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de/SUMMARY.md

@@ -398,6 +398,9 @@
     - [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)
+      - [Drive Modes](flight_modes_rover/mecanum.md)
+      - [Configuration/Tuning](config_rover/mecanum.md)
     - [(Deprecated) Rover Position Control](frames_rover/rover_position_control.md)
   - [Submarines (experimental)](frames_sub/index.md)
     - [BlueROV2](frames_sub/bluerov2.md)

de/frames_rover/index.md

@@ -10,12 +10,13 @@ Support for rover is [experimental](../airframes/index.md#experimental-vehicles)
 
 PX4 supports the following rover types:
 
-- [**Differential steering**](../frames_rover/differential_rover.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_rover.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 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.
 
-The supported flight modes can be seen in [Flight modes](../flight_modes_rover/index.md#) and the supported frames in [Airframes Reference > Rover](../airframes/airframe_reference.md#rover).
+The supported frames can be seen in [Airframes Reference > Rover](../airframes/airframe_reference.md#rover).
 
-## Flashing the rover build
+## Flashing the Rover Build
 
 Rovers use a custom build that must be flashed onto your flight controller instead of the default PX4 build:
 
@@ -32,6 +33,7 @@ Rovers use a custom build that must be flashed onto your flight controller inste
    ```sh
    CONFIG_MODULES_ROVER_DIFFERENTIAL=y
    CONFIG_MODULES_ROVER_ACKERMANN=y
+   CONFIG_MODULES_ROVER_MECANUM=y
    ```
 
    Note that adding the rover module may lead to flash overflow, in which case you will need to disable modules that you do not plan to use (such as those related to multicopter or fixed wing).
@@ -43,7 +45,7 @@ Rovers use a custom build that must be flashed onto your flight controller inste
 
 [Gazebo](../sim_gazebo_gz/index.md) provides simulations for both types of steering:
 
-- [Differential-steering rover](../sim_gazebo_gz/vehicles.md#differential-rover)
+- [Differential rover](../sim_gazebo_gz/vehicles.md#differential-rover)
 - [Ackermann rover](../sim_gazebo_gz/vehicles.md#ackermann-rover)
 
 ![Rover gazebo simulation](../../assets/airframes/rover/rover_simulation.png)

de/frames_rover/mecanum.md

@@ -0,0 +1,10 @@
+# Mecanum Rovers
+
+<Badge type="tip" text="main (PX4 v1.16+)" /> <Badge type="warning" text="Experimental" />
+
+A Mecanum rover is a type of mobile robot that uses Mecanum wheels to achieve omnidirectional movement. These wheels are unique because they have rollers mounted at a 45-degree angle around their circumference, allowing the rover to move not only forward and backward but also side-to-side and diagonally without needing to rotate first.
+Each wheel is driven by its own motor, and by controlling the speed and direction of each motor, the rover can move in any direction or spin in place.
+
+![Mecanum rover](../../assets/airframes/rover/rover_mecanum/rover_mecanum.png)
+
+See [Configuration/Tuning](../config_rover/mecanum.md) to set up your rover and [Drive Modes](../flight_modes_rover/mecanum.md) for the supported flight (aka drive) modes.

de/releases/main.md

@@ -10,7 +10,7 @@ The PX4 v1.15 release is in beta testing, pending release. Update these notes wi
 
 ## Read Before Upgrading
 
-TBD ...
+TBD …
 
 Please continue reading for [upgrade instructions](#upgrade-guide).
 
@@ -48,6 +48,7 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
 
 - [SIH]: The SIH on SITL [custom takeoff location](../sim_sih/index.md#set-custom-takeoff-location) in now set using the normal unscaled GPS position values, where previously the value needed to be multiplied by 1E7. ([PX4-Autopilot#23363](https://github.com/PX4/PX4-Autopilot/pull/23363)).
 - [Gazebo]:
+  - Gazebo Harmonic LTS release replaces Gazebo Garden as the version supported by PX4. The default installer scripts (used for CI) and documentation have been updated. This is required because Garden end-of-life is Nov 2024. ([PX4-Autopilot#23603](https://github.com/PX4/PX4-Autopilot/pull/23603))
   - New vehicle model `x500_lidar` — [x500 Quadrotor with 2D Lidar](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-2d-lidar). ([PX4-Autopilot#22418](https://github.com/PX4/PX4-Autopilot/pull/22418), [PX4-gazebo-models#41](https://github.com/PX4/PX4-gazebo-models/pull/41)).
   - New vehicle model `r1_rover` — [Aion Robotics R1 Rover](../sim_gazebo_gz/vehicles.md#differential-rover) ([PX4-Autopilot#22402](https://github.com/PX4/PX4-Autopilot/pull/22402) and [PX4-gazebo-models#21](https://github.com/PX4/PX4-gazebo-models/pull/21)).
   - New vehicle model `rover_ackermann` — [Ackermann Rover](../sim_gazebo_gz/vehicles.md#ackermann-rover) ([PX4-Autopilot#23383](https://github.com/PX4/PX4-Autopilot/pull/23383) and [PX4-gazebo-models#46](https://github.com/PX4/PX4-gazebo-models/pull/46)).
@@ -66,7 +67,7 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
 
 ### Multi-Rotor
 
-- TBD
+- Allow system-default [multicopter orbit mode](../flight_modes_mc/orbit.md) yaw behaviour to be configured, using the parameter [MC_ORBIT_YAW_MOD](../advanced_config/parameter_reference.md#MC_ORBIT_YAW_MOD) ([PX4-Autopilot#23358](https://github.com/PX4/PX4-Autopilot/pull/23358))
 
 ### VTOL
 
@@ -82,16 +83,19 @@ This release contains a major rework for the rover support in PX4:
 
