PX4 · frontw · Jul 12, 2024 · Jul 13, 2024
diff --git a/assets/flight_controller/raccoonlab/fmuv6x-drw.png b/assets/flight_controller/raccoonlab/fmuv6x-drw.png
diff --git a/assets/flight_controller/raccoonlab/fmuv6x.png b/assets/flight_controller/raccoonlab/fmuv6x.png
diff --git a/assets/hardware/can_nodes/raccoonlab_micro_node.png b/assets/hardware/can_nodes/raccoonlab_micro_node.png
diff --git a/assets/hardware/can_nodes/raccoonlab_mini_node.png b/assets/hardware/can_nodes/raccoonlab_mini_node.png
diff --git a/assets/hardware/can_nodes/raccoonlab_mini_v2_lw20_i2c.png b/assets/hardware/can_nodes/raccoonlab_mini_v2_lw20_i2c.png
diff --git a/assets/hardware/can_nodes/raccoonlab_mini_v2_with_servo.png b/assets/hardware/can_nodes/raccoonlab_mini_v2_with_servo.png
diff --git a/assets/hardware/power_module/raccoonlab_can/raccoonlab_pmu.jpg b/assets/hardware/power_module/raccoonlab_can/raccoonlab_pmu.jpg
diff --git a/assets/hardware/power_module/raccoonlab_can/raccoonlab_power_connector_example.png b/assets/hardware/power_module/raccoonlab_can/raccoonlab_power_connector_example.png
diff --git a/en/SUMMARY.md b/en/SUMMARY.md
@@ -188,6 +188,7 @@
       - [mRobotics-X2.1 (FMUv2)](flight_controller/mro_x2.1.md)
       - [mRo Control Zero F7)](flight_controller/mro_control_zero_f7.md)
       - [NXP RDDRONE-FMUK66 FMU](flight_controller/nxp_rddrone_fmuk66.md)
+      - [RaccoonLab FMU6x](flight_controller/raccoonlab_fmu6x.md)
       - [Sky-Drones AIRLink](flight_controller/airlink.md)
       - [SPRacing SPRacingH7EXTREME](flight_controller/spracingh7extreme.md)
       - [ThePeach FCC-K1](flight_controller/thepeach_k1.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)

diff --git a/en/dronecan/escs.md b/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)
diff --git a/en/dronecan/raccoonlab_nodes.md b/en/dronecan/raccoonlab_nodes.md
@@ -0,0 +1,63 @@
+# 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 default for Mini and Micro nodes. 
+
+The Cyphal/DroneCAN CAN-PWM firmware, which is the default for Mini and Micro nodes, 
+converts 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](../../assets/hardware/can_nodes/raccoonlab_mini_node.png) | ![RaccoonLab Micro Node](../../assets/hardware/can_nodes/raccoonlab_micro_node.png) |
+| 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 |
+
+## Where to Buy
+
+[RaccoonLab Store](https://raccoonlab.co/store)
+
+[Cyphal store](https://cyphal.store/search?q=raccoonlab)
diff --git a/en/dronecan/raccoonlab_power.md b/en/dronecan/raccoonlab_power.md
@@ -0,0 +1,37 @@
+# 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, it (a separate 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.jpg](../../assets/hardware/power_module/raccoonlab_can/raccoonlab_pmu.jpg)
+
+This board monitors the battery (voltage and current) and allows to control charging, source and load with 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)
diff --git a/en/flight_controller/autopilot_manufacturer_supported.md b/en/flight_controller/autopilot_manufacturer_supported.md
@@ -35,6 +35,7 @@ The boards in this category are:
 - [mRobotics-X2.1](../flight_controller/mro_x2.1.md) (FMUv2)
 - [mRo Control Zero](../flight_controller/mro_control_zero_f7.md)
 - [NXP FMUK66](../flight_controller/nxp_rddrone_fmuk66.md) (www.nxp.com)
+- [RaccoonLab FMUv6X Autopilot](../flight_controller/raccoonlab_fmu6x.md)
 - [Sky-Drones AIRLink](../flight_controller/airlink.md)
 - [SPRacing SPRacingH7EXTREME](../flight_controller/spracingh7extreme.md)
 - [ThePeach FCC-K1](../flight_controller/thepeach_k1.md)

