New Crowdin updates (PX4#3462)

* New translations summary.md (German) * New translations summary.md (Japanese) * New translations summary.md (Korean) * New translations summary.md (Russian) * New translations summary.md (Turkish) * New translations summary.md (Ukrainian) * New translations summary.md (Chinese Simplified) * New translations index.md (German) * New translations index.md (Japanese) * New translations index.md (Korean) * New translations index.md (Russian) * New translations index.md (Turkish) * New translations index.md (Ukrainian) * New translations index.md (Chinese Simplified) * New translations main.md (German) * New translations main.md (Japanese) * New translations main.md (Korean) * New translations main.md (Russian) * New translations main.md (Turkish) * New translations main.md (Ukrainian) * New translations main.md (Chinese Simplified) * New translations ackermann.md (German) * New translations differential.md (German) * New translations ackermann.md (Japanese) * New translations differential.md (Japanese) * New translations ackermann.md (Korean) * New translations differential.md (Korean) * New translations ackermann.md (Russian) * New translations differential.md (Russian) * New translations ackermann.md (Turkish) * New translations differential.md (Turkish) * New translations ackermann.md (Ukrainian) * New translations differential.md (Ukrainian) * New translations ackermann.md (Chinese Simplified) * New translations differential.md (Chinese Simplified) * New translations ackermann.md (German) * New translations differential.md (German) * New translations ackermann.md (German) * New translations differential.md (German) * New translations ackermann.md (Japanese) * New translations differential.md (Japanese) * New translations ackermann.md (Japanese) * New translations differential.md (Japanese) * New translations ackermann.md (Korean) * New translations differential.md (Korean) * New translations ackermann.md (Korean) * New translations differential.md (Korean) * New translations ackermann.md (Russian) * New translations differential.md (Russian) * New translations ackermann.md (Russian) * New translations differential.md (Russian) * New translations ackermann.md (Turkish) * New translations differential.md (Turkish) * New translations ackermann.md (Turkish) * New translations differential.md (Turkish) * New translations ackermann.md (Ukrainian) * New translations differential.md (Ukrainian) * New translations ackermann.md (Ukrainian) * New translations differential.md (Ukrainian) * New translations ackermann.md (Chinese Simplified) * New translations differential.md (Chinese Simplified) * New translations ackermann.md (Chinese Simplified) * New translations differential.md (Chinese Simplified)
SBG-Systems · Nov 20, 2024 · aaffec9 · aaffec9
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diff --git a/de/SUMMARY.md b/de/SUMMARY.md
@@ -399,14 +399,14 @@
   - [Helicopter (experimental)](frames_helicopter/index.md)
     - [Helicopter Config/Tuning](config_heli/index.md)
   - [Rovers (experimental)](frames_rover/index.md)
-    - [Differential Rover](frames_rover/differential.md)
+    - [Ackermann Rovers](frames_rover/ackermann.md)
+      - [Drive Modes](flight_modes_rover/ackermann.md)
+      - [Configuration/Tuning](config_rover/ackermann.md)
+    - [Differential Rovers](frames_rover/differential.md)
       - [Drive Modes](flight_modes_rover/differential.md)
       - [Configuration/Tuning](config_rover/differential.md)
       - [Aion Robotics R1](frames_rover/aion_r1.md)
-    - [Ackermann Rover](frames_rover/ackermann.md)
-      - [Drive Modes](flight_modes_rover/ackermann.md)
-      - [Configuration/Tuning](config_rover/ackermann.md)
-    - [Mecanum Rover](frames_rover/mecanum.md)
+    - [Mecanum Rovers](frames_rover/mecanum.md)
       - [Drive Modes](flight_modes_rover/mecanum.md)
       - [Configuration/Tuning](config_rover/mecanum.md)
     - [(Deprecated) Rover Position Control](frames_rover/rover_position_control.md)

diff --git a/de/config_rover/ackermann.md b/de/config_rover/ackermann.md
diff --git a/de/config_rover/differential.md b/de/config_rover/differential.md
diff --git a/de/flight_modes_rover/ackermann.md b/de/flight_modes_rover/ackermann.md
@@ -2,7 +2,7 @@
 
 Flight modes (or more accurately "Drive modes" for ground vehicles) provide autopilot support to make it easier to manually drive the vehicle or to execute autonomous missions.
 
