a larger DroneCAN and Cyphal ecosystem, making it an ideal choice for next-generation intelligent vehicles.
+
+![RaccoonLab FMUv6X](../../assets/flight_controller/raccoonlab/fmuv6x.png)
+
+RaccoonLab offers versatile HATs for both Raspberry Pi and NVIDIA Jetson Xavier NX, enhancing connectivity and functionality.
+The [Jetson Xavier NX HAT](https://docs.raccoonlab.co/guide/nx_hat/) is designed to integrate the CAN bus with the Jetson Xavier NX, enabling access to Cyphal and DroneCAN protocols.
+The [Raspberry Pi CM4 HAT](https://docs.raccoonlab.co/guide/rpi_hat/) provides robust features, including CAN bus connectivity, an LTE modem, internal voltage measurement, SWD debugging for other MCUs, and UART communication with PX4 over MAVLINK.
+These HATs expand the capabilities of devices, making them ideal for advanced robotics and UAV applications.
+
+:::tip
+This autopilot is [supported](../flight_controller/autopilot_pixhawk_standard.md) by the PX4 maintenance and test teams.
+:::
+
+## Key Design Points
+
+- High performance STM32H753 Processor
+- Modular flight controller: separated IMU, FMU, and Base system connected by a 100-pin & a 50-pin Pixhawk Autopilot Bus connector.
+- Redundancy: 3x IMU sensors & 2x Barometer sensors on separate buses
+- Triple redundancy domains: Completely isolated sensor domains with separate buses and separate power control
+- Newly designed vibration isolation system to filter out high frequency vibration and reduce noise to ensure accurate readings
+- Ethernet interface for high-speed mission computer integration
+
+## Processors & Sensors
+
+- FMU Processor: STM32H753
+  - 32 Bit Arm Cortex-M7, 480MHz, 2MB flash memory, 1MB RAM
+- IO Processor: STM32F100
+  - 32 Bit Arm Cortex-M3, 24MHz, 8KB SRAM
+- On-board sensors
+  - Accel/Gyro: ICM-20649 or BMI088
+  - Accel/Gyro: ICM-42688-P
+  - Accel/Gyro: ICM-42670-P
+  - Mag: BMM150
+  - Barometer: 2x BMP388
+
+## Electrical data
+
+- Voltage Ratings:
+  - Max input voltage: 36V
+  - USB Power Input: 4.75\~5.25V
+  - Servo Rail Input: 0\~36V
+- Current Ratings:
+  - `TELEM1` output current limiter: 1.5A
+  - All other port combined output current limiter: 1.5A
+
+## Mechanical data
+
+- Dimensions
+  - Flight Controller Module: 38.8 x 31.8 x 14.6mm
+  - Standard Baseboard: 52.4 x 103.4 x 16.7mm
+  - Mini Baseboard: 43.4 x 72.8 x 14.2 mm
+- Weight
+  - Flight Controller Module: 23g
+  - Standard Baseboard: 51g
+  - Mini Baseboard: 26.5g
+
+3D model can be downloaded on [GrabCAD](https://grabcad.com/library/raccoonlab-autopilot-1).
+
+![RaccoonLab FMUv6X drawings](../../assets/flight_controller/raccoonlab/fmuv6x-drw.png)
+
+## Interfaces
+
+- 16- PWM servo outputs
+- R/C input for Spektrum / DSM
+- Dedicated R/C input for PPM and S.Bus input
+- Dedicated analog / PWM RSSI input and S.Bus output
+- 4 general purpose serial ports
+  - 3 with full flow control
+  - 1 with separate 1.5A current limit (`TELEM1`)
+  - 1 with I2C and additional GPIO line for external NFC reader
+- 2 GPS ports
+  - 1 full GPS plus Safety Switch Port
+  - 1 basic GPS port
+- 1 I2C port
+- 1 Ethernet port
+  - Transformerless Applications
+  - 100Mbps
+- 1 SPI bus
+  - 2 chip select lines
+  - 2 data-ready lines
+  - 1 SPI SYNC line
+  - 1 SPI reset line
+- 2 CAN Buses for CAN peripheral
+  - CAN Bus has individual silent controls or ESC RX-MUX control
+- 2 Power input ports with SMBus
+  - 1 AD & IO port
+  - 2 additional analog input
+  - 1 PWM/Capture input
+  - 2 Dedicated debug and GPIO lines
+
+## Serial Port Mapping
+
+| UART   | Device     | Port          |
+| ------ | ---------- | ------------- |
+| USART1 | /dev/ttyS0 | GPS           |
+| USART2 | /dev/ttyS1 | TELEM3        |
+| USART3 | /dev/ttyS2 | Debug Console |
+| UART4  | /dev/ttyS3 | UART4 & I2C   |
+| UART5  | /dev/ttyS4 | TELEM2        |
+| USART6 | /dev/ttyS5 | PX4IO/RC      |
+| UART7  | /dev/ttyS6 | TELEM1        |
+| UART8  | /dev/ttyS7 | GPS2          |
+
+## Voltage Ratings
+
+_RaccoonLab FMUv6X_ can be triple-redundant on the power supply if three power sources are supplied.
+The three power rails are: **POWER1**, **POWER2** and **USB**.
+The **POWER1** & **POWER2** ports on the RaccoonLab FMUv6X uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/molex/products/part-detail/pcb_receptacles/5024430670).
+
+**Normal Operation Maximum Ratings**
+
+Under these conditions all power sources will be used in this order to power the system:
+
+1. **POWER1** and **POWER2** inputs (4.9V to 5.5V)
+2. **USB** input (4.75V to 5.25V)
+
+:::tip
+The manufacturer [RaccoonLab Docs](https://docs.raccoonlab.co/guide/autopilot/RCLv6X.html) are the canonical reference for the RaccoonLab FMUv6X Autopilot.
+They should be used by preference as they contain the most complete and up to date information.
+:::
+
+## Where to Buy
+
+[RaccoonLab Store](https://raccoonlab.co/store)
+
+[Cyphal store](https://cyphal.store)
+
+## Building Firmware
+
+:::tip
+Most users will not need to build this firmware!
+It is pre-built and automatically installed by _QGroundControl_ when appropriate hardware is connected.
+:::
+
+To [build PX4](../dev_setup/building_px4.md) for this target:
+
+```sh
+make px4_fmu-v6x_default
+```
+
+## Supported Platforms / Airframes
+
+Any multicopter / airplane / rover or boat that can be controlled with normal RC servos or Futaba S-Bus servos.
+The complete set of supported configurations can be seen in the [Airframes Reference](../airframes/airframe_reference.md).
+
+## Further info
+
+- [Pixhawk Autopilot FMUv6X Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-012%20Pixhawk%20Autopilot%20v6X%20Standard.pdf)
+- [Pixhawk Autopilot Bus Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-010%20Pixhawk%20Autopilot%20Bus%20Standard.pdf)
+- [Pixhawk Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf)
+- [RaccoonLab docs](http://docs.raccoonlab.co)