docs: add DroneCAN overview page and document as GPS/battery source - #17
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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
marked this pull request as ready for review
September 3, 2026 18:43
PR Summary by QodoDocument DroneCAN setup, GNSS, and battery telemetry
AI Description
Diagram
High-Level Assessment
Files changed (3)
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Code Review by Qodo
1. Wrong voltage setting values
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| The `CAN` value for both settings is selected from the same enumerations used for other sources — `bat_voltage_src` accepts `RAW`, `SAG_COMP`, and `CAN`; `current_meter_type` accepts the full set in the table above (None, ADC, Virtual, Fake, ESC, SmartPort, CRSF, DroneCAN). |
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1. Wrong voltage setting values 🐞 Bug ≡ Correctness
The new text says bat_voltage_src accepts RAW and SAG_COMP, but those values belong to the separate bat_voltage_source setting. Users following this description may issue invalid configuration commands or misunderstand source selection versus sag compensation.
Agent Prompt
## Issue description
Correct the DroneCAN battery documentation, which currently assigns `RAW` and `SAG_COMP` to `bat_voltage_src` even though they are values of `bat_voltage_source`.
## Issue Context
`bat_voltage_src` selects the physical sensor source, while `bat_voltage_source` selects raw or sag-compensated voltage processing.
## Fix Focus Areas
- docs/05-core-features/battery.mdx[41-67]
- docs/05-core-features/battery.mdx[207-223]
ⓘ Copy this prompt and use it to remediate the issue with your preferred AI generation tools
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| DroneCAN (formerly UAVCAN v0) is a lightweight protocol designed for reliable communication in aerospace and robotic applications over a CAN bus. | ||
| INAV supports DroneCAN for connecting external sensors and peripherals such as battery monitors and GNSS receivers. |
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2. Dronecan support pages conflict 🐞 Bug ≡ Correctness
The new page says INAV supports DroneCAN GNSS and battery sensors, while the existing hardware overview says INAV does not support any DroneCAN sensors. Leaving both statements in the current documentation gives readers mutually exclusive support guidance.
Agent Prompt
## Issue description
Update the existing hardware overview or qualify the new DroneCAN support claims so the current documentation does not simultaneously state that DroneCAN sensors are supported and unsupported.
## Issue Context
The new overview marks GNSS and battery sources as supported, but the hardware overview still explicitly says INAV supports no DroneCAN-based sensors.
## Fix Focus Areas
- docs/03-getting-started/01-hardware-overview.mdx[81-82]
- docs/06-advanced-features/dronecan.mdx[6-7]
- docs/06-advanced-features/dronecan.mdx[33-43]
ⓘ Copy this prompt and use it to remediate the issue with your preferred AI generation tools
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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