 - Complete restructure of the [rover related documentation](../frames_rover/index.md).
 - New firmware build specifically for [rovers](../frames_rover/index.md#flashing-the-rover-build) ([PX4-Autopilot#22675](https://github.com/PX4/PX4-Autopilot/pull/22675)).
-- New module dedicated to [differential-steering rovers](../frames_rover/differential_rover.md) ([PX4-Autopilot#22402](https://github.com/PX4/PX4-Autopilot/pull/22402) and [PX4-Autopilot#23430](https://github.com/PX4/PX4-Autopilot/pull/23430))
-  - The module currently supports [manual mode](../flight_modes_rover/index.md#manual-mode), [acro mode](../flight_modes_rover/index.md#acro-mode), [mission mode](../flight_modes_rover/index.md#mission-mode), [return mode](../flight_modes_rover/index.md#return-mode) and implements a [guidance state machine](../frames_rover/differential_rover.md#state-machine) to fully leverage the power of differential-steering.
-- New module dedicated to [Ackermann rovers](../frames_rover/ackermann_rover.md) ([PX4-Autopilot#23024](https://github.com/PX4/PX4-Autopilot/pull/23024), [PX4-Autopilot#23310](https://github.com/PX4/PX4-Autopilot/pull/23383) and [PX4-Autopilot#23423](https://github.com/PX4/PX4-Autopilot/pull/23423)).
-  - The module currently supports [manual mode](../flight_modes_rover/index.md#manual-mode), [mission mode](../flight_modes_rover/index.md#mission-mode), [return mode](../flight_modes_rover/index.md#return-mode) and adds a number of [Ackermann specific features](../frames_rover/ackermann_rover.md#tuning-advanced).
+- New module dedicated to [differential rovers](../frames_rover/differential.md) ([PX4-Autopilot#22402](https://github.com/PX4/PX4-Autopilot/pull/22402), [PX4-Autopilot#23430](https://github.com/PX4/PX4-Autopilot/pull/23430) and [PX4-Autopilot#23629](https://github.com/PX4/PX4-Autopilot/pull/23629))
+  - The module currently supports [manual mode](../flight_modes_rover/differential.md#manual-mode), [acro mode](../flight_modes_rover/differential.md#acro-mode), [stabilized mode](../flight_modes_rover/differential.md#stabilized-mode), [position mode](../flight_modes_rover/differential.md#position-mode) and [auto modes](../flight_modes_rover/differential.md#auto-modes).
+- New module dedicated to [Ackermann rovers](../frames_rover/ackermann.md) ([PX4-Autopilot#23024](https://github.com/PX4/PX4-Autopilot/pull/23024), [PX4-Autopilot#23310](https://github.com/PX4/PX4-Autopilot/pull/23383), [PX4-Autopilot#23423](https://github.com/PX4/PX4-Autopilot/pull/23423) and [PX4-Autopilot#23572](https://github.com/PX4/PX4-Autopilot/pull/23572)).
+  - The module currently supports [manual mode](../flight_modes_rover/ackermann.md#manual-mode) and [auto modes](../flight_modes_rover/ackermann.md#auto-modes).
+- New module dedicated to [mecanum rovers](../frames_rover/mecanum.md) ([PX4-Autopilot#23708](https://github.com/PX4/PX4-Autopilot/pull/23708) and [PX4-Autopilot#23834](https://github.com/PX4/PX4-Autopilot/pull/23834)).
+  - The module currently supports [manual mode](../flight_modes_rover/mecanum.md#manual-mode), [acro mode](../flight_modes_rover/mecanum.md#acro-mode), [stabilized mode](../flight_modes_rover/mecanum.md#stabilized-mode), [position mode](../flight_modes_rover/mecanum.md#position-mode) and [auto modes](../flight_modes_rover/mecanum.md#auto-modes).
 - Restructure of the [rover airframe](../airframes/airframe_reference.md#rover) numbering convention ([PX4-Autopilot#23506](https://github.com/PX4/PX4-Autopilot/pull/23506)).  
   This also introduces several [new rover airframes](../airframes/airframe_reference.md#rover):
   - Generic Differential Rover `50000`.
   - Generic Ackermann Rover `51000`.
   - Axial SCX10 2 Trail Honcho `51001`.
-- Library for the [pure pursuit guidance algorithm](../flight_modes_rover/index.md#pure-pursuit-guidance-logic) that is shared among the rover modules ([PX4-Autopilot#23387](https://github.com/PX4/PX4-Autopilot/pull/23387) and [PX4-Autopilot#23438](https://github.com/PX4/PX4-Autopilot/pull/23438)).
+  - Generic Mecanum Rover `52000`.
+- Library for the [pure pursuit guidance algorithm](../config_rover/differential.md#pure-pursuit-guidance-logic) that is shared by all the rover modules ([PX4-Autopilot#23387](https://github.com/PX4/PX4-Autopilot/pull/23387) and [PX4-Autopilot#23438](https://github.com/PX4/PX4-Autopilot/pull/23438)).
 - [Simulation](../frames_rover/index.md#simulation) for differential-steering and Ackermann rovers in gazebo (for release notes see `r1_rover` and `rover_ackermann` in [simulation](#simulation)).
 - Deprecation of the [rover position control](../frames_rover/rover_position_control.md) module: Note that the legacy rover module still exists but has been superseded by the new dedicated modules.
 

ja/SUMMARY.md

@@ -398,6 +398,9 @@
     - [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)
+      - [Drive Modes](flight_modes_rover/mecanum.md)
+      - [Configuration/Tuning](config_rover/mecanum.md)
     - [(Deprecated) Rover Position Control](frames_rover/rover_position_control.md)
   - [Submarines (experimental)](frames_sub/index.md)
     - [BlueROV2](frames_sub/bluerov2.md)