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* Airframe - replace Babyshark with QAV250

* Link fixes
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20
docs/_link_checker_sc/ignore_errors.json
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@ -565,6 +565,11 @@
"fileRelativeToRoot": "assets\\simulation\\gazebo_classic\\gazebo_offboard.webm",
"hideReason": "Its fine"
},
{
"type": "OrphanedImage",
"fileRelativeToRoot": "assets\\site\\px4_logo.svg",
"hideReason": "Used in the project root README.md, outside the docs folder"
},
{
"type": "InternalLinkToHTML",
"fileRelativeToRoot": "en\\flight_modes\\README.md",
@ -1147,5 +1152,20 @@
"link": { "url": "https://www.hovergames.com/", "text": "" },
"hideReason": "timeout - bot block",
"expiry": "2026-08-26"
},
{
"link": { "url": "https://senterasensors.com/phx/", "text": "" },
"hideReason": "cert error in Node.js — page OK in browser",
"expiry": "2027-03-02"
},
{
"link": { "url": "https://app.gazebosim.org/PX4", "text": "" },
"hideReason": "reports 404 to automated requests but tested good in browser — likely SPA client-side routing or bot detection",
"expiry": "2027-03-02"
},
{
"link": { "url": "https://duo3d.com/product/duo-minilx-lv1", "text": "" },
"hideReason": "certificate error",
"expiry": "2027-03-03"
}
]

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1
docs/en/SUMMARY.md
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@ -559,6 +559,7 @@
- [Airspeed](msg_docs/Airspeed.md)
- [AirspeedWind](msg_docs/AirspeedWind.md)
- [AutotuneAttitudeControlStatus](msg_docs/AutotuneAttitudeControlStatus.md)
- [AuxGlobalPosition](msg_docs/AuxGlobalPosition.md)
- [BatteryInfo](msg_docs/BatteryInfo.md)
- [ButtonEvent](msg_docs/ButtonEvent.md)
- [CameraCapture](msg_docs/CameraCapture.md)

3
docs/en/advanced/px4_metadata.md
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@ -45,7 +45,7 @@ Events metadata is also added to the log files, allowing log analysis tools (suc
Binaries for flight controller targets with constrained memory do not store the parameter metadata in the binary, but instead reference the same data stored on `px4-travis.s3.amazonaws.com`.
This applies, for example, to the [Omnibus F4 SD](../flight_controller/omnibus_f4_sd.md).
The metadata is uploaded via [github CI](https://github.com/PX4/PX4-Autopilot/blob/main/.github/workflows/metadata.yml) for all build targets (and hence will only be available once parameters have been merged into main).
The metadata is uploaded via the [build_all_targets](https://github.com/PX4/PX4-Autopilot/blob/main/.github/workflows/build_all_targets.yml) GitHub CI workflow for all build targets (and hence will only be available once parameters have been merged into main).
::: info
You can identify memory constrained boards because they specify `CONFIG_BOARD_CONSTRAINED_FLASH=y` in their [px4board definition file](https://github.com/PX4/PX4-Autopilot/blob/main/boards/omnibus/f4sd/default.px4board).
@ -60,6 +60,7 @@ The metadata JSON files for CI builds of `main` are also copied to the github re
This integrates with Crowdin to get translations, which are stored in the [translated](https://github.com/PX4/PX4-Metadata-Translations/tree/main/translated) folder as xz-compressed translation files for each language.
These are referenced by the vehicle component metadata, and are downloaded when needed.
For more information see [PX4-Metadata-Translations](https://github.com/PX4/PX4-Metadata-Translations/) and [Component Metadata Protocol > Translation](https://mavlink.io/en/services/component_information.html#translation).
This is orchestrated by the [docs-orchestrator](https://github.com/PX4/PX4-Autopilot/blob/main/.github/workflows/docs-orchestrator.yml) GitHub CI workflow, which also regenerates auto-generated documentation such as parameter reference, airframe reference, and uORB message docs.
::: info
The parameter XML file of the main branch is copied into the QGC source tree via CI and is used as a fallback in cases where no metadata is available via the component metadata protocol (this approach predates the existence of the component metadata protocol).

2
docs/en/camera/fc_connected_camera.md
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@ -307,7 +307,7 @@ Wire up your cameras to your AUX port by connecting the ground and signal pins t
### Step 4
You will have to modify your driver to follow the sequence diagram above.
Public reference implementations for [IDS Imaging UEye](https://github.com/ProjectArtemis/ueye_cam) cameras and for [IEEE1394 compliant](https://github.com/andre-nguyen/camera1394) cameras are available.
Public reference implementations for [IDS Imaging UEye](https://github.com/anqixu/ueye_cam) cameras and for [IEEE1394 compliant](https://github.com/andre-nguyen/camera1394) cameras are available.
## See Also

154
docs/en/dev_airframes/adding_a_new_frame.md
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@ -124,118 +124,79 @@ param set-default CA_ROTOR3_PY 0.15
param set-default CA_ROTOR3_KM -0.05
```
### Example - Babyshark VTOL Complete Vehicle
### Example - HolyBro QAV250 Complete Vehicle
A more complicated configuration file for a complete vehicle is provided below.
This is the configuration for the Baby Shark [Standard VTOL](../frames_vtol/standardvtol.md) ([original file here](https://github.com/PX4/PX4-Autopilot/blob/main/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark)).
A more complete configuration file for a real vehicle is provided below.
This is the configuration for the [HolyBro QAV250](../frames_multicopter/holybro_qav250_pixhawk4_mini.md) quadrotor ([original file here](https://github.com/PX4/PX4-Autopilot/blob/main/ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250)).
The shebang and documentation sections are similar to those for the generic frame, but here we also document what `outputs` are mapped to each motor and actuator.
Note that these outputs are documentation only; the actual mapping is done using parameters.
The shebang and documentation sections are similar to those for the generic frame.
Here we also add a `@url` link to the vehicle documentation, a `@maintainer`, and additional board exclusions.
```sh
#!/bin/sh
#
# @name BabyShark VTOL
# @name HolyBro QAV250
#
# @type Standard VTOL
# @class VTOL
# @url https://docs.px4.io/main/en/frames_multicopter/holybro_qav250_pixhawk4_mini
#
# @maintainer Silvan Fuhrer <silvan@auterion.com>
# @type Quadrotor x
# @class Copter
#
# @output Motor1 motor 1
# @output Motor2 motor 2
# @output Motor3 motor 3
# @output Motor4 motor 4
# @output Motor5 Pusher motor
# @output Servo1 Ailerons
# @output Servo2 A-tail left
# @output Servo3 A-tail right
# @maintainer Beat Kueng <beat-kueng@gmx.net>
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
# @board holybro_kakutef7 exclude
# @board px4_fmu-v6x exclude
# @board ark_fmu-v6x exclude
#
```
As for the generic frame, we then include the generic VTOL defaults.
Next, we source the multicopter defaults.
```sh
. ${R}etc/init.d/rc.vtol_defaults
. ${R}etc/init.d/rc.mc_defaults
```
Then we define configuration parameters and [tuning gains](#tuning-gains):
```sh
param set-default MAV_TYPE 22
# The set does not include a battery, but most people will probably use 4S
param set-default BAT1_N_CELLS 4
param set-default BAT1_N_CELLS 6
param set-default IMU_GYRO_CUTOFF 120
param set-default IMU_DGYRO_CUTOFF 45
param set-default FW_AIRSPD_MAX 30
param set-default FW_AIRSPD_MIN 19
param set-default FW_AIRSPD_TRIM 23
param set-default FW_PN_R_SLEW_MAX 40
param set-default FW_PSP_OFF 3
param set-default FW_P_LIM_MAX 18
param set-default FW_P_LIM_MIN -25
param set-default FW_RLL_TO_YAW_FF 0.1
param set-default FW_RR_P 0.08
param set-default FW_R_LIM 45
param set-default FW_R_RMAX 50
param set-default FW_THR_TRIM 0.65
param set-default FW_THR_MIN 0.3
param set-default FW_THR_SLEW_MAX 0.6
param set-default FW_T_HRATE_FF 0
param set-default FW_T_SINK_MAX 15
param set-default FW_T_SINK_MIN 3
param set-default FW_YR_P 0.15
param set-default IMU_DGYRO_CUTOFF 15
param set-default MC_PITCHRATE_MAX 60
param set-default MC_ROLLRATE_MAX 60
param set-default MC_YAWRATE_I 0.15
param set-default MC_YAWRATE_MAX 40
param set-default MC_YAWRATE_P 0.3
param set-default MPC_ACC_DOWN_MAX 2
param set-default MPC_ACC_HOR_MAX 2
param set-default MPC_ACC_UP_MAX 3
param set-default MC_AIRMODE 1
param set-default MPC_JERK_AUTO 4
param set-default MPC_LAND_SPEED 1
param set-default MPC_MAN_TILT_MAX 25
param set-default MPC_MAN_Y_MAX 40
param set-default COM_SPOOLUP_TIME 1.5
param set-default MPC_THR_HOVER 0.45
param set-default MPC_TILTMAX_AIR 25
param set-default MPC_TKO_RAMP_T 1.8
param set-default MPC_TKO_SPEED 1
param set-default MPC_VEL_MANUAL 3
param set-default MPC_XY_CRUISE 3
param set-default MPC_XY_VEL_MAX 3.5
param set-default MPC_YAWRAUTO_MAX 40
param set-default MPC_Z_VEL_MAX_UP 2
param set-default MC_PITCHRATE_D 0.0012
param set-default MC_PITCHRATE_I 0.35
param set-default MC_PITCHRATE_MAX 1200
param set-default MC_PITCHRATE_P 0.082
param set-default MC_PITCH_P 8
param set-default MC_ROLLRATE_D 0.0012
param set-default MC_ROLLRATE_I 0.3
param set-default MC_ROLLRATE_MAX 1200
param set-default MC_ROLLRATE_P 0.076
param set-default MC_ROLL_P 8
param set-default MC_YAWRATE_I 0.3
param set-default MC_YAWRATE_MAX 600
param set-default MC_YAWRATE_P 0.25
param set-default MC_YAW_P 4
param set-default NAV_ACC_RAD 3
param set-default MPC_MANTHR_MIN 0
param set-default MPC_MAN_TILT_MAX 60
param set-default MPC_THR_CURVE 1
param set-default MPC_THR_HOVER 0.25
param set-default MPC_THR_MIN 0.05
param set-default MPC_Z_VEL_I_ACC 1.7
param set-default SENS_BOARD_ROT 4
param set-default VT_ARSP_BLEND 10
param set-default VT_ARSP_TRANS 21
param set-default VT_B_DEC_MSS 1.5
param set-default VT_B_TRANS_DUR 12
param set-default VT_ELEV_MC_LOCK 0
param set-default VT_FWD_THRUST_SC 1.2
param set-default VT_F_TR_OL_TM 8
param set-default VT_PSHER_SLEW 0.5
param set-default VT_TRANS_MIN_TM 4
param set-default VT_TYPE 2
param set-default THR_MDL_FAC 0.3
```
Last of all, the file defines the control allocation parameters for the geometry and the parameters that set which outputs map to different motors and servos.
Last of all, the file defines the control allocation parameters for the geometry and the parameters that set which outputs map to different motors.
```sh
param set-default CA_AIRFRAME 2
param set-default CA_ROTOR_COUNT 5
# Square quadrotor X PX4 numbering
param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR0_PX 1
param set-default CA_ROTOR0_PY 1
param set-default CA_ROTOR1_PX -1
@ -246,34 +207,11 @@ param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -1
param set-default CA_ROTOR3_PY 1
param set-default CA_ROTOR3_KM -0.05
param set-default CA_ROTOR4_AX 1.0
param set-default CA_ROTOR4_AZ 0.0
param set-default CA_SV_CS_COUNT 3
param set-default CA_SV_CS0_TYPE 15
param set-default CA_SV_CS0_TRQ_R 1.0
param set-default CA_SV_CS1_TRQ_P 0.5000
param set-default CA_SV_CS1_TRQ_R 0.0000
param set-default CA_SV_CS1_TRQ_Y -0.5000
param set-default CA_SV_CS1_TYPE 13
param set-default CA_SV_CS2_TRQ_P 0.5000
param set-default CA_SV_CS2_TRQ_Y 0.5000
param set-default CA_SV_CS2_TYPE 14
param set-default PWM_MAIN_FUNC1 201
param set-default PWM_MAIN_FUNC2 202
param set-default PWM_MAIN_FUNC3 105
param set-default PWM_MAIN_FUNC4 203
param set-default PWM_MAIN_FUNC5 101
param set-default PWM_MAIN_FUNC6 102
param set-default PWM_MAIN_FUNC7 103
param set-default PWM_MAIN_FUNC8 104
param set-default PWM_MAIN_TIM0 50
param set-default PWM_MAIN_DIS1 1500
param set-default PWM_MAIN_DIS2 1500
param set-default PWM_MAIN_DIS3 1000
param set-default PWM_MAIN_DIS4 1500
param set-default PWM_MAIN_FUNC1 101
param set-default PWM_MAIN_FUNC2 102
param set-default PWM_MAIN_FUNC3 103
param set-default PWM_MAIN_FUNC4 104
```
## Adding a New Airframe Group

1
docs/en/flight_controller/auav_x2.md
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@ -57,7 +57,6 @@ mRobotics is the distributor for the AUAV Products from August 2017.
## Key Links
- [User Manual](http://arsovtech.com/wp-content/uploads/2015/08/AUAV-X2-user-manual-EN.pdf)
- [DIY Drones Post](https://diydrones.com/profiles/blogs/introducing-the-auav-x2-1-flight-controller)
## Wiring Guide

6
docs/en/flight_controller/beaglebone_blue.md
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@ -4,10 +4,10 @@
::: warning
PX4 does not manufacture this (or any) autopilot.
Contact the [manufacturer](https://beagleboard.org/blue) for hardware support or compliance issues.
Contact the [manufacturer](https://www.beagleboard.org/boards/beaglebone-blue) for hardware support or compliance issues.
:::
[BeagleBone Blue](https://beagleboard.org/blue) is an all-in-one Linux-based computer.
[BeagleBone Blue](https://www.beagleboard.org/boards/beaglebone-blue) is an all-in-one Linux-based computer.
Although it is optimized for robotics, this compact and inexpensive board has all necessary sensors and peripherals needed by a flight controller.
This topic shows how to set up the board to run PX4 with [librobotcontrol](https://github.com/beagleboard/librobotcontrol) robotics package.
@ -17,7 +17,7 @@ This topic shows how to set up the board to run PX4 with [librobotcontrol](https
_BeagleBone Blue_ images can be found here:
- [Latest stable OS image](https://beagleboard.org/latest-images).
- [Latest stable OS image](https://www.beagleboard.org/distros).
- [Test OS images](https://rcn-ee.net/rootfs/bb.org/testing/) (updated frequently).
Information about flashing OS images can be found on [this page](https://github.com/beagleboard/beaglebone-blue/wiki/Flashing-firmware).

7
docs/en/flight_controller/modalai_voxl_2.md
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@ -62,7 +62,7 @@ ModalAI is actively maintaining a [branched PX4 version](https://github.com/moda
As VOXL 2 runs Ubuntu, the production releases of PX4 for VOXL 2 are distributed through [apt package management](https://docs.modalai.com/configure-pkg-manager/) and the [VOXL SDK](https://docs.modalai.com/voxl-sdk/).
More information about the firmware can be found [here](https://docs.modalai.com/voxl-px4-developer-guide/).
More information about the firmware can be found [here](https://docs.modalai.com/voxl-px4/).
### main branch
@ -78,7 +78,6 @@ This board is supported in QGroundControl 4.0 and later.
- [Starling 2 MAX](https://www.modalai.com/products/starling-2-max)
- [Sentinel Development Drone powered by VOXL 2](https://www.modalai.com/pages/sentinel)
- [Demo Video](https://www.youtube.com/watch?v=hMhQgWPLGXo)
- [VOXL 2 Flight Deck, ready to mount, tune and fly](https://www.modalai.com/collections/ready-to-mount/products/voxl-2-flight-deck)
- [VOXL 2 Development Kits](https://www.modalai.com/products/voxl-2)
- [Demo Video](https://www.youtube.com/watch?v=aVHBWbwp488)
@ -88,7 +87,7 @@ Quickstarts from the vendor are located [here](https://docs.modalai.com/voxl-2-h
### VOXL SDK
VOXL SDK (Software Development Kit) consists of the open source [voxl-px4](https://docs.modalai.com/voxl-px4/), [core libraries](https://docs.modalai.com/core-libs/), [services](https://docs.modalai.com/mpa-services/), [tools](https://docs.modalai.com/inspect-tools/), [utilities](https://docs.modalai.com/sdk-utilities/), and [build environments](https://docs.modalai.com/build-environments/) that ModalAI provide to accelerate the use and development of VOXL compute boards and accessories.
VOXL SDK (Software Development Kit) consists of the open source [voxl-px4](https://docs.modalai.com/voxl-px4/), [core libraries](https://docs.modalai.com/core-libs/), [services](https://docs.modalai.com/mpa-services/), [tools](https://docs.modalai.com/inspect-tools/), and [build environments](https://docs.modalai.com/build-environments/) that ModalAI provide to accelerate the use and development of VOXL compute boards and accessories.
VOXL SDK runs on VOXL, VOXL 2 and RB5 Flight!
@ -123,7 +122,7 @@ The PX4 user guide for VOXL 2 is available [here](https://docs.modalai.com/voxl-
### Developer Guide
The PX4 developer guide for VOXL 2 is available [here](https://docs.modalai.com/voxl-px4-developer-guide/).
The PX4 developer guide for VOXL 2 is available [here](https://docs.modalai.com/voxl-px4/).
### How to Build

2
docs/en/flight_controller/modalai_voxl_flight.md
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@ -41,7 +41,7 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo
| Video | 4k30 Video Capture h.264/5 w/ 720p FPV |
| Camera Interfaces | Support for MIPI-CSI2, USB UVC, HDMI |
| Wi-Fi | Pre-certified Wi-Fi module [QCNFA324 FCC ID:PPD-QCNFA324](https://fccid.io/PPD-QCNFA324), QCA6174A modem, 802.11ac 2x2 Dual-band, Bluetooth 4.2 (dual-mode) |
| 4G LTE | [Optional add-on module](https://www.modalai.com/collections/voxl-add-ons/products/voxl-lte) |
| 4G LTE | Optional add-on module |
| Microhard pDDL | [Optional add-on module](https://www.modalai.com/collections/voxl-add-ons/products/voxl-microhard-modem-usb-hub) |
| GNSS | WGR7640 10Hz |
| I/O | 1x USB3.0 OTG (ADB port), 1x USB2.0 (expansion port), 2x UART, 3x I2C, additional GPIO and SPI can be configured |

2
docs/en/flight_controller/mro_x2.1.md
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@ -11,7 +11,7 @@ PX4 does not manufacture this (or any) autopilot.
Contact the [manufacturer](https://store.mrobotics.io/) for hardware support or compliance issues.
:::
The [mRo-X2.1 autopilot](http://www.mRobotics.io/) is based on the [Pixhawk<sup>&reg;</sup>-project](https://pixhawk.org/) **FMUv2** open hardware design.
The (mRobotics) _mRo-X2.1_ autopilot is based on the [Pixhawk<sup>&reg;</sup>-project](https://pixhawk.org/) **FMUv2** open hardware design.
It runs PX4 on the [NuttX](https://nuttx.apache.org/) OS.
![mRo X2.1](../../assets/flight_controller/mro/mro_x2.1.jpg)

4
docs/en/flight_controller/raspberry_pi_pilotpi_ubuntu_server.md
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@ -16,13 +16,13 @@ Both armhf and arm64 arch are supported.
- [Ubuntu Server 18.04.5 for RPi2](https://cdimage.ubuntu.com/releases/18.04.5/release/ubuntu-18.04.5-preinstalled-server-armhf+raspi2.img.xz)
- [Ubuntu Server 18.04.5 for RPi3](https://cdimage.ubuntu.com/releases/18.04.5/release/ubuntu-18.04.5-preinstalled-server-armhf+raspi3.img.xz)
- [Ubuntu Server 18.04.5 for RPi4](https://cdimage.ubuntu.com/releases/18.04.5/release/ubuntu-18.04.5-preinstalled-server-armhf+raspi4.img.xz)
- [Ubuntu Server 20.04.1 for RPi 2/3/4](https://cdimage.ubuntu.com/releases/20.04.1/release/ubuntu-20.04.2-preinstalled-server-arm64+raspi.img.xz)
- [Ubuntu Server 20.04.1 for RPi 2/3/4](https://old-releases.ubuntu.com/releases/focal/ubuntu-20.04.2-preinstalled-server-arm64+raspi.img.xz)
#### arm64
- [Ubuntu Server 18.04.5 for RPi3](https://cdimage.ubuntu.com/releases/18.04.5/release/ubuntu-18.04.5-preinstalled-server-arm64+raspi3.img.xz)
- [Ubuntu Server 18.04.5 for RPi4](https://cdimage.ubuntu.com/releases/18.04.5/release/ubuntu-18.04.5-preinstalled-server-arm64+raspi4.img.xz)
- [Ubuntu Server 20.04.1 for RPi 3/4](https://cdimage.ubuntu.com/releases/20.04.1/release/ubuntu-20.04.2-preinstalled-server-arm64+raspi.img.xz)
- [Ubuntu Server 20.04.1 for RPi 3/4](https://old-releases.ubuntu.com/releases/focal/ubuntu-20.04.2-preinstalled-server-arm64+raspi.img.xz)
#### Latest OS

2
docs/en/frames_multicopter/omnicopter.md
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@ -18,7 +18,7 @@ The components needed for this build are:
::: info
You can select your own flight controller of choice, it just needs to support 8 DShot outputs.
:::
- GPS: [ZED-F9P](https://gnss.store/en/zed-f9p-gnss-modules/105-elt0092.html)
- GPS: [ZED-F9P](https://gnss.store/products/elt0092)
- [GPS helix antenna](https://gnss.store/products/elt0014)
::: info
Any other GPS may work as well, however a helix antenna is expected to perform better for inverted flights.

2
docs/en/frames_plane/wing_wing_z84.md
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@ -33,7 +33,7 @@ Any small (>=12A) ESC will do:
- FrSky D4R-II receiver or equivalent (jumpered to PPM sum output according to its manual)
- [Mini telemetry set](../flight_controller/pixfalcon.md#availability) for Holybro pix32
- [Digital airspeed sensor](../flight_controller/pixfalcon.md#availability) for Holybro pix32 / Pixfalcon
- 1800 mAh 2S LiPo Battery - e.g. [Team Orion 1800mAh 7.4V 50C 2S1P](https://teamorion.com/en/batteries-en/lipo/soft-case/team-orion-lipo-1800-2s-7-4v-50c-xt60-en/)
- 1800 mAh 2S LiPo Battery - e.g. Team Orion 1800mAh 7.4V 50C 2S1P with XT 60 plug.
### Recommended spare parts

2
docs/en/frames_vtol/vtol_quadplane_falcon_vertigo_hybrid_rtf_dropix.md
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@ -35,7 +35,7 @@ Almost everything you need is provided in the RTF kit (the links next to compone
- Pusher motor power system
- Carbon fiber tubes and mounts
- G10 motor mounts
- 1 x [3700mah 4S 30C Lipo battery](https://www.overlander.co.uk/batteries/lipo-batteries/power-packs/3700mah-4s-14-8v-25c-lipo-battery-overlander-sport.html)
- 1 x [3700mah 4S 30C Lipo battery](https://wheelspinmodels.co.uk/i/3700mah-4s-14.8v-25c-lipo-battery-overlander-262221/)
- Dropix power distribution board and cable
The kit does not come with a radio receiver or (optional) telemetry modules.

2
docs/en/frames_vtol/vtol_tiltrotor_omp_hobby_zmo_fpv.md
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@ -25,9 +25,9 @@ Depending on the final takeoff weight the hover time might be limited (there is
## Where to Buy
- [OMP-Hobby](https://www.omphobby.com/OMPHOBBY-ZMO-VTOL-FPV-Aircraft-With-DJI-Goggles-And-Remote-Controller-p3069854.html)
- [GetFPV](https://www.getfpv.com/omphobby-zmo-z3-vtol-fpv-1200mm-arf-plane-kit-no-fpv-system.html)
- [FoxtechFPV](https://www.foxtechfpv.com/zmo-pro-fpv-vtol.html)
- [RMRC](https://www.readymaderc.com/products/details/omp-hobby-zmo-vtol-fpv-airplane-rtf-goggles-radio)
## Flight Controller

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@ -41,7 +41,7 @@ It integrates UBLOX M9N, STM32F4 MCU, RM3100 compass, three-color LED light and
## Where to Buy
- [CUAV](https://cuav.en.alibaba.com/product/1600165544920-820872629/Free_shipping_CUAV_Neo_3_pro_drone_UAVCAN_GNSS_processor_STM32F412_autopilot_ublox_M9N_positioning_RM3100_compass_uav_gps_module.html?spm=a2700.shop_oth.74.2.636e28725EvVHb)
- [CUAV](https://www.alibaba.com/product-detail/Free_shipping_CUAV_Neo_3_pro_drone_UAVCAN_GNSS_processor_STM32F412_autopilot_ublox_M9N_positioning_RM3100_compass_uav_gps_module_1600165544920.html)
## Wiring and Connections

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@ -16,7 +16,7 @@ RTK setup and use on PX4 via _QGroundControl_ is largely plug and play \(see [RT
## Wiring and Connections
C-RTK GPS comes with a cable that terminates in a 6-pin connector and 4-pin connector that are compatible with [Pixhack v3](https://doc.cuav.net/flight-controller/pixhack/en/quick-start-pixhack-v3x.html#gps--compass).
C-RTK GPS comes with a cable that terminates in a 6-pin connector and 4-pin connector that are compatible with [Pixhack v3](../flight_controller/pixhack_v3.md).
The 6-pin connector provides the interface for RTK GPS, and should be connected to the flight controller's GPS port.
The 4-pin connector is an m8n (standard) GPS interface that is intended for (optional) use as a second GPS.

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@ -121,7 +121,7 @@ GPS and RTK configuration on PX4 via _QGroundControl_ is plug and play (see [RTK
## More information
- [NANO RTK Receiver](https://www.datagnss.com/products/tau951m-1312-tiny-evk)
- [NANO RTK Receiver](https://www.datagnss.com/products/nano-rtk-receiver)
- [HELIX Antenna for RTK](https://www.datagnss.com/collections/rtk-antenna/products/smart-helix-antenna)
- [RTK Antenna AGR6302G](https://www.datagnss.com/collections/rtk-antenna/products/antenna-agr6302g)
- [AT400 RTK Antenna](https://www.datagnss.com/collections/rtk-antenna/products/at400-multi-band-antenna-for-rtk)

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@ -2,9 +2,10 @@
:::warning
This GNSS has been discontinued, and is no longer commercially available.
Replaced by [Holybro H-RTK F9P GNSS](../gps_compass/rtk_gps_holybro_h-rtk-f9p.md).
:::
The [Holybro H-RTK M8P GNSS](https://holybro.com/collections/standard-h-rtk-series/products/h-rtk-m8p-gnss-series) is an [RTK GNSS module](../gps_compass/rtk_gps.md) series for the mass market.
The _Holybro H-RTK M8P GNSS_ is an [RTK GNSS module](../gps_compass/rtk_gps.md) series for the mass market.
This family is similar to the [H-RTK M9P](../gps_compass/rtk_gps_holybro_h-rtk-f9p.md) series but uses the smaller, lighter, and less expensive M8P u-blox RTK GNSS module (which still provides far superior position resolution than previous generations\_.
There are three models of Holybro H-RTK M8P to choose from, each with different antenna design to meet different needs.
@ -16,7 +17,7 @@ Using RTK allows PX4 to get its position with centimeter-level accuracy, which i
## Where to Buy
- [H-RTK M8P (GPS RTK Mounts)](https://holybro.com/collections/gps-accessories/products/vertical-mount-for-h-rtk-helical)
- Discontinued.
## Configuration
@ -30,9 +31,7 @@ All H-RTK GNSS models come with a GH 10-pin connector/cable that is compatible w
The cables/connectors may need to be modified in order to connect to other flight controller boards (see [pin map](#pin_map)below).
:::
<a id="pin_map"></a>
## Pin Map
## Pin Map {#pin_map}
![h-rtk_rover_pinmap](../../assets/hardware/gps/rtk_holybro_h-rtk-m8p_pinmap.jpg)

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@ -10,7 +10,7 @@ Certain receivers are recommended for autopilot applications because of their ph
Dual-antenna, ultra-low-power GNSS rover receiver with support for heading.
- [AsteRx-m3 Pro+](https://www.septentrio.com/en/products/gps/gnss-boards/asterx-m3-pro-plus)
- [AsteRx-m3 Pro+](https://www.septentrio.com/en/products/gnss-receivers/gnss-boards/asterx-m3-pro-plus)
Dual-antenna, ultra-low-power versatile GNSS rover and base receiver with support for heading.
@ -19,7 +19,7 @@ Certain receivers are recommended for autopilot applications because of their ph
Single-antenna evaluation kit with support for L5 frequency band, based on the mosaic-X5 GNSS
receiver module.
- [mosaic-go heading](https://www.septentrio.com/en/products/gps/gnss-receiver-modules/mosaic-h-evaluation-kit)
- [mosaic-go heading](https://www.septentrio.com/en/products/gnss-receivers/gnss-receiver-modules/mosaic-h-evaluation-kit)
Dual-antenna evaluation kit with support for heading, based on the mosaic-H GNSS receiver module.

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@ -2,8 +2,8 @@
The Septentrio mosaic-go receivers are evaluation kits for their mosaic-X5 and mosaic-H receiver modules.
Because of their small size and low weight, they are ideal for autopilot applications.
The available variants are the [mosaic-go](https://www.septentrio.com/en/products/gps/gnss-receiver-modules/mosaic-go-evaluation-kit)
and [mosaic-go heading](https://www.septentrio.com/en/products/gps/gnss-receiver-modules/mosaic-h-evaluation-kit).
The available variants are the [mosaic-go](https://www.septentrio.com/en/products/gnss-receivers/gnss-receiver-modules/mosaic-go-evaluation-kit)
and [mosaic-go heading](https://www.septentrio.com/en/products/gnss-receivers/gnss-receiver-modules/mosaic-h-evaluation-kit).
![Mosaic go Highly Accurate GNSS Receiver Module](../../assets/hardware/gps/septentrio_sbf/mosaic-go.png)

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@ -156,7 +156,7 @@ To only allow arming when a Remote ID is ready, [set](../advanced_config/paramet
Integrators should test than the remote ID module is broadcasting the correct information, such as UAV location, ID, operator ID and so on.
This is most easily done using a 3rd party application on your mobile device:
- [Drone Scanner](https://github.com/dronetag/drone-scanner) (Google Play or Apple App store)
- [Drone Scanner](https://help.dronetag.com/drone-scanner/) (Google Play or Apple App store)
- [OpenDroneID OSM](https://play.google.com/store/apps/details?id=org.opendroneid.android_osm&hl=en&gl=US) (Google Play)
## Implementation

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@ -11,7 +11,7 @@ For fixed-wing flight it is the airspeed that guarantees lift — not ground spe
Recommended digital airspeed sensors include:
- Based on [Pitot tube](https://en.wikipedia.org/wiki/Pitot_tube)
- I2C MEAS Spec series (e.g. [MS4525DO](https://www.te.com/usa-en/product-CAT-BLPS0002.html), [MS5525](https://www.te.com/usa-en/product-CAT-BLPS0003.html))
- I2C MEAS Spec series (e.g. [MS4525DO](https://www.te.com/en/product-20003581-00.html), [MS5525](https://www.te.com/usa-en/product-CAT-BLPS0003.html))
- [mRo I2C Airspeed Sensor JST-GH MS4525DO](https://store.3dr.com/airspeed-sensor-jst-gh-ms4525do/) (3DR store)
- [Digital Differential Airspeed Sensor Kit - MS4525DO](https://store-drotek.com/793-digital-differential-airspeed-sensor-kit-.html) (Drotek).
- [Holybro Digital Air Speed Sensor - MS4525DO](https://holybro.com/collections/sensors/products/digital-air-speed-sensor-ms4525do)

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@ -49,5 +49,4 @@ Essentially it is an AHRS that also includes position/velocity estimation.
## Further Information
- [What is an Inertial Navigation System?](https://www.vectornav.com/resources/inertial-navigation-articles/what-is-an-ins) (VectorNav) <!-- Link needs manual checking-->
- [Inertial Navigation Primer](https://www.vectornav.com/resources/inertial-navigation-primer) (VectorNav)

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@ -8,8 +8,8 @@ Widely used across industries like aerospace, robotics, industrial automation, a
The driver currently supports the following hardware:
- [`MicroStrain CV7-AR`](https://www.hbkworld.com/en/products/transducers/inertial-sensors/vertical-reference/3dm-cv7-ar): Inertial Measurement Unit (IMU) and Vertical Reference Unit (VRU)
- [`MicroStrain CV7-AHRS`](https://www.microstrain.com/inertial-sensors/3dm-cv7-ahrs): Inertial Measurement Unit (IMU) and Attitude Heading Reference System (AHRS)
- [`MicroStrain CV7-INS`](https://www.microstrain.com/inertial-sensors/3dm-cv7-ins): Inertial Measurement Unit (IMU) and Inertial Navigation System (INS).
- [`MicroStrain CV7-AHRS`](https://www.hbkworld.com/en/products/transducers/inertial-sensors/attitude-and-heading/3dm-cv7-ahrs): Inertial Measurement Unit (IMU) and Attitude Heading Reference System (AHRS)
- [`MicroStrain CV7-INS`](https://www.hbkworld.com/en/products/transducers/inertial-sensors/navigation/3dm-cv7-ins): Inertial Measurement Unit (IMU) and Inertial Navigation System (INS).
- [`MicroStrain CV7-GNSS/INS`](https://www.hbkworld.com/en/products/transducers/inertial-sensors/navigation/3dm-cv7-gnss-ins): Inertial Measurement Unit (IMU) and Inertial Navigation System (INS) combined with dual multiband (GNSS) receivers.
PX4 can use these sensors to provide raw IMU data for EKF2 or to replace EKF2 as an external INS.

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@ -1,12 +1,17 @@
# TeraRanger Rangefinders
# TeraRanger Rangefinders (Discontinued)
::: warning
TeraRanger Evo sensors were discontinued by Terabee in May 2024.
Limited stock may still be available from third-party resellers such as [Tribotix](https://tribotix.com/product/teraranger-evo-60m/).
:::
TeraRanger provide a number of lightweight distance measurement sensor based on infrared Time-of-Flight (ToF) technology.
They are typically faster and have greater range than sonar, and smaller and lighter than laser-based systems.
PX4 supports:
- [TeraRanger Evo 60m](https://www.terabee.com/shop/lidar-tof-range-finders/teraranger-evo-60m/) (0.5 – 60 m)
- [TeraRanger Evo 600Hz](https://www.terabee.com/shop/lidar-tof-range-finders/teraranger-evo-600hz/) (0.75 - 8 m)
- [TeraRanger Evo 60m](https://tribotix.com/product/teraranger-evo-60m/) (0.5 – 60 m)
- [TeraRanger Evo 600Hz](https://tribotix.com/product/teraranger-evo-600hz/) (0.75 - 8 m)
::: info
PX4 also supports _TeraRanger One_ (I2C adapter required).

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@ -31,7 +31,7 @@ The LED lights up when the pulse input is grounded or exposed to logical 0, so y
Hall-Effect sensors (magnetically operated) are ideal for harsh environments, where dirt, dust, and water can contact the sensed rotor.
Many different hall effect sensors are commercially available.
For example, a [55100 Miniature Flange Mounting Proximity Sensor](https://m.littelfuse.com/assetdocs/littelfuse-hall-effect-sensors-55100-datasheet?assetguid=6d69d457-770e-46ba-9998-012c5e0aedd7) is a good choice.
For example, a [55100 Miniature Flange Mounting Proximity Sensor](https://www.littelfuse.com/assetdocs/littelfuse-hall-effect-sensors-55100-datasheet?assetguid=6d69d457-770e-46ba-9998-012c5e0aedd7) is a good choice.
![Example of Hall effect probe](../../assets/hardware/sensors/tfrpm/hall_probe.jpg)

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@ -76,7 +76,7 @@ IMU data should be published at 800Hz (400Hz if using VN-300).
## VectorNav Configuration
Definitions for all commands and registers referenced in this section can be found in the respective [VectorNav ICD](https://www.vectornav.com/resources/interface-control-documents). <!-- Link needs manual checking-->
Definitions for all commands and registers referenced in this section can be found in the respective [VectorNav ICD](https://www.vectornav.com/resources/technical-documentation/interface-control-documents).
Upon initialization, PX4 configures the VectorNav unit as follows:

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@ -50,7 +50,3 @@ In _QGroundControl_:
batt_smbus start -X -b 1 -a 11 # External bus 1, address 0x0b
batt_smbus start -X -b 1 -a 12 # External bus 1, address 0x0c
```
## Further Information
[Quick Start Guide](https://rotoye.com/batmon-tutorial/) (Rotoye)