- The instructions above tune the vehicle in [Altitude mode](../flight_modes_mc/altitude.md).
- You can instead takeoff in [Takeoff mode](../flight_modes_mc/takeoff.md) and tune in [Position mode](../flight_modes_mc/position.md) if the vehicle is is _known_ to be stable in these modes.
+ You can instead takeoff in [Takeoff mode](../flight_modes_mc/takeoff.md) and tune in [Position mode](../flight_modes_mc/position.md) if the vehicle is _known_ to be stable in these modes.
@@ -243,7 +243,7 @@ To map a switch:
2. Set [RC_MAP_AUX1](../advanced_config/parameter_reference.md#RC_MAP_AUX1) to match the RC channel for your switch (you can use any of `RC_MAP_AUX1` to `RC_MAP_AUX6`).
3. Set [FW_AT_MAN_AUX](../advanced_config/parameter_reference.md#FW_AT_MAN_AUX) to the selected channel (i.e. `1: Aux 1` if you mapped `RC_MAP_AUX1`).
-The auto tuner will be disabled when the switch is below `0.5` (on the manual control setpoint range of of `[-1, 1]`) and enabled when the switch channel is above `0.5`.
+The auto tuner will be disabled when the switch is below `0.5` (on the manual control setpoint range of `[-1, 1]`) and enabled when the switch channel is above `0.5`.
If using an RC AUX switch to enable autotuning, make sure to [select the tuning axes](#select-tuning-axis) before flight.
diff --git a/docs/uk/config/joystick.md b/docs/uk/config/joystick.md
index b5fb0a3940..eccd55abb9 100644
--- a/docs/uk/config/joystick.md
+++ b/docs/uk/config/joystick.md
@@ -23,8 +23,7 @@ Information about how to set up a joystick is covered in: [QGroundControl > Joys
Підсумовуючи:
- Open _QGroundControl_
-- Set the parameter [COM_RC_IN_MODE=1](../advanced_config/parameter_reference.md#COM_RC_IN_MODE) - `Joystick`
- - See [Parameters](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/setup_view/parameters.html) for information about setting parameters
- - Setting the parameter to `2` or `3` also enables Joystick under some circumstances.
+- [Enable a `COM_RC_IN_MODE` mode that allows Joystick](../config/manual_control.md#px4-configuration).
+ The default `RC or MAVLink keep first` should work if you plan to only have a Joystick connected.
- Підключіть джойстик
- Configure the connected joystick in: **Vehicle Setup > Joystick**.
diff --git a/docs/uk/config/manual_control.md b/docs/uk/config/manual_control.md
new file mode 100644
index 0000000000..4dda9dd5a2
--- /dev/null
+++ b/docs/uk/config/manual_control.md
@@ -0,0 +1,58 @@
+# Ручне керування
+
+Pilots can control a vehicle manually using either a [Radio Control (RC) System](../getting_started/rc_transmitter_receiver.md) or a [Joystick/Gamepad](../config/joystick.md) controller connected via QGroundControl.
+PX4 also supports using RC and/or multiple Joysticks, with fallback from one type to the other.
+
+ 
+
+## Загальний огляд
+
+_Joystick_ setups use QGroundControl to encode the control information from a "standard" computer gaming joystick into [MAVLink messages](https://mavlink.io/en/services/manual_control.html) that are sent to the vehicle over the (shared) telemetry radio channel.
+They are often used in integrated GCS/manual control systems because it is cheaper and easier to integrate a joystick than a separate radio system.
+
+Joysticks are suitable for most applications provided your telemetry channel has a high enough bandwidth/low latency.
+They are perfect for flying the PX4 simulator, because you can plug them directly into your ground control computer and start flying.
+
+_RC systems_ use a dedicated ground-based radio transmitter and vehicle-based receiver for sending control information.
+They offer lower latency than Joysticks, and are very highly recommended when first tuning/testing a new frame design, when flying racers/acrobatically, and in other cases where low latency is important.
+They can also be useful as a robust backup link for safety.
+Note RC systems usually require significantly more configuration and calibration, much of which may be brand or model-specific.
+
+:::info
+PX4 does not _require_ a manual control system for autonomous flight modes.
+:::
+
+## Конфігурація PX4
+
+:::tip
+This section explains how to configure PX4 to use and prioritise various manual control sources (other configuration is covered in the guides for each type of manual control).
+:::
+
+If you only have one manual control system, either RC or Joystick, then by default no manual control selection is required.
+In this case PX4 locks to the first valid manual control source it detects and uses that source until the vehicle is rebooted.
+
+If you have multiple control sources, such as an RC system and/or one or more Joysticks, then you can use the [COM_RC_IN_MODE](../advanced_config/parameter_reference.md#COM_RC_IN_MODE) parameter to determine which source is active, specifying selection priorities and fallback behavior ([parameters can be set](../advanced_config/parameters.md#finding-a-parameter) using QGC):
+
+- `0`: RC only.
+- `1`: MAVLink only.
+- `2`: RC or MAVLink with fallback (switches if current source becomes invalid).
+- `3`: RC or MAVLink keep first (locks to the first valid source until reboot).
+- `4`: Disable manual control (ignores all sources).
+- `5`: RC priority, then MAVLink (lower instance before higher) — `RC > MAVLink 1 > MAVLink 2`
+- `6`: MAVLink priority (lower instance before higher), then RC — `MAVLink 1 > MAVLink 2 > RC`
+- `7`: RC priority, then MAVLink (higher instance before lower) — `RC > MAVLink 2 > MAVLink 1`
+- `8`: MAVLink priority (higher instance before lower), then RC — `MAVLink 2 > MAVLink 1 > RC`
+
+The [MAVLink instance](../peripherals/mavlink_peripherals.md#mavlink-instances) refers to an instance assigned to a serial port, such as [MAV_0_CONFIG](../advanced_config/parameter_reference.md#MAV_0_CONFIG).
+
+Примітки:
+
+- RC checks are run for any option that uses RC (so not for `MAVLink only` or `Disable manual control`).
+- When using priority sources, sources are evaluated as soon as they become valid and may trigger an immediate switch (if higher priority than the currently active source).
+- A [Manual Control Loss Failsafe](../config/safety.md#manual-control-loss-failsafe) is triggered when none of the manual control inputs allowed by the `COM_RC_IN_MODE` mode are available for a time that is greater than the RC Loss Timeout.
+ As long as there is a fallback input source available, the failsafe is not triggered.
+
+## Дивіться також
+
+- [Radio Control (RC)](../getting_started/rc_transmitter_receiver.md)
+- [Joysticks](../config/joystick.md)
diff --git a/docs/uk/config/radio.md b/docs/uk/config/radio.md
index 135877a0b7..26379873d4 100644
--- a/docs/uk/config/radio.md
+++ b/docs/uk/config/radio.md
@@ -1,10 +1,12 @@
# Налаштування радіомодулів (RC)
-The _Radio Setup_ screen is used to configure the mapping of your RC controller's main attitude control sticks (roll, pitch, yaw, throttle) to channels, and to calibrate the minimum, maximum, trim and reverse settings for all other transmitter controls/RC channels.
+The _Radio Setup_ screen is used to configure the mapping of your [RC controller's](../getting_started/rc_transmitter_receiver.md) main attitude control sticks (roll, pitch, yaw, throttle) to channels, and to calibrate the minimum, maximum, trim and reverse settings for all other transmitter controls/RC channels.
:::info
-A [Joystick](../config/joystick.md) can be used instead of RC for manual control.
-The [COM_RC_IN_MODE](../advanced_config/parameter_reference.md#COM_RC_IN_MODE) parameter [can be set](../advanced_config/parameters.md) to define what kind of manual controller(s) are enabled.
+A [Joystick](../config/joystick.md) can also be used for [Manual Control](../config/manual_control.md).
+
+By default PX4 will latch the first valid controller it discovers and use it until the vehicle reboots.
+If you have multiple controllers and you want to define their priority see [Manual Control > PX4 Configuration](../config/manual_control.md#px4-configuration).
:::
## Прив'язка приймача
diff --git a/docs/uk/config/safety.md b/docs/uk/config/safety.md
index a3535d8675..4ed4b0cf72 100644
--- a/docs/uk/config/safety.md
+++ b/docs/uk/config/safety.md
@@ -109,19 +109,17 @@ There are several other "battery related" failsafe mechanisms that may be config
## Manual Control Loss Failsafe
-The manual control loss failsafe may be triggered if the connection to the [RC transmitter](../getting_started/rc_transmitter_receiver.md) or [joystick](../config/joystick.md) is lost, and there is no fallback.
-If using an [RC transmitter](../getting_started/rc_transmitter_receiver.md) this is triggered if the RC [transmitter link is lost](../getting_started/rc_transmitter_receiver.md#set-signal-loss-behaviour).
-If using [joysticks](../config/joystick.md) connected over a MAVLink data link, this is triggered if the joysticks are disconnected or the data link is lost.
-
-:::info
-PX4 and the receiver may also need to be configured in order to _detect RC loss_: [Radio Setup > RC Loss Detection](../config/radio.md#rc-loss-detection).
-:::
+A [Manual Control Loss Failsafe](../config/safety.md#manual-control-loss-failsafe) is triggered after a [manual control loss timeout](#COM_RC_LOSS_T) in which none of the configured [Manual Controllers](../config/manual_control.md) are available.
The QGCroundControl Safety UI allows you to set the [failsafe action](#failsafe-actions) and [manual control loss timeout](#COM_RC_LOSS_T).
Users that want to disable this failsafe in specific modes can do so using the parameter [COM_RCL_EXCEPT](#COM_RCL_EXCEPT).
+:::info
+PX4 and the receiver may also need to be configured in order to _detect RC loss_: [Radio Setup > RC Loss Detection](../config/radio.md#rc-loss-detection).
+:::
+
Нижче наведено додаткові (і базові) налаштування параметрів.
| Параметр | Налаштування | Опис |
@@ -179,17 +177,22 @@ Due to the inherent danger of this, this function is disabled using [CBRK_FLIGHT
| Preemptive geofence triggering | [GF_PREDICT](../advanced_config/parameter_reference.md#GF_PREDICT) | (Експериментальний) Спрацьовувати геозону, якщо поточний рух транспортного засобу передбачає спрацьовування порушення (замість пізнього спрацьовування після порушення). |
| Circuit breaker for flight termination | [CBRK_FLIGHTTERM](../advanced_config/parameter_reference.md#CBRK_FLIGHTTERM) | Увімкнення/вимкнення дії припинення польоту (за замовчуванням вимкнено). |
-## Position (GNSS) Loss Failsafe
+## Position Estimation Failsafes
+
+This section describes failsafes related to the quality of the vehicle's position estimate.
+
+### Position Loss Failsafe
The _Position Loss Failsafe_ is triggered if the quality of the PX4 position estimate falls below acceptable levels (this might be caused by GPS loss) while in a mode that requires an acceptable position estimate.
-The sections below cover first the trigger and then the failsafe action taken by the controller.
### Position Loss Failsafe Trigger
-There are basically two mechanisms in PX4 to trigger position failsafes:
+The position loss failsafe triggers if the position estimate becomes _invalid_. There are two mechanisms in PX4 to invalidate the position estimate:
-- A timeout since the last sensor data was fused that provides direct speed or horizontal position measurements. Sensors that fall into that category are: GNSS, optical flow, airspeed, VIO, auxiliary global position.
-- The estimated horizontal position accuracy exceeds a certain threshold. This check is only done on hovering systems (rotary wing vehicles or VTOLs in hover phase).
+- A timeout since the last sensor data was fused that provides direct speed or horizontal position measurements.
+ - Sensors that fall into that category are: GNSS, optical flow, airspeed, VIO, auxiliary global position.
+- The estimated horizontal position inaccuracy exceeds the threshold [COM_POS_LOW_EPH](../advanced_config/parameter_reference.md#COM_POS_LOW_EPH)
+ - This check is only done on hovering systems (rotary-wing vehicles or VTOLs in hover phase). For fixed-wing vehicles, refer to the [Position Accuracy Low](#position-accuracy-low-failsafe) section.
The relevant parameters shown below.
@@ -205,14 +208,24 @@ Multicopters will switch to [Altitude mode](../flight_modes_mc/altitude.md) if a
Fixed-wing planes, and VTOLs not configured to land in hover ([NAV_FORCE_VT](../advanced_config/parameter_reference.md#NAV_FORCE_VT)), have a parameter ([FW_GPSF_LT](../advanced_config/parameter_reference.md#FW_GPSF_LT)) that defines how long they will loiter (circle with a constant roll angle ([FW_GPSF_R](../advanced_config/parameter_reference.md#FW_GPSF_R)) at the current altitude) after losing position before attempting to land.
If VTOLs have are configured to switch to hover for landing ([NAV_FORCE_VT](../advanced_config/parameter_reference.md#NAV_FORCE_VT)) then they will first transition and then descend.
-Відповідні параметри для всіх транспортних засобів наведено нижче.
+Відповідними параметрами є:
-Параметри, які впливають лише на повітряні судна з фіксованим крилом:
+| Параметр | Опис |
+| ----------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| [FW_GPSF_LT](../advanced_config/parameter_reference.md#FW_GPSF_LT) | Fixed-wing only: Loiter time (waiting at current altitude for position estimation recovery before starting to descend). Установіть значення 0 для відключення. |
+| [FW_GPSF_R](../advanced_config/parameter_reference.md#FW_GPSF_R) | Фіксований кут крену/кочення під час кілочення. |
+| [NAV_FORCE_VT](../advanced_config/parameter_reference.md#NAV_FORCE_VT) | If true, force VTOL takeoff and landing, even in `Descend` failsafe. |
-| Параметр | Опис |
-| ----------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| [FW_GPSF_LT](../advanced_config/parameter_reference.md#FW_GPSF_LT) | Час простою (очікування відновлення GPS перед посадкою або припиненням польоту). Установіть значення 0 для відключення. |
-| [FW_GPSF_R](../advanced_config/parameter_reference.md#FW_GPSF_R) | Фіксований кут крену/кочення під час кілочення. |
+### Position Accuracy Low Failsafe
+
+In Fixed-wing, the position estimate is never strictly invalidated as long as we have a horizontal aiding source, such as an airspeed sensor. In that case, a separate failsafe can be configured that triggers if the position estimate inacuraccy exceeds the threshold [COM_POS_LOW_EPH](../advanced_config/parameter_reference.md#COM_POS_LOW_EPH). The failsafe action is taken if the vehicle is in mission or hold mode, otherwise it is only a warning. Відповідними параметрами є:
+
+| Параметр | Опис |
+| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------- |
+| [COM_POS_LOW_EPH](../advanced_config/parameter_reference.md#COM_POS_LOW_EPH) | Position inaccuracy threshold above which COM_POS_LOW_ACT is taken. |
+| [COM_POS_LOW_ACT](../advanced_config/parameter_reference.md#COM_POS_LOW_ACT) | Failsafe action taken when position inaccuracy is above configured threshold. |
+
+Note that if there is no horizontal aiding source anymore, the position estimate is invalidated after `EKF2_NOAID_TOUT`, and the standard position loss failsafe applies.
## Аварійний режим втрати управління з пульта
@@ -259,7 +272,7 @@ The quad-chute can also be triggered by sending a MAVLINK [MAV_CMD_DO_VTOL_TRANS
## High Wind Failsafe
-The high wind failsafe can trigger a warning and/or other mode change when the wind speed exceeds the warning and maximum wind-speed threshhold values.
+The high wind failsafe can trigger a warning and/or other mode change when the wind speed exceeds the warning and maximum wind-speed threshold values.
The relevant parameters are listed in the table below.
| Параметр | Опис |
@@ -313,8 +326,8 @@ The failure detector can be configured to detect a motor failure while armed (an
| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| [FD_ACT_EN](../advanced_config/parameter_reference.md#FD_ACT_EN) | Enable/disable the motor failure trigger completely. |
| [FD_ACT_MOT_THR](../advanced_config/parameter_reference.md#FD_ACT_MOT_THR) | Minimum normalized [0,1] motor command below which motor under current is ignored. |
-| [FD_ACT_MOT_C2T](../advanced_config/parameter_reference.md#FD_ACT_MOT_C2T) | Scale between normalized [0,1] motor command and expected minimally reported currrent when the rotor is healthy. |
-| [FD_ACT_MOT_TOUT](../advanced_config/parameter_reference.md#FD_ACT_MOT_TOUT) | Time in miliseconds for which the under current detection condition needs to stay true. |
+| [FD_ACT_MOT_C2T](../advanced_config/parameter_reference.md#FD_ACT_MOT_C2T) | Scale between normalized [0,1] motor command and expected minimally reported current when the rotor is healthy. |
+| [FD_ACT_MOT_TOUT](../advanced_config/parameter_reference.md#FD_ACT_MOT_TOUT) | Time in milliseconds for which the under current detection condition needs to stay true. |
| [CA_FAILURE_MODE](../advanced_config/parameter_reference.md#CA_FAILURE_MODE) | Configure to not only warn about a motor failure but remove the first motor that detects a failure from the allocation effectiveness which turns off the motor and tries to operate the vehicle without it until disarming the next time. |
### Зовнішня автоматична система тригерування (ATS)
diff --git a/docs/uk/config_mc/pid_tuning_guide_multicopter_basic.md b/docs/uk/config_mc/pid_tuning_guide_multicopter_basic.md
index 7cb155a70a..3ef23172aa 100644
--- a/docs/uk/config_mc/pid_tuning_guide_multicopter_basic.md
+++ b/docs/uk/config_mc/pid_tuning_guide_multicopter_basic.md
@@ -13,7 +13,7 @@ Tuning is recommended for all new vehicle setups to get the _very best_ performa
## Введення
-PX4 uses **P**roportional, **I**ntegral, **D**erivative (PID) controllers (these are the most widespread control technique).
+PX4 uses **P**roportional, **I**integral, **D**erivative (PID) controllers (these are the most widespread control technique).
The _QGroundControl_ **PID Tuning** setup provides real-time plots of the vehicle setpoint and response curves.
The goal of tuning is to set the P/I/D values such that the _Response_ curve matches the _Setpoint_ curve as closely as possible (i.e. a fast response without overshoots).
diff --git a/docs/uk/config_rover/attitude_tuning.md b/docs/uk/config_rover/attitude_tuning.md
index 66fcae656a..8e3fd36af0 100644
--- a/docs/uk/config_rover/attitude_tuning.md
+++ b/docs/uk/config_rover/attitude_tuning.md
@@ -16,7 +16,7 @@ Configure the following [parameters](../advanced_config/parameters.md) in QGroun
Put the rover into stabilized mode and move the left stick of your controller up to drive forwards.
Disarm the rover and from the flight log plot the `measured_yaw` and the `adjusted_yaw_setpoint` from the [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md) message over each other.
Increase/Decrease the parameter until you are satisfied with the setpoint tracking.
- If you observe a steady state error in the yaw setpoint increase the the integrator of the rate controller: [RO_YAW_RATE_I](../advanced_config/parameter_reference.md#RO_YAW_RATE_I) .
+ If you observe a steady state error in the yaw setpoint increase the integrator of the rate controller: [RO_YAW_RATE_I](../advanced_config/parameter_reference.md#RO_YAW_RATE_I) .
:::
@@ -30,7 +30,7 @@ The attitude controller uses the following structure:
-The rate and attitude controllers are cascaded, therefor we only require one integrator in the structure to eliminate steady state errors.
+The rate and attitude controllers are cascaded, therefore we only require one integrator in the structure to eliminate steady state errors.
We placed the integrator in the rate controller since it can run without the attitude controller but not the other way around.
## Огляд параметрів
diff --git a/docs/uk/config_rover/basic_setup.md b/docs/uk/config_rover/basic_setup.md
index b01b5ebb0f..432e6abdbd 100644
--- a/docs/uk/config_rover/basic_setup.md
+++ b/docs/uk/config_rover/basic_setup.md
@@ -138,7 +138,7 @@ In [Manual mode](../flight_modes_rover/manual.md#manual-mode) we can additionall
- Differential Rover: $r=$ [RD_YAW_STK_GAIN](#RD_YAW_STK_GAIN), which enables adjusting the slope of the input mapping. This leads to a normalized steering input $\hat{\delta} = \delta \cdot r \in$ [-[RD_YAW_STK_GAIN](#RD_YAW_STK_GAIN), [RD_YAW_STK_GAIN](#RD_YAW_STK_GAIN)].
- Mecanum Rover: $r=$ [RM_YAW_STK_GAIN](#RM_YAW_STK_GAIN), which enables adjusting the slope of the input mapping. This leads to a normalized steering input $\hat{\delta} = \delta \cdot r \in$ [-[RM_YAW_STK_GAIN](#RM_YAW_STK_GAIN), [RM_YAW_STK_GAIN](#RM_YAW_STK_GAIN)].
-This scaling is useful to limit the normalized steering setpoint, if it is too aggresive for your rover in manual mode.
+This scaling is useful to limit the normalized steering setpoint, if it is too aggressive for your rover in manual mode.
You can experiment with the relationships graphically using the [PX4 SuperExpo Rover calculator](https://www.desmos.com/calculator/gwm8lrlanx).
diff --git a/docs/uk/config_rover/index.md b/docs/uk/config_rover/index.md
index c49dc517e8..ef21a2e3b4 100644
--- a/docs/uk/config_rover/index.md
+++ b/docs/uk/config_rover/index.md
@@ -39,7 +39,7 @@ make px4_fmu-v6x_rover
Note that configuration targets are constructed with the format "VENDOR_MODEL_VARIANT".
-The built firmware can be installed as custom firmware, as shown above in in [Flashing the Rover Build](#flashing-the-rover-build).
+The built firmware can be installed as custom firmware, as shown above in [Flashing the Rover Build](#flashing-the-rover-build).
:::info
You can also enable the modules in default builds by adding these lines to your [board configuration](../hardware/porting_guide_config.md) (e.g. for fmu-v6x you might add them to [`main/boards/px4/fmu-v6x/default.px4board`](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v6x/default.px4board)):
diff --git a/docs/uk/config_rover/rate_tuning.md b/docs/uk/config_rover/rate_tuning.md
index 456a48f7dc..191c29cb95 100644
--- a/docs/uk/config_rover/rate_tuning.md
+++ b/docs/uk/config_rover/rate_tuning.md
@@ -11,7 +11,7 @@ Configure the following [parameters](../advanced_config/parameters.md) in QGroun
1. [RO_YAW_RATE_LIM](#RO_YAW_RATE_LIM): Maximum yaw rate you want to allow for your rover.
:::tip
- Limiting the yaw rate is necessary if the rover is prone rolling over, loosing traction at high speeds or if passenger comfort is important.
+ Limiting the yaw rate is necessary if the rover is prone rolling over, losing traction at high speeds or if passenger comfort is important.
Small rovers especially can be prone to rolling over when steering aggressively at high speeds.
If this is the case:
diff --git a/docs/uk/config_rover/velocity_tuning.md b/docs/uk/config_rover/velocity_tuning.md
index b7800b1822..96dc3a64b3 100644
--- a/docs/uk/config_rover/velocity_tuning.md
+++ b/docs/uk/config_rover/velocity_tuning.md
@@ -60,7 +60,7 @@ To tune the velocity controller configure the following [parameters](../advanced
## Manual Position Mode Parameters
-These steps are only necessary if you are tuning/want to unlock the manual [Position mode](../flight_modes_rover/manual.md#position-mode). Othwerwise, you can continue with [position tuning](position_tuning.md) where these same parameters will also be configured.
+These steps are only necessary if you are tuning/want to unlock the manual [Position mode](../flight_modes_rover/manual.md#position-mode). Otherwise, you can continue with [position tuning](position_tuning.md) where these same parameters will also be configured.
1. [PP_LOOKAHD_GAIN](#PP_LOOKAHD_GAIN): When driving in a straight line (right stick centered) position mode leverages the same path following algorithm used in [auto modes](../flight_modes_rover/auto.md) called [pure pursuit](position_tuning.md#pure-pursuit-guidance-logic-info-only) to achieve the best possible straight line driving behaviour.
This parameter determines how aggressive the controller will steer towards the path.
@@ -109,7 +109,7 @@ The speed controller uses the following structure:
The feed forward mapping is done by interpolating the speed setpoint from [-[RO_MAX_THR_SPEED](../advanced_config/parameter_reference.md#RO_MAX_THR_SPEED), [RO_MAX_THR_SPEED](../advanced_config/parameter_reference.md#RO_MAX_THR_SPEED)] to [-1, 1].
-For ackermann and differential rovers the bearing is aligned with the vehicle yaw. Therefor the bearing is simply sent as a yaw setpoint to the [yaw controller](attitude_tuning.md#attitude-controller-structure-info-only) and the speed setpoint is always defined in body x direction.
+For ackermann and differential rovers the bearing is aligned with the vehicle yaw. Therefore the bearing is simply sent as a yaw setpoint to the [yaw controller](attitude_tuning.md#attitude-controller-structure-info-only) and the speed setpoint is always defined in body x direction.
For mecanum vehicles, the bearing and yaw are decoupled. The direction is controlled by splitting the velocity vector into one speed component in body x direction and one in body y direction.
Both these setpoint are then sent to their own closed loop speed controllers.
diff --git a/docs/uk/config_vtol/vtol_ice_shedding.md b/docs/uk/config_vtol/vtol_ice_shedding.md
index de94fb7e37..ed3f1d00fa 100644
--- a/docs/uk/config_vtol/vtol_ice_shedding.md
+++ b/docs/uk/config_vtol/vtol_ice_shedding.md
@@ -6,7 +6,7 @@ Ice shedding is a feature that periodically spins unused motors in fixed-wing
flight, to break off any ice that is starting to build up in the motors while it
is still feasible to do so.
-It is configured by the paramter `CA_ICE_PERIOD`. When it is 0, the feature is
+It is configured by the parameter `CA_ICE_PERIOD`. When it is 0, the feature is
disabled, when it is above 0, it sets the duration of the ice shedding cycle in
seconds. In each cycle, the rotors are spun for two seconds at a motor output of
0.01.
diff --git a/docs/uk/config_vtol/vtol_quad_configuration.md b/docs/uk/config_vtol/vtol_quad_configuration.md
index 0c8dc8c47a..e247c2f823 100644
--- a/docs/uk/config_vtol/vtol_quad_configuration.md
+++ b/docs/uk/config_vtol/vtol_quad_configuration.md
@@ -96,7 +96,7 @@ It should be set to a value which ensures that the vehicle reaches a high enough
[VT_TRANS_TIMEOUT](../advanced_config/parameter_reference.md#VT_TRANS_TIMEOUT)
This specifies the upper limit for the duration of the front transition. If the vehicle has not reached the transition airspeed after this time, then the transition will be aborted and a [Quadchute](../config/safety.md#quad-chute-failsafe) event will be triggered.
-:::note
+::: info
Additionally, if an airspeed sensor is present, the transition will also be aborted if the airspeed has not reached [VT_ARSP_BLEND](../advanced_config/parameter_reference.md#VT_ARSP_BLEND) after the openloop transition time [VT_F_TR_OL_TM](../advanced_config/parameter_reference.md#VT_F_TR_OL_TM) has elapsed. This checks is used to avoid a scenario where the vehicle gains excessive speed when the airspeed sensor is faulty.
:::
diff --git a/docs/uk/contribute/dev_call.md b/docs/uk/contribute/dev_call.md
index 4f1172adab..177a8fa4fc 100644
--- a/docs/uk/contribute/dev_call.md
+++ b/docs/uk/contribute/dev_call.md
@@ -7,7 +7,7 @@ const { site } = useData();
@@ -36,4 +36,4 @@ We publish a forum post per meeting a week before the call on [PX4 Discuss - wee
## Розклад
- TIME: Wednesday 17h00 CET ([subscribe to calendar](https://dronecode.org/calendar/))
-- **Join the call**: [https://discord.gg/BDYmr6FA6Q](https://discord.gg/BDYmr6FA6Q)
+- **Join the call**: [https://discord.com/invite/BDYmr6FA6Q](https://discord.com/invite/BDYmr6FA6Q)
diff --git a/docs/uk/contribute/docs.md b/docs/uk/contribute/docs.md
index e4bd6005ec..437e22ed3f 100644
--- a/docs/uk/contribute/docs.md
+++ b/docs/uk/contribute/docs.md
@@ -55,7 +55,7 @@ If you already have a clone of the [PX4-Autopilot](https://github.com/PX4/PX4-Au
Щоб отримати джерела бібліотеки(ів) на свій локальний комп'ютер, вам потрібно використовувати інструментарій git.
Нижче наведено інструкції, як отримати git і використовувати його на своєму локальному комп'ютері.
-1. Download git for your computer from [https://git-scm.com/downloads](https://git-scm.com/downloads)
+1. Download git for your computer from [https://git-scm.com/downloads/](https://git-scm.com/downloads/)
2. [Sign up](https://github.com/signup) for Github if you haven't already
@@ -83,10 +83,10 @@ If you already have a clone of the [PX4-Autopilot](https://github.com/PX4/PX4-Au
6. Add a _remote_ called "upstream" to point to the "official" PX4 version of the library:
```sh
- git remote add upstream https://github.com/PX4/PX4-Autopilot.git
+ git remote add upstream https://github.com/PX4/PX4-Autopilot
```
- :::tip
+ ::: tip
A "remote" is a handle to a particular repository.
The remote named _origin_ is created by default when you clone the repository, and points to _your fork_ of the guide.
Above you create a new remote _upstream_ that points to the PX4 project version of the documents.
@@ -166,7 +166,9 @@ Within the repository you created above:
yarn install
```
-4. Попередній перегляд і обслуговування бібліотеки:
+4. (Optional) [Build the docs for PX4 metadata](#building-px4-docs-metadata) if your source contains changes to parameter or module docs that you want to check.
+
+5. Попередній перегляд і обслуговування бібліотеки:
```sh
yarn docs:dev
@@ -176,7 +178,7 @@ Within the repository you created above:
This will be something like: `http://localhost:5173/px4_user_guide/`.
- Stop serving using **CTRL+C** in the terminal prompt.
-5. Open previewed pages in your local editor:
+6. Open previewed pages in your local editor:
First specify a local text editor file using the `EDITOR` environment variable, before calling `yarn start` to preview the library.
For example, you can enable VSCode as your default editor by entering:
@@ -195,7 +197,7 @@ Within the repository you created above:
The **Open in your editor** link at the bottom of each page will then open the current page in the editor (this replaces the _Open in GitHub_ link).
-6. Побудуйте бібліотеку за допомогою:
+7. Побудуйте бібліотеку за допомогою:
```sh
# Ubuntu
@@ -210,6 +212,32 @@ Use `yarn start` to preview changes _as you make them_ (documents are updated an
Before submitting a PR you should also build it using `yarn docs:build`, as this can highlight issues that are not visible when using `yarn start`.
:::
+#### Building PX4 docs metadata
+
+PX4 Metadata is not automatically updated in the local docs tree when you make changes to source.
+This can result in broken links showing up during testing if you link to new parameters, modules, airframes, or other content that is generated from source.
+
+You can generate the metadata and copy it into the tree on _Ubuntu_ (only) using the convenient yarn command:
+
+```sh
+# Ubuntu
+yarn build_docs_metadata_ubuntu
+```
+
+:::info
+The generated metadata docs should not be included in PRs as they will complicate reveiwing (metadata is automatically generated when a PR merges in main).
+It is not a problem if you do add such metadata, as it will be swamped on merge.
+:::
+
+#### Check for broken links
+
+You can use the following command to check for broken links in the whole document:
+
+```sh
+# Ubuntu
+yarn linkcheck
+```
+
### Структура Вихідного Коду
The guide uses the [Vitepress](https://vitepress.dev/) toolchain.
diff --git a/docs/uk/contribute/git_examples.md b/docs/uk/contribute/git_examples.md
index 37d211b180..d0ecff7cae 100644
--- a/docs/uk/contribute/git_examples.md
+++ b/docs/uk/contribute/git_examples.md
@@ -22,7 +22,7 @@
```sh
cd PX4-Autopilot
git submodule update --init --recursive
- git remote add upstream https://github.com/PX4/PX4-Autopilot.git
+ git remote add upstream https://github.com/PX4/PX4-Autopilot
```
- You should have now two remote repositories: One repository is called `upstream` that points to PX4/PX4-Autopilot, and one repository `origin` that points to your forked copy of the PX4 repository.
@@ -49,7 +49,7 @@
git add
```
- If you prefer having a GUI to add your files see [Gitk](https://git-scm.com/book/en/v2/Git-in-Other-Environments-Graphical-Interfaces) or [`git add -p`](https://nuclearsquid.com/writings/git-add/).
