ArduSub 4.1 Initial Docs

[ES-Alexander]

First incremental info - just params and MAVLink messages. I wanted to do this as a more complete whole, but it's taking too long / going too slowly with the other stuff that's going on, so I'm figuring (partly after discussing with @Williangalvani) that it's better to make the "ready" high quality stuff generally available since it's already a potentially useful resource.

Generation Commands

For future-proofing, assumes that ArduPilot/ardupilot#22424 has been merged, and that ArduPilot/ardupilot#22424 has been merged and backported to the Sub-4.1 branch.

MAVLink parser script requires Python >= 3.11, and should use the most recent version of pymavlink for an up to date list of MAVLink messages and commands.

BRANCH=Sub-4.1
git clone -b $BRANCH https://github.com/ArduPilot/ardupilot.git
cd ardupilot
git submodule update --init --recursive

BRDOC=1
export BRDOC
python3 Tools/autotest/param_metadata/param_parse.py --vehicle ArduSub --format md
unset BRDOC

python3 Tools/scripts/mavlink_parse.py --vehicle ArduSub --header ArduSub --include-commands --include-stream-groups --include-unsupported

[patrickelectric]

Nice work!

It would be nice if you could add in the PR body the code that was used to generate such files, or add as a comment in the generated files with the necessary arguments.