Writing docs¶

The site is built by Zensical from the Markdown in docs/, configured in zensical.toml.

Preview¶

zensical serve

This serves the site locally and reloads as you edit.

Add a page¶

Create a Markdown file under docs/ and add it to nav in zensical.toml.

Images and GIFs¶

Put media in docs/assets/ and link it relative to the page:

![Drone at hover](assets/hover.gif)
![Wiring](assets/wiring.png){ width="400" }

{ width="400" } sets the displayed size. For a caption, wrap the image in a figure:

<figure markdown>
  ![Drone at hover](assets/hover.gif)
  <figcaption>Hovering on the neural policy.</figcaption>
</figure>

Math¶

Write LaTeX between $...$ inline or $$...$$ for a display block:

The thrust acts along the body z-axis, $T\,R(\eta)\,e_3$:

$$
m\,\dot v = -m g\,e_3 + T\,R(\eta)\,e_3
$$

Publishing¶

.github/workflows/docs.yml builds the site and publishes it to GitHub Pages when a release tag (vX.Y.Z) is pushed. It can also be run by hand from the Actions tab. In the repository settings, Pages must use GitHub Actions as its source.