+ If you prefer having a GUI to add your files see [Gitk](https://git-scm.com/book/en/v2/Appendix-A:-Git-in-Other-Environments-Graphical-Interfaces) or [`git add -p`](https://nuclearsquid.com/writings/git-add/).
-
@@ -59,7 +59,7 @@
For a good commit message, please refer to the [Source Code Management](../contribute/code.md#commits-and-commit-messages) section.
-- Some time might have passed and the [upstream main](https://github.com/PX4/PX4-Autopilot.git) has changed.
+- Some time might have passed and the [upstream main](https://github.com/PX4/PX4-Autopilot) has changed.
PX4 prefers a linear commit history and uses [git rebase](https://git-scm.com/book/en/v2/Git-Branching-Rebasing).
Щоб включити найновіші зміни з початкової версії до локальної гілки, перейдіть до головної гілки
@@ -139,7 +139,7 @@ To get the source code for a _specific older release_ (tag):
1. Clone the PX4-Autopilot repo and navigate into _PX4-Autopilot_ directory:
```sh
- git clone https://github.com/PX4/PX4-Autopilot.git
+ git clone https://github.com/PX4/PX4-Autopilot
cd PX4-Autopilot
```
@@ -179,7 +179,7 @@ The are [listed here](https://github.com/PX4/PX4-Autopilot/branches/all?query=re
- Clone the PX4-Autopilot repo and navigate into _PX4-Autopilot_ directory:
```sh
- git clone https://github.com/PX4/PX4-Autopilot.git
+ git clone https://github.com/PX4/PX4-Autopilot
cd PX4-Autopilot
```
diff --git a/docs/uk/contribute/index.md b/docs/uk/contribute/index.md
index 7bb9c46ec8..7bc3ab17a9 100644
--- a/docs/uk/contribute/index.md
+++ b/docs/uk/contribute/index.md
@@ -7,7 +7,7 @@ const { site } = useData();
diff --git a/docs/uk/contribute/support.md b/docs/uk/contribute/support.md
index d8a626542b..b03a2fbbda 100644
--- a/docs/uk/contribute/support.md
+++ b/docs/uk/contribute/support.md
@@ -7,7 +7,7 @@ const { site } = useData();
@@ -18,7 +18,7 @@ const { site } = useData();
Основна команда розробників і спільнота активні на наступних каналах:
- [PX4 Discuss Forum](https://discuss.px4.io/) - Post here first!
-- [PX4 Discord](https://discord.gg/dronecode) - Post here if you don't get a response in discuss within a few days (include a link to your forum topic).
+- [PX4 Discord](https://discord.com/invite/dronecode) - Post here if you don't get a response in discuss within a few days (include a link to your forum topic).
:::tip
The Discuss Forum is much preferred because it is indexed by search engines and serves as a common knowledge base.
diff --git a/docs/uk/debug/asset_tracking.md b/docs/uk/debug/asset_tracking.md
index 6ed230b97c..c7f30c1c52 100644
--- a/docs/uk/debug/asset_tracking.md
+++ b/docs/uk/debug/asset_tracking.md
@@ -1,6 +1,6 @@
# Asset Tracking
-/Tools/jlink-nuttx.so`, as shown in the image below.
diff --git a/docs/uk/debug/plotting_realtime_uorb_data.md b/docs/uk/debug/plotting_realtime_uorb_data.md
index e005e186d8..bbb482a6c7 100644
--- a/docs/uk/debug/plotting_realtime_uorb_data.md
+++ b/docs/uk/debug/plotting_realtime_uorb_data.md
@@ -72,7 +72,7 @@ cd ~/PX4-Autopilot
make px4_sitl gz_x500
```
-Open another terminal and start the `MicroXRCEAgent` to connect to the the simulator:
+Open another terminal and start the `MicroXRCEAgent` to connect to the simulator:
```sh
MicroXRCEAgent udp4 -p 8888; exec bash
diff --git a/docs/uk/debug/probe_mculink.md b/docs/uk/debug/probe_mculink.md
index 8a63994793..85af4e0ca4 100644
--- a/docs/uk/debug/probe_mculink.md
+++ b/docs/uk/debug/probe_mculink.md
@@ -1,6 +1,6 @@
# MCU-Link адаптер для налагодження
-[MCU-Link Debug Probe](https://www.nxp.com/design/design-center/software/development-software/mcuxpresso-software-and-tools-/mcu-link-debug-probe:MCU-LINK) - це дешевий, швидкий і дуже потужний засіб відлагодження, який може використовуватися як самостійний засіб відлагодження та комунікатор консолі під час роботи з платами Pixhawk.
+The [MCU-Link Debug Probe](https://www.nxp.com/design/design-center/software/development-software/mcuxpresso-software-and-tools-/mcu-link-debug-probe:MCU-LINK) is a cheap, fast and highly capable debug probe that can serve as a stand-alone debug and console communicator when working with Pixhawk boards.
Основні функції:
diff --git a/docs/uk/debug/simulation_debugging.md b/docs/uk/debug/simulation_debugging.md
index 8a36dabdff..ded4021219 100644
--- a/docs/uk/debug/simulation_debugging.md
+++ b/docs/uk/debug/simulation_debugging.md
@@ -106,7 +106,7 @@ You can also start your simulation, and _then_ attach `gdb`:
```
As the script runs, note the **SITL COMMAND:** output text located right above the large "PX4" text.
- Він перерахує місце розташування вашого файлу px4 bin для подальшого використання.
+ It will list the location of your PX4 bin file for later use.
```sh
SITL COMMAND: "" ""/etc
diff --git a/docs/uk/debug/swd_debug.md b/docs/uk/debug/swd_debug.md
index 2138fb8326..297b1edd61 100644
--- a/docs/uk/debug/swd_debug.md
+++ b/docs/uk/debug/swd_debug.md
@@ -1,6 +1,6 @@
# Порт для налагодження SWD
-PX4 runs on ARM Cortex-M microcontrollers, which contain dedicated hardware for interactive debugging via the [_Serial Wire Debug (SWD)_][swd] interface and non-invasive profiling and high-bandwidth tracing via the [_Serial Wire Ouput (SWO)_][itm] and [_TRACE_ pins][etm].
+PX4 runs on ARM Cortex-M microcontrollers, which contain dedicated hardware for interactive debugging via the [_Serial Wire Debug (SWD)_][swd] interface and non-invasive profiling and high-bandwidth tracing via the [_Serial Wire Output (SWO)_][itm] and [_TRACE_ pins][etm].
Інтерфейс відладки SWD дозволяє прямий, низькорівневий, апаратний доступ до процесора мікроконтролера та периферійних пристроїв, тому він не залежить від будь-якого програмного забезпечення на пристрої.
Отже, його можна використовувати для налагодження завантажувальних програм та операційних систем, таких як NuttX.
@@ -27,9 +27,7 @@ SWO-пін може випромінювати дані профілювання
Піни TRACE потребують спеціалізованих засобів відлагодження для роботи з високою пропускною здатністю та наступним декодуванням потоку даних.
Зазвичай вони недоступні і зазвичай використовуються лише для відлагодження дуже конкретних питань з часом.
-
-
-## Порти налагодження автопілота
+## Autopilot Debug Ports {#debug-ports}
Flight controllers commonly provide a single debug port that exposes both the [SWD Interface](#debug-signals) and [System Console](system_console).
@@ -40,23 +38,35 @@ However there are still many boards that use different pinouts or connectors, so
-| Автопілот | Відладочний порт |
-| :----------------------------------------------------------------------------------------------------- | :---------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| Holybro Pixhawk 6X-RT (FMUv6X-RT) | [Pixhawk Debug Full](#pixhawk-debug-full) |
-| Holybro Pixhawk 6X (FMUv6x) | [Pixhawk Debug Full](#pixhawk-debug-full) |
-| Holybro Pixhawk 5X (FMUv5x) | [Pixhawk Debug Full](#pixhawk-debug-full) |
-| [Holybro Durandal](../flight_controller/durandal.md#debug-port) | [Pixhawk Debug Mini](#pixhawk-debug-mini) |
-| [Holybro Kakute F7](../flight_controller/kakutef7.md#debug-port) | Паяльні майданчики |
-| [Holybro Pixhawk 4 Mini](../flight_controller/pixhawk4_mini.md#debug-port) (FMUv5) | [Pixhawk Debug Mini](#pixhawk-debug-mini) |
-| [Holybro Pixhawk 4](../flight_controller/pixhawk4.md#debug_port) (FMUv5) | [Pixhawk Debug Mini](#pixhawk-debug-mini) |
-| [Drotek Pixhawk 3 Pro](../flight_controller/pixhawk3_pro.md#debug-port) (FMU-v4pro) | [Pixhawk Debug Mini](#pixhawk-debug-mini) |
-| [CUAV V5+](../flight_controller/cuav_v5_plus.md#debug-port) | 6-pin JST GH
Digikey: [BM06B-GHS-TBT(LF)(SN)(N)][bm06b-ghs-tbt(lf)(sn)(n)] (vertical mount), [SM06B-GHS-TBT(LF)(SN)(N)][sm06b-ghs-tbt(lf)(sn)(n)] (side mount) | -| [CUAV V5nano](../flight_controller/cuav_v5_nano.md#debug_port) | 6-pin JST GH
Digikey: [BM06B-GHS-TBT(LF)(SN)(N)][bm06b-ghs-tbt(lf)(sn)(n)] (vertical mount), [SM06B-GHS-TBT(LF)(SN)(N)][sm06b-ghs-tbt(lf)(sn)(n)] (side mount) | -| [3DR Pixhawk](../flight_controller/pixhawk.md#swd-port) | ARM 10-pin JTAG Connector (also used for FMUv2 boards including: _mRo Pixhawk_, _HobbyKing HKPilot32_). | +| Автопілот | Відладочний порт | +| :------------------------------------------------------------------------------------------------------ | :----------------------------------------------------------------------- | +| [Holybro Pixhawk 6X-RT](../flight_controller/pixhawk6x-rt.md#debug_port) (FMUv6X-RT) | [Pixhawk Debug Full](#pixhawk-debug-full) | +| [Holybro Pixhawk 6X](../flight_controller/pixhawk6x.md#debug_port) (FMUv6x) | [Pixhawk Debug Full](#pixhawk-debug-full) | +| [Holybro Pixhawk 5X](../flight_controller/pixhawk5x.md#debug_port) (FMUv5x) | [Pixhawk Debug Full](#pixhawk-debug-full) | +| [Holybro Durandal](../flight_controller/durandal.md#debug-port) | [Pixhawk Debug Mini](#pixhawk-debug-mini) | +| [Holybro Pixhawk 4](../flight_controller/pixhawk4.md#debug_port) (FMUv5) | [Pixhawk Debug Mini](#pixhawk-debug-mini) | +| [Holybro Pixhawk 6X Pro](../flight_controller/pixhawk6x_pro.md#debug-port) | [Pixhawk Debug Full](#pixhawk-debug-full) | +| [Holybro Pixhawk 6C](../flight_controller/pixhawk6c.md#debug_port) | [Pixhawk Debug Full](#pixhawk-debug-full) | +| [Holybro Pixhawk 6C Mini](../flight_controller/pixhawk6c_mini.md#debug_port) | [Pixhawk Debug Mini](#pixhawk-debug-mini) | +| [Holybro Pix32 v6](../flight_controller/holybro_pix32_v6.md#debug_port) | [Pixhawk Debug Full](#pixhawk-debug-full) | +| [Holybro Pix32 v5](../flight_controller/holybro_pix32_v5.md#debug-port) | [Pixhawk Debug Mini](#pixhawk-debug-mini) | +| [Holybro Kakute H7](../flight_controller/kakuteh7.md#debug-port) | SWD pads and system console | +| [Holybro Kakute H7 mini](../flight_controller/kakuteh7mini.md#debug-port) | SWD pads and system console | +| [Holybro Kakute H7 V2](../flight_controller/kakuteh7v2.md#debug-port) | SWD pads and system console | +| [CUAV V5+](../flight_controller/cuav_v5_plus.md#debug-port) | Custom port but comes with adaptor cable | +| [CUAV V5nano](../flight_controller/cuav_v5_nano.md#debug_port) | Custom port but comes with adaptor cable | +| [CUAV Pixhawk V6X](../flight_controller/cuav_pixhawk_v6x.md#debug_port) | [Pixhawk Debug Full](#pixhawk-debug-full) | +| [CUAV X25-SUPER](../flight_controller/cuav_x25-super.md#debug_port) | [Pixhawk Debug Mini] | +| [CUAV X25-EVO](../flight_controller/cuav_x25-evo.md#debug_port) | [Pixhawk Debug Mini] | +| [CUAV Nora](../flight_controller/cuav_nora.md#debug-port) | Custom port but comes with adaptor cable. | +| [ARK Pixhawk Autopilot Bus Carrier](../flight_controller/ark_pab.md#debug-port) | [Pixhawk Debug Full](#pixhawk-debug-full) | +| [NXP MR-VMU-RT1176](../flight_controller/nxp_mr_vmu_rt1176.md#debug_port) | [Pixhawk Debug Full](#pixhawk-debug-full) | +| [mRo Pixracer](../flight_controller/pixracer.md#debug-port) | [Pixhawk Debug Mini](#pixhawk-debug-mini) | +| [S-Vehicle E2](../flight_controller/svehicle_e2.md#debug-port) | [Pixhawk Debug Mini] | +| [AP-H743-R1](../flight_controller/x-mav_ap-h743r1.md#debug-port) | 4-pin JST GH (SWD only) | +| [mRo Control Zero F7](../flight_controller/mro_control_zero_f7.md#debug_port) | | - - -## Стандарт роз'ємів Pixhawk Debug Портів +## Pixhawk Connector Standard Debug Ports {#pixhawk-standard-debug-ports} Проект Pixhawk визначив стандартну схему виводів та тип роз'єму для різних випусків Pixhawk FMU: @@ -64,16 +74,16 @@ However there are still many boards that use different pinouts or connectors, so Check your [specific board](#port-information) to confirm the port used. ::: -| Версія FMU | Версія Pixhawk | Відладочний порт | -| :--------- | :-------------------------------------------------------------- | :---------------------------------------- | -| FMUv2 | [Pixhawk / Pixhawk 1](../flight_controller/pixhawk.md#swd-port) | 10 pin ARM Debug | -| FMUv3 | Pixhawk 2 | 6 pin SUR Debug | -| FMUv4 | Pixhawk 3 | [Pixhawk Debug Mini](#pixhawk-debug-mini) | -| FMUv5 | Pixhawk 4 FMUv5 | [Pixhawk Debug Mini](#pixhawk-debug-mini) | -| FMUv5X | Pixhawk 5X | [Pixhawk Debug Full](#pixhawk-debug-full) | -| FMUv6 | Pixhawk 6 | [Pixhawk Debug Full](#pixhawk-debug-full) | -| FMUv6X | Pixhawk 6X | [Pixhawk Debug Full](#pixhawk-debug-full) | -| FMUv6X-RT | Pixhawk 6X-RT | [Pixhawk Debug Full](#pixhawk-debug-full) | +| Версія FMU | Версія Pixhawk | Відладочний порт | +| :--------- | :------------------ | :---------------------------------------- | +| FMUv2 | Pixhawk / Pixhawk 1 | 10 pin ARM Debug | +| FMUv3 | Pixhawk 2 | 6 pin SUR Debug | +| FMUv4 | Pixhawk 3 | [Pixhawk Debug Mini](#pixhawk-debug-mini) | +| FMUv5 | Pixhawk 4 FMUv5 | [Pixhawk Debug Mini](#pixhawk-debug-mini) | +| FMUv5X | Pixhawk 5X | [Pixhawk Debug Full](#pixhawk-debug-full) | +| FMUv6 | Pixhawk 6 | [Pixhawk Debug Full](#pixhawk-debug-full) | +| FMUv6X | Pixhawk 6X | [Pixhawk Debug Full](#pixhawk-debug-full) | +| FMUv6X-RT | Pixhawk 6X-RT | [Pixhawk Debug Full](#pixhawk-debug-full) | :::info There FMU and Pixhawk versions are (only) consistent after FMUv5X. @@ -142,9 +152,7 @@ You can connect to the debug port using a [cable like this one](https://www.digi  - - -## Зонди налагодження для апаратного забезпечення PX4 +## Debug Probes for PX4 Hardware {#debug-probes} Flight controllers commonly provide a [single debug port](#autopilot-debug-ports) that exposes both the [SWD Interface](#debug-signals) and [System Console](system_console). @@ -217,5 +225,3 @@ Where possible, we highly recommend that you create or obtain an adapter board r [swd]: https://developer.arm.com/documentation/ihi0031/a/The-Serial-Wire-Debug-Port--SW-DP- [itm]: https://developer.arm.com/documentation/ddi0403/d/Appendices/Debug-ITM-and-DWT-Packet-Protocol?lang=en [etm]: https://developer.arm.com/documentation/ihi0064/latest/ -[bm06b-ghs-tbt(lf)(sn)(n)]: https://www.digikey.com/en/products/detail/jst-sales-america-inc/BM06B-GHS-TBT/807804 -[sm06b-ghs-tbt(lf)(sn)(n)]: https://www.digikey.com/en/products/detail/jst-sales-america-inc/SM06B-GHS-TB/807790 diff --git a/docs/uk/dev_airframes/adding_a_new_frame.md b/docs/uk/dev_airframes/adding_a_new_frame.md index 2fe074a490..a1e6a924ef 100644 --- a/docs/uk/dev_airframes/adding_a_new_frame.md +++ b/docs/uk/dev_airframes/adding_a_new_frame.md @@ -124,118 +124,79 @@ param set-default CA_ROTOR3_PY 0.15 param set-default CA_ROTOR3_KM -0.05 ``` -### Приклад – Повний транспортний засіб Babyshark VTOL +### Example - HolyBro QAV250 Complete Vehicle -Нижче наведено більш складний файл конфігурації для повного транспортного засобу. -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. -Зверніть увагу, що ці результати є лише документацією; фактичне відображення виконується за допомогою параметрів. +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
+# @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
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
-# @board holybro_kakutef7 exclude
+# @board px4_fmu-v6x exclude
+# @board ark_fmu-v6x exclude
#
```
-Як і для загальної конструкції, ми додаємо типові значення VTOL за замовчуванням.
+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
```
-Нарешті, файл визначає параметри розподілу керування для геометрії та параметри, які встановлюють відповідність виходів різним двигунам та сервоприводам.
+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
```
## Додавання нової групи планера
diff --git a/docs/uk/dev_log/log_encryption.md b/docs/uk/dev_log/log_encryption.md
index 82b519a857..ac7dc41cd5 100644
--- a/docs/uk/dev_log/log_encryption.md
+++ b/docs/uk/dev_log/log_encryption.md
@@ -15,7 +15,7 @@ To use it you will need to build firmware with this feature enabled and then upl
Log encryption was has been improved in PX4 v1.16 to generate a single encrypted log file that contains both encrypted log data, and an encrypted symmetric key that you can use to decrypt it (provided you can decrypt the symmetric key).
In earlier versions the encrypted symmetric key was stored in a separate file.
-For more information see the [Log Encryption (PX4 v1.15)](https://docs.px4.io/v1.15/en/dev_log/log_encryption.html).
+For more information see the [Log Encryption (PX4 v1.15)](https://docs.px4.io/v1.15/en/dev_log/log_encryption).
:::
## How ULog Encryption Works
@@ -142,7 +142,7 @@ Note that the value is generated fresh for each log, and any value specified in
You can use choose different locations for your keys as long as they aren't used by anything else.
:::
-The key in `CONFIG_PUBLIC_KEY1` is the public key used to wrap the symmetric key in the the beginning of `.ulge` file (by default: see [SDLOG_EXCH_KEY](../advanced_config/parameter_reference.md#SDLOG_EXCH_KEY)).
+The key in `CONFIG_PUBLIC_KEY1` is the public key used to wrap the symmetric key in the beginning of `.ulge` file (by default: see [SDLOG_EXCH_KEY](../advanced_config/parameter_reference.md#SDLOG_EXCH_KEY)).
You can use the `rsa2048.pub` key for testing, or replace it with the path to your own public key in the file (see [Generate RSA Public & Private Keys](#generate-rsa-public-private-keys)).
Build the firmware like this:
diff --git a/docs/uk/dev_setup/dev_env_mac.md b/docs/uk/dev_setup/dev_env_mac.md
index 214f44b7f3..1a9a1f945c 100644
--- a/docs/uk/dev_setup/dev_env_mac.md
+++ b/docs/uk/dev_setup/dev_env_mac.md
@@ -1,116 +1,122 @@
# macOS Development Environment
-Наступні інструкції для встановлення середовища розробки PX4 для macOS.
+The following instructions set up a PX4 development environment on macOS.
Це середовище може бути використане для збірки PX4 для:
- Pixhawk та іншого апаратного забезпечення на основі NuttX
-- [Gazebo Classic Simulation](../sim_gazebo_classic/index.md)
+- [Gazebo Simulation](../sim_gazebo_gz/index.md) (Gazebo Harmonic)
+
+It works on both Intel and Apple Silicon Macs.
:::tip
This setup is supported by the PX4 dev team.
-To build other targets you will need to use a [different OS](../dev_setup/dev_env.md#supported-targets) (or an [unsupported development environment](../advanced/community_supported_dev_env.md)).
+To build for [other targets](../dev_setup/dev_env.md#supported-targets) you will need to use a [different OS](../dev_setup/dev_env.md#supported-targets) or an [unsupported development environment](../advanced/community_supported_dev_env.md).
:::
-## Відеоінструкція
+## Development Environment Setup
-
```
@@ -116,7 +116,7 @@ echo "PermitRootLogin yes" >> /etc/ssh/sshd_config && systemctl restart sshd
The ARM Cross Compiler for _BeagleBone Blue_ can be found at [Linaro Toolchain Binaries site](https://www.linaro.org/downloads/#gnu_and_llvm).
- :::tip
+ ::: tip
GCC in the toolchain should be compatible with kernel in _BeagleBone Blue_.
General rule of thumb is to choose a toolchain where version of GCC is not higher than version of GCC which comes with the OS image on _BeagleBone Blue_.
@@ -131,7 +131,7 @@ echo "PermitRootLogin yes" >> /etc/ssh/sshd_config && systemctl restart sshd
tar -xf gcc-linaro-13.0.0-2022.06-x86_64_arm-linux-gnueabihf.tar.xz
```
- :::tip
+ ::: tip
The GCC version of the toolchain should be compatible with kernel in _BeagleBone Blue_.
:::
@@ -151,7 +151,7 @@ echo "PermitRootLogin yes" >> /etc/ssh/sshd_config && systemctl restart sshd
3. Налаштуйте інші залежності, завантаживши вихідний код PX4, а потім виконайте сценарії налаштування:
- ````
+ ````sh
git clone https://github.com/PX4/PX4-Autopilot.git --recursive
ols
```
@@ -170,7 +170,7 @@ echo "PermitRootLogin yes" >> /etc/ssh/sshd_config && systemctl restart sshd
Компіляція та завантаження
-```
+```sh
make beaglebone_blue_default upload
```
@@ -189,9 +189,7 @@ sudo ./bin/px4 -s px4.config
Currently _librobotcontrol_ requires root access.
:::
-
-
-## Нативні збірки (необов'язково)
+## Native Builds (optional) {#native_builds}
Ви також можете нативно створювати збірки PX4 безпосередньо на BeagleBone Blue.
@@ -216,7 +214,7 @@ Currently _librobotcontrol_ requires root access.
## Зміни в конфігурації
-Усі зміни можна вносити безпосередньо в файл налаштувань px4.config на beaglebone.
+All changes can be made in the px4.config file directly on beaglebone.
Наприклад, ви можете змінити WIFI на wlan.
:::info
@@ -295,8 +293,6 @@ UARTs на BeagleBone Blue можуть працювати лише з неін
1. Підключіть ESC двигуна 1, 2, 3 та 4 до каналу 1, 2, 3 та 4 вихідних сигналів сервоприводів на BeagleBone Blue відповідно.
Якщо ваш роз'єм ESC містить вихідний контакт живлення, вийміть його і не підключайте його до вихідного контакту живлення каналу сервоприводу на BeagleBone Blue.
-
2. Connect the above mentioned converted SBUS signal to the dsm2 port if you have the matching connector for dsm2, otherwise connect it to any other available UART port and change the corresponding port in **/home/debian/px4/px4.config** accordingly.
-
3. Підключіть сигнали модуля GPS до порту GPS на платі BeagleBone Blue.
Зверніть увагу, що сигнальні контакти порту GPS на BeagleBone Blue підтримують лише 3,3 В, тому обирайте свій GPS-модуль відповідно.
diff --git a/docs/uk/flight_controller/cuav_nora.md b/docs/uk/flight_controller/cuav_nora.md
index c30f7f1e32..722715c49c 100644
--- a/docs/uk/flight_controller/cuav_nora.md
+++ b/docs/uk/flight_controller/cuav_nora.md
@@ -5,7 +5,7 @@ PX4 не розробляє цей (або будь-який інший) авт
Contact the [manufacturer](https://www.cuav.net) for hardware support or compliance issues.
:::
-The [Nora](https://doc.cuav.net/flight-controller/x7/en/nora.html)® flight controller is a high-performance autopilot.
+The [Nora](https://doc.cuav.net/controller/x7/en/nora-plus.html)® flight controller is a high-performance autopilot.
Це ідеальний вибір для промислових дронів і великомасштабних важких дронів.
В основному постачається комерційним виробникам.
@@ -31,7 +31,7 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo
- Високопродуктивний процесор
:::tip
-The manufacturer [CUAV Docs](https://doc.cuav.net/flight-controller/x7/en/nora.html) are the canonical reference for Nora.
+The manufacturer [CUAV Docs](https://doc.cuav.net/controller/x7/en/nora-plus.html) are the canonical reference for Nora.
Вони повинні використовуватися за перевагою, оскільки вони містять найбільш повну та актуальну інформацію.
:::
@@ -76,14 +76,14 @@ When it runs PX4 firmware, only 8 PWM outputs work.
Решта 6 ШІМ-портів все ще адаптуються (тому на момент написання статті вони не сумісні з VOLT).
:::
-## Де купити
+## Where to Buy {#store}
- [CUAV Store](https://store.cuav.net)<\br>
- [CUAV Aliexpress](https://www.aliexpress.com/item/4001042501927.html?gps-id=8041884&scm=1007.14677.110221.0&scm_id=1007.14677.110221.0&scm-url=1007.14677.110221.0&pvid=3dc0a3ba-fa82-43d2-b0b3-6280e4329cef&spm=a2g0o.store_home.promoteRecommendProducts_7913969.58)
## З'єднання (Проводка)
-[CUAV nora Wiring Quickstart](https://doc.cuav.net/flight-controller/x7/en/quick-start/quick-start-nora.html)
+[CUAV nora Wiring Quickstart](https://doc.cuav.net/controller/x7/en/quick-start/quick-start-nora.html)
## Розмір та роз'єми
@@ -120,7 +120,7 @@ It is pre-built and automatically installed by _QGroundControl_ when appropriate
To [build PX4](../dev_setup/building_px4.md) for this target:
-```
+```sh
make cuav_nora_default
```
@@ -171,6 +171,6 @@ The complete set of supported configurations can be seen in the [Airframes Refer
## Подальша інформація
-- [Quick start](https://doc.cuav.net/flight-controller/x7/en/quick-start/quick-start-nora.html)
+- [Quick start](https://doc.cuav.net/controller/x7/en/quick-start/quick-start-nora.html)
- [CUAV docs](https://doc.cuav.net/)
- [nora schematic](https://github.com/cuav/hardware/tree/master/X7_Autopilot)
diff --git a/docs/uk/flight_controller/cuav_pixhawk_v6x.md b/docs/uk/flight_controller/cuav_pixhawk_v6x.md
index aed38cb87f..97719397b0 100644
--- a/docs/uk/flight_controller/cuav_pixhawk_v6x.md
+++ b/docs/uk/flight_controller/cuav_pixhawk_v6x.md
@@ -61,7 +61,7 @@ Pixhawk® V6X ідеально підходить для корпоративн
- 16 PWM виводів сервоприводів
- 1 Виділений R/C вхід для Spektrum / DSM та S.Bus з аналоговим / PWM RSSI входом
- 3 TELEM-порти (з повним контролем потоку)
-- 1 UART4(Seial та I2C)
+- 1 UART4(Serial and I2C)
- 2 порти GPS
- 1 повноцінний порт GPS плюс порт перемикача безпеки (GPS1)
- 1 базовий GPS-порт (з I2C, GPS2)
@@ -104,7 +104,7 @@ Pixhawk® V6X ідеально підходить для корпоративн
-## Де купити
+## Where to Buy {#store}
Order from [CUAV](https://store.cuav.net/).
@@ -173,13 +173,11 @@ It is pre-built and automatically installed by _QGroundControl_ when appropriate
To [build PX4](../dev_setup/building_px4.md) for this target:
-```
+```sh
make px4_fmu-v6x_default
```
-
-
-## Відладочний порт
+## Debug Port {#debug_port}
The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debug/swd_debug.md) run on the **FMU Debug** port.
diff --git a/docs/uk/flight_controller/cuav_v5.md b/docs/uk/flight_controller/cuav_v5.md
index e6e58bd1d6..ed3719fbc0 100644
--- a/docs/uk/flight_controller/cuav_v5.md
+++ b/docs/uk/flight_controller/cuav_v5.md
@@ -1,149 +1,7 @@
-# CUAV v5 (Знято з виробництва)
+
@@ -93,7 +93,7 @@ Pix32 v6’s H7 MCU містить ядро Arm® Cortex®-M7 до 480 MHz, ма
- Інші характеристики:
- Operating & storage temperature: -40 ~ 85°c
-## Де купити
+## Where to Buy {#store}
Order from [Holybro](https://holybro.com/products/pix32-v6).
@@ -156,13 +156,11 @@ It is pre-built and automatically installed by _QGroundControl_ when appropriate
To [build PX4](../dev_setup/building_px4.md) for this target:
-```
+```sh
make px4_fmu-v6c_default
```
-
-
-## Відладочний порт
+## Debug Port {#debug_port}
The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debug/swd_debug.md) run on the **FMU Debug** port.
diff --git a/docs/uk/flight_controller/kakutef7.md b/docs/uk/flight_controller/kakutef7.md
index 297334c9ca..72e2f77c50 100644
--- a/docs/uk/flight_controller/kakutef7.md
+++ b/docs/uk/flight_controller/kakutef7.md
@@ -1,142 +1,7 @@
-# Holybro Kakute F7 (Знято з виробництва)
+
diff --git a/docs/uk/frames_multicopter/kits.md b/docs/uk/frames_multicopter/kits.md
index ef1972f280..f77bd0c08c 100644
--- a/docs/uk/frames_multicopter/kits.md
+++ b/docs/uk/frames_multicopter/kits.md
@@ -18,6 +18,7 @@ Kits generally do not include:
Наступні комплекти в даний час доступні:
+- [Holybro X650 PX4 Development Kit](https://holybro.com/collections/x650-kits) (Pixhawk 6C/6X) ([Frame assembly guide](https://docs.holybro.com/drone-development-kit/x650-development-kit/download))
- [Holybro X500 v2 PX4 Development Kit](https://holybro.com/collections/x500-kits) (Pixhawk 6c) ([Build instructions](../frames_multicopter/holybro_x500v2_pixhawk6c.md))
- [Holybro S500 Kit v2](https://holybro.com/collections/s500/products/s500-v2-development-kit) (Pixhawk 6c)
- [Holybro QAV250 Kit](https://holybro.com/products/qav250-kit) (Pixhawk 6c)
@@ -27,7 +28,7 @@ Kits generally do not include:
## Посібники зі збірки
Нижче наведені інструкції зі складання для декількох комплектів.
-Багато наборів відрізняються лише трохи між ревізіями (наприклад, новий набір може просто оновити використаний контролер польоту, інакше він ідентичний), тому їх ймовірно буде корисно використовувати для збирання наборів у розділі вище.
+Many kits vary only a little between revisions (for example, the new kit might simply upgrade the flight controller used, and is otherwise identical), so these are likely to be useful for building the kits in the section above.
- [Holybro X500 v2 (Pixhawk 6C)](../frames_multicopter/holybro_x500v2_pixhawk6c.md)
- [Holybro X500 v2 (Pixhawk 5X)](../frames_multicopter/holybro_x500V2_pixhawk5x.md) — Знятий з виробництва (комплект v2 використовує Pixhawk 6c)
diff --git a/docs/uk/frames_multicopter/omnicopter.md b/docs/uk/frames_multicopter/omnicopter.md
index e62cdaa9e8..395a72e623 100644
--- a/docs/uk/frames_multicopter/omnicopter.md
+++ b/docs/uk/frames_multicopter/omnicopter.md
@@ -19,8 +19,8 @@ This build follows the original design from [Brescianini, Dario, and Raffaello D
You can select your own flight controller of choice, it just needs to support 8 DShot outputs.
:::
- - GPS: [ZED-F9P](https://gnss.store/zed-f9p-gnss-modules/105-elt0092.html)
- - [GPS helix antenna](https://gnss.store/gnss-rtk-multiband-antennas/28-elt0014.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.
@@ -34,8 +34,8 @@ This build follows the original design from [Brescianini, Dario, and Raffaello D
- Акумулятор: ми використовували LiPo на 6S 3300mAh. Обов'язково перевірте розміри, щоб він підійшов до рами.
- Ремінь для акумулятора
- Рама:
- - Carbon square tube R 8mm X 7mm X 1000mm, e.g. [here on shop.swiss-composite.ch](https://shop.swiss-composite.ch/pi.php/Halbfabrikate/Rohre/Vierkant-Rohre/CFK-Vierkantrohr-8x8-7x7mm.html)
- - Carbon Rods R 3mm X 2mm X 1000mm, e.g. [here on shop.swiss-composite.ch](https://shop.swiss-composite.ch/pi.php/Halbfabrikate/Rohre/CFK-Rohre-pultrudiert-pullwinding/Carbon-Microtubes-100cm-x-20-3mm.html)
+ - Carbon square tube R 8mm X 7mm X 1000mm, e.g. [here on shop.swiss-composite.ch](https://www.shop.swiss-composite.ch/de/produkt/cfk-vierkantrohr-8x8-7x7mm)
+ - Carbon Rods R 3mm X 2mm X 1000mm, e.g. [here on shop.swiss-composite.ch](https://www.shop.swiss-composite.ch/de/produkt/carbon-microtubes-100cm-x-20-3mm)
- Необхідні довжини:
- квадратна трубка: 8 штук довжиною 248 мм
- стрижні: 12x328мм, 6x465мм
diff --git a/docs/uk/frames_plane/reptile_dragon_2.md b/docs/uk/frames_plane/reptile_dragon_2.md
index 5f1d8e8108..60f73167ac 100644
--- a/docs/uk/frames_plane/reptile_dragon_2.md
+++ b/docs/uk/frames_plane/reptile_dragon_2.md
@@ -56,7 +56,7 @@ The Reptile Dragon 2 is a twin motor RC airplane specifically designed for effic
- Модуль диференційного тиску MS4525DO та пітот-трубка
-- [Caddx Vista FPV air unit](https://caddxfpv.com/collections/vista-kit)
+- [Caddx Vista FPV air unit](https://www.caddxfpv.com/collections/vista-kit)
- [Emax ES08MA ii](https://emaxmodel.com/products/emax-es08ma-ii-12g-mini-metal-gear-analog-servo-for-rc-model-robot-pwm-servo)
@@ -66,7 +66,7 @@ The Reptile Dragon 2 is a twin motor RC airplane specifically designed for effic
- [5V BEC](https://www.readymaderc.com/products/details/rmrc-3a-power-regulator-5-to-6-volt-ubec)
-- [6s2p 18650 LiIon flight battery](https://www.upgradeenergytech.com/product-page/6s-22-2v-5600mah-30c-dark-lithium-liion-drone-battery) (select XT60 connector)
+- [6s2p 18650 LiIon flight battery](https://www.upgradeenergytech.com/products/red-6s1p-5000mah-molicel-p50b) (select XT60 connector)
- [Custom designed 3D printed parts](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/airframes/fw/reptile_dragon_2/rd2_3d_printed_parts.zip)
- Монтаж платформи ARK6X
@@ -97,7 +97,7 @@ The Reptile Dragon 2 is a twin motor RC airplane specifically designed for effic
Сервоприводи, крила та хвіст потрібно встановити.
:::info
-Для цієї частини збірки інструкція, включена в комплект, повинна бути достатньою, але нижче наведено деякі корисні поради.
+For this portion of assembly, the instructions included with the kit should be sufficient, but some helpful tips are listed below.
:::
### Наклейка піни
@@ -225,7 +225,7 @@ The RD2 comes with a wooden electronics mount baseplate preglued in the airframe
Оператор встановлений у пластиковому кейсі.
Хоча справа виглядає гарно, це додаткова вага, тому переноска була видалена з чохла.
-Після видалення з корпусу ARK6X був встановлений, а захисна кришка встановлена зверху.
+Once removed from the case, the ARK6X was installed, and a protective cover fitted on top.
@@ -353,7 +353,7 @@ For more information see [TBS Crossfire (CRSF) Telemetry](../telemetry/crsf_tele
### `msp_osd` Module
-The `msp_osd` module steams MSP telemetry to a selected serial port.
+The `msp_osd` module streams MSP telemetry to a selected serial port.
Пристрій Caddx Vista Air підтримує прослуховування телеметрії MSP і відображає отримані значення телеметрії на своєму OSD (екрані).
1. In the PX4 board config tool, navigate to the `drivers` submenu, then scroll down to highlight `OSD`.
diff --git a/docs/uk/frames_plane/turbo_timber_evolution.md b/docs/uk/frames_plane/turbo_timber_evolution.md
index 28651db0fe..693845ab93 100644
--- a/docs/uk/frames_plane/turbo_timber_evolution.md
+++ b/docs/uk/frames_plane/turbo_timber_evolution.md
@@ -50,7 +50,7 @@ This model is designed to excel at [STOL](https://en.wikipedia.org/wiki/STOL) fl
- Модуль диференційного тиску MS4525DO та пітот-трубка
-- [Caddx Vista FPV air unit](https://caddxfpv.com/collections/vista-kit)
+- [Caddx Vista FPV air unit](https://www.caddxfpv.com/collections/vista-kit)
- [DJI FPV Goggles](https://www.dji.com/fpv)
@@ -74,7 +74,7 @@ This model is designed to excel at [STOL](https://en.wikipedia.org/wiki/STOL) fl
Для цієї частини збирання просто дотримуйтеся інструкції.
:::info
-[Some reports](https://www.rcgroups.com/forums/showthread.php?3904021-NEW-E-flite-Turbo-Timber-Evolution-1-5m-%C2%96-Smartest-Most-Capable-Durable-Timber-Yet/page50) have indicated that the stock ESC bundled with the airplane has an issue with overheating.
+[Some reports](https://www.rcgroups.com/forums/showthread.php?3904021-NEW-E-flite-Turbo-Timber-Evolution-1-5m/page50) have indicated that the stock ESC bundled with the airplane has an issue with overheating.
Оскільки ця збірка буде особливо важкою, і, отже, ймовірно, потребуватиме більшого середнього потужності від регулятора швидкості, стандартний регулятор швидкості на 60 А був замінений на 80-амперний регулятор швидкості Turnigy PLUSH-32 під час тестування.
The stock motor was also replaced with a [higher power motor](https://hobbyking.com/en_us/turnigy-aerodrive-sk3-3548-840kv-brushless-outrunner-motor.html).
@@ -90,7 +90,7 @@ FPV підставка була закріплена зверху кришки
-
+
## Підвіс для динамічного тиску
@@ -150,7 +150,7 @@ A custom mount for the PX4 Mini was designed and 3d printed (see [3D printed par
ТЕ дуже гнучкий щодо варіантів акумуляторів.
Я використовую як акумулятор Turnigy 3,6 Аг 4S, так і акумулятор Upgrade Energy 4s2p liion.
-Хоча LiPo 3,6 Аг є недорогим, з акумулятором Upgrade Energy Liion можна досягти майже вдвічі більшого часу польоту (24 хвилини проти 12 хвилин).
+While the 3.6Ah LiPo is inexpensive, nearly twice the flight time (24 minutes vs 12 minutes) can be achieved with the Upgrade Energy Liion pack.
@@ -177,10 +177,10 @@ USB-A кінець цього кабелю залишено висіти в ба
#### Приймач радіокерування
-A custom cable was made to connect the ExpressLRS RX ([RC Reciever](../getting_started/rc_transmitter_receiver.md)) to the Pixhawk 4 Mini.
+A custom cable was made to connect the ExpressLRS RX ([RC Receiver](../getting_started/rc_transmitter_receiver.md)) to the Pixhawk 4 Mini.
Оскільки у Pixhawk 4 Mini обмежена кількість UART, RX був підключений до входу RC, який не має піна TX.
-Це означає, що RX буде відправляти дані керування до FCU, але телеметрія не може бути відправлена до RX з FCU.
+This means that the RX will only send control data to the FCU but telemetry cannot be sent to the RX from the FCU.
Термоусадка була використана для закріплення роз'єму Dupont кабелю таким чином, що він не може випадково вийти з заголовків приймача ExpressLRS RX.
#### FPV Pod & Airspeed Cable
@@ -189,7 +189,7 @@ Another custom cable was made to connect the Caddx Vista FPV transmitter to the
Біля Vista було додано роз'єм Molex Microfit, щоб його можна було легко від'єднати без необхідності доступу до Pixhawk.
As the name implies, the `UART/I2C B` port provides both a UART and I2C interface.
Цей порт розділено за допомогою спеціального кабелю, і одна сторона надає живлення та дані для I2C датчика швидкості повітря, тоді як інша сторона надає живлення та UART TX/RX для Caddx Vista.
-Від порту UART/I2C B, 5V, GND та I2C SCL/SDA підключені до датчика швидкості повітря по I2C, тоді як лише серійний RX та TX підключені до Caddx Vista (заземлення надається окремими лініями живлення/землі для Vista)
+From the UART/I2C B port, 5V, GND, and I2C SCL/SDA, are connected to the I2C airspeed sensor, while just serial RX and TX are connected to the Caddx Vista (Ground is provided the separate battery power/gnd leads for the Vista)
The [msp_osd](../modules/modules_driver.md#msp-osd) module is used to stream telemetry to the Caddx Vista which can be seen on the DJI Goggles with the "custom OSD" feature enabled.
@@ -204,7 +204,7 @@ The [msp_osd](../modules/modules_driver.md#msp-osd) module is used to stream tel
Загалом, ця збірка була успішною.
-Навіть з додатковою вагою встановлення Pixhawk 4 Mini літак добре балансується і має достатньо потужності, щоб зберегти свої оригінальні характеристики STOL.
+Even with the added weight of the Pixhawk 4 Mini installation, the airplane balances well and has plenty of power to retain its original STOL characteristics.
PX4 is easily capable of stabilizing the airplane and fine tuning of the rate loops were accomplished using [fixed-wing autotuning](../config/autotune_fw.md).
The results of tuning can be found in the [parameter file linked below](#parameter-file).
diff --git a/docs/uk/frames_plane/wing_wing_z84.md b/docs/uk/frames_plane/wing_wing_z84.md
index 0c3a0a357d..9c309a1769 100644
--- a/docs/uk/frames_plane/wing_wing_z84.md
+++ b/docs/uk/frames_plane/wing_wing_z84.md
@@ -33,7 +33,7 @@ Any small (>=12A) ESC will do:
- Приймач FrSky D4R-II або йому еквівалентний (з'єднаний за допомогою перемички з виходом PPM sum відповідно до інструкції)
- [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.
### Рекомендовані запасні частини
diff --git a/docs/uk/frames_sub/bluerov2.md b/docs/uk/frames_sub/bluerov2.md
index 50d8be1c55..8965333aa7 100644
--- a/docs/uk/frames_sub/bluerov2.md
+++ b/docs/uk/frames_sub/bluerov2.md
@@ -2,21 +2,25 @@
@@ -29,6 +33,15 @@ The vehicle will then match the configuration documented in the [Airframe Refere
- **MAIN7:** motor 7 CCW, stern starboard vertical, propeller CW
- **MAIN8:** motor 8 CCW, stern port vertical, propeller CCW
+## Manual Modes
+
+| Режим | Опис |
+| --------- | ---------------------------------------------------------------------------------------------------------------------------------------------------- |
+| Manual | Direct manual control of yaw and thrust. |
+| Acro | Manual control of yaw/thrust, but keeps roll/pitch zero |
+| Altitude | Manual control of x/y thrust and yaw. Control of height with PID, manually controlled by user. Keeps roll/pitch zero |
+| Положення | Controls x/y/z and yaw. Manually controlled by user. Keeps roll/pitch zero |
+
## Конфігурація планера
BlueROV2 не йде з предвстановленою версією з PX4.
diff --git a/docs/uk/frames_vtol/tailsitter.md b/docs/uk/frames_vtol/tailsitter.md
index 35f01e782f..d0d43e5ec1 100644
--- a/docs/uk/frames_vtol/tailsitter.md
+++ b/docs/uk/frames_vtol/tailsitter.md
@@ -91,7 +91,7 @@ This section contains videos that are specific to Tailsitter VTOL (videos that a
+
+## Загальний огляд
+
+_Joystick_ setups use QGroundControl to encode the control information from a "standard" computer gaming joystick into [MAVLink messages](https://mavlink.io/en/services/manual_control.html) that are sent to the vehicle over the (shared) telemetry radio channel.
+They are often used in integrated GCS/manual control systems because it is cheaper and easier to integrate a joystick than a separate radio system.
+
+Joysticks are suitable for most applications provided your telemetry channel has a high enough bandwidth/low latency.
+They are perfect for flying the PX4 simulator, because you can plug them directly into your ground control computer and start flying.
+
+_RC systems_ use a dedicated ground-based radio transmitter and vehicle-based receiver for sending control information.
+They offer lower latency than Joysticks, and are very highly recommended when first tuning/testing a new frame design, when flying racers/acrobatically, and in other cases where low latency is important.
+They can also be useful as a robust backup link for safety.
+Note RC systems usually require significantly more configuration and calibration, much of which may be brand or model-specific.
+
+:::info
+PX4 does not _require_ a manual control system for autonomous flight modes.
+:::
+
+## Конфігурація PX4
+
+:::tip
+This section explains how to configure PX4 to use and prioritise various manual control sources (other configuration is covered in the guides for each type of manual control).
+:::
+
+If you only have one manual control system, either RC or Joystick, then by default no manual control selection is required.
+In this case PX4 locks to the first valid manual control source it detects and uses that source until the vehicle is rebooted.
+
+If you have multiple control sources, such as an RC system and/or one or more Joysticks, then you can use the [COM_RC_IN_MODE](../advanced_config/parameter_reference.md#COM_RC_IN_MODE) parameter to determine which source is active, specifying selection priorities and fallback behavior ([parameters can be set](../advanced_config/parameters.md#finding-a-parameter) using QGC):
+
+- `0`: RC only.
+- `1`: MAVLink only.
+- `2`: RC or MAVLink with fallback (switches if current source becomes invalid).
+- `3`: RC or MAVLink keep first (locks to the first valid source until reboot).
+- `4`: Disable manual control (ignores all sources).
+- `5`: RC priority, then MAVLink (lower instance before higher) — `RC > MAVLink 1 > MAVLink 2`
+- `6`: MAVLink priority (lower instance before higher), then RC — `MAVLink 1 > MAVLink 2 > RC`
+- `7`: RC priority, then MAVLink (higher instance before lower) — `RC > MAVLink 2 > MAVLink 1`
+- `8`: MAVLink priority (higher instance before lower), then RC — `MAVLink 2 > MAVLink 1 > RC`
+
+The [MAVLink instance](../peripherals/mavlink_peripherals.md#mavlink-instances) refers to an instance assigned to a serial port, such as [MAV_0_CONFIG](../advanced_config/parameter_reference.md#MAV_0_CONFIG).
+
+Примітки:
+
+- RC checks are run for any option that uses RC (so not for `MAVLink only` or `Disable manual control`).
+- When using priority sources, sources are evaluated as soon as they become valid and may trigger an immediate switch (if higher priority than the currently active source).
+- A [Manual Control Loss Failsafe](../config/safety.md#manual-control-loss-failsafe) is triggered when none of the manual control inputs allowed by the `COM_RC_IN_MODE` mode are available for a time that is greater than the RC Loss Timeout.
+ As long as there is a fallback input source available, the failsafe is not triggered.
+
+## Дивіться також
+
+- [Radio Control (RC)](../getting_started/rc_transmitter_receiver.md)
+- [Joysticks](../config/joystick.md)
diff --git a/docs/uk/config/radio.md b/docs/uk/config/radio.md
index 135877a0b7..26379873d4 100644
--- a/docs/uk/config/radio.md
+++ b/docs/uk/config/radio.md
@@ -1,10 +1,12 @@
# Налаштування радіомодулів (RC)
-The _Radio Setup_ screen is used to configure the mapping of your RC controller's main attitude control sticks (roll, pitch, yaw, throttle) to channels, and to calibrate the minimum, maximum, trim and reverse settings for all other transmitter controls/RC channels.
+The _Radio Setup_ screen is used to configure the mapping of your [RC controller's](../getting_started/rc_transmitter_receiver.md) main attitude control sticks (roll, pitch, yaw, throttle) to channels, and to calibrate the minimum, maximum, trim and reverse settings for all other transmitter controls/RC channels.
:::info
-A [Joystick](../config/joystick.md) can be used instead of RC for manual control.
-The [COM_RC_IN_MODE](../advanced_config/parameter_reference.md#COM_RC_IN_MODE) parameter [can be set](../advanced_config/parameters.md) to define what kind of manual controller(s) are enabled.
+A [Joystick](../config/joystick.md) can also be used for [Manual Control](../config/manual_control.md).
+
+By default PX4 will latch the first valid controller it discovers and use it until the vehicle reboots.
+If you have multiple controllers and you want to define their priority see [Manual Control > PX4 Configuration](../config/manual_control.md#px4-configuration).
:::
## Прив'язка приймача
diff --git a/docs/uk/config/safety.md b/docs/uk/config/safety.md
index a3535d8675..4ed4b0cf72 100644
--- a/docs/uk/config/safety.md
+++ b/docs/uk/config/safety.md
@@ -109,19 +109,17 @@ There are several other "battery related" failsafe mechanisms that may be config
## Manual Control Loss Failsafe
-The manual control loss failsafe may be triggered if the connection to the [RC transmitter](../getting_started/rc_transmitter_receiver.md) or [joystick](../config/joystick.md) is lost, and there is no fallback.
-If using an [RC transmitter](../getting_started/rc_transmitter_receiver.md) this is triggered if the RC [transmitter link is lost](../getting_started/rc_transmitter_receiver.md#set-signal-loss-behaviour).
-If using [joysticks](../config/joystick.md) connected over a MAVLink data link, this is triggered if the joysticks are disconnected or the data link is lost.
-
-:::info
-PX4 and the receiver may also need to be configured in order to _detect RC loss_: [Radio Setup > RC Loss Detection](../config/radio.md#rc-loss-detection).
-:::
+A [Manual Control Loss Failsafe](../config/safety.md#manual-control-loss-failsafe) is triggered after a [manual control loss timeout](#COM_RC_LOSS_T) in which none of the configured [Manual Controllers](../config/manual_control.md) are available.
The QGCroundControl Safety UI allows you to set the [failsafe action](#failsafe-actions) and [manual control loss timeout](#COM_RC_LOSS_T).
Users that want to disable this failsafe in specific modes can do so using the parameter [COM_RCL_EXCEPT](#COM_RCL_EXCEPT).
+:::info
+PX4 and the receiver may also need to be configured in order to _detect RC loss_: [Radio Setup > RC Loss Detection](../config/radio.md#rc-loss-detection).
+:::
+
Нижче наведено додаткові (і базові) налаштування параметрів.
| Параметр | Налаштування | Опис |
@@ -179,17 +177,22 @@ Due to the inherent danger of this, this function is disabled using [CBRK_FLIGHT
| Preemptive geofence triggering | [GF_PREDICT](../advanced_config/parameter_reference.md#GF_PREDICT) | (Експериментальний) Спрацьовувати геозону, якщо поточний рух транспортного засобу передбачає спрацьовування порушення (замість пізнього спрацьовування після порушення). |
| Circuit breaker for flight termination | [CBRK_FLIGHTTERM](../advanced_config/parameter_reference.md#CBRK_FLIGHTTERM) | Увімкнення/вимкнення дії припинення польоту (за замовчуванням вимкнено). |
-## Position (GNSS) Loss Failsafe
+## Position Estimation Failsafes
+
+This section describes failsafes related to the quality of the vehicle's position estimate.
+
+### Position Loss Failsafe
The _Position Loss Failsafe_ is triggered if the quality of the PX4 position estimate falls below acceptable levels (this might be caused by GPS loss) while in a mode that requires an acceptable position estimate.
-The sections below cover first the trigger and then the failsafe action taken by the controller.
### Position Loss Failsafe Trigger
-There are basically two mechanisms in PX4 to trigger position failsafes:
+The position loss failsafe triggers if the position estimate becomes _invalid_. There are two mechanisms in PX4 to invalidate the position estimate:
-- A timeout since the last sensor data was fused that provides direct speed or horizontal position measurements. Sensors that fall into that category are: GNSS, optical flow, airspeed, VIO, auxiliary global position.
-- The estimated horizontal position accuracy exceeds a certain threshold. This check is only done on hovering systems (rotary wing vehicles or VTOLs in hover phase).
+- A timeout since the last sensor data was fused that provides direct speed or horizontal position measurements.
+ - Sensors that fall into that category are: GNSS, optical flow, airspeed, VIO, auxiliary global position.
+- The estimated horizontal position inaccuracy exceeds the threshold [COM_POS_LOW_EPH](../advanced_config/parameter_reference.md#COM_POS_LOW_EPH)
+ - This check is only done on hovering systems (rotary-wing vehicles or VTOLs in hover phase). For fixed-wing vehicles, refer to the [Position Accuracy Low](#position-accuracy-low-failsafe) section.
The relevant parameters shown below.
@@ -205,14 +208,24 @@ Multicopters will switch to [Altitude mode](../flight_modes_mc/altitude.md) if a
Fixed-wing planes, and VTOLs not configured to land in hover ([NAV_FORCE_VT](../advanced_config/parameter_reference.md#NAV_FORCE_VT)), have a parameter ([FW_GPSF_LT](../advanced_config/parameter_reference.md#FW_GPSF_LT)) that defines how long they will loiter (circle with a constant roll angle ([FW_GPSF_R](../advanced_config/parameter_reference.md#FW_GPSF_R)) at the current altitude) after losing position before attempting to land.
If VTOLs have are configured to switch to hover for landing ([NAV_FORCE_VT](../advanced_config/parameter_reference.md#NAV_FORCE_VT)) then they will first transition and then descend.
-Відповідні параметри для всіх транспортних засобів наведено нижче.
+Відповідними параметрами є:
-Параметри, які впливають лише на повітряні судна з фіксованим крилом:
+| Параметр | Опис |
+| ----------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| [FW_GPSF_LT](../advanced_config/parameter_reference.md#FW_GPSF_LT) | Fixed-wing only: Loiter time (waiting at current altitude for position estimation recovery before starting to descend). Установіть значення 0 для відключення. |
+| [FW_GPSF_R](../advanced_config/parameter_reference.md#FW_GPSF_R) | Фіксований кут крену/кочення під час кілочення. |
+| [NAV_FORCE_VT](../advanced_config/parameter_reference.md#NAV_FORCE_VT) | If true, force VTOL takeoff and landing, even in `Descend` failsafe. |
-| Параметр | Опис |
-| ----------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| [FW_GPSF_LT](../advanced_config/parameter_reference.md#FW_GPSF_LT) | Час простою (очікування відновлення GPS перед посадкою або припиненням польоту). Установіть значення 0 для відключення. |
-| [FW_GPSF_R](../advanced_config/parameter_reference.md#FW_GPSF_R) | Фіксований кут крену/кочення під час кілочення. |
+### Position Accuracy Low Failsafe
+
+In Fixed-wing, the position estimate is never strictly invalidated as long as we have a horizontal aiding source, such as an airspeed sensor. In that case, a separate failsafe can be configured that triggers if the position estimate inacuraccy exceeds the threshold [COM_POS_LOW_EPH](../advanced_config/parameter_reference.md#COM_POS_LOW_EPH). The failsafe action is taken if the vehicle is in mission or hold mode, otherwise it is only a warning. Відповідними параметрами є:
+
+| Параметр | Опис |
+| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------- |
+| [COM_POS_LOW_EPH](../advanced_config/parameter_reference.md#COM_POS_LOW_EPH) | Position inaccuracy threshold above which COM_POS_LOW_ACT is taken. |
+| [COM_POS_LOW_ACT](../advanced_config/parameter_reference.md#COM_POS_LOW_ACT) | Failsafe action taken when position inaccuracy is above configured threshold. |
+
+Note that if there is no horizontal aiding source anymore, the position estimate is invalidated after `EKF2_NOAID_TOUT`, and the standard position loss failsafe applies.
## Аварійний режим втрати управління з пульта
@@ -259,7 +272,7 @@ The quad-chute can also be triggered by sending a MAVLINK [MAV_CMD_DO_VTOL_TRANS
## High Wind Failsafe
-The high wind failsafe can trigger a warning and/or other mode change when the wind speed exceeds the warning and maximum wind-speed threshhold values.
+The high wind failsafe can trigger a warning and/or other mode change when the wind speed exceeds the warning and maximum wind-speed threshold values.
The relevant parameters are listed in the table below.
| Параметр | Опис |
@@ -313,8 +326,8 @@ The failure detector can be configured to detect a motor failure while armed (an
| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| [FD_ACT_EN](../advanced_config/parameter_reference.md#FD_ACT_EN) | Enable/disable the motor failure trigger completely. |
| [FD_ACT_MOT_THR](../advanced_config/parameter_reference.md#FD_ACT_MOT_THR) | Minimum normalized [0,1] motor command below which motor under current is ignored. |
-| [FD_ACT_MOT_C2T](../advanced_config/parameter_reference.md#FD_ACT_MOT_C2T) | Scale between normalized [0,1] motor command and expected minimally reported currrent when the rotor is healthy. |
-| [FD_ACT_MOT_TOUT](../advanced_config/parameter_reference.md#FD_ACT_MOT_TOUT) | Time in miliseconds for which the under current detection condition needs to stay true. |
+| [FD_ACT_MOT_C2T](../advanced_config/parameter_reference.md#FD_ACT_MOT_C2T) | Scale between normalized [0,1] motor command and expected minimally reported current when the rotor is healthy. |
+| [FD_ACT_MOT_TOUT](../advanced_config/parameter_reference.md#FD_ACT_MOT_TOUT) | Time in milliseconds for which the under current detection condition needs to stay true. |
| [CA_FAILURE_MODE](../advanced_config/parameter_reference.md#CA_FAILURE_MODE) | Configure to not only warn about a motor failure but remove the first motor that detects a failure from the allocation effectiveness which turns off the motor and tries to operate the vehicle without it until disarming the next time. |
### Зовнішня автоматична система тригерування (ATS)
diff --git a/docs/uk/config_mc/pid_tuning_guide_multicopter_basic.md b/docs/uk/config_mc/pid_tuning_guide_multicopter_basic.md
index 7cb155a70a..3ef23172aa 100644
--- a/docs/uk/config_mc/pid_tuning_guide_multicopter_basic.md
+++ b/docs/uk/config_mc/pid_tuning_guide_multicopter_basic.md
@@ -13,7 +13,7 @@ Tuning is recommended for all new vehicle setups to get the _very best_ performa
## Введення
-PX4 uses **P**roportional, **I**ntegral, **D**erivative (PID) controllers (these are the most widespread control technique).
+PX4 uses **P**roportional, **I**integral, **D**erivative (PID) controllers (these are the most widespread control technique).
The _QGroundControl_ **PID Tuning** setup provides real-time plots of the vehicle setpoint and response curves.
The goal of tuning is to set the P/I/D values such that the _Response_ curve matches the _Setpoint_ curve as closely as possible (i.e. a fast response without overshoots).
diff --git a/docs/uk/config_rover/attitude_tuning.md b/docs/uk/config_rover/attitude_tuning.md
index 66fcae656a..8e3fd36af0 100644
--- a/docs/uk/config_rover/attitude_tuning.md
+++ b/docs/uk/config_rover/attitude_tuning.md
@@ -16,7 +16,7 @@ Configure the following [parameters](../advanced_config/parameters.md) in QGroun
Put the rover into stabilized mode and move the left stick of your controller up to drive forwards.
Disarm the rover and from the flight log plot the `measured_yaw` and the `adjusted_yaw_setpoint` from the [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md) message over each other.
Increase/Decrease the parameter until you are satisfied with the setpoint tracking.
- If you observe a steady state error in the yaw setpoint increase the the integrator of the rate controller: [RO_YAW_RATE_I](../advanced_config/parameter_reference.md#RO_YAW_RATE_I) .
+ If you observe a steady state error in the yaw setpoint increase the integrator of the rate controller: [RO_YAW_RATE_I](../advanced_config/parameter_reference.md#RO_YAW_RATE_I) .
:::
@@ -30,7 +30,7 @@ The attitude controller uses the following structure:
-The rate and attitude controllers are cascaded, therefor we only require one integrator in the structure to eliminate steady state errors.
+The rate and attitude controllers are cascaded, therefore we only require one integrator in the structure to eliminate steady state errors.
We placed the integrator in the rate controller since it can run without the attitude controller but not the other way around.
## Огляд параметрів
diff --git a/docs/uk/config_rover/basic_setup.md b/docs/uk/config_rover/basic_setup.md
index b01b5ebb0f..432e6abdbd 100644
--- a/docs/uk/config_rover/basic_setup.md
+++ b/docs/uk/config_rover/basic_setup.md
@@ -138,7 +138,7 @@ In [Manual mode](../flight_modes_rover/manual.md#manual-mode) we can additionall
- Differential Rover: $r=$ [RD_YAW_STK_GAIN](#RD_YAW_STK_GAIN), which enables adjusting the slope of the input mapping. This leads to a normalized steering input $\hat{\delta} = \delta \cdot r \in$ [-[RD_YAW_STK_GAIN](#RD_YAW_STK_GAIN), [RD_YAW_STK_GAIN](#RD_YAW_STK_GAIN)].
- Mecanum Rover: $r=$ [RM_YAW_STK_GAIN](#RM_YAW_STK_GAIN), which enables adjusting the slope of the input mapping. This leads to a normalized steering input $\hat{\delta} = \delta \cdot r \in$ [-[RM_YAW_STK_GAIN](#RM_YAW_STK_GAIN), [RM_YAW_STK_GAIN](#RM_YAW_STK_GAIN)].
-This scaling is useful to limit the normalized steering setpoint, if it is too aggresive for your rover in manual mode.
+This scaling is useful to limit the normalized steering setpoint, if it is too aggressive for your rover in manual mode.
You can experiment with the relationships graphically using the [PX4 SuperExpo Rover calculator](https://www.desmos.com/calculator/gwm8lrlanx).
diff --git a/docs/uk/config_rover/index.md b/docs/uk/config_rover/index.md
index c49dc517e8..ef21a2e3b4 100644
--- a/docs/uk/config_rover/index.md
+++ b/docs/uk/config_rover/index.md
@@ -39,7 +39,7 @@ make px4_fmu-v6x_rover
Note that configuration targets are constructed with the format "VENDOR_MODEL_VARIANT".
-The built firmware can be installed as custom firmware, as shown above in in [Flashing the Rover Build](#flashing-the-rover-build).
+The built firmware can be installed as custom firmware, as shown above in [Flashing the Rover Build](#flashing-the-rover-build).
:::info
You can also enable the modules in default builds by adding these lines to your [board configuration](../hardware/porting_guide_config.md) (e.g. for fmu-v6x you might add them to [`main/boards/px4/fmu-v6x/default.px4board`](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v6x/default.px4board)):
diff --git a/docs/uk/config_rover/rate_tuning.md b/docs/uk/config_rover/rate_tuning.md
index 456a48f7dc..191c29cb95 100644
--- a/docs/uk/config_rover/rate_tuning.md
+++ b/docs/uk/config_rover/rate_tuning.md
@@ -11,7 +11,7 @@ Configure the following [parameters](../advanced_config/parameters.md) in QGroun
1. [RO_YAW_RATE_LIM](#RO_YAW_RATE_LIM): Maximum yaw rate you want to allow for your rover.
:::tip
- Limiting the yaw rate is necessary if the rover is prone rolling over, loosing traction at high speeds or if passenger comfort is important.
+ Limiting the yaw rate is necessary if the rover is prone rolling over, losing traction at high speeds or if passenger comfort is important.
Small rovers especially can be prone to rolling over when steering aggressively at high speeds.
If this is the case:
diff --git a/docs/uk/config_rover/velocity_tuning.md b/docs/uk/config_rover/velocity_tuning.md
index b7800b1822..96dc3a64b3 100644
--- a/docs/uk/config_rover/velocity_tuning.md
+++ b/docs/uk/config_rover/velocity_tuning.md
@@ -60,7 +60,7 @@ To tune the velocity controller configure the following [parameters](../advanced
## Manual Position Mode Parameters
-These steps are only necessary if you are tuning/want to unlock the manual [Position mode](../flight_modes_rover/manual.md#position-mode). Othwerwise, you can continue with [position tuning](position_tuning.md) where these same parameters will also be configured.
+These steps are only necessary if you are tuning/want to unlock the manual [Position mode](../flight_modes_rover/manual.md#position-mode). Otherwise, you can continue with [position tuning](position_tuning.md) where these same parameters will also be configured.
1. [PP_LOOKAHD_GAIN](#PP_LOOKAHD_GAIN): When driving in a straight line (right stick centered) position mode leverages the same path following algorithm used in [auto modes](../flight_modes_rover/auto.md) called [pure pursuit](position_tuning.md#pure-pursuit-guidance-logic-info-only) to achieve the best possible straight line driving behaviour.
This parameter determines how aggressive the controller will steer towards the path.
@@ -109,7 +109,7 @@ The speed controller uses the following structure:
The feed forward mapping is done by interpolating the speed setpoint from [-[RO_MAX_THR_SPEED](../advanced_config/parameter_reference.md#RO_MAX_THR_SPEED), [RO_MAX_THR_SPEED](../advanced_config/parameter_reference.md#RO_MAX_THR_SPEED)] to [-1, 1].
-For ackermann and differential rovers the bearing is aligned with the vehicle yaw. Therefor the bearing is simply sent as a yaw setpoint to the [yaw controller](attitude_tuning.md#attitude-controller-structure-info-only) and the speed setpoint is always defined in body x direction.
+For ackermann and differential rovers the bearing is aligned with the vehicle yaw. Therefore the bearing is simply sent as a yaw setpoint to the [yaw controller](attitude_tuning.md#attitude-controller-structure-info-only) and the speed setpoint is always defined in body x direction.
For mecanum vehicles, the bearing and yaw are decoupled. The direction is controlled by splitting the velocity vector into one speed component in body x direction and one in body y direction.
Both these setpoint are then sent to their own closed loop speed controllers.
diff --git a/docs/uk/config_vtol/vtol_ice_shedding.md b/docs/uk/config_vtol/vtol_ice_shedding.md
index de94fb7e37..ed3f1d00fa 100644
--- a/docs/uk/config_vtol/vtol_ice_shedding.md
+++ b/docs/uk/config_vtol/vtol_ice_shedding.md
@@ -6,7 +6,7 @@ Ice shedding is a feature that periodically spins unused motors in fixed-wing
flight, to break off any ice that is starting to build up in the motors while it
is still feasible to do so.
-It is configured by the paramter `CA_ICE_PERIOD`. When it is 0, the feature is
+It is configured by the parameter `CA_ICE_PERIOD`. When it is 0, the feature is
disabled, when it is above 0, it sets the duration of the ice shedding cycle in
seconds. In each cycle, the rotors are spun for two seconds at a motor output of
0.01.
diff --git a/docs/uk/config_vtol/vtol_quad_configuration.md b/docs/uk/config_vtol/vtol_quad_configuration.md
index 0c8dc8c47a..e247c2f823 100644
--- a/docs/uk/config_vtol/vtol_quad_configuration.md
+++ b/docs/uk/config_vtol/vtol_quad_configuration.md
@@ -96,7 +96,7 @@ It should be set to a value which ensures that the vehicle reaches a high enough
[VT_TRANS_TIMEOUT](../advanced_config/parameter_reference.md#VT_TRANS_TIMEOUT)
This specifies the upper limit for the duration of the front transition. If the vehicle has not reached the transition airspeed after this time, then the transition will be aborted and a [Quadchute](../config/safety.md#quad-chute-failsafe) event will be triggered.
-:::note
+::: info
Additionally, if an airspeed sensor is present, the transition will also be aborted if the airspeed has not reached [VT_ARSP_BLEND](../advanced_config/parameter_reference.md#VT_ARSP_BLEND) after the openloop transition time [VT_F_TR_OL_TM](../advanced_config/parameter_reference.md#VT_F_TR_OL_TM) has elapsed. This checks is used to avoid a scenario where the vehicle gains excessive speed when the airspeed sensor is faulty.
:::
diff --git a/docs/uk/contribute/dev_call.md b/docs/uk/contribute/dev_call.md
index 4f1172adab..177a8fa4fc 100644
--- a/docs/uk/contribute/dev_call.md
+++ b/docs/uk/contribute/dev_call.md
@@ -7,7 +7,7 @@ const { site } = useData();
-
Ця сторінка може бути застарілою. Подивіться останню версію.
+This page may be out of date. See the latest version.
-
Ця сторінка може бути застарілою. Переглянути останню версію.
+This page may be out of date. Переглянути останню версію.
-
Ця сторінка може бути застарілою. Переглянути останню версію.
+This page may be out of date. See the latest version.
Digikey: [BM06B-GHS-TBT(LF)(SN)(N)][bm06b-ghs-tbt(lf)(sn)(n)] (vertical mount), [SM06B-GHS-TBT(LF)(SN)(N)][sm06b-ghs-tbt(lf)(sn)(n)] (side mount) | -| [CUAV V5nano](../flight_controller/cuav_v5_nano.md#debug_port) | 6-pin JST GH
Digikey: [BM06B-GHS-TBT(LF)(SN)(N)][bm06b-ghs-tbt(lf)(sn)(n)] (vertical mount), [SM06B-GHS-TBT(LF)(SN)(N)][sm06b-ghs-tbt(lf)(sn)(n)] (side mount) | -| [3DR Pixhawk](../flight_controller/pixhawk.md#swd-port) | ARM 10-pin JTAG Connector (also used for FMUv2 boards including: _mRo Pixhawk_, _HobbyKing HKPilot32_). | +| Автопілот | Відладочний порт | +| :------------------------------------------------------------------------------------------------------ | :----------------------------------------------------------------------- | +| [Holybro Pixhawk 6X-RT](../flight_controller/pixhawk6x-rt.md#debug_port) (FMUv6X-RT) | [Pixhawk Debug Full](#pixhawk-debug-full) | +| [Holybro Pixhawk 6X](../flight_controller/pixhawk6x.md#debug_port) (FMUv6x) | [Pixhawk Debug Full](#pixhawk-debug-full) | +| [Holybro Pixhawk 5X](../flight_controller/pixhawk5x.md#debug_port) (FMUv5x) | [Pixhawk Debug Full](#pixhawk-debug-full) | +| [Holybro Durandal](../flight_controller/durandal.md#debug-port) | [Pixhawk Debug Mini](#pixhawk-debug-mini) | +| [Holybro Pixhawk 4](../flight_controller/pixhawk4.md#debug_port) (FMUv5) | [Pixhawk Debug Mini](#pixhawk-debug-mini) | +| [Holybro Pixhawk 6X Pro](../flight_controller/pixhawk6x_pro.md#debug-port) | [Pixhawk Debug Full](#pixhawk-debug-full) | +| [Holybro Pixhawk 6C](../flight_controller/pixhawk6c.md#debug_port) | [Pixhawk Debug Full](#pixhawk-debug-full) | +| [Holybro Pixhawk 6C Mini](../flight_controller/pixhawk6c_mini.md#debug_port) | [Pixhawk Debug Mini](#pixhawk-debug-mini) | +| [Holybro Pix32 v6](../flight_controller/holybro_pix32_v6.md#debug_port) | [Pixhawk Debug Full](#pixhawk-debug-full) | +| [Holybro Pix32 v5](../flight_controller/holybro_pix32_v5.md#debug-port) | [Pixhawk Debug Mini](#pixhawk-debug-mini) | +| [Holybro Kakute H7](../flight_controller/kakuteh7.md#debug-port) | SWD pads and system console | +| [Holybro Kakute H7 mini](../flight_controller/kakuteh7mini.md#debug-port) | SWD pads and system console | +| [Holybro Kakute H7 V2](../flight_controller/kakuteh7v2.md#debug-port) | SWD pads and system console | +| [CUAV V5+](../flight_controller/cuav_v5_plus.md#debug-port) | Custom port but comes with adaptor cable | +| [CUAV V5nano](../flight_controller/cuav_v5_nano.md#debug_port) | Custom port but comes with adaptor cable | +| [CUAV Pixhawk V6X](../flight_controller/cuav_pixhawk_v6x.md#debug_port) | [Pixhawk Debug Full](#pixhawk-debug-full) | +| [CUAV X25-SUPER](../flight_controller/cuav_x25-super.md#debug_port) | [Pixhawk Debug Mini] | +| [CUAV X25-EVO](../flight_controller/cuav_x25-evo.md#debug_port) | [Pixhawk Debug Mini] | +| [CUAV Nora](../flight_controller/cuav_nora.md#debug-port) | Custom port but comes with adaptor cable. | +| [ARK Pixhawk Autopilot Bus Carrier](../flight_controller/ark_pab.md#debug-port) | [Pixhawk Debug Full](#pixhawk-debug-full) | +| [NXP MR-VMU-RT1176](../flight_controller/nxp_mr_vmu_rt1176.md#debug_port) | [Pixhawk Debug Full](#pixhawk-debug-full) | +| [mRo Pixracer](../flight_controller/pixracer.md#debug-port) | [Pixhawk Debug Mini](#pixhawk-debug-mini) | +| [S-Vehicle E2](../flight_controller/svehicle_e2.md#debug-port) | [Pixhawk Debug Mini] | +| [AP-H743-R1](../flight_controller/x-mav_ap-h743r1.md#debug-port) | 4-pin JST GH (SWD only) | +| [mRo Control Zero F7](../flight_controller/mro_control_zero_f7.md#debug_port) | | - - -## Стандарт роз'ємів Pixhawk Debug Портів +## Pixhawk Connector Standard Debug Ports {#pixhawk-standard-debug-ports} Проект Pixhawk визначив стандартну схему виводів та тип роз'єму для різних випусків Pixhawk FMU: @@ -64,16 +74,16 @@ However there are still many boards that use different pinouts or connectors, so Check your [specific board](#port-information) to confirm the port used. ::: -| Версія FMU | Версія Pixhawk | Відладочний порт | -| :--------- | :-------------------------------------------------------------- | :---------------------------------------- | -| FMUv2 | [Pixhawk / Pixhawk 1](../flight_controller/pixhawk.md#swd-port) | 10 pin ARM Debug | -| FMUv3 | Pixhawk 2 | 6 pin SUR Debug | -| FMUv4 | Pixhawk 3 | [Pixhawk Debug Mini](#pixhawk-debug-mini) | -| FMUv5 | Pixhawk 4 FMUv5 | [Pixhawk Debug Mini](#pixhawk-debug-mini) | -| FMUv5X | Pixhawk 5X | [Pixhawk Debug Full](#pixhawk-debug-full) | -| FMUv6 | Pixhawk 6 | [Pixhawk Debug Full](#pixhawk-debug-full) | -| FMUv6X | Pixhawk 6X | [Pixhawk Debug Full](#pixhawk-debug-full) | -| FMUv6X-RT | Pixhawk 6X-RT | [Pixhawk Debug Full](#pixhawk-debug-full) | +| Версія FMU | Версія Pixhawk | Відладочний порт | +| :--------- | :------------------ | :---------------------------------------- | +| FMUv2 | Pixhawk / Pixhawk 1 | 10 pin ARM Debug | +| FMUv3 | Pixhawk 2 | 6 pin SUR Debug | +| FMUv4 | Pixhawk 3 | [Pixhawk Debug Mini](#pixhawk-debug-mini) | +| FMUv5 | Pixhawk 4 FMUv5 | [Pixhawk Debug Mini](#pixhawk-debug-mini) | +| FMUv5X | Pixhawk 5X | [Pixhawk Debug Full](#pixhawk-debug-full) | +| FMUv6 | Pixhawk 6 | [Pixhawk Debug Full](#pixhawk-debug-full) | +| FMUv6X | Pixhawk 6X | [Pixhawk Debug Full](#pixhawk-debug-full) | +| FMUv6X-RT | Pixhawk 6X-RT | [Pixhawk Debug Full](#pixhawk-debug-full) | :::info There FMU and Pixhawk versions are (only) consistent after FMUv5X. @@ -142,9 +152,7 @@ You can connect to the debug port using a [cable like this one](https://www.digi  - - -## Зонди налагодження для апаратного забезпечення PX4 +## Debug Probes for PX4 Hardware {#debug-probes} Flight controllers commonly provide a [single debug port](#autopilot-debug-ports) that exposes both the [SWD Interface](#debug-signals) and [System Console](system_console). @@ -217,5 +225,3 @@ Where possible, we highly recommend that you create or obtain an adapter board r [swd]: https://developer.arm.com/documentation/ihi0031/a/The-Serial-Wire-Debug-Port--SW-DP- [itm]: https://developer.arm.com/documentation/ddi0403/d/Appendices/Debug-ITM-and-DWT-Packet-Protocol?lang=en [etm]: https://developer.arm.com/documentation/ihi0064/latest/ -[bm06b-ghs-tbt(lf)(sn)(n)]: https://www.digikey.com/en/products/detail/jst-sales-america-inc/BM06B-GHS-TBT/807804 -[sm06b-ghs-tbt(lf)(sn)(n)]: https://www.digikey.com/en/products/detail/jst-sales-america-inc/SM06B-GHS-TB/807790 diff --git a/docs/uk/dev_airframes/adding_a_new_frame.md b/docs/uk/dev_airframes/adding_a_new_frame.md index 2fe074a490..a1e6a924ef 100644 --- a/docs/uk/dev_airframes/adding_a_new_frame.md +++ b/docs/uk/dev_airframes/adding_a_new_frame.md @@ -124,118 +124,79 @@ param set-default CA_ROTOR3_PY 0.15 param set-default CA_ROTOR3_KM -0.05 ``` -### Приклад – Повний транспортний засіб Babyshark VTOL +### Example - HolyBro QAV250 Complete Vehicle -Нижче наведено більш складний файл конфігурації для повного транспортного засобу. -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. -Зверніть увагу, що ці результати є лише документацією; фактичне відображення виконується за допомогою параметрів. +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
@@ -93,7 +93,7 @@ Pix32 v6’s H7 MCU містить ядро Arm® Cortex®-M7 до 480 MHz, ма
- Інші характеристики:
- Operating & storage temperature: -40 ~ 85°c
-## Де купити
+## Where to Buy {#store}
Order from [Holybro](https://holybro.com/products/pix32-v6).
@@ -156,13 +156,11 @@ It is pre-built and automatically installed by _QGroundControl_ when appropriate
To [build PX4](../dev_setup/building_px4.md) for this target:
-```
+```sh
make px4_fmu-v6c_default
```
-
-
-## Відладочний порт
+## Debug Port {#debug_port}
The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debug/swd_debug.md) run on the **FMU Debug** port.
diff --git a/docs/uk/flight_controller/kakutef7.md b/docs/uk/flight_controller/kakutef7.md
index 297334c9ca..72e2f77c50 100644
--- a/docs/uk/flight_controller/kakutef7.md
+++ b/docs/uk/flight_controller/kakutef7.md
@@ -1,142 +1,7 @@
-# Holybro Kakute F7 (Знято з виробництва)
+
diff --git a/docs/uk/frames_multicopter/kits.md b/docs/uk/frames_multicopter/kits.md
index ef1972f280..f77bd0c08c 100644
--- a/docs/uk/frames_multicopter/kits.md
+++ b/docs/uk/frames_multicopter/kits.md
@@ -18,6 +18,7 @@ Kits generally do not include:
Наступні комплекти в даний час доступні:
+- [Holybro X650 PX4 Development Kit](https://holybro.com/collections/x650-kits) (Pixhawk 6C/6X) ([Frame assembly guide](https://docs.holybro.com/drone-development-kit/x650-development-kit/download))
- [Holybro X500 v2 PX4 Development Kit](https://holybro.com/collections/x500-kits) (Pixhawk 6c) ([Build instructions](../frames_multicopter/holybro_x500v2_pixhawk6c.md))
- [Holybro S500 Kit v2](https://holybro.com/collections/s500/products/s500-v2-development-kit) (Pixhawk 6c)
- [Holybro QAV250 Kit](https://holybro.com/products/qav250-kit) (Pixhawk 6c)
@@ -27,7 +28,7 @@ Kits generally do not include:
## Посібники зі збірки
Нижче наведені інструкції зі складання для декількох комплектів.
-Багато наборів відрізняються лише трохи між ревізіями (наприклад, новий набір може просто оновити використаний контролер польоту, інакше він ідентичний), тому їх ймовірно буде корисно використовувати для збирання наборів у розділі вище.
+Many kits vary only a little between revisions (for example, the new kit might simply upgrade the flight controller used, and is otherwise identical), so these are likely to be useful for building the kits in the section above.
- [Holybro X500 v2 (Pixhawk 6C)](../frames_multicopter/holybro_x500v2_pixhawk6c.md)
- [Holybro X500 v2 (Pixhawk 5X)](../frames_multicopter/holybro_x500V2_pixhawk5x.md) — Знятий з виробництва (комплект v2 використовує Pixhawk 6c)
diff --git a/docs/uk/frames_multicopter/omnicopter.md b/docs/uk/frames_multicopter/omnicopter.md
index e62cdaa9e8..395a72e623 100644
--- a/docs/uk/frames_multicopter/omnicopter.md
+++ b/docs/uk/frames_multicopter/omnicopter.md
@@ -19,8 +19,8 @@ This build follows the original design from [Brescianini, Dario, and Raffaello D
You can select your own flight controller of choice, it just needs to support 8 DShot outputs.
:::
- - GPS: [ZED-F9P](https://gnss.store/zed-f9p-gnss-modules/105-elt0092.html)
- - [GPS helix antenna](https://gnss.store/gnss-rtk-multiband-antennas/28-elt0014.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.
@@ -34,8 +34,8 @@ This build follows the original design from [Brescianini, Dario, and Raffaello D
- Акумулятор: ми використовували LiPo на 6S 3300mAh. Обов'язково перевірте розміри, щоб він підійшов до рами.
- Ремінь для акумулятора
- Рама:
- - Carbon square tube R 8mm X 7mm X 1000mm, e.g. [here on shop.swiss-composite.ch](https://shop.swiss-composite.ch/pi.php/Halbfabrikate/Rohre/Vierkant-Rohre/CFK-Vierkantrohr-8x8-7x7mm.html)
- - Carbon Rods R 3mm X 2mm X 1000mm, e.g. [here on shop.swiss-composite.ch](https://shop.swiss-composite.ch/pi.php/Halbfabrikate/Rohre/CFK-Rohre-pultrudiert-pullwinding/Carbon-Microtubes-100cm-x-20-3mm.html)
+ - Carbon square tube R 8mm X 7mm X 1000mm, e.g. [here on shop.swiss-composite.ch](https://www.shop.swiss-composite.ch/de/produkt/cfk-vierkantrohr-8x8-7x7mm)
+ - Carbon Rods R 3mm X 2mm X 1000mm, e.g. [here on shop.swiss-composite.ch](https://www.shop.swiss-composite.ch/de/produkt/carbon-microtubes-100cm-x-20-3mm)
- Необхідні довжини:
- квадратна трубка: 8 штук довжиною 248 мм
- стрижні: 12x328мм, 6x465мм
diff --git a/docs/uk/frames_plane/reptile_dragon_2.md b/docs/uk/frames_plane/reptile_dragon_2.md
index 5f1d8e8108..60f73167ac 100644
--- a/docs/uk/frames_plane/reptile_dragon_2.md
+++ b/docs/uk/frames_plane/reptile_dragon_2.md
@@ -56,7 +56,7 @@ The Reptile Dragon 2 is a twin motor RC airplane specifically designed for effic
- Модуль диференційного тиску MS4525DO та пітот-трубка
-- [Caddx Vista FPV air unit](https://caddxfpv.com/collections/vista-kit)
+- [Caddx Vista FPV air unit](https://www.caddxfpv.com/collections/vista-kit)
- [Emax ES08MA ii](https://emaxmodel.com/products/emax-es08ma-ii-12g-mini-metal-gear-analog-servo-for-rc-model-robot-pwm-servo)
@@ -66,7 +66,7 @@ The Reptile Dragon 2 is a twin motor RC airplane specifically designed for effic
- [5V BEC](https://www.readymaderc.com/products/details/rmrc-3a-power-regulator-5-to-6-volt-ubec)
-- [6s2p 18650 LiIon flight battery](https://www.upgradeenergytech.com/product-page/6s-22-2v-5600mah-30c-dark-lithium-liion-drone-battery) (select XT60 connector)
+- [6s2p 18650 LiIon flight battery](https://www.upgradeenergytech.com/products/red-6s1p-5000mah-molicel-p50b) (select XT60 connector)
- [Custom designed 3D printed parts](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/airframes/fw/reptile_dragon_2/rd2_3d_printed_parts.zip)
- Монтаж платформи ARK6X
@@ -97,7 +97,7 @@ The Reptile Dragon 2 is a twin motor RC airplane specifically designed for effic
Сервоприводи, крила та хвіст потрібно встановити.
:::info
-Для цієї частини збірки інструкція, включена в комплект, повинна бути достатньою, але нижче наведено деякі корисні поради.
+For this portion of assembly, the instructions included with the kit should be sufficient, but some helpful tips are listed below.
:::
### Наклейка піни
@@ -225,7 +225,7 @@ The RD2 comes with a wooden electronics mount baseplate preglued in the airframe
Оператор встановлений у пластиковому кейсі.
Хоча справа виглядає гарно, це додаткова вага, тому переноска була видалена з чохла.
-Після видалення з корпусу ARK6X був встановлений, а захисна кришка встановлена зверху.
+Once removed from the case, the ARK6X was installed, and a protective cover fitted on top.
@@ -353,7 +353,7 @@ For more information see [TBS Crossfire (CRSF) Telemetry](../telemetry/crsf_tele
### `msp_osd` Module
-The `msp_osd` module steams MSP telemetry to a selected serial port.
+The `msp_osd` module streams MSP telemetry to a selected serial port.
Пристрій Caddx Vista Air підтримує прослуховування телеметрії MSP і відображає отримані значення телеметрії на своєму OSD (екрані).
1. In the PX4 board config tool, navigate to the `drivers` submenu, then scroll down to highlight `OSD`.
diff --git a/docs/uk/frames_plane/turbo_timber_evolution.md b/docs/uk/frames_plane/turbo_timber_evolution.md
index 28651db0fe..693845ab93 100644
--- a/docs/uk/frames_plane/turbo_timber_evolution.md
+++ b/docs/uk/frames_plane/turbo_timber_evolution.md
@@ -50,7 +50,7 @@ This model is designed to excel at [STOL](https://en.wikipedia.org/wiki/STOL) fl
- Модуль диференційного тиску MS4525DO та пітот-трубка
-- [Caddx Vista FPV air unit](https://caddxfpv.com/collections/vista-kit)
+- [Caddx Vista FPV air unit](https://www.caddxfpv.com/collections/vista-kit)
- [DJI FPV Goggles](https://www.dji.com/fpv)
@@ -74,7 +74,7 @@ This model is designed to excel at [STOL](https://en.wikipedia.org/wiki/STOL) fl
Для цієї частини збирання просто дотримуйтеся інструкції.
:::info
-[Some reports](https://www.rcgroups.com/forums/showthread.php?3904021-NEW-E-flite-Turbo-Timber-Evolution-1-5m-%C2%96-Smartest-Most-Capable-Durable-Timber-Yet/page50) have indicated that the stock ESC bundled with the airplane has an issue with overheating.
+[Some reports](https://www.rcgroups.com/forums/showthread.php?3904021-NEW-E-flite-Turbo-Timber-Evolution-1-5m/page50) have indicated that the stock ESC bundled with the airplane has an issue with overheating.
Оскільки ця збірка буде особливо важкою, і, отже, ймовірно, потребуватиме більшого середнього потужності від регулятора швидкості, стандартний регулятор швидкості на 60 А був замінений на 80-амперний регулятор швидкості Turnigy PLUSH-32 під час тестування.
The stock motor was also replaced with a [higher power motor](https://hobbyking.com/en_us/turnigy-aerodrive-sk3-3548-840kv-brushless-outrunner-motor.html).
@@ -90,7 +90,7 @@ FPV підставка була закріплена зверху кришки
-
+
## Підвіс для динамічного тиску
@@ -150,7 +150,7 @@ A custom mount for the PX4 Mini was designed and 3d printed (see [3D printed par
ТЕ дуже гнучкий щодо варіантів акумуляторів.
Я використовую як акумулятор Turnigy 3,6 Аг 4S, так і акумулятор Upgrade Energy 4s2p liion.
-Хоча LiPo 3,6 Аг є недорогим, з акумулятором Upgrade Energy Liion можна досягти майже вдвічі більшого часу польоту (24 хвилини проти 12 хвилин).
+While the 3.6Ah LiPo is inexpensive, nearly twice the flight time (24 minutes vs 12 minutes) can be achieved with the Upgrade Energy Liion pack.
@@ -177,10 +177,10 @@ USB-A кінець цього кабелю залишено висіти в ба
#### Приймач радіокерування
-A custom cable was made to connect the ExpressLRS RX ([RC Reciever](../getting_started/rc_transmitter_receiver.md)) to the Pixhawk 4 Mini.
+A custom cable was made to connect the ExpressLRS RX ([RC Receiver](../getting_started/rc_transmitter_receiver.md)) to the Pixhawk 4 Mini.
Оскільки у Pixhawk 4 Mini обмежена кількість UART, RX був підключений до входу RC, який не має піна TX.
-Це означає, що RX буде відправляти дані керування до FCU, але телеметрія не може бути відправлена до RX з FCU.
+This means that the RX will only send control data to the FCU but telemetry cannot be sent to the RX from the FCU.
Термоусадка була використана для закріплення роз'єму Dupont кабелю таким чином, що він не може випадково вийти з заголовків приймача ExpressLRS RX.
#### FPV Pod & Airspeed Cable
@@ -189,7 +189,7 @@ Another custom cable was made to connect the Caddx Vista FPV transmitter to the
Біля Vista було додано роз'єм Molex Microfit, щоб його можна було легко від'єднати без необхідності доступу до Pixhawk.
As the name implies, the `UART/I2C B` port provides both a UART and I2C interface.
Цей порт розділено за допомогою спеціального кабелю, і одна сторона надає живлення та дані для I2C датчика швидкості повітря, тоді як інша сторона надає живлення та UART TX/RX для Caddx Vista.
-Від порту UART/I2C B, 5V, GND та I2C SCL/SDA підключені до датчика швидкості повітря по I2C, тоді як лише серійний RX та TX підключені до Caddx Vista (заземлення надається окремими лініями живлення/землі для Vista)
+From the UART/I2C B port, 5V, GND, and I2C SCL/SDA, are connected to the I2C airspeed sensor, while just serial RX and TX are connected to the Caddx Vista (Ground is provided the separate battery power/gnd leads for the Vista)
The [msp_osd](../modules/modules_driver.md#msp-osd) module is used to stream telemetry to the Caddx Vista which can be seen on the DJI Goggles with the "custom OSD" feature enabled.
@@ -204,7 +204,7 @@ The [msp_osd](../modules/modules_driver.md#msp-osd) module is used to stream tel
Загалом, ця збірка була успішною.
-Навіть з додатковою вагою встановлення Pixhawk 4 Mini літак добре балансується і має достатньо потужності, щоб зберегти свої оригінальні характеристики STOL.
+Even with the added weight of the Pixhawk 4 Mini installation, the airplane balances well and has plenty of power to retain its original STOL characteristics.
PX4 is easily capable of stabilizing the airplane and fine tuning of the rate loops were accomplished using [fixed-wing autotuning](../config/autotune_fw.md).
The results of tuning can be found in the [parameter file linked below](#parameter-file).
diff --git a/docs/uk/frames_plane/wing_wing_z84.md b/docs/uk/frames_plane/wing_wing_z84.md
index 0c3a0a357d..9c309a1769 100644
--- a/docs/uk/frames_plane/wing_wing_z84.md
+++ b/docs/uk/frames_plane/wing_wing_z84.md
@@ -33,7 +33,7 @@ Any small (>=12A) ESC will do:
- Приймач FrSky D4R-II або йому еквівалентний (з'єднаний за допомогою перемички з виходом PPM sum відповідно до інструкції)
- [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.
### Рекомендовані запасні частини
diff --git a/docs/uk/frames_sub/bluerov2.md b/docs/uk/frames_sub/bluerov2.md
index 50d8be1c55..8965333aa7 100644
--- a/docs/uk/frames_sub/bluerov2.md
+++ b/docs/uk/frames_sub/bluerov2.md
@@ -2,21 +2,25 @@
@@ -29,6 +33,15 @@ The vehicle will then match the configuration documented in the [Airframe Refere
- **MAIN7:** motor 7 CCW, stern starboard vertical, propeller CW
- **MAIN8:** motor 8 CCW, stern port vertical, propeller CCW
+## Manual Modes
+
+| Режим | Опис |
+| --------- | ---------------------------------------------------------------------------------------------------------------------------------------------------- |
+| Manual | Direct manual control of yaw and thrust. |
+| Acro | Manual control of yaw/thrust, but keeps roll/pitch zero |
+| Altitude | Manual control of x/y thrust and yaw. Control of height with PID, manually controlled by user. Keeps roll/pitch zero |
+| Положення | Controls x/y/z and yaw. Manually controlled by user. Keeps roll/pitch zero |
+
## Конфігурація планера
BlueROV2 не йде з предвстановленою версією з PX4.
diff --git a/docs/uk/frames_vtol/tailsitter.md b/docs/uk/frames_vtol/tailsitter.md
index 35f01e782f..d0d43e5ec1 100644
--- a/docs/uk/frames_vtol/tailsitter.md
+++ b/docs/uk/frames_vtol/tailsitter.md
@@ -91,7 +91,7 @@ This section contains videos that are specific to Tailsitter VTOL (videos that a
-
+
diff --git a/docs/uk/frames_vtol/vtol_quadplane_falcon_vertigo_hybrid_rtf_dropix.md b/docs/uk/frames_vtol/vtol_quadplane_falcon_vertigo_hybrid_rtf_dropix.md
index e21f612731..5cc50c34e4 100644
--- a/docs/uk/frames_vtol/vtol_quadplane_falcon_vertigo_hybrid_rtf_dropix.md
+++ b/docs/uk/frames_vtol/vtol_quadplane_falcon_vertigo_hybrid_rtf_dropix.md
@@ -36,7 +36,7 @@ The _Falcon Vertigo Hybrid VTOL_ is a quadplane VTOL aircraft that has been desi
- Система потужності двигуна-штовхача
- Вуглецеві труби та кріплення
- Кронштейни для мотора G10
-- 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/)
- Плата розподілу живлення Dropix та кабель
Набір не постачається з радіоприймачем або (опціональними) модулями телеметрії.
diff --git a/docs/uk/frames_vtol/vtol_quadplane_foxtech_loong_2160.md b/docs/uk/frames_vtol/vtol_quadplane_foxtech_loong_2160.md
index 8bd9b58c2d..340e9b9d9f 100644
--- a/docs/uk/frames_vtol/vtol_quadplane_foxtech_loong_2160.md
+++ b/docs/uk/frames_vtol/vtol_quadplane_foxtech_loong_2160.md
@@ -43,14 +43,14 @@ Foxtech Loong 2160 VTOL - це легкий у монтажі майже гот
- [Модуль живлення Holybro PM08D (альтернатива Auterion PM)](https://holybro.com/collections/power-modules-pdbs/products/pm08d-digital-power-module-14s-200a)
- [GPS F9P (включено в Skynode оціночний. комплект)](../gps_compass/rtk_gps_holybro_h-rtk-f9p.md)
- [GPS M9N (дешевша альтернатива F9P)](../gps_compass/rtk_gps_holybro_h-rtk-m8p.md)
-- [Датчик швидкості (включено в Skynode eval. kit)](https://www.dualrc.com/parts/airspeed-sensor-sdp33) — рекомендований для покращення безпеки та продуктивності
+- [Датчик швидкості (включено в Skynode eval. kit)](https://www.dualrc.com/parts/p/airspeed-sensor-sdp33) — recommended for improved safety and performance
- [Airspeed sensor (cheaper alternative)](https://holybro.com/products/digital-air-speed-sensor-ms4525do)
- [Lidar Lightware lw20-c (включено в Skynode eval. kit)](../sensor/sfxx_lidar.md) (Необов'язково)
- [Інфрачервоний сенсор вимірювання відстані Seeed Studio PSK-CM8JL65-CC5 (дешевший аналог)](https://www.seeedstudio.com/PSK-CM8JL65-CC5-Infrared-Distance-Measuring-Sensor-p-4028.html) (Опціонально)
- [Радіо (RC) система](../getting_started/rc_transmitter_receiver.md) на ваш вибір
-- [Наземна станція та радіо зв'язок](https://holybro.com/collections/rc-radio-transmitter-receiver/products/skydroid-h12?variant=42940989931709)
+- [Groundstation and Radio link](https://holybro.com/products/skydroid-h12)
- [Розширення кабеля USB-C](https://www.digitec.ch/en/s1/product/powerguard-usb-c-usb-c-025-m-usb-cables-22529949?dbq=1&gclid=Cj0KCQjw2cWgBhDYARIsALggUhrh-z-7DSU0wKfLBVa8filkXLQaxUpi7pC0ffQyRzLng8Ph01h2R1gaAp0mEALw_wcB&gclsrc=aw.ds)
-- [Розгалужувач I2C](https://www.3dxr.co.uk/autopilots-c2/the-cube-aka-pixhawk-2-1-c9/cube-cables-accessories-sensors-c15/cubepilot-i2c-can-splitter-jst-gh-4pin-p2840)
+- [I2C Splitter](https://www.3dxr.co.uk/autopilots-c2/the-cube-aka-pixhawk-2-1-c9/cube-cables-accessories-sensors-c15/cubepilot-i2c-can-splitter-jst-gh-4pin-hx4-06152-p2840)
- [3D-Printed mounts](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/airframes/vtol/foxtech_loong_2160/loong-3d-prints.zip)
- 1x Базова плита
- 1x Stack-fixture
@@ -305,7 +305,7 @@ Next we load a [parameter file](https://github.com/PX4/PX4-Autopilot/raw/main/do
- Якщо [Lidar Lightware lw20-c (включено в Skynode eval. kit)](../sensor/sfxx_lidar.md) використовується, потрібно встановити [SENS_EN_SF1XX](../advanced_config/parameter_reference.md#SENS_EN_SF1XX) на 6 (SF/LW/20c).
- Впевніться, що обраний правильний датчик швидкості.
- Якщо ви використовуєте рекомендований [датчик швидкості SDP33](https://www.dualrc.com/parts/airspeed-sensor-sdp33), зміни не будуть потрібні, оскільки [SENS_EN_SDP3X](../advanced_config/parameter_reference.md#SENS_EN_SDP3X) увімкнено (встановлено на `1`) в файлі параметрів.
+ If you use the recommended [SDP33 airspeed sensor](https://www.dualrc.com/parts/p/airspeed-sensor-sdp33) no changes will be needed as [SENS_EN_SDP3X](../advanced_config/parameter_reference.md#SENS_EN_SDP3X) is enabled (set to `1`) in the parameter file.
### Калібрування сенсорів
diff --git a/docs/uk/frames_vtol/vtol_tailsitter_caipiroshka_pixracer.md b/docs/uk/frames_vtol/vtol_tailsitter_caipiroshka_pixracer.md
index e163ed34aa..f2104d27eb 100644
--- a/docs/uk/frames_vtol/vtol_tailsitter_caipiroshka_pixracer.md
+++ b/docs/uk/frames_vtol/vtol_tailsitter_caipiroshka_pixracer.md
@@ -4,7 +4,7 @@ The Caipiroshka VTOL is a slightly modified _TBS Caipirinha_.
:::info
The _TBS Caipirinha_ has been superseded and is no longer available.
-These instructions _should_ work with the updated vehicle: [TBS Caipirinha 2](https://team-blacksheep.com/products/prod:tbs_caipi2_pnp).
+These instructions _should_ work with the updated vehicle: [TBS Caipirinha 2](https://www.team-blacksheep.com/products/prod:tbs_caipi2_pnp).
Кілька інших компонентів також було оновлено в списку деталей.
:::
@@ -12,7 +12,7 @@ These instructions _should_ work with the updated vehicle: [TBS Caipirinha 2](ht
## Список деталей
-- TBS Caipirinha Wing (no longer available - try [TBS Caipirinha 2](https://team-blacksheep.com/products/prod:tbs_caipi2_pnp))
+- TBS Caipirinha Wing (no longer available - try [TBS Caipirinha 2](https://www.team-blacksheep.com/products/prod:tbs_caipi2_pnp))
- Left and right 3D-printed motor mount (design files)
- CW 8045 propeller ([Eflight store](https://www.banggood.com/GEMFAN-Carbon-Nylon-8045-CWCCW-Propeller-For-Quadcopters-1-Pair-p-950874.html))
- CCW 8045 propeller ([Eflight store](https://www.banggood.com/GEMFAN-Carbon-Nylon-8045-CWCCW-Propeller-For-Quadcopters-1-Pair-p-950874.html))
@@ -24,7 +24,7 @@ These instructions _should_ work with the updated vehicle: [TBS Caipirinha 2](ht
- [GetFPV](https://www.getfpv.com/lumenier-30a-blheli-s-esc-opto-2-4s.html)
- BEC (3А, 5-5.3В) (потрібно лише у випадку, якщо використовуєте ESC, які не можуть діяти як джерело живлення 5В для вихідної рейки)
- 3S 2200 mA LiPo акумулятор
- - Team Orion 3S 11.1V 50 C ([Hobbyshop store](https://www.hobbyshop.ch/modellbau-elektronik/akku/team-orion-lipo-2200-3s-11-1v-50c-xt60-ori60163.html))
+ - Team Orion 3S 11.1V 50 C ([Hobbyshop store](https://www.hobbyshop.ch/team-orion-lipo-2200-3s-11-1v-50c-xt60-ori60163.html))
- [Pixracer autopilot board + power module](../flight_controller/pixracer.md)
- [Digital airspeed sensor](https://hobbyking.com/en_us/hkpilot-32-digital-air-speed-sensor-and-pitot-tube-set.html)
diff --git a/docs/uk/frames_vtol/vtol_tiltrotor_omp_hobby_zmo_fpv.md b/docs/uk/frames_vtol/vtol_tiltrotor_omp_hobby_zmo_fpv.md
index 3ceb129558..df184db371 100644
--- a/docs/uk/frames_vtol/vtol_tiltrotor_omp_hobby_zmo_fpv.md
+++ b/docs/uk/frames_vtol/vtol_tiltrotor_omp_hobby_zmo_fpv.md
@@ -25,9 +25,9 @@ This build guide shows add a flight controller system (using [Auterion Skynode e
## Де купити
-- [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)
## Політний контролер
@@ -43,7 +43,7 @@ This build guide shows add a flight controller system (using [Auterion Skynode e
- [GPS F9P (включено в Skynode оціночний. комплект)](../gps_compass/rtk_gps_holybro_h-rtk-f9p.md)
- [GPS M9N (дешевша альтернатива F9P)](../gps_compass/rtk_gps_holybro_h-rtk-m8p.md)
-- [Датчик швидкості (включено в Skynode eval. kit)](https://www.dualrc.com/parts/airspeed-sensor-sdp33) — рекомендований для покращення безпеки та продуктивності
+- [Датчик швидкості (включено в Skynode eval. kit)](https://www.dualrc.com/parts/p/airspeed-sensor-sdp33) — recommended for improved safety and performance
- [Airspeed sensor (cheaper alternative)](https://holybro.com/products/digital-air-speed-sensor-ms4525do)
- [Lidar Lightware lw20-c (включено в Skynode eval. kit)](../sensor/sfxx_lidar.md) (Необов'язково)
- [Інфрачервоний сенсор вимірювання відстані Seeed Studio PSK-CM8JL65-CC5 (дешевший аналог)](https://www.seeedstudio.com/PSK-CM8JL65-CC5-Infrared-Distance-Measuring-Sensor-p-4028.html) (Опціонально)
@@ -79,7 +79,7 @@ This build guide shows add a flight controller system (using [Auterion Skynode e
### Підготовка
Вийміть оригінальний контролер польоту, ESC регулятор швидкості та кабелі з'єднання крила.
-Також зніміть пропелери.
+Also remove the propellers.
Це допоможе вам з управлінням транспортного засобу і зменшить ризик отримання травми внаслідок ненавмисного запуску двигуна.
ZMO FPV в його початковому стані.
@@ -101,7 +101,7 @@ ZMO FPV в його початковому стані.
4. Укоротіть дроти заднього двигуна та припаяйте їх на місце, як показано на малюнку.
-5. Припаяйте сигнальні та GND-дроти до входу PWM ESC регулятора швидкості.
+5. Solder signal and GND wires to the PWM input to the ESC.
@@ -293,7 +293,7 @@ Next we load a [parameter file](https://github.com/PX4/PX4-Autopilot/raw/main/do
The airspeed sensor can be enabled in the [Parameters](../advanced_config/parameters.md#finding-updating-parameters) tab.
-- If the [recommended airspeed sensor (SDP33)](https://www.dualrc.com/parts/airspeed-sensor-sdp33) is used, `SENS_EN_SDP3X` needs to be enabled.
+- If the [recommended airspeed sensor (SDP33)](https://www.dualrc.com/parts/p/airspeed-sensor-sdp33) is used, `SENS_EN_SDP3X` needs to be enabled.
- Якщо [Lidar Lightware lw20-c (включено в Skynode eval. kit)](../sensor/sfxx_lidar.md) is used, `SENS_EN_SF1XX` needs to be set to 6 (SF/LW/20c).
### Калібрування сенсорів
diff --git a/docs/uk/getting_started/flight_reporting.md b/docs/uk/getting_started/flight_reporting.md
index 32845f9826..73ddb7935e 100644
--- a/docs/uk/getting_started/flight_reporting.md
+++ b/docs/uk/getting_started/flight_reporting.md
@@ -38,7 +38,7 @@ For more information see [Settings > MAVLink Settings > MAVLink 2 Logging (PX4 o
## Надання доступу до файлів журналів розробникам PX4
-The [Flight Review](https://logs.px4.io/) log file link can be shared for discussion in the [support forums](../contribute/support.md#forums-and-chat) or a [Github issue](../index.md#reporting-bugs-issues).
+The [Flight Review](https://logs.px4.io/) log file link can be shared for discussion in the [support forums](../contribute/support.md#forums-and-chat) or a [Github issue](../contribute/support.md#issue-bug-reporting).
## Конфігурація журналу
diff --git a/docs/uk/getting_started/rc_transmitter_receiver.md b/docs/uk/getting_started/rc_transmitter_receiver.md
index b5d03c3bf3..c27bbd52c5 100644
--- a/docs/uk/getting_started/rc_transmitter_receiver.md
+++ b/docs/uk/getting_started/rc_transmitter_receiver.md
@@ -3,13 +3,15 @@
A Radio Control (RC) system can be used to _manually_ control your vehicle from a handheld RC controller.
У цьому розділі наведено огляд того, як працює RC система, як вибрати відповідну радіосистему для вашого засобу, і як під'єднати її до політного контролера.
-:::tip
-PX4 can also be manually controlled using a [Joystick](../config/joystick.md) or gamepad-like controller: this is different to an RC system!
-The [COM_RC_IN_MODE](../advanced_config/parameter_reference.md#COM_RC_IN_MODE) parameter [can be set](../advanced_config/parameters.md) to choose whether RC (default), Joystick, both, or neither, are enabled.
+:::info
+PX4 does not require a manual control system for autonomous flight modes.
:::
-:::info
-PX4 does not require a remote control system for autonomous flight modes.
+:::tip
+PX4 can also be [manually controlled](../config/manual_control.md) using a [Joystick](../config/joystick.md) or gamepad-like controller.
+
+By default PX4 will latch the first valid controller it discovers and use it until the vehicle reboots.
+If you have multiple controllers and you want to define their priority see [Manual Control > PX4 Configuration](../config/manual_control.md#px4-configuration).
:::
## Як працюють системи радіо керування?
diff --git a/docs/uk/gps_compass/gps_cuav_neo_3.md b/docs/uk/gps_compass/gps_cuav_neo_3.md
index 42d4fc49a9..4030bdaac1 100644
--- a/docs/uk/gps_compass/gps_cuav_neo_3.md
+++ b/docs/uk/gps_compass/gps_cuav_neo_3.md
@@ -47,7 +47,7 @@
## Де купити
-- [CUAV](https://cuav.en.alibaba.com/product/1600217379204-820872629/CUAV_NEO_3_M9N_GPS_Module_for_Pixhawk_Compass_gps_tracker_navigation_gps.html?spm=a2700.shop_oth.74.1.636e28725EvVHb)
+- [CUAV](https://www.alibaba.com/product-detail/CUAV_NEO_3_M9N_GPS_Module_for_Pixhawk_Compass_gps_tracker_navigation_gps_1600217379204.html)
## Підключення та з'єднання
diff --git a/docs/uk/gps_compass/gps_cuav_neo_3pro.md b/docs/uk/gps_compass/gps_cuav_neo_3pro.md
index ea31a40885..463aca05c0 100644
--- a/docs/uk/gps_compass/gps_cuav_neo_3pro.md
+++ b/docs/uk/gps_compass/gps_cuav_neo_3pro.md
@@ -41,7 +41,7 @@ NEO 3Pro - це приймач GPS DroneCan, вироблений CUAV.
## Де купити
-- [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)
## Підключення та з'єднання
diff --git a/docs/uk/gps_compass/index.md b/docs/uk/gps_compass/index.md
index 722af9a4e5..82d2b44d33 100644
--- a/docs/uk/gps_compass/index.md
+++ b/docs/uk/gps_compass/index.md
@@ -187,9 +187,9 @@ Some of GNSS terms that are useful for interpreting the data include:
- `DOP`: Dilution of position (dimensionless).
This is a measure of the geometric quality of satellite positions and their effect on the precision of the GPS receiver's calculations.
- `EPH`: Standard deviation of horizontal position error (metres).
- This represents the the uncertainty in the GPS fix latitude and longitude.
+ This represents the uncertainty in the GPS fix latitude and longitude.
- `EPV`: Standard deviation of vertical position error (metres).
- This represents the the uncertainty in the GPS fix altitude.
+ This represents the uncertainty in the GPS fix altitude.
### DOP vs EPH/EPV
diff --git a/docs/uk/gps_compass/magnetometer.md b/docs/uk/gps_compass/magnetometer.md
index 42d0d72b4e..e79d1766b0 100644
--- a/docs/uk/gps_compass/magnetometer.md
+++ b/docs/uk/gps_compass/magnetometer.md
@@ -22,7 +22,7 @@ It should not be used otherwise, and is automatically disabled after [calibratio
### Частини компасу
PX4 можна використовувати з багатьма деталями магнітометрів, включаючи: Bosch BMM 150 MEMS (через шину I2C), HMC5883 / HMC5983 (I2C або SPI), IST8310 (I2C), LIS3MDL (I2C або SPI), RM3100 та інші.
-Інші підтримувані частини магнітометра та їхні шини можна дізнатися з драйверів, перелічених у [Посилання на модулі: Магнітометр (драйвер)](../modules/modules_driver_magnetometer.md).
+Other supported magnetometer parts and their buses can be inferred from the drivers listed in [Modules Reference: Magnetometer (Driver)](../modules/modules_driver_magnetometer.md).
Ці деталі входять до складу автономних модулів компаса, комбінованих модулів компаса/ГНСС, а також до складу багатьох контролерів польоту,
@@ -55,7 +55,7 @@ PX4 можна використовувати з багатьма деталям
Internal compasses are not recommended for real use as a heading source, because the performance is almost always very poor.
-This is particularly true on on small vehicles where the flight controller has to be mounted close to motor/ESC power lines and other sources of electromagnetic interference.
+This is particularly true on small vehicles where the flight controller has to be mounted close to motor/ESC power lines and other sources of electromagnetic interference.
While they may be better on larger vehicles (e.g. VTOL), where it is possible to reduce electromagnetic interference by mounting the flight controller a long way from power supply lines, an external compass will almost always be better.
:::tip
diff --git a/docs/uk/gps_compass/rtk_gps.md b/docs/uk/gps_compass/rtk_gps.md
index 3cd95c567b..2b2b29a38a 100644
--- a/docs/uk/gps_compass/rtk_gps.md
+++ b/docs/uk/gps_compass/rtk_gps.md
@@ -14,7 +14,7 @@ Some RTK GNSS setups can provide yaw/heading information, as an alternative to t
## Пристрої, що підтримуються
-PX4 supports the [u-blox M8P](https://www.u-blox.com/en/product/neo-m8p), [u-blox F9P](https://www.u-blox.com/en/product/zed-f9p-module) and the [Trimble MB-Two](https://oemgnss.trimble.com/en/products/receiver-modules/mb-two) GPS, and products that incorporate them.
+PX4 supports the [u-blox M8P](https://www.u-blox.com/en/product/neo-m8p-series), [u-blox F9P](https://www.u-blox.com/en/product/zed-f9p-module) and the [Trimble MB-Two](https://oemgnss.trimble.com/en/products/receiver-modules/mb-two) GPS, and products that incorporate them.
Список сумісних пристроїв RTK нижче, які очікуються для роботи з PX4 (він виключає припинені пристрої).
Таблиця вказує пристрої, які також виводять курсову відмітку, а також можуть надавати курсову відмітку, коли використовуються дві одиниці на транспортному засобі.
@@ -57,7 +57,7 @@ PX4 supports the [u-blox M8P](https://www.u-blox.com/en/product/neo-m8p), [u-blo
| [Septentrio AsteRx-m3 Pro](../gps_compass/septentrio_asterx-rib.md) | AsteRx | ✓ | | [Septentrio Dual Antenna] | ✓ |
| [Septentrio mosaic-go](../gps_compass/septentrio_mosaic-go.md) | mosaic X5 / mosaic H | ✓ | | [Septentrio Dual Antenna] | ✓ |
| [SIRIUS RTK GNSS ROVER (F9P)](https://store-drotek.com/911-sirius-rtk-gnss-rover-f9p.html) | F9P | ✓ | | [Dual F9P] | |
-| [SparkFun GPS-RTK2 Board - ZED-F9P](https://www.sparkfun.com/products/15136) | F9P | ✓ | | [Dual F9P] | |
+| [SparkFun GPS-RTK2 Board - ZED-F9P](https://www.sparkfun.com/sparkfun-gps-rtk2-board-zed-f9p-qwiic-gps-15136.html) | F9P | ✓ | | [Dual F9P] | |
| [Trimble MB-Two](../gps_compass/rtk_gps_trimble_mb_two.md) | F9P | ✓ | | ✓ | |
diff --git a/docs/uk/gps_compass/rtk_gps_cuav_c-rtk-9ps.md b/docs/uk/gps_compass/rtk_gps_cuav_c-rtk-9ps.md
index 96e0635bc6..61927a6d0e 100644
--- a/docs/uk/gps_compass/rtk_gps_cuav_c-rtk-9ps.md
+++ b/docs/uk/gps_compass/rtk_gps_cuav_c-rtk-9ps.md
@@ -1,6 +1,6 @@
# CUAV C-RTK 9Ps
-The CUAV [C-RTK 9Ps](https://www.cuav.net/en/c_rtk_9ps/) is a multi-satellite, multi-band, centimeter-level, RTK GNSS system.
+The CUAV [C-RTK 9Ps](https://www.cuav.net/en/c-rtk-9ps-en/) is a multi-satellite, multi-band, centimeter-level, RTK GNSS system.
Модуль одночасно приймає сигнали супутників GPS, ГЛОНАСС, Galileo та Beidou, що забезпечує швидке позиціонування та вищу точність.
It also supports [RTK GPS Heading](../gps_compass/u-blox_f9p_heading.md) using dual modules.
@@ -12,7 +12,7 @@ It also supports [RTK GPS Heading](../gps_compass/u-blox_f9p_heading.md) using d
## Де купити
-[cuav Store](https://store.cuav.net/shop/c-rtk-9ps/)
+[cuav Store](https://store.cuav.net/?route=product%2Fproduct&path=61&product_id=187)
## Специфікація
diff --git a/docs/uk/gps_compass/rtk_gps_cuav_c-rtk.md b/docs/uk/gps_compass/rtk_gps_cuav_c-rtk.md
index 8930fb6cca..0f75a9d2e8 100644
--- a/docs/uk/gps_compass/rtk_gps_cuav_c-rtk.md
+++ b/docs/uk/gps_compass/rtk_gps_cuav_c-rtk.md
@@ -1,6 +1,6 @@
# CUAV C-RTK
-The [CUAV C-RTK GPS receiver](https://www.cuav.net/en/c_rtk_9ps/) is an [RTK GPS module](../gps_compass/rtk_gps.md) for the mass market.
+The [CUAV C-RTK GPS receiver](https://www.cuav.net/en/c-rtk-9ps-en/) is an [RTK GPS module](../gps_compass/rtk_gps.md) for the mass market.
Повна система RTK складається щонайменше з двох модулів C-RTK (один для базової станції, а інший для літака). Використовуючи RTK, PX4 може визначати своє місцезнаходження з точністю до сантиметра, що набагато точніше, ніж може забезпечити звичайний GPS.
@@ -8,7 +8,7 @@ The [CUAV C-RTK GPS receiver](https://www.cuav.net/en/c_rtk_9ps/) is an [RTK GPS
## Де купити
- [cuav taobao](https://item.taobao.com/item.htm?id=565380634341&spm=2014.21600712.0.0)
-- [cuav aliexpress](https://www.aliexpress.com/store/product/CUAV-NEW-Flight-Controller-GPS-C-RTK-differential-positioning-navigation-module-GPS-for-PIX4-Pixhawk-pixhack/3257035_32853894248.html?spm=2114.12010608.0.0.75592fadQKPPEn)
+- [cuav aliexpress](https://www.aliexpress.com/item/32853894248.html?spm=2114.12010608.0.0.75592fadQKPPEn)
## Налаштування
@@ -16,7 +16,7 @@ RTK setup and use on PX4 via _QGroundControl_ is largely plug and play \(see [RT
## Підключення та з'єднання
-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).
6-контактний роз'єм забезпечує інтерфейс для RTK GPS і повинен бути підключений до GPS-порту польотного контролера.
4-контактний роз'єм - це GPS-інтерфейс m8n (стандартний), який призначений для (додаткового) використання в якості другого GPS.
diff --git a/docs/uk/gps_compass/rtk_gps_cuav_c-rtk2.md b/docs/uk/gps_compass/rtk_gps_cuav_c-rtk2.md
index 9fcf84c922..0973f8706a 100644
--- a/docs/uk/gps_compass/rtk_gps_cuav_c-rtk2.md
+++ b/docs/uk/gps_compass/rtk_gps_cuav_c-rtk2.md
@@ -1,6 +1,6 @@
# CUAV C-RTK2 GNSS Module (RTK/PPK)
-The [CUAV C-RTK2 receiver](https://www.cuav.net/en/c_rtk_9ps/) is a high-performance PPK/RTK positioning module created by CUAV for professional applications such as drone aerial surveying and mapping.
+The [CUAV C-RTK2 receiver](https://www.cuav.net/en/c-rtk-9ps-en/) is a high-performance PPK/RTK positioning module created by CUAV for professional applications such as drone aerial surveying and mapping.
It has a high-precision IMU and positioning module, and can reduce the number of required [control points](https://www.youtube.com/watch?v=3k7v5aXyuKQ) by more than to 80%.
На додаток до зйомки/картографування, він підходить для багатьох інших випадків використання, включаючи: захист сільськогосподарських рослин та рої дронів.
@@ -10,7 +10,7 @@ It has a high-precision IMU and positioning module, and can reduce the number of
- Потужний процесор H7
- Високоточний IMU промислового класу
-- Підтримка RTK та одночасне збереження необроблених даних RAW (PPK)
+- Support RTK and save raw data (PPK) at the same time
- Багатосупутникові та багаточастотні приймачі
- Протокол UAVCAN/Dronecan
- Підтримка гарячого взуття та спуску спусковик
@@ -18,7 +18,7 @@ It has a high-precision IMU and positioning module, and can reduce the number of
## Де купити
-- [CUAV Store](https://store.cuav.net/shop/c-rtk-2/)
+- [CUAV Store](https://store.cuav.net/?route=product%2Fproduct&product_id=159)
- [CUAV aliexpress](https://pt.aliexpress.com/item/1005003754165772.html?spm=a2g0o.store_pc_groupList.8148356.13.2f893550i0NE4o)
# Короткий опис
diff --git a/docs/uk/gps_compass/rtk_gps_datagnss_nano_hrtk.md b/docs/uk/gps_compass/rtk_gps_datagnss_nano_hrtk.md
index cf4c1c5d24..d9c28c3417 100644
--- a/docs/uk/gps_compass/rtk_gps_datagnss_nano_hrtk.md
+++ b/docs/uk/gps_compass/rtk_gps_datagnss_nano_hrtk.md
@@ -90,7 +90,7 @@ Note that for the base we recommend the [NANO RTK Receiver](https://www.datagnss
-See to [How to setup Base station](https://wiki.datagnss.com/index.php/GEM1305-autopilot#Base_station_setup) for information on how to configure the module for use as a base station (not including step 6 and later, for which you would QGroundControl instead of Mission Planner).
+See to [How to setup Base station](https://docs.datagnss.com/#Base_station_setup) for information on how to configure the module for use as a base station (not including step 6 and later, for which you would QGroundControl instead of Mission Planner).
### Rover Setup (PX4)
@@ -111,13 +111,12 @@ GPS and RTK configuration on PX4 via _QGroundControl_ is plug and play (see [RTK
## Resources
-- [NANO RTK Receiver 2D drawing file](https://wiki.datagnss.com/images/3/31/EVK-DG-1206_V.2.0.pdf)
- [NANO HRTK Receiver Wiki](https://docs.datagnss.com/gnss/rtk_receiver/NANO/nano-helix-rtk/) (DATAGNSS WiKi)
- [HED-10L Heading RTK Receiver](https://docs.datagnss.com/gnss/rtk_receiver/HED-10L/)
## Докладніше
-- [NANO RTK Receiver](https://docs.datagnss.com/gnss/rtk_receiver/NANO/nano-rtk-receiver)
+- [NANO RTK Receiver](https://docs.datagnss.com/gnss/rtk_receiver/NANO/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)
diff --git a/docs/uk/gps_compass/rtk_gps_drotek_xl.md b/docs/uk/gps_compass/rtk_gps_drotek_xl.md
index 36b774b426..11d3d190eb 100644
--- a/docs/uk/gps_compass/rtk_gps_drotek_xl.md
+++ b/docs/uk/gps_compass/rtk_gps_drotek_xl.md
@@ -2,7 +2,7 @@
:::info
This module appears to have been discontinued, and is no longer on the Drotek site (September 2023).
-The last documentation was in [PX4 v1.13 here](https://docs.px4.io/v1.13/en/gps_compass/rtk_gps_drotek_xl.html)
+The last documentation was in [PX4 v1.13 here](https://docs.px4.io/v1.13/en/gps_compass/rtk_gps_drotek_xl)
:::
diff --git a/docs/uk/gps_compass/rtk_gps_gem1305.md b/docs/uk/gps_compass/rtk_gps_gem1305.md
index 92c6c3aea5..b0bbe06ebf 100644
--- a/docs/uk/gps_compass/rtk_gps_gem1305.md
+++ b/docs/uk/gps_compass/rtk_gps_gem1305.md
@@ -77,7 +77,7 @@ The 1.25mm pitch 6P connector (from left: PIN1 to PIN6) supports UART for GNSS a
## Налаштування програмного забезпечення
RTK requires a base RTK module attached to the ground station, and a rover RTK module on the vehicle.
-The data from the base needs to be transmitted to the drone via telemetry radio and inputed into the RTK receiver on the rover.
+The data from the base needs to be transmitted to the drone via telemetry radio and inputted into the RTK receiver on the rover.
@@ -93,7 +93,7 @@ Note that for the base we recommend the [NANO RTK Receiver](https://www.datagnss
-See to [How to setup Base station](https://wiki.datagnss.com/index.php/GEM1305-autopilot#Base_station_setup) for information on how to configure the module for use as a base station (not including step 6 and later, for which you would QGroundControl instead of Mission Planner).
+See to [How to setup Base station](https://docs.datagnss.com/#Base_station_setup) for information on how to configure the module for use as a base station (not including step 6 and later, for which you would QGroundControl instead of Mission Planner).
### Rover Setup (PX4)
@@ -115,14 +115,13 @@ GPS and RTK configuration on PX4 via _QGroundControl_ is plug and play (see [RTK
## Resources
-- [NANO RTK Receiver 2D drawing file](https://wiki.datagnss.com/images/3/31/EVK-DG-1206_V.2.0.pdf)
- [GEM1305 Wiki](https://docs.datagnss.com/gnss/rtk_receiver/GEM1305/) (DATAGNSS WiKi)
- [HED-10L Heading RTK Receiver](https://docs.datagnss.com/gnss/rtk_receiver/HED-10L/)
- [NANO HRTK Receiver](https://docs.datagnss.com/gnss/rtk_receiver/NANO/nano-helix-rtk/)
## Докладніше
-- [NANO RTK Receiver](https://www.datagnss.com/collections/evk/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)
diff --git a/docs/uk/gps_compass/rtk_gps_hex_hereplus.md b/docs/uk/gps_compass/rtk_gps_hex_hereplus.md
index c6cca64024..35c531a7ba 100644
--- a/docs/uk/gps_compass/rtk_gps_hex_hereplus.md
+++ b/docs/uk/gps_compass/rtk_gps_hex_hereplus.md
@@ -5,7 +5,7 @@
:::info
This GPS is no longer available for purchase but is still compatible with PX4.
-Usage documentation can be found in [PX4v1.11 docs](https://docs.px4.io/v1.11/en/gps_compass/rtk_gps_hex_hereplus.html)
+Usage documentation can be found in [PX4v1.11 docs](https://docs.px4.io/v1.11/en/gps_compass/rtk_gps_hex_hereplus)
:::
The **Here+ RTK GPS receiver** is a small, light and energy efficient [RTK GPS module](../gps_compass/rtk_gps.md), based on the u-blox M8P. Використовуючи RTK, PX4 може визначати своє місцезнаходження з точністю до сантиметра, що набагато точніше, ніж може забезпечити звичайний GPS.
diff --git a/docs/uk/gps_compass/rtk_gps_holybro_h-rtk-f9p.md b/docs/uk/gps_compass/rtk_gps_holybro_h-rtk-f9p.md
index 43793d98dd..a91ccc1630 100644
--- a/docs/uk/gps_compass/rtk_gps_holybro_h-rtk-f9p.md
+++ b/docs/uk/gps_compass/rtk_gps_holybro_h-rtk-f9p.md
@@ -19,7 +19,7 @@ Using RTK allows PX4 to get its position with centimetre-level accuracy, which i
## Де купити
- [H-RTK F9P (Holybro Website)](https://holybro.com/products/h-rtk-f9p-gnss-series)
-- [H-RTK Accessories (Holybro Website)](https://holybro.com/collections/h-rtk-gps)
+- [H-RTK Accessories (Holybro Website)](https://holybro.com/collections/gps)
## Налаштування
@@ -50,6 +50,6 @@ The cables/connectors may need to be modified in order to connect to other fligh
## Аксесуари до GPS
-[H-RTK Mount (Holybro Website)](https://holybro.com/products/vertical-mount-for-h-rtk-helical)
+[H-RTK Mount (Holybro Website)](https://holybro.com/collections/gps-accessories/products/vertical-mount-for-h-rtk-helical)
diff --git a/docs/uk/gps_compass/rtk_gps_holybro_h-rtk-m8p.md b/docs/uk/gps_compass/rtk_gps_holybro_h-rtk-m8p.md
index 3e5d7b133e..79b138ad63 100644
--- a/docs/uk/gps_compass/rtk_gps_holybro_h-rtk-m8p.md
+++ b/docs/uk/gps_compass/rtk_gps_holybro_h-rtk-m8p.md
@@ -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\_.
Є три моделі Holybro H-RTK M8P на вибір, кожна з різним дизайном антени, щоб задовольнити різні потреби.
@@ -16,7 +17,7 @@ Refer to the [Specification and Model Comparison section](#specification-and-mod
## Де купити
-- [H-RTK M8P (GPS RTK Mounts)](https://holybro.com/products/vertical-mount-for-h-rtk-helical)
+- Припинено.
## Налаштування
@@ -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).
:::
-
-
-## Карта виводів
+## Pin Map {#pin_map}
diff --git a/docs/uk/gps_compass/rtk_gps_holybro_unicore_um982.md b/docs/uk/gps_compass/rtk_gps_holybro_unicore_um982.md
index c5e24df2a4..479b9d277e 100644
--- a/docs/uk/gps_compass/rtk_gps_holybro_unicore_um982.md
+++ b/docs/uk/gps_compass/rtk_gps_holybro_unicore_um982.md
@@ -1,10 +1,10 @@
# Holybro H-RTK Unicore UM982 GPS
-The [Holybro H-RTK Unicore UM982 GPS](https://holybro.com/products/h-rtk-um982) is an multi-band high-precision [RTK GNSS System](../gps_compass/rtk_gps.md) launched by Holybro.
+The [Holybro H-RTK Unicore UM982 GPS](https://holybro.com/products/h-rtk-unicore-um982) is an multi-band high-precision [RTK GNSS System](../gps_compass/rtk_gps.md) launched by Holybro.
-This module is based on the [Unicore UM982 Chip](https://en.unicorecomm.com/products/detail/24), which supports RTK positioning and dual-antenna heading calculation.
+This module is based on the [Unicore UM982 Chip](https://en.unicore.com/products/dual-antenna-gnss-um982/), which supports RTK positioning and dual-antenna heading calculation.
Це означає, що він може генерувати рухому базову лінію визначення курсу/рискання для автопілотів з одним GPS-модулем і двома антенами - магнітометр не потрібен.
Unlike when using a module such as the U-blox F9P, where you would need [two U-blox F9P modules to compute a heading angle](../gps_compass/u-blox_f9p_heading.md), with the Unicore UM982 GPS, you only need one GPS module!
@@ -20,7 +20,7 @@ Additional technical information can be found at [Holybro Technical Documentatio
## Де купити
-- [Holybro Website](https://holybro.com/products/h-rtk-um982)
+- [Holybro Website](https://holybro.com/products/h-rtk-unicore-um982)
## Підключення
diff --git a/docs/uk/gps_compass/rtk_gps_locosys_r2.md b/docs/uk/gps_compass/rtk_gps_locosys_r2.md
index 9eabfb72af..0db339c34f 100644
--- a/docs/uk/gps_compass/rtk_gps_locosys_r2.md
+++ b/docs/uk/gps_compass/rtk_gps_locosys_r2.md
@@ -23,7 +23,7 @@ The [LOCOSYS Hawk R2](https://www.locosystech.com/en/product/hawk-r2.html) is a
- Безкоштовне прогнозування гібридних ефемерид для швидшого холодного старту
- Стандартна частота оновлення 5 Гц, до 10 Гц (підтримка SBAS лише 5 Гц)
- Вбудований суперконденсатор для резервування системних даних для швидкого отримання супутникових даних
-- Вбудована функція компасу 3-х вимірів
+- Built-in 3 axis compass function
- Три світлодіодного індикатора для живлення, PPS та передачі даних
diff --git a/docs/uk/gps_compass/septentrio.md b/docs/uk/gps_compass/septentrio.md
index b358383bd3..cc63cc211d 100644
--- a/docs/uk/gps_compass/septentrio.md
+++ b/docs/uk/gps_compass/septentrio.md
@@ -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.
diff --git a/docs/uk/gps_compass/septentrio_mosaic-go.md b/docs/uk/gps_compass/septentrio_mosaic-go.md
index 431cefff97..e6188d64be 100644
--- a/docs/uk/gps_compass/septentrio_mosaic-go.md
+++ b/docs/uk/gps_compass/septentrio_mosaic-go.md
@@ -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).
@@ -108,7 +108,7 @@ Make sure the JST cable is wired correctly since this is not a standard cable:
These can be compensated for with the heading parameters provided by the Septentrio driver in PX4.
:::info
-For optimal heading results, the two antennas should be seperated by at least 30cm / 11.8 in (ideally 50cm / 19.7in or more).
+For optimal heading results, the two antennas should be separated by at least 30cm / 11.8 in (ideally 50cm / 19.7in or more).
For additional configuration of the dual antenna setup, please refer to our [Knowledge Base](https://support.septentrio.com/l/858493/2022-04-19/xgrqd) or the [hardware manual](https://web.septentrio.com/l/858493/2022-04-19/xgrql).
:::
diff --git a/docs/uk/gps_compass/u-blox_f9p_heading.md b/docs/uk/gps_compass/u-blox_f9p_heading.md
index 2c679bb912..f8b59d906c 100644
--- a/docs/uk/gps_compass/u-blox_f9p_heading.md
+++ b/docs/uk/gps_compass/u-blox_f9p_heading.md
@@ -10,7 +10,7 @@ The two GPS devices in this scenario are referred to as the _Moving Base_ and _R
Підтримуються наступні пристрої:
- [ARK RTK GPS](https://arkelectron.com/product/ark-rtk-gps/) (arkelectron.com)
-- [SparkFun GPS-RTK2 Board - ZED-F9P](https://www.sparkfun.com/products/15136) (www.sparkfun.com)
+- [SparkFun GPS-RTK2 Board - ZED-F9P](https://www.sparkfun.com/sparkfun-gps-rtk2-board-zed-f9p-qwiic-gps-15136.html) (www.sparkfun.com)
- [SIRIUS RTK GNSS ROVER (F9P)](https://store-drotek.com/911-sirius-rtk-gnss-rover-f9p.html) (store-drotek.com)
- [mRo u-blox ZED-F9 RTK L1/L2 GPS](https://store.mrobotics.io/product-p/m10020d.htm) (store.mrobotics.io)
- [Holybro H-RTK F9P Helical or Base](https://holybro.com/products/h-rtk-f9p-gnss-series) (Holybro Store)
diff --git a/docs/uk/hardware/board_support_guide.md b/docs/uk/hardware/board_support_guide.md
index 9d1f1854db..1fe32f511c 100644
--- a/docs/uk/hardware/board_support_guide.md
+++ b/docs/uk/hardware/board_support_guide.md
@@ -57,7 +57,7 @@ PX4 загалом підтримує лише плати, які є комер
### VER and REV ID (Hardware Revision and Version Sensing) {#ver_rev_id}
У FMUv5 та пізніше є електричний механізм виявлення.
-Цей сенсорний зв'язок разом з необов'язковими даними конфігурації буде використовуватися для визначення конфігурації апаратного забезпечення щодо обов'язкової конфігурації пристрою та живлення. Manufacturers must obtain the VER and REV ID from PX4 board maintainers by issuing a PR to ammend the [DS-018 Pixhawk standard](https://github.com/pixhawk/Pixhawk-Standards) for board versions and revisions.
+Цей сенсорний зв'язок разом з необов'язковими даними конфігурації буде використовуватися для визначення конфігурації апаратного забезпечення щодо обов'язкової конфігурації пристрою та живлення. Manufacturers must obtain the VER and REV ID from PX4 board maintainers by issuing a PR to amend the [DS-018 Pixhawk standard](https://github.com/pixhawk/Pixhawk-Standards) for board versions and revisions.
Оскільки ці борди на 100% відповідають стандарту Pixhawk, значення, призначені для VER та REV ID, є значеннями за замовчуванням для цієї версії FMU.
@@ -97,7 +97,7 @@ _New_ experimental boards are allocated [VER and REV IDs](#ver_rev_id) based on
Ця категорія включає всі плати, які не підтримуються проектом PX4 або виробником, і що виходять за межі "експериментальної" підтримки.
- Плата на папері в певній мірі сумісна з чимось, що ми вже підтримуємо, і для того, щоб підняти її до рівня "експериментального", потрібно буде мінімальних зусиль, проте або команда розробників, або виробник наразі цим не займаються
-- Manufacturer/Owner of hardware violates our [Code of Conduct](https://discuss.px4.io/t/code-of-conduct/13655)
+- Manufacturer/Owner of hardware violates our [Code of Conduct](https://discuss.px4.io/t/px4-community-code-of-conduct/13655)
- Закритий вихідний код, де будь-які необхідні інструменти/бібліотеки/драйвери тощо, необхідні для підтримки плати, вважаються несумісними через ліцензійні обмеження
- Плата не відповідає мінімальним вимогам, визначеним у Загальних вимогах
diff --git a/docs/uk/hardware/drone_parts.md b/docs/uk/hardware/drone_parts.md
index 42a6209123..31cefb55fb 100644
--- a/docs/uk/hardware/drone_parts.md
+++ b/docs/uk/hardware/drone_parts.md
@@ -1,4 +1,4 @@
-# Hardware Hardware Selection & Setup
+# Hardware Selection & Setup
У цьому розділі міститься інформація про повністю готові транспортні засоби PX4 і компоненти, які ви можете використовувати для створення власних дронів:
diff --git a/docs/uk/index.md b/docs/uk/index.md
index 729767f521..093035aba9 100644
--- a/docs/uk/index.md
+++ b/docs/uk/index.md
@@ -5,7 +5,7 @@ const { site } = useData();
# Посібник користувача автопілота PX4
-[](https://github.com/PX4/PX4-Autopilot/releases) [](https://discuss.px4.io//) [](https://discord.gg/dronecode)
+[](https://github.com/PX4/PX4-Autopilot/releases) [](https://discuss.px4.io//) [](https://discord.com/invite/dronecode)
PX4 is an open-source autopilot for drones and autonomous vehicles. It runs on multirotors, fixed-wing, VTOL, helicopters, rovers, and more. This guide covers everything from assembly and configuration to flight operations and development.
@@ -49,7 +49,7 @@ Read [Operations](config/operations.md) to understand safety features and failsa
## Підтримка
-Get help on the [discussion forums](https://discuss.px4.io/) or [Discord](https://discord.gg/dronecode). See the [Support](contribute/support.md) page for diagnosing problems, reporting bugs, and joining the [weekly dev call](contribute/dev_call.md).
+Get help on the [discussion forums](https://discuss.px4.io/) or [Discord](https://discord.com/invite/dronecode). See the [Support](contribute/support.md) page for diagnosing problems, reporting bugs, and joining the [weekly dev call](contribute/dev_call.md).
## Долучитись до проєкту
@@ -93,9 +93,9 @@ The calendar default timezone is Central European Time (CET).
## Управління
-The PX4 Autopilot project is hosted by the [Dronecode Foundation](https://www.dronecode.org/), a [Linux Foundation](https://www.linuxfoundation.org/) Collaborative Project. Dronecode holds all PX4 trademarks and serves as the project's legal guardian, ensuring vendor-neutral stewardship. No single company owns the name or controls the roadmap. The source code is licensed under the [BSD 3-Clause](https://opensource.org/license/BSD-3-Clause) license, so you are free to use, modify, and distribute it in your own projects.
+The PX4 Autopilot project is hosted by the [Dronecode Foundation](https://dronecode.org/), a [Linux Foundation](https://www.linuxfoundation.org/) Collaborative Project. Dronecode holds all PX4 trademarks and serves as the project's legal guardian, ensuring vendor-neutral stewardship. No single company owns the name or controls the roadmap. The source code is licensed under the [BSD 3-Clause](https://opensource.org/license/BSD-3-Clause) license, so you are free to use, modify, and distribute it in your own projects.
-
+
diff --git a/docs/uk/mavlink/adding_messages.md b/docs/uk/mavlink/adding_messages.md
index 3ba5dac36b..22a2927ed3 100644
--- a/docs/uk/mavlink/adding_messages.md
+++ b/docs/uk/mavlink/adding_messages.md
@@ -39,7 +39,7 @@ Once the message headers for your definitions are generated in the PX4 build, yo
The first step in debugging is to confirm that any messages you've created are being sent/received as you expect.
-You should should first use the `uorb top []` command to verify in real-time that your message is published and the rate (see [uORB Messaging](../middleware/uorb.md#uorb-top-command)).
+You should first use the `uorb top []` command to verify in real-time that your message is published and the rate (see [uORB Messaging](../middleware/uorb.md#uorb-top-command)).
This approach can also be used to test incoming messages that publish a uORB topic (for other messages you might use `printf` in your code and test in SITL).
Існує кілька підходів для перегляду трафіку MAVLink:
@@ -82,16 +82,16 @@ mavlink stream -u 14556 -s CA_TRAJECTORY -r 300
### Оновлення QGroundControl
-You will need to [Build QGroundControl](https://docs.qgroundcontrol.com/master/en/qgc-dev-guide/getting_started/index.html) including a pre-built C library that contains your custom messages.
+You will need to [Build QGroundControl](https://docs.qgroundcontrol.com/master/en/qgc-dev-guide/getting_started/index.html) with your custom messages included.
-QGC uses a pre-built C library that must be located at [/qgroundcontrol/libs/mavlink/include/mavlink](https://github.com/mavlink/qgroundcontrol/tree/master/libs/mavlink/include/mavlink) in the QGC source.
+QGC fetches MAVLink via CMake using settings defined in [`cmake/CustomOptions.cmake`](https://github.com/mavlink/qgroundcontrol/blob/master/cmake/CustomOptions.cmake).
+The key variables are `QGC_MAVLINK_GIT_REPO` (the MAVLink repository to fetch), `QGC_MAVLINK_GIT_TAG` (a specific commit or tag), and `QGC_MAVLINK_DIALECT` (the dialect, default: `all`).
+To use a custom MAVLink repository or dialect, override these in a `CustomOverrides.cmake` file in the QGC source root.
-By default this is pre-included as a submodule from but you can [generate your own MAVLink Libraries](https://mavlink.io/en/getting_started/generate_libraries.html).
+QGC uses the **all** dialect by default, which includes **common.xml**.
+You can include your messages in either file, or [generate your own MAVLink Libraries](https://mavlink.io/en/getting_started/generate_libraries.html).
-QGC uses the **all.xml** dialect by default, which includes **common.xml**.
-You can include your messages in either file.
-
-Note that if you use your own _custom dialect_ then it should include **ArduPilotMega.xml** (or it will miss all the existing messages), and you will need to change the dialect used by setting it in [`MAVLINK_CONF`](https://github.com/mavlink/qgroundcontrol/blob/master/QGCExternalLibs.pri#L52) when running _qmake_.
+Note that if you use your own _custom dialect_ then it should include **all.xml** (or it may miss all the existing messages), and you will need to set `QGC_MAVLINK_DIALECT` accordingly in `CustomOverrides.cmake`.
### Оновлення MAVSDK
diff --git a/docs/uk/mavlink/index.md b/docs/uk/mavlink/index.md
index 3da14afef9..3aa33708d2 100644
--- a/docs/uk/mavlink/index.md
+++ b/docs/uk/mavlink/index.md
@@ -77,7 +77,7 @@ You will need to work with the [MAVLink team](https://mavlink.io/en/contributing
:::
PX4 includes the [mavlink/mavlink](https://github.com/mavlink/mavlink) repo as a submodule under [/src/modules/mavlink](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mavlink).
-This contains XML definition files in [/mavlink/messages/1.0/](https://github.com/mavlink/mavlink/blob/master/message_definitions/v1.0/).
+This contains XML definition files in [/mavlink/messages/1.0/](https://github.com/mavlink/mavlink/tree/master/message_definitions/v1.0).
Інструментарій збірки генерує заголовні файли MAVLink 2 C під час збірки.
The XML file for which headers files are generated may be defined in the [PX4 kconfig board configuration](../hardware/porting_guide_config.md#px4-board-configuration-kconfig) on a per-board basis, using the variable `CONFIG_MAVLINK_DIALECT`:
diff --git a/docs/uk/middleware/dds_topics.md b/docs/uk/middleware/dds_topics.md
index 174dc6c859..333fe06d99 100644
--- a/docs/uk/middleware/dds_topics.md
+++ b/docs/uk/middleware/dds_topics.md
@@ -70,7 +70,6 @@ This document shows a markdown-rendered version of [dds_topics.yaml](https://git
| /fmu/in/vehicle_torque_setpoint | [px4_msgs::msg::VehicleTorqueSetpoint](../msg_docs/VehicleTorqueSetpoint.md) |
| /fmu/in/actuator_motors | [px4_msgs::msg::ActuatorMotors](../msg_docs/ActuatorMotors.md) |
| /fmu/in/actuator_servos | [px4_msgs::msg::ActuatorServos](../msg_docs/ActuatorServos.md) |
-| /fmu/in/aux_global_position | [px4_msgs::msg::VehicleGlobalPosition](../msg_docs/VehicleGlobalPosition.md) |
| /fmu/in/fixed_wing_longitudinal_setpoint | [px4_msgs::msg::FixedWingLongitudinalSetpoint](../msg_docs/FixedWingLongitudinalSetpoint.md) |
| /fmu/in/fixed_wing_lateral_setpoint | [px4_msgs::msg::FixedWingLateralSetpoint](../msg_docs/FixedWingLateralSetpoint.md) |
| /fmu/in/longitudinal_control_configuration | [px4_msgs::msg::LongitudinalControlConfiguration](../msg_docs/LongitudinalControlConfiguration.md) |
@@ -85,7 +84,9 @@ This document shows a markdown-rendered version of [dds_topics.yaml](https://git
## Subscriptions Multi
-None
+| Topic | Тип | Route Field | Max Instances |
+| --------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------- | ----------- | ------------- |
+| /fmu/in/aux_global_position | [px4_msgs::msg::AuxGlobalPosition](../msg_docs/AuxGlobalPosition.md) | `id` | 4 |
## Not Exported
@@ -95,200 +96,203 @@ They are not build into the module, and hence are neither published or subscribe
:::details
See messages
-- [GpioIn](../msg_docs/GpioIn.md)
-- [SystemPower](../msg_docs/SystemPower.md)
-- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md)
-- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md)
-- [LandingTargetPose](../msg_docs/LandingTargetPose.md)
-- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md)
-- [EstimatorBias](../msg_docs/EstimatorBias.md)
-- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md)
-- [LogMessage](../msg_docs/LogMessage.md)
-- [PowerMonitor](../msg_docs/PowerMonitor.md)
-- [VehicleConstraints](../msg_docs/VehicleConstraints.md)
-- [SensorAirflow](../msg_docs/SensorAirflow.md)
-- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md)
-- [ActuatorArmed](../msg_docs/ActuatorArmed.md)
-- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md)
-- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md)
-- [DifferentialPressure](../msg_docs/DifferentialPressure.md)
-- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md)
-- [PwmInput](../msg_docs/PwmInput.md)
-- [OrbTestMedium](../msg_docs/OrbTestMedium.md)
-- [QshellReq](../msg_docs/QshellReq.md)
-- [GeofenceStatus](../msg_docs/GeofenceStatus.md)
-- [RcChannels](../msg_docs/RcChannels.md)
-- [Cpuload](../msg_docs/Cpuload.md)
-- [DebugArray](../msg_docs/DebugArray.md)
-- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md)
-- [Mission](../msg_docs/Mission.md)
-- [Airspeed](../msg_docs/Airspeed.md)
-- [LedControl](../msg_docs/LedControl.md)
-- [HealthReport](../msg_docs/HealthReport.md)
-- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md)
-- [FigureEightStatus](../msg_docs/FigureEightStatus.md)
-- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md)
-- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md)
-- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md)
-- [InputRc](../msg_docs/InputRc.md)
-- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md)
-- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md)
-- [SensorCorrection](../msg_docs/SensorCorrection.md)
-- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md)
-- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md)
-- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md)
-- [SensorSelection](../msg_docs/SensorSelection.md)
-- [DeviceInformation](../msg_docs/DeviceInformation.md)
-- [CameraTrigger](../msg_docs/CameraTrigger.md)
-- [SensorAccel](../msg_docs/SensorAccel.md)
-- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md)
-- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md)
-- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md)
-- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md)
-- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md)
-- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md)
-- [VehicleImu](../msg_docs/VehicleImu.md)
-- [MissionResult](../msg_docs/MissionResult.md)
-- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md)
-- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md)
-- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md)
-- [OrbTest](../msg_docs/OrbTest.md)
-- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md)
-- [FuelTankStatus](../msg_docs/FuelTankStatus.md)
-- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md)
-- [OrbitStatus](../msg_docs/OrbitStatus.md)
-- [Px4ioStatus](../msg_docs/Px4ioStatus.md)
-- [RtlStatus](../msg_docs/RtlStatus.md)
-- [ButtonEvent](../msg_docs/ButtonEvent.md)
-- [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md)
-- [DebugValue](../msg_docs/DebugValue.md)
-- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md)
-- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md)
-- [SensorHygrometer](../msg_docs/SensorHygrometer.md)
-- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md)
-- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md)
-- [GpioOut](../msg_docs/GpioOut.md)
-- [ActuatorTest](../msg_docs/ActuatorTest.md)
-- [SensorBaro](../msg_docs/SensorBaro.md)
-- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md)
-- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md)
-- [RoverRateStatus](../msg_docs/RoverRateStatus.md)
-- [TecsStatus](../msg_docs/TecsStatus.md)
-- [PpsCapture](../msg_docs/PpsCapture.md)
-- [RaptorStatus](../msg_docs/RaptorStatus.md)
-- [EventV0](../msg_docs/EventV0.md)
-- [GpioRequest](../msg_docs/GpioRequest.md)
-- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md)
-- [MagWorkerData](../msg_docs/MagWorkerData.md)
-- [FollowTarget](../msg_docs/FollowTarget.md)
-- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md)
-- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md)
-- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md)
-- [ActionRequest](../msg_docs/ActionRequest.md)
-- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md)
-- [GpsInjectData](../msg_docs/GpsInjectData.md)
-- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md)
-- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md)
-- [UlogStream](../msg_docs/UlogStream.md)
-- [DebugKeyValue](../msg_docs/DebugKeyValue.md)
-- [NavigatorStatus](../msg_docs/NavigatorStatus.md)
-- [MountOrientation](../msg_docs/MountOrientation.md)
-- [RcParameterMap](../msg_docs/RcParameterMap.md)
-- [AdcReport](../msg_docs/AdcReport.md)
-- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md)
-- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md)
-- [MavlinkLog](../msg_docs/MavlinkLog.md)
-- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md)
- [GpioConfig](../msg_docs/GpioConfig.md)
-- [GainCompression](../msg_docs/GainCompression.md)
-- [DebugVect](../msg_docs/DebugVect.md)
-- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md)
-- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md)
-- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md)
-- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md)
-- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md)
-- [SensorUwb](../msg_docs/SensorUwb.md)
-- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md)
-- [VelocityLimits](../msg_docs/VelocityLimits.md)
-- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md)
-- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md)
-- [EscStatus](../msg_docs/EscStatus.md)
-- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md)
-- [HeaterStatus](../msg_docs/HeaterStatus.md)
-- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md)
-- [GeofenceResult](../msg_docs/GeofenceResult.md)
-- [PowerButtonState](../msg_docs/PowerButtonState.md)
-- [Rpm](../msg_docs/Rpm.md)
-- [WheelEncoders](../msg_docs/WheelEncoders.md)
-- [LoggerStatus](../msg_docs/LoggerStatus.md)
-- [CellularStatus](../msg_docs/CellularStatus.md)
-- [TuneControl](../msg_docs/TuneControl.md)
-- [ConfigOverridesV0](../msg_docs/ConfigOverridesV0.md)
-- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md)
-- [OrbTestLarge](../msg_docs/OrbTestLarge.md)
-- [BatteryInfo](../msg_docs/BatteryInfo.md)
-- [CameraStatus](../msg_docs/CameraStatus.md)
-- [QshellRetval](../msg_docs/QshellRetval.md)
-- [SensorMag](../msg_docs/SensorMag.md)
-- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md)
-- [TaskStackInfo](../msg_docs/TaskStackInfo.md)
-- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md)
-- [AirspeedWind](../msg_docs/AirspeedWind.md)
-- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md)
-- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md)
-- [GpsDump](../msg_docs/GpsDump.md)
-- [SensorTemp](../msg_docs/SensorTemp.md)
-- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md)
-- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md)
-- [SensorsStatus](../msg_docs/SensorsStatus.md)
-- [EstimatorStatus](../msg_docs/EstimatorStatus.md)
-- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md)
-- [VehicleAirData](../msg_docs/VehicleAirData.md)
-- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md)
-- [TakeoffStatus](../msg_docs/TakeoffStatus.md)
-- [GeneratorStatus](../msg_docs/GeneratorStatus.md)
-- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md)
-- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md)
-- [LandingGearWheel](../msg_docs/LandingGearWheel.md)
-- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md)
-- [RegisterExtComponentReplyV0](../msg_docs/RegisterExtComponentReplyV0.md)
-- [RaptorInput](../msg_docs/RaptorInput.md)
-- [SensorGyro](../msg_docs/SensorGyro.md)
-- [ParameterUpdate](../msg_docs/ParameterUpdate.md)
-- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md)
-- [PositionSetpoint](../msg_docs/PositionSetpoint.md)
-- [EstimatorStates](../msg_docs/EstimatorStates.md)
-- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md)
-- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md)
-- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md)
-- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md)
-- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md)
-- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md)
-- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md)
-- [HomePositionV0](../msg_docs/HomePositionV0.md)
-- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md)
-- [SatelliteInfo](../msg_docs/SatelliteInfo.md)
-- [IrlockReport](../msg_docs/IrlockReport.md)
-- [Ping](../msg_docs/Ping.md)
-- [CameraCapture](../msg_docs/CameraCapture.md)
-- [Vtx](../msg_docs/Vtx.md)
-- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md)
-- [RegisterExtComponentRequestV0](../msg_docs/RegisterExtComponentRequestV0.md)
-- [EscReport](../msg_docs/EscReport.md)
-- [Gripper](../msg_docs/Gripper.md)
-- [UlogStreamAck](../msg_docs/UlogStreamAck.md)
-- [SensorGyroFft](../msg_docs/SensorGyroFft.md)
-- [VehicleRoi](../msg_docs/VehicleRoi.md)
-- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md)
-- [NeuralControl](../msg_docs/NeuralControl.md)
-- [DatamanResponse](../msg_docs/DatamanResponse.md)
-- [GimbalControls](../msg_docs/GimbalControls.md)
-- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md)
-- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md)
-- [DatamanRequest](../msg_docs/DatamanRequest.md)
+- [MavlinkLog](../msg_docs/MavlinkLog.md)
- [Event](../msg_docs/Event.md)
-- [RadioStatus](../msg_docs/RadioStatus.md)
-- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md)
+- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md)
+- [MagWorkerData](../msg_docs/MagWorkerData.md)
+- [OrbTest](../msg_docs/OrbTest.md)
+- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md)
+- [EventV0](../msg_docs/EventV0.md)
+- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md)
+- [EstimatorBias](../msg_docs/EstimatorBias.md)
+- [QshellRetval](../msg_docs/QshellRetval.md)
- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md)
+- [GpioIn](../msg_docs/GpioIn.md)
+- [Px4ioStatus](../msg_docs/Px4ioStatus.md)
+- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md)
+- [RegisterExtComponentReplyV0](../msg_docs/RegisterExtComponentReplyV0.md)
+- [Airspeed](../msg_docs/Airspeed.md)
+- [SensorMag](../msg_docs/SensorMag.md)
+- [QshellReq](../msg_docs/QshellReq.md)
+- [RcChannels](../msg_docs/RcChannels.md)
+- [FuelTankStatus](../msg_docs/FuelTankStatus.md)
+- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md)
+- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md)
+- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md)
+- [TecsStatus](../msg_docs/TecsStatus.md)
+- [CameraStatus](../msg_docs/CameraStatus.md)
+- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md)
+- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md)
+- [DatamanRequest](../msg_docs/DatamanRequest.md)
+- [SensorAccel](../msg_docs/SensorAccel.md)
+- [HomePositionV0](../msg_docs/HomePositionV0.md)
+- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md)
+- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md)
+- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md)
+- [VehicleGlobalPositionV0](../msg_docs/VehicleGlobalPositionV0.md)
+- [OrbitStatus](../msg_docs/OrbitStatus.md)
+- [RcParameterMap](../msg_docs/RcParameterMap.md)
+- [PowerButtonState](../msg_docs/PowerButtonState.md)
+- [GpioRequest](../msg_docs/GpioRequest.md)
+- [VehicleRoi](../msg_docs/VehicleRoi.md)
+- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md)
+- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md)
+- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md)
+- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md)
+- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md)
+- [EscStatus](../msg_docs/EscStatus.md)
+- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md)
+- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md)
+- [SensorHygrometer](../msg_docs/SensorHygrometer.md)
+- [GpioOut](../msg_docs/GpioOut.md)
+- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md)
+- [ActionRequest](../msg_docs/ActionRequest.md)
+- [GimbalControls](../msg_docs/GimbalControls.md)
+- [MountOrientation](../msg_docs/MountOrientation.md)
+- [LedControl](../msg_docs/LedControl.md)
+- [UlogStreamAck](../msg_docs/UlogStreamAck.md)
+- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md)
+- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md)
+- [VehicleConstraints](../msg_docs/VehicleConstraints.md)
+- [VehicleAirData](../msg_docs/VehicleAirData.md)
+- [BatteryInfo](../msg_docs/BatteryInfo.md)
+- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md)
+- [RaptorInput](../msg_docs/RaptorInput.md)
+- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md)
+- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md)
+- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md)
+- [VehicleImu](../msg_docs/VehicleImu.md)
+- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md)
+- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md)
+- [ConfigOverridesV0](../msg_docs/ConfigOverridesV0.md)
+- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md)
+- [SensorUwb](../msg_docs/SensorUwb.md)
+- [LogMessage](../msg_docs/LogMessage.md)
+- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md)
+- [VehicleStatusV1](../msg_docs/VehicleStatusV1.md)
+- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md)
+- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md)
+- [LandingGearWheel](../msg_docs/LandingGearWheel.md)
+- [SensorTemp](../msg_docs/SensorTemp.md)
+- [SensorGyro](../msg_docs/SensorGyro.md)
+- [PowerMonitor](../msg_docs/PowerMonitor.md)
+- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md)
+- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md)
+- [HeaterStatus](../msg_docs/HeaterStatus.md)
+- [SensorAirflow](../msg_docs/SensorAirflow.md)
+- [TakeoffStatus](../msg_docs/TakeoffStatus.md)
+- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md)
+- [LoggerStatus](../msg_docs/LoggerStatus.md)
+- [TuneControl](../msg_docs/TuneControl.md)
+- [GpsDump](../msg_docs/GpsDump.md)
+- [WheelEncoders](../msg_docs/WheelEncoders.md)
+- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md)
+- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md)
+- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md)
+- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md)
+- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md)
+- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md)
+- [HealthReport](../msg_docs/HealthReport.md)
+- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md)
+- [GpsInjectData](../msg_docs/GpsInjectData.md)
+- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md)
+- [EscReport](../msg_docs/EscReport.md)
+- [DebugKeyValue](../msg_docs/DebugKeyValue.md)
+- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md)
+- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md)
+- [LandingTargetPose](../msg_docs/LandingTargetPose.md)
+- [GeofenceStatus](../msg_docs/GeofenceStatus.md)
+- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md)
+- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md)
+- [SensorCorrection](../msg_docs/SensorCorrection.md)
+- [ParameterUpdate](../msg_docs/ParameterUpdate.md)
+- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md)
+- [DifferentialPressure](../msg_docs/DifferentialPressure.md)
+- [PositionSetpoint](../msg_docs/PositionSetpoint.md)
+- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md)
+- [OrbTestMedium](../msg_docs/OrbTestMedium.md)
+- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md)
+- [EstimatorStatus](../msg_docs/EstimatorStatus.md)
+- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md)
+- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md)
+- [RegisterExtComponentRequestV0](../msg_docs/RegisterExtComponentRequestV0.md)
+- [VehicleCommandAckV0](../msg_docs/VehicleCommandAckV0.md)
+- [EstimatorStates](../msg_docs/EstimatorStates.md)
+- [CameraCapture](../msg_docs/CameraCapture.md)
+- [RadioStatus](../msg_docs/RadioStatus.md)
+- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md)
+- [SensorsStatus](../msg_docs/SensorsStatus.md)
+- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md)
+- [NeuralControl](../msg_docs/NeuralControl.md)
+- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md)
+- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md)
+- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md)
+- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md)
+- [GeofenceResult](../msg_docs/GeofenceResult.md)
+- [SystemPower](../msg_docs/SystemPower.md)
+- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md)
+- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md)
+- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md)
+- [CameraTrigger](../msg_docs/CameraTrigger.md)
+- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md)
+- [RoverRateStatus](../msg_docs/RoverRateStatus.md)
+- [NavigatorStatus](../msg_docs/NavigatorStatus.md)
+- [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md)
+- [VelocityLimits](../msg_docs/VelocityLimits.md)
+- [Gripper](../msg_docs/Gripper.md)
+- [Mission](../msg_docs/Mission.md)
+- [RtlStatus](../msg_docs/RtlStatus.md)
+- [GainCompression](../msg_docs/GainCompression.md)
+- [DatamanResponse](../msg_docs/DatamanResponse.md)
+- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md)
+- [SensorGyroFft](../msg_docs/SensorGyroFft.md)
+- [DeviceInformation](../msg_docs/DeviceInformation.md)
+- [UlogStream](../msg_docs/UlogStream.md)
+- [SensorSelection](../msg_docs/SensorSelection.md)
+- [DebugVect](../msg_docs/DebugVect.md)
+- [PpsCapture](../msg_docs/PpsCapture.md)
+- [OrbTestLarge](../msg_docs/OrbTestLarge.md)
+- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md)
+- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md)
+- [FigureEightStatus](../msg_docs/FigureEightStatus.md)
+- [ActuatorArmed](../msg_docs/ActuatorArmed.md)
+- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md)
+- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md)
+- [FollowTarget](../msg_docs/FollowTarget.md)
+- [DebugArray](../msg_docs/DebugArray.md)
+- [DebugValue](../msg_docs/DebugValue.md)
+- [Rpm](../msg_docs/Rpm.md)
+- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md)
+- [CellularStatus](../msg_docs/CellularStatus.md)
+- [ButtonEvent](../msg_docs/ButtonEvent.md)
+- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md)
+- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md)
+- [PwmInput](../msg_docs/PwmInput.md)
+- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md)
+- [RaptorStatus](../msg_docs/RaptorStatus.md)
+- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md)
+- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md)
+- [SensorBaro](../msg_docs/SensorBaro.md)
+- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md)
+- [InputRc](../msg_docs/InputRc.md)
+- [AirspeedWind](../msg_docs/AirspeedWind.md)
+- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md)
+- [Vtx](../msg_docs/Vtx.md)
+- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md)
+- [SatelliteInfo](../msg_docs/SatelliteInfo.md)
+- [TaskStackInfo](../msg_docs/TaskStackInfo.md)
+- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md)
+- [GeneratorStatus](../msg_docs/GeneratorStatus.md)
+- [MissionResult](../msg_docs/MissionResult.md)
+- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md)
+- [ActuatorTest](../msg_docs/ActuatorTest.md)
+- [IrlockReport](../msg_docs/IrlockReport.md)
+- [AdcReport](../msg_docs/AdcReport.md)
+- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md)
+- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md)
+- [Ping](../msg_docs/Ping.md)
+- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md)
+- [Cpuload](../msg_docs/Cpuload.md)
:::
diff --git a/docs/uk/middleware/micrortps.md b/docs/uk/middleware/micrortps.md
index 0b58c00792..80d0efbab7 100644
--- a/docs/uk/middleware/micrortps.md
+++ b/docs/uk/middleware/micrortps.md
@@ -3,4 +3,4 @@
[arguments...]
## rgbled
-Source: [drivers/lights/rgbled](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/lights/rgbled)
+Source: [drivers/lights/rgbled_ncp5623c](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/lights/rgbled_ncp5623c)
### Usage {#rgbled_usage}
@@ -1124,7 +1124,9 @@ rgbled [arguments...]
[-f ] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-a ] I2C address
- default: 85
+ default: 57
+ [-o ] RGB PWM Assignment
+ default: 123
stop
diff --git a/docs/uk/modules/modules_driver_distance_sensor.md b/docs/uk/modules/modules_driver_distance_sensor.md
index 4ed7caf5f7..a1952bc9c5 100644
--- a/docs/uk/modules/modules_driver_distance_sensor.md
+++ b/docs/uk/modules/modules_driver_distance_sensor.md
@@ -98,13 +98,56 @@ leddar_one [arguments...]
stop Stop driver
```
+## lightware_grf_serial
+
+Source: [drivers/distance_sensor/lightware_grf_serial](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/lightware_grf_serial)
+
+### Опис
+
+Serial bus driver for the Lightware GRF Laser rangefinder.
+
+### Налаштування
+
+https://docs.px4.io/main/en/sensor/grf_lidar
+
+### Параметри
+
+https://docs.px4.io/main/en/advanced_config/parameter_reference#GRF_SENS_MODEL
+https://docs.px4.io/main/en/advanced_config/parameter_reference#GRF_RATE_CFG
+https://docs.px4.io/main/en/advanced_config/parameter_reference#SENS_EN_GRF_CFG
+
+### Приклади
+
+Attempt to start driver on a specified serial device.
+
+```
+lightware_grf_serial start -d /dev/ttyS1
+```
+
+Stop driver
+
+```
+lightware_grf_serial stop
+```
+
+### Usage {#lightware_grf_serial_usage}
+
+```
+lightware_grf_serial [arguments...]
+ Commands:
+ start Start driver
+ -d Serial device
+
+ stop Stop driver
+```
+
## lightware_laser_i2c
Source: [drivers/distance_sensor/lightware_laser_i2c](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/lightware_laser_i2c)
### Опис
-I2C bus driver for Lightware SFxx series LIDAR rangefinders: SF10/a, SF10/b, SF10/c, SF11/c, SF/LW20, SF30/d.
+I2C bus driver for Lightware LIDAR rangefinders: SF10/a, SF10/b, SF10/c, SF11/c, SF/LW20, SF/LW30/d, GRF250, GRF500.
Setup/usage information: https://docs.px4.io/main/en/sensor/sfxx_lidar.html
@@ -122,8 +165,6 @@ lightware_laser_i2c [arguments...]
[-q] quiet startup (no message if no device found)
[-a ] I2C address
default: 102
- [-R ] Sensor rotation - downward facing by default
- default: 25
stop
diff --git a/docs/uk/modules/modules_driver_ins.md b/docs/uk/modules/modules_driver_ins.md
index 0385004203..958b0f48d4 100644
--- a/docs/uk/modules/modules_driver_ins.md
+++ b/docs/uk/modules/modules_driver_ins.md
@@ -9,7 +9,7 @@ Source: [drivers/ins/microstrain](https://github.com/PX4/PX4-Autopilot/tree/main
MicroStrain by HBK Inertial Sensor Driver.
Currently supports the following sensors:
--[CV7-AR](https://www.hbkworld.com/en/products/transducers/inertial-sensors/vertical-reference-units--vru-/3dm-cv7-ar) -[CV7-AHRS](https://www.hbkworld.com/en/products/transducers/inertial-sensors/attitude-and-heading-reference-systems--ahrs-/3dm-cv7-ahrs) -[CV7-INS](https://www.hbkworld.com/en/products/transducers/inertial-sensors/inertial-navigation-systems--ins-/3dm-cv7-ins) -[CV7-GNSS/INS](https://www.hbkworld.com/en/products/transducers/inertial-sensors/inertial-navigation-systems--ins-/3dm-cv7-gnss-ins)
+-[CV7-AR](https://www.hbkworld.com/en/products/transducers/inertial-sensors/vertical-reference-units--vru-/3dm-cv7-ar) -[CV7-AHRS](https://www.hbkworld.com/en/products/transducers/inertial-sensors/attitude-and-heading-reference-systems--ahrs-/3dm-cv7-ahrs) -[CV7-INS](https://www.hbkworld.com/en/products/transducers/inertial-sensors/navigation/3dm-cv7-ins) -[CV7-GNSS/INS](https://www.hbkworld.com/en/products/transducers/inertial-sensors/navigation/3dm-cv7-gnss-ins)
This driver is not included in the firmware by default.
Include the module in firmware by setting the
diff --git a/docs/uk/modules/modules_estimator.md b/docs/uk/modules/modules_estimator.md
index af7d898ee6..619a52a5c3 100644
--- a/docs/uk/modules/modules_estimator.md
+++ b/docs/uk/modules/modules_estimator.md
@@ -52,7 +52,7 @@ Source: [modules/ekf2](https://github.com/PX4/PX4-Autopilot/tree/main/src/module
Оцінювач відношення та позиції за допомогою розширеного фільтра Калмана. Використовується для багатороторних і фіксованих крил.
-The documentation can be found on the [ECL/EKF Overview & Tuning](https://docs.px4.io/main/en/advanced_config/tuning_the_ecl_ekf.html) page.
+The documentation can be found on the [ECL/EKF Overview & Tuning](../advanced_config/tuning_the_ecl_ekf.md) page.
ekf2 can be started in replay mode (`-r`): in this mode, it does not access the system time, but only uses the
timestamps from the sensor topics.
diff --git a/docs/uk/modules/modules_system.md b/docs/uk/modules/modules_system.md
index ef5cd50c40..ea604ac422 100644
--- a/docs/uk/modules/modules_system.md
+++ b/docs/uk/modules/modules_system.md
@@ -321,7 +321,7 @@ Source: [drivers/heater](https://github.com/PX4/PX4-Autopilot/tree/main/src/driv
### Опис
-Background process running periodically on the LP work queue to regulate IMU temperature at a setpoint.
+Background process running periodically on the INS{i} queue to regulate IMU temperature at a setpoint.
This task can be started at boot from the startup scripts by setting SENS_EN_THERMAL or via CLI.
@@ -732,7 +732,7 @@ The module is typically used together with uORB publisher rules, to specify whic
The replay module will just publish all messages that are found in the log. It also applies the parameters from
the log.
-The replay procedure is documented on the [System-wide Replay](https://docs.px4.io/main/en/debug/system_wide_replay.html)
+The replay procedure is documented on the [System-wide Replay](../debug/system_wide_replay.md)
page.
### Usage {#replay_usage}
@@ -921,6 +921,30 @@ system_power_simulation [arguments...]
status print status info
```
+## task_watchdog
+
+Source: [modules/task_watchdog](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/task_watchdog)
+
+### Опис
+
+Detects when a higher-priority task starves the system by running too long.
+When starvation is detected, dumps the offending task's registers and stack,
+and saves a cpuload snapshot.
+
+### Usage {#task_watchdog_usage}
+
+```
+task_watchdog [arguments...]
+ Commands:
+ start
+
+ trigger Manually trigger the watchdog
+
+ stop
+
+ status print status info
+```
+
## tattu_can
Source: [drivers/tattu_can](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/tattu_can)
diff --git a/docs/uk/msg_docs/ActionRequest.md b/docs/uk/msg_docs/ActionRequest.md
index 71b4bfde29..077a3e2f07 100644
--- a/docs/uk/msg_docs/ActionRequest.md
+++ b/docs/uk/msg_docs/ActionRequest.md
@@ -25,26 +25,26 @@ Request are published by `manual_control` and subscribed by the `commander` and
### ACTION {#ACTION}
-| Назва | Тип | Значення | Опис |
-| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ---------------------------------------------------------------------------------------- |
-| ACTION_DISARM | `uint8` | 0 | Disarm vehicle |
-| ACTION_ARM | `uint8` | 1 | Arm vehicle |
-| ACTION_TOGGLE_ARMING | `uint8` | 2 | Toggle arming |
-| ACTION_UNKILL | `uint8` | 3 | Revert a kill action |
-| ACTION_KILL | `uint8` | 4 | Kill vehicle (instantly stop the motors) |
-| ACTION_SWITCH_MODE | `uint8` | 5 | Switch mode. The target mode is set in the `mode` field. |
-| ACTION_VTOL_TRANSITION_TO_MULTICOPTER | `uint8` | 6 | Transition to hover flight |
-| ACTION_VTOL_TRANSITION_TO_FIXEDWING | `uint8` | 7 | Transition to fast forward flight |
-| ACTION_TERMINATION | `uint8` | 8 | Irreversibly output failsafe values on all outputs, trigger parachute |
+| Назва | Тип | Значення | Опис |
+| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ---------------------------------------------------------------------------------------- |
+| ACTION_DISARM | `uint8` | 0 | Disarm vehicle |
+| ACTION_ARM | `uint8` | 1 | Arm vehicle |
+| ACTION_TOGGLE_ARMING | `uint8` | 2 | Toggle arming |
+| ACTION_UNKILL | `uint8` | 3 | Revert a kill action |
+| ACTION_KILL | `uint8` | 4 | Kill vehicle (instantly stop the motors) |
+| ACTION_SWITCH_MODE | `uint8` | 5 | Switch mode. The target mode is set in the `mode` field. |
+| ACTION_VTOL_TRANSITION_TO_MULTICOPTER | `uint8` | 6 | Transition to hover flight |
+| ACTION_VTOL_TRANSITION_TO_FIXEDWING | `uint8` | 7 | Transition to fast forward flight |
+| ACTION_TERMINATION | `uint8` | 8 | Irreversibly output failsafe values on all outputs, trigger parachute |
### SOURCE {#SOURCE}
-| Назва | Тип | Значення | Опис |
-| ---------------------------------------------------------------------------------------------------------------------- | ------- | -------- | --------------------------------------------------------------- |
-| SOURCE_STICK_GESTURE | `uint8` | 0 | Triggered by holding the sticks in a certain position |
-| SOURCE_RC_SWITCH | `uint8` | 1 | Triggered by an RC switch moving into a certain position |
-| SOURCE_RC_BUTTON | `uint8` | 2 | Triggered by a momentary button on the RC being pressed or held |
-| SOURCE_RC_MODE_SLOT | `uint8` | 3 | Mode change through the RC mode selection mechanism |
+| Назва | Тип | Значення | Опис |
+| -------------------------------------------------------------------------------------------------------------------- | ------- | -------- | --------------------------------------------------------------- |
+| SOURCE_STICK_GESTURE | `uint8` | 0 | Triggered by holding the sticks in a certain position |
+| SOURCE_RC_SWITCH | `uint8` | 1 | Triggered by an RC switch moving into a certain position |
+| SOURCE_RC_BUTTON | `uint8` | 2 | Triggered by a momentary button on the RC being pressed or held |
+| SOURCE_RC_MODE_SLOT | `uint8` | 3 | Mode change through the RC mode selection mechanism |
## Source Message
@@ -60,26 +60,26 @@ Click here to see original file
# It allows mapping triggers from various external interfaces like RC channels or MAVLink to cause an action.
# Request are published by `manual_control` and subscribed by the `commander` and `vtol_att_control` modules.
-uint64 timestamp # [us] Time since system start
+uint64 timestamp # [us] Time since system start
-uint8 action # [@enum ACTION] Requested action
-uint8 ACTION_DISARM = 0 # Disarm vehicle
-uint8 ACTION_ARM = 1 # Arm vehicle
-uint8 ACTION_TOGGLE_ARMING = 2 # Toggle arming
-uint8 ACTION_UNKILL = 3 # Revert a kill action
-uint8 ACTION_KILL = 4 # Kill vehicle (instantly stop the motors)
-uint8 ACTION_SWITCH_MODE = 5 # Switch mode. The target mode is set in the `mode` field.
-uint8 ACTION_VTOL_TRANSITION_TO_MULTICOPTER = 6 # Transition to hover flight
-uint8 ACTION_VTOL_TRANSITION_TO_FIXEDWING = 7 # Transition to fast forward flight
-uint8 ACTION_TERMINATION = 8 # Irreversibly output failsafe values on all outputs, trigger parachute
+uint8 action # [@enum ACTION] Requested action
+uint8 ACTION_DISARM = 0 # Disarm vehicle
+uint8 ACTION_ARM = 1 # Arm vehicle
+uint8 ACTION_TOGGLE_ARMING = 2 # Toggle arming
+uint8 ACTION_UNKILL = 3 # Revert a kill action
+uint8 ACTION_KILL = 4 # Kill vehicle (instantly stop the motors)
+uint8 ACTION_SWITCH_MODE = 5 # Switch mode. The target mode is set in the `mode` field.
+uint8 ACTION_VTOL_TRANSITION_TO_MULTICOPTER = 6 # Transition to hover flight
+uint8 ACTION_VTOL_TRANSITION_TO_FIXEDWING = 7 # Transition to fast forward flight
+uint8 ACTION_TERMINATION = 8 # Irreversibly output failsafe values on all outputs, trigger parachute
-uint8 source # [@enum SOURCE] Request trigger type, such as a switch, button or gesture
-uint8 SOURCE_STICK_GESTURE = 0 # Triggered by holding the sticks in a certain position
-uint8 SOURCE_RC_SWITCH = 1 # Triggered by an RC switch moving into a certain position
-uint8 SOURCE_RC_BUTTON = 2 # Triggered by a momentary button on the RC being pressed or held
-uint8 SOURCE_RC_MODE_SLOT = 3 # Mode change through the RC mode selection mechanism
+uint8 source # [@enum SOURCE] Request trigger type, such as a switch, button or gesture
+uint8 SOURCE_STICK_GESTURE = 0 # Triggered by holding the sticks in a certain position
+uint8 SOURCE_RC_SWITCH = 1 # Triggered by an RC switch moving into a certain position
+uint8 SOURCE_RC_BUTTON = 2 # Triggered by a momentary button on the RC being pressed or held
+uint8 SOURCE_RC_MODE_SLOT = 3 # Mode change through the RC mode selection mechanism
-uint8 mode # Requested mode. Only applies when `action` is `ACTION_SWITCH_MODE`. Values for this field are defined by the `vehicle_status_s::NAVIGATION_STATE_*` enumeration.
+uint8 mode # Requested mode. Only applies when `action` is `ACTION_SWITCH_MODE`. Values for this field are defined by the `vehicle_status_s::NAVIGATION_STATE_*` enumeration.
```
:::
diff --git a/docs/uk/msg_docs/ActuatorMotors.md b/docs/uk/msg_docs/ActuatorMotors.md
index bb061ef8ae..6a5e8c0fc0 100644
--- a/docs/uk/msg_docs/ActuatorMotors.md
+++ b/docs/uk/msg_docs/ActuatorMotors.md
@@ -18,15 +18,15 @@ Published by the vehicle's allocation and consumed by the ESC protocol drivers e
| timestamp | `uint64` | us | | Time since system start |
| timestamp_sample | `uint64` | us | | Sampling timestamp of the data this control response is based on |
| reversible_flags | `uint16` | | | Bitset indicating which motors are configured to be reversible |
-| control | `float32[12]` | | [-1 : 1] | Normalized thrust. where 1 means maximum positive thrust, -1 maximum negative (if not supported by the output, <0 maps to NaN). NaN maps to disarmed (stop the motors) |
+| control | `float32[12]` | | [-1 : 1] | Normalized thrust. Where 1 means maximum positive thrust, -1 maximum negative (if not supported by the output, <0 maps to NaN). NaN maps to disarmed (stop the motors) |
## Constants
-| Назва | Тип | Значення | Опис |
-| ----------------------------------------------------------------------------------------------------------- | -------- | -------- | ---- |
-| MESSAGE_VERSION | `uint32` | 0 | |
-| ACTUATOR_FUNCTION_MOTOR1 | `uint8` | 101 | |
-| NUM_CONTROLS | `uint8` | 12 | |
+| Назва | Тип | Значення | Опис |
+| --------------------------------------------------------------------------------------------------------- | -------- | -------- | ---- |
+| MESSAGE_VERSION | `uint32` | 0 | |
+| ACTUATOR_FUNCTION_MOTOR1 | `uint8` | 101 | |
+| NUM_CONTROLS | `uint8` | 12 | |
## Source Message
@@ -43,15 +43,15 @@ Click here to see original file
uint32 MESSAGE_VERSION = 0
-uint64 timestamp # [us] Time since system start
-uint64 timestamp_sample # [us] Sampling timestamp of the data this control response is based on
+uint64 timestamp # [us] Time since system start
+uint64 timestamp_sample # [us] Sampling timestamp of the data this control response is based on
-uint16 reversible_flags # [-] Bitset indicating which motors are configured to be reversible
+uint16 reversible_flags # [-] Bitset indicating which motors are configured to be reversible
-uint8 ACTUATOR_FUNCTION_MOTOR1 = 101 #
+uint8 ACTUATOR_FUNCTION_MOTOR1 = 101
-uint8 NUM_CONTROLS = 12 #
-float32[12] control # [@range -1, 1] Normalized thrust. where 1 means maximum positive thrust, -1 maximum negative (if not supported by the output, <0 maps to NaN). NaN maps to disarmed (stop the motors)
+uint8 NUM_CONTROLS = 12
+float32[12] control # [@range -1, 1] Normalized thrust. Where 1 means maximum positive thrust, -1 maximum negative (if not supported by the output, <0 maps to NaN). NaN maps to disarmed (stop the motors)
```
:::
diff --git a/docs/uk/msg_docs/ActuatorOutputs.md b/docs/uk/msg_docs/ActuatorOutputs.md
index 68446e67ba..feb106b70a 100644
--- a/docs/uk/msg_docs/ActuatorOutputs.md
+++ b/docs/uk/msg_docs/ActuatorOutputs.md
@@ -16,10 +16,10 @@ pageClass: is-wide-page
## Constants
-| Назва | Тип | Значення | Опис |
-| ------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ------------------- |
-| NUM_ACTUATOR_OUTPUTS | `uint8` | 16 | |
-| NUM_ACTUATOR_OUTPUT_GROUPS | `uint8` | 4 | for sanity checking |
+| Назва | Тип | Значення | Опис |
+| ---------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ------------------- |
+| NUM_ACTUATOR_OUTPUTS | `uint8` | 16 | |
+| NUM_ACTUATOR_OUTPUT_GROUPS | `uint8` | 4 | for sanity checking |
## Source Message
diff --git a/docs/uk/msg_docs/ActuatorServos.md b/docs/uk/msg_docs/ActuatorServos.md
index dcd37b31bb..32f9ea9eca 100644
--- a/docs/uk/msg_docs/ActuatorServos.md
+++ b/docs/uk/msg_docs/ActuatorServos.md
@@ -21,10 +21,10 @@ Published by the vehicle's allocation and consumed by the actuator output driver
## Constants
-| Назва | Тип | Значення | Опис |
-| -------------------------------------------------------------------- | -------- | -------- | ---- |
-| MESSAGE_VERSION | `uint32` | 0 | |
-| NUM_CONTROLS | `uint8` | 8 | |
+| Назва | Тип | Значення | Опис |
+| ------------------------------------------------------------------ | -------- | -------- | ---- |
+| MESSAGE_VERSION | `uint32` | 0 | |
+| NUM_CONTROLS | `uint8` | 8 | |
## Source Message
@@ -41,11 +41,11 @@ Click here to see original file
uint32 MESSAGE_VERSION = 0
-uint64 timestamp # [us] Time since system start
-uint64 timestamp_sample # [us] Sampling timestamp of the data this control response is based on
+uint64 timestamp # [us] Time since system start
+uint64 timestamp_sample # [us] Sampling timestamp of the data this control response is based on
-uint8 NUM_CONTROLS = 8 #
-float32[8] control # [-] [@range -1, 1] Normalized output. 1 means maximum positive position. -1 maximum negative position (if not supported by the output, <0 maps to NaN). NaN maps to disarmed.
+uint8 NUM_CONTROLS = 8
+float32[8] control # [-] [@range -1, 1] Normalized output. 1 means maximum positive position. -1 maximum negative position (if not supported by the output, <0 maps to NaN). NaN maps to disarmed.
```
:::
diff --git a/docs/uk/msg_docs/ActuatorServosTrim.md b/docs/uk/msg_docs/ActuatorServosTrim.md
index eaa760e4a7..bac3fddfc0 100644
--- a/docs/uk/msg_docs/ActuatorServosTrim.md
+++ b/docs/uk/msg_docs/ActuatorServosTrim.md
@@ -6,7 +6,7 @@ pageClass: is-wide-page
Servo trims, added as offset to servo outputs.
-**TOPICS:** actuator_servostrim
+**TOPICS:** actuator_servos_trim
## Fields
@@ -17,9 +17,9 @@ Servo trims, added as offset to servo outputs.
## Constants
-| Назва | Тип | Значення | Опис |
-| -------------------------------------------------------------- | ------- | -------- | ---- |
-| NUM_CONTROLS | `uint8` | 8 | |
+| Назва | Тип | Значення | Опис |
+| ------------------------------------------------------------ | ------- | -------- | ---- |
+| NUM_CONTROLS | `uint8` | 8 | |
## Source Message
diff --git a/docs/uk/msg_docs/ActuatorTest.md b/docs/uk/msg_docs/ActuatorTest.md
index c07d77a528..d6d667c985 100644
--- a/docs/uk/msg_docs/ActuatorTest.md
+++ b/docs/uk/msg_docs/ActuatorTest.md
@@ -18,15 +18,15 @@ pageClass: is-wide-page
## Constants
-| Назва | Тип | Значення | Опис |
-| ------------------------------------------------------------------------------------------------------- | ------- | -------- | -------------------------------------------------------------------------------------------------------------------- |
-| ACTION_RELEASE_CONTROL | `uint8` | 0 | exit test mode for the given function |
-| ACTION_DO_CONTROL | `uint8` | 1 | enable actuator test mode |
-| FUNCTION_MOTOR1 | `uint8` | 101 | |
-| MAX_NUM_MOTORS | `uint8` | 12 | |
-| FUNCTION_SERVO1 | `uint8` | 201 | |
-| MAX_NUM_SERVOS | `uint8` | 8 | |
-| ORB_QUEUE_LENGTH | `uint8` | 16 | > = MAX_NUM_MOTORS to support code in esc_calibration |
+| Назва | Тип | Значення | Опис |
+| ----------------------------------------------------------------------------------------------------- | ------- | -------- | -------------------------------------------------------------------------------------------------------------------- |
+| ACTION_RELEASE_CONTROL | `uint8` | 0 | exit test mode for the given function |
+| ACTION_DO_CONTROL | `uint8` | 1 | enable actuator test mode |
+| FUNCTION_MOTOR1 | `uint8` | 101 | |
+| MAX_NUM_MOTORS | `uint8` | 12 | |
+| FUNCTION_SERVO1 | `uint8` | 201 | |
+| MAX_NUM_SERVOS | `uint8` | 8 | |
+| ORB_QUEUE_LENGTH | `uint8` | 16 | > = MAX_NUM_MOTORS to support code in esc_calibration |
## Source Message
diff --git a/docs/uk/msg_docs/AirspeedValidated.md b/docs/uk/msg_docs/AirspeedValidated.md
index 306128407a..405c978bdc 100644
--- a/docs/uk/msg_docs/AirspeedValidated.md
+++ b/docs/uk/msg_docs/AirspeedValidated.md
@@ -30,20 +30,20 @@ Used by controllers, estimators and for airspeed reporting to operator.
### SOURCE {#SOURCE}
-| Назва | Тип | Значення | Опис |
-| -------------------------------------------------------------------------------------------------------------------------------- | ------ | -------- | ----------------------- |
-| SOURCE_DISABLED | `int8` | -1 | Disabled |
-| SOURCE_GROUND_MINUS_WIND | `int8` | 0 | Ground speed minus wind |
-| SOURCE_SENSOR_1 | `int8` | 1 | Sensor 1 |
-| SOURCE_SENSOR_2 | `int8` | 2 | Sensor 2 |
-| SOURCE_SENSOR_3 | `int8` | 3 | Sensor 3 |
-| SOURCE_SYNTHETIC | `int8` | 4 | Synthetic airspeed |
+| Назва | Тип | Значення | Опис |
+| ------------------------------------------------------------------------------------------------------------------------------ | ------ | -------- | ----------------------- |
+| SOURCE_DISABLED | `int8` | -1 | Disabled |
+| SOURCE_GROUND_MINUS_WIND | `int8` | 0 | Ground speed minus wind |
+| SOURCE_SENSOR_1 | `int8` | 1 | Sensor 1 |
+| SOURCE_SENSOR_2 | `int8` | 2 | Sensor 2 |
+| SOURCE_SENSOR_3 | `int8` | 3 | Sensor 3 |
+| SOURCE_SYNTHETIC | `int8` | 4 | Synthetic airspeed |
## Constants
-| Назва | Тип | Значення | Опис |
-| -------------------------------------------------------------------- | -------- | -------- | ---- |
-| MESSAGE_VERSION | `uint32` | 1 | |
+| Назва | Тип | Значення | Опис |
+| ------------------------------------------------------------------ | -------- | -------- | ---- |
+| MESSAGE_VERSION | `uint32` | 1 | |
## Source Message
@@ -58,28 +58,27 @@ Click here to see original file
# Provides information about airspeed (indicated, true, calibrated) and the source of the data.
# Used by controllers, estimators and for airspeed reporting to operator.
-
uint32 MESSAGE_VERSION = 1
-uint64 timestamp # [us] Time since system start
+uint64 timestamp # [us] Time since system start
-float32 indicated_airspeed_m_s # [m/s] [@invalid NaN] Indicated airspeed (IAS)
-float32 calibrated_airspeed_m_s # [m/s] [@invalid NaN] Calibrated airspeed (CAS)
-float32 true_airspeed_m_s # [m/s] [@invalid NaN] True airspeed (TAS)
+float32 indicated_airspeed_m_s # [m/s] [@invalid NaN] Indicated airspeed (IAS)
+float32 calibrated_airspeed_m_s # [m/s] [@invalid NaN] Calibrated airspeed (CAS)
+float32 true_airspeed_m_s # [m/s] [@invalid NaN] True airspeed (TAS)
-int8 airspeed_source # [@enum SOURCE] Source of currently published airspeed values
-int8 SOURCE_DISABLED = -1 # Disabled
-int8 SOURCE_GROUND_MINUS_WIND = 0 # Ground speed minus wind
-int8 SOURCE_SENSOR_1 = 1 # Sensor 1
-int8 SOURCE_SENSOR_2 = 2 # Sensor 2
-int8 SOURCE_SENSOR_3 = 3 # Sensor 3
-int8 SOURCE_SYNTHETIC = 4 # Synthetic airspeed
+int8 airspeed_source # [@enum SOURCE] Source of currently published airspeed values
+int8 SOURCE_DISABLED = -1 # Disabled
+int8 SOURCE_GROUND_MINUS_WIND = 0 # Ground speed minus wind
+int8 SOURCE_SENSOR_1 = 1 # Sensor 1
+int8 SOURCE_SENSOR_2 = 2 # Sensor 2
+int8 SOURCE_SENSOR_3 = 3 # Sensor 3
+int8 SOURCE_SYNTHETIC = 4 # Synthetic airspeed
-float32 calibrated_ground_minus_wind_m_s # [m/s] [@invalid NaN] CAS calculated from groundspeed - windspeed, where windspeed is estimated based on a zero-sideslip assumption
-float32 calibraded_airspeed_synth_m_s # [m/s] [@invalid NaN] Synthetic airspeed
-float32 airspeed_derivative_filtered # [m/s^2] Filtered indicated airspeed derivative
-float32 throttle_filtered # [-] Filtered fixed-wing throttle
-float32 pitch_filtered # [rad] Filtered pitch
+float32 calibrated_ground_minus_wind_m_s # [m/s] [@invalid NaN] CAS calculated from groundspeed - windspeed, where windspeed is estimated based on a zero-sideslip assumption
+float32 calibraded_airspeed_synth_m_s # [m/s] [@invalid NaN] Synthetic airspeed
+float32 airspeed_derivative_filtered # [m/s^2] Filtered indicated airspeed derivative
+float32 throttle_filtered # [-] Filtered fixed-wing throttle
+float32 pitch_filtered # [rad] Filtered pitch
```
:::
diff --git a/docs/uk/msg_docs/AirspeedValidatedV0.md b/docs/uk/msg_docs/AirspeedValidatedV0.md
index 6fdd9f47d1..76b8129af7 100644
--- a/docs/uk/msg_docs/AirspeedValidatedV0.md
+++ b/docs/uk/msg_docs/AirspeedValidatedV0.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# AirspeedValidatedV0 (UORB message)
-**TOPICS:** airspeed_validatedv0
+**TOPICS:** airspeed_validated_v0
## Fields
@@ -24,9 +24,9 @@ pageClass: is-wide-page
## Constants
-| Назва | Тип | Значення | Опис |
-| -------------------------------------------------------------------- | -------- | -------- | ---- |
-| MESSAGE_VERSION | `uint32` | 0 | |
+| Назва | Тип | Значення | Опис |
+| ------------------------------------------------------------------ | -------- | -------- | ---- |
+| MESSAGE_VERSION | `uint32` | 0 | |
## Source Message
diff --git a/docs/uk/msg_docs/AirspeedWind.md b/docs/uk/msg_docs/AirspeedWind.md
index e3a90ba5ee..e425dcba7d 100644
--- a/docs/uk/msg_docs/AirspeedWind.md
+++ b/docs/uk/msg_docs/AirspeedWind.md
@@ -35,12 +35,12 @@ subscribed to by any other modules.