-This section outlines all supported drive modes for Ackermann rovers.
+This section outlines all supported drive modes for [Ackermann rovers](../frames_rover/ackermann.md).
 
 For information on mapping RC control switches to specific modes see: [Basic Configuration > Flight Modes](../config/flight_mode.md).
 
@@ -14,30 +14,100 @@ Selecting any other mode than those listed below will either stop the rover or c
 
 Manual modes require stick inputs from the user to drive the vehicle.
 
-![Manual Controls](../../assets/airframes/rover/flight_modes/rover_manual_controls.png)
+![Manual Controls](../../assets/airframes/rover/flight_modes/manual_controls_ackermann_rover.png)
 
-The manual modes listed below provide increasing levels of autopilot support:
+The sticks provide the same "high level" control effects over direction and rate of movement in all manual modes:
 
-| Mode                   | Features                                                                             |
-| ---------------------- | ------------------------------------------------------------------------------------ |
-| [Manual](#manual-mode) | Directly map stick inputs to motor commands, no closed loop control. |
+- `Left stick up/down`: Drive the rover forwards/backwards (controlling speed)
+- `Right stick left/right`: Make a left/right turn (controlling steering angle ([Manual mode](#manual-mode)) or lateral acceleration ([Acro](#acro-mode) and [Position](#position-mode))).
+
+The manual modes provide progressively increasing levels of autopilot support for maintaining a course, speed, and rate of turn, compensating for external factors such as slopes or uneven terrain.
+
+| Mode                       | Features                                                                                                                                                                                                                                                         |
+| -------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| [Manual](#manual-mode)     | No autopilot support. User is responsible for keeping the rover on the desired course and maintaining speed and rate of turn.                                                                                                    |
+| [Acro](#acro-mode)         | + Maintains the lateral acceleration. This makes it feel more like driving a car than manual mode. <br>+ It also protects against roll over and is slightly better at holding a straight line in uneven terrain. |
+| [Position](#position-mode) | + Best mode for holding a straight line.<br>+ Maintains speed against disturbances, e.g. when driving up a hill<br>+ Allows maximum speed to be limited.                                         |
+
+:::details
+Overview mode mapping to control effect
+
+| Mode                       | Forward speed                                                                            | Steering angle/lateral acceleration                                                                                                                                                                                                                        | Required measurements                                                                          |
+| -------------------------- | ---------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------- |
+| [Manual](#manual-mode)     | Directly map stick input to motor command.                               | Directly map stick input to steering angle.                                                                                                                                                                                                | None.                                                                          |
+| [Acro](#acro-mode)         | Directly map stick input to motor command.                               | Stick input creates a lateral acceleration setpoint for the control system to regulate.                                                                                                                                                    | Lateral acceleration.                                                          |
+| [Position](#position-mode) | Stick input creates a speed setpoint for the control system to regulate. | Stick input creates a lateral acceleration setpoint for the control system to regulate. If this setpoint is zero (stick is centered) the control system will keep the rover driving in a straight line. | Lateral acceleration, yaw, speed and global position (GPS). |
+
+:::
 
 ### Manual Mode
 
-The _Manual_ mode stops the rover when the RC control sticks are centred.
-To manually move/drive the vehicle you move the sticks outside of the centre.
+In this mode the stick inputs are directly mapped to motor commands. The rover does not attempt to maintain a specific orientation or compensate for external factors like slopes or uneven terrain!
+The user is responsible for making the necessary adjustments to the stick inputs to keep the rover on the desired course.
+
+| Stick                  | Effect                                                     |
+| ---------------------- | ---------------------------------------------------------- |
+| Left stick up/down     | Drive the rover forwards/backwards.        |
+| Right stick left/right | Move the steering angle to the left/right. |
 
-Moving the left-stick up/down controls the _forward speed_ and moving the right-stick left/right controls the _steering angle_ of the vehicle.
+For the configuration/tuning of this mode see [Manual mode](../config_rover/ackermann.md#manual-mode).
+
+### Acro Mode
 
 :::info
-The rover does not attempt to maintain a specific orientation or compensate for external factors like slopes or uneven terrain!
-The user is responsible for making the necessary adjustments to the stick inputs to keep the rover on the desired course.
+This mode requires a lateral acceleration measurement.
 :::
 