diff --git a/en/flight_controller/index.md b/en/flight_controller/index.md
@@ -57,6 +57,7 @@ There are other compatible flight controllers and variants, including those [doc
   - [mRobotics-X2.1 (FMUv2)](../flight_controller/mro_x2.1.md)
   - [mRo Control Zero](../flight_controller/mro_control_zero_f7.md)
   - [NXP RDDRONE-FMUK66 FMU](../flight_controller/nxp_rddrone_fmuk66.md)
+  - [RaccoonLab FMUv6X Autopilot](../flight_controller/raccoonlab_fmu6x.md)
   - [SP Racing H7 EXTREME](../flight_controller/spracingh7extreme.md)
   - [ThePeach FCC-K1](../flight_controller/thepeach_k1.md)
   - [ThePeach FCC-R1](../flight_controller/thepeach_r1.md)

diff --git a/en/flight_controller/raccoonlab_fmu6x.md b/en/flight_controller/raccoonlab_fmu6x.md
@@ -0,0 +1,169 @@
+# 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 [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.
+
+::: info
+This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
+:::
+
+## 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:
+
+```
+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)
diff --git a/en/gps_compass/index.md b/en/gps_compass/index.md
@@ -24,7 +24,7 @@ This table contains non-RTK GNSS units (most of which also have a compass).
 These have been tested by the PX4 dev team, or which are popular within the PX4 community.
 
 | Device                                                                    |     GPS     |          Compass          | [CAN](../dronecan/index.md) | Buzzer / SafeSw / LED | Notes                       |
-| :------------------------------------------------------------------------ | :---------: | :-----------------------: | :-------------------------: | :-------------------: | :-------------------------- |
+|:--------------------------------------------------------------------------|:-----------:| :-----------------------: |:---------------------------:| :-------------------: | :-------------------------- |
 | [ARK GPS](https://arkelectron.com/product/ark-gps/)                       |     M9N     |         ICM42688p         |           &check;           |        &check;        | + Baro, IMU                 |
 | [Avionics Anonymous UAVCAN GNSS/Mag][avionics_anon_can_gnss]              |   SAM-M8Q   |         MMC5983MA         |           &check;           |        &cross;        |
 | [CUAV NEO 3 GPS](../gps_compass/gps_cuav_neo_3.md)                        |     M9N     |          IST8310          |                             |        &check;        |
@@ -43,6 +43,8 @@ These have been tested by the PX4 dev team, or which are popular within the PX4
 | [LOCOSYS Hawk R1](../gps_compass/rtk_gps_locosys_r1.md)                   | MC-1612-V2b |                           |                             | &cross;&cross;&check; |
 | [LOCOSYS Hawk R2](../gps_compass/rtk_gps_locosys_r2.md)                   | MC-1612-V2b |          IST8310          |                             | &cross;&cross;&check; |
 | [mRo GPS u-blox Neo-M8N Dual Compass][mro_neo8mn_dual_mag]                |     M8N     |     LIS3MDL, IST8308      |                             |        &cross;        |
+| [RaccoonLab L1 GNSS NEO-M8N](https://docs.raccoonlab.co/guide/gps_mag_baro/gnss_v250.html)                    |   NEO-M8N   |          RM3100          |           &check;           |        &cross;&cross;&check;        | + Baro                      |
+| [RaccoonLab MAGNETOMETER RM3100](https://docs.raccoonlab.co/guide/gps_mag_baro/mag_rm3100.html)                    |   &cross;   |          RM3100          |           &check;           |       &cross;&cross;&check;        | + Baro                      |
 | [Sky-Drones SmartAP GPS](../gps_compass/gps_smartap.md)                   |     M8N     | HMC5983, IST8310, LIS3MDL |                             |        &check;        | + Baro                      |
 | [Zubax GNSS 2](https://zubax.com/products/gnss_2)                         |   MAX-M8Q   |          LIS3MDL          |                             |        &cross;        | + Baro                      |
 

diff --git a/en/gps_compass/magnetometer.md b/en/gps_compass/magnetometer.md
@@ -39,9 +39,10 @@ If GNSS is required, then a combined GNSS/Compass module will be preferred over
 This list contains stand-alone magnetometer modules (without GNSS).
 
 | Device                                                                                                           | Compass | DroneCan |
-| :--------------------------------------------------------------------------------------------------------------- | :-----: | :------: |
+|:-----------------------------------------------------------------------------------------------------------------| :-----: | :------: |
 | [Avionics Anonymous UAVCAN Magnetometer](https://www.tindie.com/products/avionicsanonymous/uavcan-magnetometer/) |    ?    |
 | [Holybro DroneCAN RM3100 Compass/Magnetometer](https://holybro.com/products/dronecan-rm3100-compass)             | RM3100  | &check;  |
+| [RaccoonLab DroneCAN/Cyphal Magnetometer RM3100](https://holybro.com/products/dronecan-rm3100-compass)  | RM3100  | &check;  |
 
 Note: