docs: add DroneCAN overview page and document as GPS/battery source - #17
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docs: add DroneCAN overview page and document as GPS/battery source#17daijoubu wants to merge 4 commits into
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Adds a new DroneCAN overview page under Advanced Features covering the protocol, supported hardware, CLI configurator tab, node management (GetNodeInfo, GetSet, ExecuteOpcode, RestartNode), the DNA server, blackbox bus-off logging, and bus wiring notes. Documents DroneCAN as a supported GNSS source in the GPS page and as a supported battery voltage/current source in the Battery Monitoring page, including the full current_meter_type and bat_voltage_src sensor enumerations which the existing docs tables had fallen behind the firmware on.
daijoubu
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September 3, 2026 18:43
PR Summary by QodoDocument DroneCAN setup, GNSS, and battery telemetry
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Finding 1 (battery.mdx): the Phase 3 DroneCAN section conflated `bat_voltage_src` with `bat_voltage_source` and showed the wrong setting name for the 7-value sensor-source table. Per the firmware (`src/main/fc/settings.yaml`, `docs/Settings.md`), `vbat_meter_type` selects the physical voltage sensor source (None/ADC/ESC/Fake/ SmartPort/CRSF/DroneCAN) and `bat_voltage_src` selects raw vs sag-compensated reading (RAW/SAG_COMP). Update the table heading, intro sentence, DroneCAN example command, and the "CAN value for both settings" sentence to use `vbat_meter_type` for the sensor source; keep `bat_voltage_src` as the RAW/SAG_COMP setting. Finding 2 (dronecan.mdx): the page describes DroneCAN sensor support in present tense, but the getting-started Hardware Overview page still says 9.x does not support DroneCAN sensors (true for 9.x, stale for 10.0). Until the upstream Hardware Overview fix (PR iNavFlight#16) merges, qualify the page with a top-of-page note pointing to it and calling out that the page describes INAV 10.0+ behaviour. docusaurus build clean; pre-existing HTML-minifier warnings on unrelated files unchanged.
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Fixed in commit 97a63a8. While addressing the conflation, traced the actual CLI setting names against the firmware source (inav/src/main/fc/settings.yaml and inav/docs/Settings.md). The physical voltage sensor source is selected by vbat_meter_type (None/ADC/ESC/Fake/SmartPort/CRSF/DroneCAN), not bat_voltage_src. The Phase 3 table was labeled with the wrong name — fixed the table heading, intro sentence, DroneCAN example command, and the conflating sentence at L221 to use vbat_meter_type for the sensor source and bat_voltage_src only for its actual RAW/SAG_COMP role (with in-page anchor link to the relevant section).
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Fixed in commit 97a63a8. Added a top-of-page admonition clarifying that this page describes INAV 10.0+ DroneCAN behaviour and that the getting-started Hardware Overview page still describes 9.x (correct for 9.x, stale for 10.0). The qualification points to the upstream Hardware Overview fix (PR #16) which is still open; once it lands this qualification can be removed in a follow-up edit.
The "Supported features" table on the DroneCAN page recommended `set bat_voltage_src = CAN` for battery voltage, but per the firmware (`inav/src/main/fc/settings.yaml`, `inav/docs/Settings.md`) `bat_voltage_src` only accepts RAW/SAG_COMP. The physical voltage sensor source is selected by `vbat_meter_type`. Same correction was applied to the battery.mdx table and DroneCAN example command in 97a63a8; this commit covers the supported-features table on this same page.
…ource` The "Voltage Measurement Source" section referred to the `bat_voltage_source` setting, but per the firmware (`inav/src/main/fc/settings.yaml`, `inav/docs/Settings.md`) the actual CLI name is `bat_voltage_src` (no final "e"). The `bat_voltage_source` string only appears as a YAML table-name reference; the user-facing setting name has always been `bat_voltage_src`. This pre-existing typo was carried forward from the inav/docs wiki when the new docs site was bootstrapped (robotgoat, 2026-06-06) and predates the Phase 3 work. Caught while addressing the Qodo findings on PR iNavFlight#17 (which renamed the sensor-source table from `bat_voltage_src` to `vbat_meter_type` per the same firmware source).
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Summary
Adds DroneCAN coverage to the docs site ahead of the underlying INAV 10.0 PR stack landing.
New page:
docs/06-advanced-features/dronecan.mdxdronecan_use_dna_server)droneCANBusOffCountS-frame fieldUpdated:
docs/05-core-features/battery.mdxcurrent_meter_typesensor enumeration (None, ADC, Virtual, Fake, ESC, SmartPort, CRSF, DroneCAN) — the existing table listed only 3 of these 8 valuesbat_voltage_srcenumeration (None, ADC, ESC, Fake, SmartPort, CRSF, DroneCAN); positions it before the existing RAW vs SAG_COMP processing-mode discussion so readers see the sensor selection step firstUpdated:
docs/05-core-features/gps.mdxgps_provider = DRONECANTesting
npx docusaurus build --no-minifysucceeds for all three files (verified locally)http://localhost:3000/docs/advanced-features/dronecan,/docs/core-features/battery,/docs/core-features/gps) — verified manuallyhardware-overview.mdxandfw_gettingstartedguide/fwsetup.mdxare pre-existing onmasterand unrelated06-advanced-features/gps-fix-estimation.mdxresolvedRelated
fix/hardware-overview-dronecan-sensor-stale) — already merged