+In this mode the vehicle regulates its lateral acceleration to a setpoint (but does not stabilize heading or regulate speed).
+
+Lateral acceleration can be directly mapped to a steering input based on the forward speed of the rover:
+
+<!-- prettier-ignore -->
+
+$$\theta = \arctan(\frac{w_b \cdot a_{lat}}{ v^2})$$
+
+with
+
+- $w_b:$ Wheel base,
+- $\theta:$ Steering angle,
+- $v:$ Forward speed.
+
+For driving this means that the same right hand stick input will cause a different steering angle based on how fast you are driving.
+By limiting the maximum lateral acceleration, we can restrict the steering angle based on the speed, which can prevent the rover from rolling over.
+This mode will feel more like "driving a car" than [Manual mode](#manual-mode).
+
+:::info
+The lateral acceleration is only close loop controlled when driving forwards. When driving backwards the lateral acceleration setpoint is directly mapped to a steering angle using the equation above.
+This is due to the fact that rear wheel steering (driving a car with front-wheel steering backwards) is non-minimum-phase w.r.t to the lateral acceleration which leads to instabilities when doing closed loop control.
+:::
+
+| Stick                  | Effect                                                                                                                                                                                                                                      |
+| ---------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| Left stick up/down     | Drive the rover forwards/backwards.                                                                                                                                                                                         |
+| Right stick left/right | Create a lateral acceleration setpoint for the control system to regulate. If this input is zero the control system will attempt to maintain a zero lateral acceleration (minimal disturbance rejection) |
+
+For the configuration/tuning of this mode see [Acro mode](../config_rover/ackermann.md#acro-mode).
+
+### Position Mode
+
+:::info
+This mode requires a lateral acceleration, yaw, speed and global position estimate.
+:::
+
+This is the manual mode with the most autopilot support. The vehicle regulates its lateral acceleration and speed to a setpoint. If the lateral acceleration setpoint is zero, the controller will remember the gps coordinates and yaw (heading) of the vehicle and use those to construct a line that the rover will then follow (course control).
+This offers the highest amount of disturbance rejection, which leads to the best straight line driving behavior.
+
+| Stick                  | Effect                                                                                                                                                                                     |
+| ---------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
+| Left stick up/down     | Stick position sets a forward/back speed setpoint. The vehicle attempts to maintain this speed on slopes etc.                                              |
+| Right stick left/right | Create a lateral acceleration setpoint for the control system to regulate. If this input is zero the control system will maintain the course of the rover. |
+
+For the configuration/tuning of this mode see [Position mode](../config_rover/differential.md#position-mode).
+
 ## Auto Modes
 
 In auto modes the autopilot takes over control of the vehicle to run missions, return to launch, or perform other autonomous navigation tasks.
-For the tuning process see the configuration for [Auto modes](../config_rover/ackermann.md#mission-parameters).
+For the tuning process see the configuration for [Auto modes](../config_rover/ackermann.md#auto-modes).
 
 ### Mission Mode
 

diff --git a/de/flight_modes_rover/differential.md b/de/flight_modes_rover/differential.md
@@ -80,7 +80,9 @@ For the configuration/tuning of this mode see [Stabilized mode](../config_rover/
 This mode requires a yaw rate, yaw, speed and global position estimate.
 :::
 
-This is the mode with the most autopilot support. The vehicle regulates its yaw rate and speed to a setpoint. If the yaw rate setpoint is zero, the controller will remember the gps coordinates and yaw (heading) of the vehicle and use those to construct a line that the rover will then follow (course control).
+This is the manual mode with the most autopilot support.
+The vehicle regulates its yaw rate and speed to a setpoint.
+If the yaw rate setpoint is zero, the controller will remember the GNSS coordinates and yaw (heading) of the vehicle and use those to construct a line that the rover will then follow (course control).
 This offers the highest amount of disturbance rejection, which leads to the best straight line driving behavior.
 
 | Stick                  | Effect                                                                         |

diff --git a/de/frames_rover/ackermann.md b/de/frames_rover/ackermann.md
@@ -0,0 +1,14 @@
+# Ackermann Rovers
+
+<Badge type="tip" text="main (PX4 v1.16+)" /> <Badge type="warning" text="Experimental" />
+
+An _Ackermann rover_ controls its direction by pointing the front wheels in the direction of travel — the [Ackermann steering geometry](https://en.wikipedia.org/wiki/Ackermann_steering_geometry) compensates for the fact that wheels on the inside and outside of the turn move at different rates.
+This kind of steering is used on most commercial vehicles, including cars, trucks etc.
+
+:::info
+PX4 does not require that the vehicle uses the Ackermann geometry and will work with any front-steering rover.
+:::
+
+![Axial Trail Honcho](../../assets/airframes/rover/rover_ackermann/axial_trail_honcho.png)
+
+See [Configuration/Tuning](../config_rover/ackermann.md) to set up your rover and [Drive Modes](../flight_modes_rover/ackermann.md) for the supported flight (aka drive) modes.
diff --git a/de/frames_rover/differential.md b/de/frames_rover/differential.md
@@ -0,0 +1,11 @@
+# Differential Rovers
+
+<Badge type="tip" text="main (PX4 v1.16+)" /> <Badge type="warning" text="Experimental" />
+
+A differential rover's motion is controlled using a differential drive mechanism, where the left and right wheel speeds are adjusted independently to achieve the desired forward speed and yaw rate.
+Forward motion is achieved by driving both wheels at the same speed in the same direction.
+Rotation is achieved by driving the wheels at different speeds in opposite directions, allowing the rover to turn on the spot.
+
+![Aion R1](../../assets/airframes/rover/aion_r1/r1_rover_no_bg.png)
+
+See [Configuration/Tuning](../config_rover/differential.md) to set up your rover and [Drive Modes](../flight_modes_rover/differential.md) for the supported flight (aka drive) modes.
diff --git a/de/frames_rover/index.md b/de/frames_rover/index.md
@@ -10,9 +10,11 @@ Support for rover is [experimental](../airframes/index.md#experimental-vehicles)
 
 PX4 supports the following rover types:
 
-- [**Differential steering**](../frames_rover/differential.md): direction is controlled by moving the left- and right-side wheels at different speeds (also know as skid or tank steering). This kind of steering is commonly used on bulldozers, tanks, and other tracked vehicles.
-- [**Ackermann steering**](../frames_rover/ackermann.md): direction is controlled by pointing wheels in the direction of travel. This kind of steering is used on most commercial vehicles, including cars, trucks etc.
-- [**Mecanum steering**](../frames_rover/mecanum.md): direction is controlled by moving each mecanum wheel individually at different speeds and in different directions.
+| Rover Type                                          | Steering                                                                                                                                                      |
+| --------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| [**Ackermann**](../frames_rover/ackermann.md)       | Direction is controlled by pointing wheels in the direction of travel. This kind of steering is used on most commercial vehicles, including cars, trucks etc. |
+| [**Differential**](../frames_rover/differential.md) | Direction is controlled by moving the left- and right-side wheels at different speeds (also know as skid or tank steering).                                   |
+| [**Mecanum**](../frames_rover/mecanum.md)           | Direction is controlled by moving each mecanum wheel individually at different speeds and in different directions.                                            |
 
 The supported frames can be seen in [Airframes Reference > Rover](../airframes/airframe_reference.md#rover).
 
@@ -31,8 +33,8 @@ Rovers use a custom build that must be flashed onto your flight controller inste
    ::: info You can also enable the modules in default builds by adding the respective line to your [board configuration](../hardware/porting_guide_config.md) (e.g. for fmu-v6x you might add one of these lines to [`main/boards/px4/fmu-v6x/default.px4board`](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v6x/default.px4board)):
 
    ```sh
-   CONFIG_MODULES_ROVER_DIFFERENTIAL=y
    CONFIG_MODULES_ROVER_ACKERMANN=y
+   CONFIG_MODULES_ROVER_DIFFERENTIAL=y
    CONFIG_MODULES_ROVER_MECANUM=y
    ```
 
@@ -44,8 +46,7 @@ Rovers use a custom build that must be flashed onto your flight controller inste
 ## Simulation
 
 [Gazebo](../sim_gazebo_gz/index.md) provides simulations for both types of steering:
-
-- [Differential rover](../sim_gazebo_gz/vehicles.md#differential-rover)
 - [Ackermann rover](../sim_gazebo_gz/vehicles.md#ackermann-rover)
+- [Differential rover](../sim_gazebo_gz/vehicles.md#differential-rover)
 
-![Rover gazebo simulation](../../assets/airframes/rover/rover_simulation.png)
+![Rover gazebo simulation](../../assets/airframes/rover/rover_simulation.png)