Roboclaw docs

en/SUMMARY.md

@@ -103,6 +103,7 @@
   * [Helicopter (experimental)](frames_helicopter/README.md)
     * [Helicopter Config/Tuning](config_heli/README.md)
   * [Rovers (experimental)](frames_rover/README.md)
+    * [Aion Robotics R1](frames_rover/aion_r1.md)
     * [Traxxas Stampede](frames_rover/traxxas_stampede.md)
   * [Submarines (experimental)](frames_sub/README.md)
     * [BlueROV2](frames_sub/bluerov2.md)

en/frames_rover/aion_r1.md

@@ -0,0 +1,85 @@
+# Aion Robotics R1 UGV
+
+<Badge type="warning" text="main (PX4 v1.15)" />
+
+The [Aion R1](https://www.aionrobotics.com/)vehicle was chosen to test and improve the differential drive support for PX4, and to improve driver support for Roboclaw Motor Controllers, such as the [RoboClaw 2x15A](https://www.basicmicro.com/RoboClaw-2x15A-Motor-Controller_p_10.html).
+
+The documentation and driver information here should also make it easier to work with Roboclaw controllers on other vehicles, and to work with vehicles like the [Aion R6](https://www.aionrobotics.com/r6).
+
+Currently, PX4 supports MANUAL mode for this setup.
+
+![Aion Robotics R1 UGV](../../assets/airframes/rover/aion_r1/r1_rover_no_bg.png)
+
+## Parts List
+
+- [Aion R1 (Discontinued)](https://www.aionrobotics.com/)
+  - [Documentation](https://github-docs.readthedocs.io/en/latest/r1-ugv.html)
+- [RoboClaw 2x15A](https://www.basicmicro.com/RoboClaw-2x15A-Motor-Controller_p_10.html)
+  - [R1 Roboclaw specifications](https://resources.basicmicro.com/aion-robotics-r1-autonomous-robot/)
+- [Auterion Skynode](../companion_computer/auterion_skynode.md)
+
+## Assembly
+
+The assembly consists of a 3D-printed frame on which all the autopilot parts were attached.
+For this build this includes an [Auterion Skynode](../companion_computer/auterion_skynode.md), connected to a Pixhawk Adapter Board that interfaces with the RoboClaw motor controllers over serial.
+
+![R1 Assembly](../../assets/airframes/rover/aion_r1/r1_assembly.png)
+
+:::note
+If using a standard Pixhawk you could connect the RoboClaw to the Autopilot without an Adapter Board.
+:::
+
+The RoboClaw should be connected to a suitable suitable serial (UART) port on the flight controller, such as `GPS2` or `TELEM1`.
+Other RoboClaw wiring is detailed in the [RoboClaw User Manual](https://downloads.basicmicro.com/docs/roboclaw_user_manual.pdf) 'Packet Serial Wiring' section and shown below (this setup has been validated for compatibility).
+
+![Serial Wiring Encoders](../../assets/airframes/rover/aion_r1/wiring_r1.jpg)
+
+## PX4 Configuration
+
+### Rover Configuration
+
+Use _QGroundControl_ for rover configuration:
+
+1. In the [Basic Configuration](../config/README.md) section, select the [Airframe](../config/airframe.md) tab.
+1. Choose **Aion Robotics R1 UGV** under the **Rover** category.
+
+![Select Airframe](../../assets/airframes/rover/aion_r1/r1_airframe.png)
+
+### RoboClaw Configuration
+
+First configure the serial connection:
+
+1. Navigate to the [Parameters](../advanced_config/parameters.md) section in QGroundControl.
+
+   - Set the [RBCLW_SER_CFG](../advanced_config/parameter_reference.md#RBCLW_SER_CFG) parameter to the serial port to which the RoboClaw is connected (such as `GPS2`).
+   - [RBCLW_COUNTS_REV](../advanced_config/parameter_reference.md#RBCLW_COUNTS_REV) specifies the number of encoder counts required for one wheel revolution.
+     This value should be left at `1200` for the tested `RoboClaw 2x15A Motor Controller`.
+     Adjust the value based on your specific encoder and wheel setup.
+   - RoboClaw motor controllers must be assigned a unique address on the bus.
+     The default address is 128 and you should not need to change this (if you do, update the PX4 parameter [RBCLW_ADDRESS](../advanced_config/parameter_reference.md#RBCLW_ADDRESS) to match).
+
+     :::note
+     PX4 does not support multiple RoboClaw motor controllers in the same vehicle — each controller needs a unique address on the bus, and there is only one parameter for setting the address in PX4 (`RBCLW_ADDRESS`).
+     :::
+
+Then configure the actuator configuration:
+
+1. Navigate to [Actuators Configuration & Testing](../config/actuators.md) in QGroundControl.
+1. Select the RoboClaw driver from the list of _Actuator Outputs_.
+
+   For the channel assignments, disarm, minimum, and maximum values, please refer to the image below.
+
+   ![RoboClaw QGC](../../assets/airframes/rover/aion_r1/roboclaw_actuator_config_qgc.png)
+
+   For systems with more than two motors, it is possible to assign the same function to several motors.
+   The reason for the unusual values, can be found in the [RoboClaw User Manual](https://downloads.basicmicro.com/docs/roboclaw_user_manual.pdf) under `Compatibility Commands` for `Packet Serial`:
+
+   ```plain
+   Drive motor forward. Valid data range is 0 - 127. A value of 127 = full speed forward, 64 =
+   about half speed forward and 0 = full stop.
+   ```
+
+## See also
+
+- [roboclaw](../modules/modules_driver.md#roboclaw) driver
+- [Roboclaw User Manual](https://downloads.basicmicro.com/docs/roboclaw_user_manual.pdf)

en/releases/main.md

@@ -74,6 +74,10 @@ TBD ...
 
 - TBD
 
+### Rover 
+
+- [Aion R1](../frames_rover/aion_r1.md)<Badge text="Experimental" type="warning"/>: ESC Driver for Roboclaw motor controller. This comes with build instructions and support for the Aion R1, a new differential drive rover, along with information about integrating the Roboclaw motor controller.
+
 ### ROS 2
 
 - [PX4 ROS 2 Interface Library](../ros2/px4_ros2_interface_lib.md)<Badge text="Experimental" type="warning"/>: A new C++ library that simplifies controlling PX4 from ROS 2.