## Constants
-| Назва | Тип | Значення | Опис |
-| ---------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ----------------------------------------------------------------------------------------------------- |
-| SOURCE_AS_BETA_ONLY | `uint8` | 0 | Wind estimate only based on synthetic sideslip fusion |
-| SOURCE_AS_SENSOR_1 | `uint8` | 1 | Combined synthetic sideslip and airspeed fusion (data from first airspeed sensor) |
-| SOURCE_AS_SENSOR_2 | `uint8` | 2 | Combined synthetic sideslip and airspeed fusion (data from second airspeed sensor) |
-| SOURCE_AS_SENSOR_3 | `uint8` | 3 | Combined synthetic sideslip and airspeed fusion (data from third airspeed sensor) |
+| Назва | Тип | Значення | Опис |
+| -------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ----------------------------------------------------------------------------------------------------- |
+| SOURCE_AS_BETA_ONLY | `uint8` | 0 | Wind estimate only based on synthetic sideslip fusion |
+| SOURCE_AS_SENSOR_1 | `uint8` | 1 | Combined synthetic sideslip and airspeed fusion (data from first airspeed sensor) |
+| SOURCE_AS_SENSOR_2 | `uint8` | 2 | Combined synthetic sideslip and airspeed fusion (data from second airspeed sensor) |
+| SOURCE_AS_SENSOR_3 | `uint8` | 3 | Combined synthetic sideslip and airspeed fusion (data from third airspeed sensor) |
## Source Message
diff --git a/docs/uk/msg_docs/ArmingCheckReply.md b/docs/uk/msg_docs/ArmingCheckReply.md
index 732d88cb1c..4f56cab405 100644
--- a/docs/uk/msg_docs/ArmingCheckReply.md
+++ b/docs/uk/msg_docs/ArmingCheckReply.md
@@ -13,7 +13,7 @@ The request is sent regularly to all registered ROS modes, even while armed, so
Note that the external component is identified by its registration_id, which is allocated to the component during registration (arming_check_id in RegisterExtComponentReply).
The message is not used by internal/FMU components, as their mode requirements are known at compile time.
-**TOPICS:** arming_checkreply
+**TOPICS:** arming_check_reply
## Fields
@@ -45,16 +45,16 @@ The message is not used by internal/FMU components, as their mode requirements a
### HEALTH_COMPONENT_INDEX {#HEALTH_COMPONENT_INDEX}
-| Назва | Тип | Значення | Опис |
-| -------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | --------------------------------------------------------- |
-| HEALTH_COMPONENT_INDEX_NONE | `uint8` | 0 | Index of health component for which this response applies |
+| Назва | Тип | Значення | Опис |
+| ------------------------------------------------------------------------------------------------------------------------------------ | ------- | -------- | --------------------------------------------------------- |
+| HEALTH_COMPONENT_INDEX_NONE | `uint8` | 0 | Index of health component for which this response applies |
## Constants
-| Назва | Тип | Значення | Опис |
-| ------------------------------------------------------------------------------------------- | -------- | -------- | ---- |
-| MESSAGE_VERSION | `uint32` | 1 | |
-| ORB_QUEUE_LENGTH | `uint8` | 4 | |
+| Назва | Тип | Значення | Опис |
+| ----------------------------------------------------------------------------------------- | -------- | -------- | ---- |
+| MESSAGE_VERSION | `uint32` | 1 | |
+| ORB_QUEUE_LENGTH | `uint8` | 4 | |
## Source Message
@@ -73,40 +73,40 @@ Click here to see original file
# Note that the external component is identified by its registration_id, which is allocated to the component during registration (arming_check_id in RegisterExtComponentReply).
# The message is not used by internal/FMU components, as their mode requirements are known at compile time.
-uint32 MESSAGE_VERSION = 1
+uint32 MESSAGE_VERSION = 1
uint64 timestamp # [us] Time since system start.
-uint8 request_id # [-] Id of ArmingCheckRequest for which this is a response
-uint8 registration_id # [-] Id of external component emitting this response
+uint8 request_id # [-] Id of ArmingCheckRequest for which this is a response
+uint8 registration_id # [-] Id of external component emitting this response
-uint8 HEALTH_COMPONENT_INDEX_NONE = 0 # Index of health component for which this response applies
+uint8 HEALTH_COMPONENT_INDEX_NONE = 0 # Index of health component for which this response applies
-uint8 health_component_index # [@enum HEALTH_COMPONENT_INDEX]
-bool health_component_is_present # Unused. Intended for use with health events interface (health_component_t in events.json)
-bool health_component_warning # Unused. Intended for use with health events interface (health_component_t in events.json)
-bool health_component_error # Unused. Intended for use with health events interface (health_component_t in events.json)
+uint8 health_component_index # [@enum HEALTH_COMPONENT_INDEX]
+bool health_component_is_present # Unused. Intended for use with health events interface (health_component_t in events.json)
+bool health_component_warning # Unused. Intended for use with health events interface (health_component_t in events.json)
+bool health_component_error # Unused. Intended for use with health events interface (health_component_t in events.json)
-bool can_arm_and_run # True if the component can arm. For navigation mode components, true if the component can arm in the mode or switch to the mode when already armed
+bool can_arm_and_run # True if the component can arm. For navigation mode components, true if the component can arm in the mode or switch to the mode when already armed
-uint8 num_events # Number of queued failure messages (Event) in the events field
+uint8 num_events # Number of queued failure messages (Event) in the events field
-Event[5] events # Arming failure reasons (Queue of events to report to GCS)
+Event[5] events # Arming failure reasons (Queue of events to report to GCS)
# Mode requirements
-bool mode_req_angular_velocity # Requires angular velocity estimate (e.g. from gyroscope)
-bool mode_req_attitude # Requires an attitude estimate
-bool mode_req_local_alt # Requires a local altitude estimate
-bool mode_req_local_position # Requires a local position estimate
-bool mode_req_local_position_relaxed # Requires a more relaxed global position estimate
-bool mode_req_global_position # Requires a global position estimate
-bool mode_req_global_position_relaxed # Requires a relaxed global position estimate
-bool mode_req_mission # Requires an uploaded mission
-bool mode_req_home_position # Requires a home position (such as RTL/Return mode)
-bool mode_req_prevent_arming # Prevent arming (such as in Land mode)
-bool mode_req_manual_control # Requires a manual controller
+bool mode_req_angular_velocity # Requires angular velocity estimate (e.g. from gyroscope)
+bool mode_req_attitude # Requires an attitude estimate
+bool mode_req_local_alt # Requires a local altitude estimate
+bool mode_req_local_position # Requires a local position estimate
+bool mode_req_local_position_relaxed # Requires a more relaxed global position estimate
+bool mode_req_global_position # Requires a global position estimate
+bool mode_req_global_position_relaxed # Requires a relaxed global position estimate
+bool mode_req_mission # Requires an uploaded mission
+bool mode_req_home_position # Requires a home position (such as RTL/Return mode)
+bool mode_req_prevent_arming # Prevent arming (such as in Land mode)
+bool mode_req_manual_control # Requires a manual controller
-uint8 ORB_QUEUE_LENGTH = 4
+uint8 ORB_QUEUE_LENGTH = 4
```
:::
diff --git a/docs/uk/msg_docs/ArmingCheckReplyV0.md b/docs/uk/msg_docs/ArmingCheckReplyV0.md
index 80ddfcd015..9233eac589 100644
--- a/docs/uk/msg_docs/ArmingCheckReplyV0.md
+++ b/docs/uk/msg_docs/ArmingCheckReplyV0.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# ArmingCheckReplyV0 (UORB message)
-**TOPICS:** arming_checkreplyv0
+**TOPICS:** arming_check_reply_v0
## Fields
@@ -33,11 +33,11 @@ pageClass: is-wide-page
## Constants
-| Назва | Тип | Значення | Опис |
-| -------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ---- |
-| MESSAGE_VERSION | `uint32` | 0 | |
-| HEALTH_COMPONENT_INDEX_NONE | `uint8` | 0 | |
-| ORB_QUEUE_LENGTH | `uint8` | 4 | |
+| Назва | Тип | Значення | Опис |
+| ------------------------------------------------------------------------------------------------------------------------------------ | -------- | -------- | ---- |
+| MESSAGE_VERSION | `uint32` | 0 | |
+| HEALTH_COMPONENT_INDEX_NONE | `uint8` | 0 | |
+| ORB_QUEUE_LENGTH | `uint8` | 4 | |
## Source Message
diff --git a/docs/uk/msg_docs/ArmingCheckRequest.md b/docs/uk/msg_docs/ArmingCheckRequest.md
index bf878f600f..bdf54eccd5 100644
--- a/docs/uk/msg_docs/ArmingCheckRequest.md
+++ b/docs/uk/msg_docs/ArmingCheckRequest.md
@@ -13,7 +13,7 @@ The request is sent regularly, even while armed, so that the FMU always knows th
The reply will include the published request_id, allowing correlation of all arming check information for a particular request.
The reply will also include the registration_id for each external component, provided to it during the registration process (RegisterExtComponentReply).
-**TOPICS:** arming_checkrequest
+**TOPICS:** arming_check_request
## Fields
@@ -25,9 +25,9 @@ The reply will also include the registration_id for each external component, pro
## Constants
-| Назва | Тип | Значення | Опис |
-| -------------------------------------------------------------------- | -------- | -------- | ---- |
-| MESSAGE_VERSION | `uint32` | 1 | |
+| Назва | Тип | Значення | Опис |
+| ------------------------------------------------------------------ | -------- | -------- | ---- |
+| MESSAGE_VERSION | `uint32` | 1 | |
## Source Message
@@ -48,9 +48,9 @@ Click here to see original file
uint32 MESSAGE_VERSION = 1
-uint64 timestamp # [us] Time since system start
+uint64 timestamp # [us] Time since system start
-uint8 request_id # [-] Id of this request. Allows correlation with associated ArmingCheckReply messages.
+uint8 request_id # [-] Id of this request. Allows correlation with associated ArmingCheckReply messages.
uint32 valid_registrations_mask # [-] Bitmask of valid registration ID's (the bit is also cleared if flagged as unresponsive)
```
diff --git a/docs/uk/msg_docs/ArmingCheckRequestV0.md b/docs/uk/msg_docs/ArmingCheckRequestV0.md
index 6e5b4e3aaa..058550cc30 100644
--- a/docs/uk/msg_docs/ArmingCheckRequestV0.md
+++ b/docs/uk/msg_docs/ArmingCheckRequestV0.md
@@ -13,7 +13,7 @@ The request is sent regularly, even while armed, so that the FMU always knows th
The reply will include the published request_id, allowing correlation of all arming check information for a particular request.
The reply will also include the registration_id for each external component, provided to it during the registration process (RegisterExtComponentReply).
-**TOPICS:** arming_checkrequestv0
+**TOPICS:** arming_check_request_v0
## Fields
@@ -24,9 +24,9 @@ The reply will also include the registration_id for each external component, pro
## Constants
-| Назва | Тип | Значення | Опис |
-| -------------------------------------------------------------------- | -------- | -------- | ---- |
-| MESSAGE_VERSION | `uint32` | 0 | |
+| Назва | Тип | Значення | Опис |
+| ------------------------------------------------------------------ | -------- | -------- | ---- |
+| MESSAGE_VERSION | `uint32` | 0 | |
## Source Message
diff --git a/docs/uk/msg_docs/AutotuneAttitudeControlStatus.md b/docs/uk/msg_docs/AutotuneAttitudeControlStatus.md
index 0d2bfa03a8..2cec1fca89 100644
--- a/docs/uk/msg_docs/AutotuneAttitudeControlStatus.md
+++ b/docs/uk/msg_docs/AutotuneAttitudeControlStatus.md
@@ -11,7 +11,7 @@ and is subscribed to by the respective attitude controllers to command rate setp
The rate_sp field is consumed by the controllers, while the remaining fields (model coefficients, gains, filters, and autotune state) are used for logging and debugging.
-**TOPICS:** autotune_attitudecontrol_status
+**TOPICS:** autotune_attitude_control_status
## Fields
@@ -37,25 +37,25 @@ The rate_sp field is consumed by the controllers, while the remaining fields (mo
### STATE {#STATE}
-| Назва | Тип | Значення | Опис |
-| ---------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ------------------------------------------------------------------------------------------- |
-| STATE_IDLE | `uint8` | 0 | Idle (not running) |
-| STATE_INIT | `uint8` | 1 | Initialize filters and setup |
-| STATE_ROLL_AMPLITUDE_DETECTION | `uint8` | 2 | FW only: determine required excitation amplitude (roll) |
-| STATE_ROLL | `uint8` | 3 | Roll-axis excitation and model identification |
-| STATE_ROLL_PAUSE | `uint8` | 4 | Pause to return to level flight |
-| STATE_PITCH_AMPLITUDE_DETECTION | `uint8` | 5 | FW only: determine required excitation amplitude (pitch) |
-| STATE_PITCH | `uint8` | 6 | Pitch-axis excitation and model identification |
-| STATE_PITCH_PAUSE | `uint8` | 7 | Pause to return to level flight |
-| STATE_YAW_AMPLITUDE_DETECTION | `uint8` | 8 | FW only: determine required excitation amplitude (yaw) |
-| STATE_YAW | `uint8` | 9 | Yaw-axis excitation and model identification |
-| STATE_YAW_PAUSE | `uint8` | 10 | Pause to return to level flight |
-| STATE_VERIFICATION | `uint8` | 11 | Verify model and candidate gains |
-| STATE_APPLY | `uint8` | 12 | Apply gains |
-| STATE_TEST | `uint8` | 13 | Test gains in closed-loop |
-| STATE_COMPLETE | `uint8` | 14 | Tuning completed successfully |
-| STATE_FAIL | `uint8` | 15 | Tuning failed (model invalid or controller unstable) |
-| STATE_WAIT_FOR_DISARM | `uint8` | 16 | Waiting for disarm before finalizing |
+| Назва | Тип | Значення | Опис |
+| -------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ------------------------------------------------------------------------------------------- |
+| STATE_IDLE | `uint8` | 0 | Idle (not running) |
+| STATE_INIT | `uint8` | 1 | Initialize filters and setup |
+| STATE_ROLL_AMPLITUDE_DETECTION | `uint8` | 2 | FW only: determine required excitation amplitude (roll) |
+| STATE_ROLL | `uint8` | 3 | Roll-axis excitation and model identification |
+| STATE_ROLL_PAUSE | `uint8` | 4 | Pause to return to level flight |
+| STATE_PITCH_AMPLITUDE_DETECTION | `uint8` | 5 | FW only: determine required excitation amplitude (pitch) |
+| STATE_PITCH | `uint8` | 6 | Pitch-axis excitation and model identification |
+| STATE_PITCH_PAUSE | `uint8` | 7 | Pause to return to level flight |
+| STATE_YAW_AMPLITUDE_DETECTION | `uint8` | 8 | FW only: determine required excitation amplitude (yaw) |
+| STATE_YAW | `uint8` | 9 | Yaw-axis excitation and model identification |
+| STATE_YAW_PAUSE | `uint8` | 10 | Pause to return to level flight |
+| STATE_VERIFICATION | `uint8` | 11 | Verify model and candidate gains |
+| STATE_APPLY | `uint8` | 12 | Apply gains |
+| STATE_TEST | `uint8` | 13 | Test gains in closed-loop |
+| STATE_COMPLETE | `uint8` | 14 | Tuning completed successfully |
+| STATE_FAIL | `uint8` | 15 | Tuning failed (model invalid or controller unstable) |
+| STATE_WAIT_FOR_DISARM | `uint8` | 16 | Waiting for disarm before finalizing |
## Source Message
diff --git a/docs/uk/msg_docs/AuxGlobalPosition.md b/docs/uk/msg_docs/AuxGlobalPosition.md
new file mode 100644
index 0000000000..cc7e5c8a4d
--- /dev/null
+++ b/docs/uk/msg_docs/AuxGlobalPosition.md
@@ -0,0 +1,90 @@
+---
+pageClass: is-wide-page
+---
+
+# AuxGlobalPosition (UORB message)
+
+Auxiliary global position.
+
+This message provides global position data from an external source such as
+pseudolites, visual navigation, or other positioning system.
+
+**TOPICS:** aux_global_position
+
+## Fields
+
+| Назва | Тип | Unit [Frame] | Range/Enum | Опис |
+| ------------------------------------------------------------------------------------ | --------- | ---------------------------------------------------------------- | ----------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| timestamp | `uint64` | us | | Time since system start |
+| timestamp_sample | `uint64` | us | | Timestamp of the raw data |
+| id | `uint8` | | | Unique identifier for the AGP source |
+| source | `uint8` | | [SOURCE](#SOURCE) | Source type of the position data (based on mavlink::GLOBAL_POSITION_SRC) |
+| lat | `float64` | deg | | Latitude in WGS84 |
+| lon | `float64` | deg | | Longitude in WGS84 |
+| alt | `float32` | m | | Altitude above mean sea level (AMSL) (Invalid: NaN) |
+| eph | `float32` | m | | Std dev of horizontal position, lower bounded by NOISE param (Invalid: NaN) |
+| epv | `float32` | m | | Std dev of vertical position, lower bounded by NOISE param (Invalid: NaN) |
+| lat_lon_reset_counter | `uint8` | | | Counter for reset events on horizontal position coordinates |
+
+## Enums
+
+### SOURCE {#SOURCE}
+
+| Назва | Тип | Значення | Опис |
+| ------------------------------------------------------------------------ | ------- | -------- | -------------- |
+| SOURCE_UNKNOWN | `uint8` | 0 | Unknown source |
+| SOURCE_GNSS | `uint8` | 1 | GNSS |
+| SOURCE_VISION | `uint8` | 2 | Vision |
+| SOURCE_PSEUDOLITES | `uint8` | 3 | Pseudolites |
+| SOURCE_TERRAIN | `uint8` | 4 | Terrain |
+| SOURCE_MAGNETIC | `uint8` | 5 | Magnetic |
+| SOURCE_ESTIMATOR | `uint8` | 6 | Оцінювач |
+
+## Constants
+
+| Назва | Тип | Значення | Опис |
+| ------------------------------------------------------------------ | -------- | -------- | ---- |
+| MESSAGE_VERSION | `uint32` | 1 | |
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/AuxGlobalPosition.msg)
+
+:::details
+Click here to see original file
+
+```c
+# Auxiliary global position
+#
+# This message provides global position data from an external source such as
+# pseudolites, visual navigation, or other positioning system.
+
+uint32 MESSAGE_VERSION = 1
+
+uint64 timestamp # [us] Time since system start
+uint64 timestamp_sample # [us] Timestamp of the raw data
+
+uint8 id # [-] Unique identifier for the AGP source
+uint8 source # [@enum SOURCE] Source type of the position data (based on mavlink::GLOBAL_POSITION_SRC)
+uint8 SOURCE_UNKNOWN = 0 # Unknown source
+uint8 SOURCE_GNSS = 1 # GNSS
+uint8 SOURCE_VISION = 2 # Vision
+uint8 SOURCE_PSEUDOLITES = 3 # Pseudolites
+uint8 SOURCE_TERRAIN = 4 # Terrain
+uint8 SOURCE_MAGNETIC = 5 # Magnetic
+uint8 SOURCE_ESTIMATOR = 6 # Estimator
+
+# lat, lon: required for horizontal position fusion, alt: required for vertical position fusion
+float64 lat # [deg] Latitude in WGS84
+float64 lon # [deg] Longitude in WGS84
+float32 alt # [m] [@invalid NaN] Altitude above mean sea level (AMSL)
+
+float32 eph # [m] [@invalid NaN] Std dev of horizontal position, lower bounded by NOISE param
+float32 epv # [m] [@invalid NaN] Std dev of vertical position, lower bounded by NOISE param
+
+uint8 lat_lon_reset_counter # [-] Counter for reset events on horizontal position coordinates
+
+# TOPICS aux_global_position
+```
+
+:::
diff --git a/docs/uk/msg_docs/BatteryStatus.md b/docs/uk/msg_docs/BatteryStatus.md
index 348bccb768..8c6462553c 100644
--- a/docs/uk/msg_docs/BatteryStatus.md
+++ b/docs/uk/msg_docs/BatteryStatus.md
@@ -25,7 +25,7 @@ Battery instance information is also logged and streamed in MAVLink telemetry.
| remaining | `float32` | | [0 : 1] | Remaining capacity (Invalid: -1) |
| scale | `float32` | | [1 : -] | Scaling factor to compensate for lower actuation power caused by voltage sag (Invalid: -1) |
| time_remaining_s | `float32` | s | | Predicted time remaining until battery is empty under previous averaged load (Invalid: NaN) |
-| temperature | `float32` | °C | | Temperature of the battery (Invalid: NaN) |
+| temperature | `float32` | degC | | Temperature of the battery (Invalid: NaN) |
| cell_count | `uint8` | | | Number of cells (Invalid: 0) |
| source | `uint8` | | [SOURCE](#SOURCE) | Battery source |
| priority | `uint8` | | | Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1 |
@@ -59,52 +59,52 @@ Battery instance information is also logged and streamed in MAVLink telemetry.
### SOURCE {#SOURCE}
-| Назва | Тип | Значення | Опис |
-| ------------------------------------------------------------------------------------------------- | ------- | -------- | ----------------------------------------------------------------- |
-| SOURCE_POWER_MODULE | `uint8` | 0 | Power module (analog ADC or I2C power monitor) |
-| SOURCE_EXTERNAL | `uint8` | 1 | External (MAVLink, CAN, or external driver) |
-| SOURCE_ESCS | `uint8` | 2 | ESCs (via ESC telemetry) |
+| Назва | Тип | Значення | Опис |
+| ----------------------------------------------------------------------------------------------- | ------- | -------- | ----------------------------------------------------------------- |
+| SOURCE_POWER_MODULE | `uint8` | 0 | Power module (analog ADC or I2C power monitor) |
+| SOURCE_EXTERNAL | `uint8` | 1 | External (MAVLink, CAN, or external driver) |
+| SOURCE_ESCS | `uint8` | 2 | ESCs (via ESC telemetry) |
### WARNING {#WARNING}
-| Назва | Тип | Значення | Опис |
-| ------------------------------------------------------------------------ | ------- | -------- | -------------------------------------------- |
-| WARNING_NONE | `uint8` | 0 | No battery low voltage warning active |
-| WARNING_LOW | `uint8` | 1 | Low voltage warning |
-| WARNING_CRITICAL | `uint8` | 2 | Critical voltage, return / abort immediately |
-| WARNING_EMERGENCY | `uint8` | 3 | Immediate landing required |
-| WARNING_FAILED | `uint8` | 4 | Battery has failed completely |
+| Назва | Тип | Значення | Опис |
+| ---------------------------------------------------------------------- | ------- | -------- | -------------------------------------------- |
+| WARNING_NONE | `uint8` | 0 | No battery low voltage warning active |
+| WARNING_LOW | `uint8` | 1 | Low voltage warning |
+| WARNING_CRITICAL | `uint8` | 2 | Critical voltage, return / abort immediately |
+| WARNING_EMERGENCY | `uint8` | 3 | Immediate landing required |
+| WARNING_FAILED | `uint8` | 4 | Battery has failed completely |
### STATE {#STATE}
-| Назва | Тип | Значення | Опис |
-| -------------------------------------------------------------------- | ------- | -------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
-| STATE_UNHEALTHY | `uint8` | 6 | Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in faults field |
-| STATE_CHARGING | `uint8` | 7 | Battery is charging |
+| Назва | Тип | Значення | Опис |
+| ------------------------------------------------------------------ | ------- | -------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
+| STATE_UNHEALTHY | `uint8` | 6 | Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in faults field |
+| STATE_CHARGING | `uint8` | 7 | Battery is charging |
### FAULT {#FAULT}
-| Назва | Тип | Значення | Опис |
-| ---------------------------------------------------------------------------------------------------------------------- | ------- | -------- | --------------------------------------------------------------------------------------------------------------------------------- |
-| FAULT_DEEP_DISCHARGE | `uint8` | 0 | Battery has deep discharged |
-| FAULT_SPIKES | `uint8` | 1 | Voltage spikes |
-| FAULT_CELL_FAIL | `uint8` | 2 | One or more cells have failed |
-| FAULT_OVER_CURRENT | `uint8` | 3 | Over-current |
-| FAULT_OVER_TEMPERATURE | `uint8` | 4 | Over-temperature |
-| FAULT_UNDER_TEMPERATURE | `uint8` | 5 | Under-temperature fault |
-| FAULT_INCOMPATIBLE_VOLTAGE | `uint8` | 6 | Vehicle voltage is not compatible with this battery (batteries on same power rail should have similar voltage) |
-| FAULT_INCOMPATIBLE_FIRMWARE | `uint8` | 7 | Battery firmware is not compatible with current autopilot firmware |
-| FAULT_INCOMPATIBLE_MODEL | `uint8` | 8 | Battery model is not supported by the system |
-| FAULT_HARDWARE_FAILURE | `uint8` | 9 | Hardware problem |
-| FAULT_FAILED_TO_ARM | `uint8` | 10 | Battery had a problem while arming |
-| FAULT_COUNT | `uint8` | 11 | Counter. Keep this as last element |
+| Назва | Тип | Значення | Опис |
+| -------------------------------------------------------------------------------------------------------------------- | ------- | -------- | --------------------------------------------------------------------------------------------------------------------------------- |
+| FAULT_DEEP_DISCHARGE | `uint8` | 0 | Battery has deep discharged |
+| FAULT_SPIKES | `uint8` | 1 | Voltage spikes |
+| FAULT_CELL_FAIL | `uint8` | 2 | One or more cells have failed |
+| FAULT_OVER_CURRENT | `uint8` | 3 | Over-current |
+| FAULT_OVER_TEMPERATURE | `uint8` | 4 | Over-temperature |
+| FAULT_UNDER_TEMPERATURE | `uint8` | 5 | Under-temperature fault |
+| FAULT_INCOMPATIBLE_VOLTAGE | `uint8` | 6 | Vehicle voltage is not compatible with this battery (batteries on same power rail should have similar voltage) |
+| FAULT_INCOMPATIBLE_FIRMWARE | `uint8` | 7 | Battery firmware is not compatible with current autopilot firmware |
+| FAULT_INCOMPATIBLE_MODEL | `uint8` | 8 | Battery model is not supported by the system |
+| FAULT_HARDWARE_FAILURE | `uint8` | 9 | Hardware problem |
+| FAULT_FAILED_TO_ARM | `uint8` | 10 | Battery had a problem while arming |
+| FAULT_COUNT | `uint8` | 11 | Counter. Keep this as last element |
## Constants
-| Назва | Тип | Значення | Опис |
-| -------------------------------------------------------------------- | -------- | -------- | ---- |
-| MESSAGE_VERSION | `uint32` | 1 | |
-| MAX_INSTANCES | `uint8` | 3 | |
+| Назва | Тип | Значення | Опис |
+| ------------------------------------------------------------------ | -------- | -------- | ---- |
+| MESSAGE_VERSION | `uint32` | 1 | |
+| MAX_INSTANCES | `uint8` | 3 | |
## Source Message
@@ -123,76 +123,75 @@ Click here to see original file
uint32 MESSAGE_VERSION = 1
uint8 MAX_INSTANCES = 3
-uint64 timestamp # [us] Time since system start
+uint64 timestamp # [us] Time since system start
-bool connected # Whether or not a battery is connected. For power modules this is based on a voltage threshold.
-float32 voltage_v # [V] [@invalid 0] Battery voltage
-float32 current_a # [A] [@invalid -1] Battery current
-float32 current_average_a # [A] [@invalid -1] Battery current average (for FW average in level flight)
-float32 discharged_mah # [mAh] [@invalid -1] Discharged amount
-float32 remaining # [@range 0,1] [@invalid -1] Remaining capacity
-float32 scale # [-] [@range 1,] [@invalid -1] Scaling factor to compensate for lower actuation power caused by voltage sag
-float32 time_remaining_s # [s] [@invalid NaN] Predicted time remaining until battery is empty under previous averaged load
-float32 temperature # [°C] [@invalid NaN] Temperature of the battery
-uint8 cell_count # [-] [@invalid 0] Number of cells
+bool connected # Whether or not a battery is connected. For power modules this is based on a voltage threshold.
+float32 voltage_v # [V] [@invalid 0] Battery voltage
+float32 current_a # [A] [@invalid -1] Battery current
+float32 current_average_a # [A] [@invalid -1] Battery current average (for FW average in level flight)
+float32 discharged_mah # [mAh] [@invalid -1] Discharged amount
+float32 remaining # [@range 0,1] [@invalid -1] Remaining capacity
+float32 scale # [-] [@range 1,] [@invalid -1] Scaling factor to compensate for lower actuation power caused by voltage sag
+float32 time_remaining_s # [s] [@invalid NaN] Predicted time remaining until battery is empty under previous averaged load
+float32 temperature # [degC] [@invalid NaN] Temperature of the battery
+uint8 cell_count # [-] [@invalid 0] Number of cells
+uint8 source # [@enum SOURCE] Battery source
+uint8 SOURCE_POWER_MODULE = 0 # Power module (analog ADC or I2C power monitor)
+uint8 SOURCE_EXTERNAL = 1 # External (MAVLink, CAN, or external driver)
+uint8 SOURCE_ESCS = 2 # ESCs (via ESC telemetry)
-uint8 source # [@enum SOURCE] Battery source
-uint8 SOURCE_POWER_MODULE = 0 # Power module (analog ADC or I2C power monitor)
-uint8 SOURCE_EXTERNAL = 1 # External (MAVLink, CAN, or external driver)
-uint8 SOURCE_ESCS = 2 # ESCs (via ESC telemetry)
+uint8 priority # [-] Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1
+uint16 capacity # [mAh] Capacity of the battery when fully charged
+uint16 cycle_count # [-] Number of discharge cycles the battery has experienced
+uint16 average_time_to_empty # [minutes] Predicted remaining battery capacity based on the average rate of discharge
+uint16 manufacture_date # [-] Manufacture date, part of serial number of the battery pack. Formatted as: Day + Month×32 + (Year–1980)×512
+uint16 state_of_health # [%] [@range 0, 100] State of health. FullChargeCapacity/DesignCapacity
+uint16 max_error # [%] [@range 1, 100] Max error, expected margin of error in the state-of-charge calculation
+uint8 id # [-] ID number of a battery. Should be unique and consistent for the lifetime of a vehicle. 1-indexed
+uint16 interface_error # [-] Interface error counter
-uint8 priority # [-] Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1
-uint16 capacity # [mAh] Capacity of the battery when fully charged
-uint16 cycle_count # [-] Number of discharge cycles the battery has experienced
-uint16 average_time_to_empty # [minutes] Predicted remaining battery capacity based on the average rate of discharge
-uint16 manufacture_date # [-] Manufacture date, part of serial number of the battery pack. Formatted as: Day + Month×32 + (Year–1980)×512
-uint16 state_of_health # [%] [@range 0, 100] State of health. FullChargeCapacity/DesignCapacity
-uint16 max_error # [%] [@range 1, 100] Max error, expected margin of error in the state-of-charge calculation
-uint8 id # [-] ID number of a battery. Should be unique and consistent for the lifetime of a vehicle. 1-indexed
-uint16 interface_error # [-] Interface error counter
+float32[14] voltage_cell_v # [V] [@invalid 0] Battery individual cell voltages
+float32 max_cell_voltage_delta # [V] Max difference between individual cell voltages
-float32[14] voltage_cell_v # [V] [@invalid 0] Battery individual cell voltages
-float32 max_cell_voltage_delta # [V] Max difference between individual cell voltages
+bool is_powering_off # Power off event imminent indication, false if unknown
+bool is_required # Set if the battery is explicitly required before arming
-bool is_powering_off # Power off event imminent indication, false if unknown
-bool is_required # Set if the battery is explicitly required before arming
+uint8 warning # [@enum WARNING STATE] Current battery warning
+uint8 WARNING_NONE = 0 # No battery low voltage warning active
+uint8 WARNING_LOW = 1 # Low voltage warning
+uint8 WARNING_CRITICAL = 2 # Critical voltage, return / abort immediately
+uint8 WARNING_EMERGENCY = 3 # Immediate landing required
+uint8 WARNING_FAILED = 4 # Battery has failed completely
+uint8 STATE_UNHEALTHY = 6 # Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in faults field
+uint8 STATE_CHARGING = 7 # Battery is charging
-uint8 warning # [@enum WARNING STATE] Current battery warning
-uint8 WARNING_NONE = 0 # No battery low voltage warning active
-uint8 WARNING_LOW = 1 # Low voltage warning
-uint8 WARNING_CRITICAL = 2 # Critical voltage, return / abort immediately
-uint8 WARNING_EMERGENCY = 3 # Immediate landing required
-uint8 WARNING_FAILED = 4 # Battery has failed completely
-uint8 STATE_UNHEALTHY = 6 # Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in faults field
-uint8 STATE_CHARGING = 7 # Battery is charging
+uint16 faults # [@enum FAULT] Smart battery supply status/fault flags (bitmask) for health indication
+uint8 FAULT_DEEP_DISCHARGE = 0 # Battery has deep discharged
+uint8 FAULT_SPIKES = 1 # Voltage spikes
+uint8 FAULT_CELL_FAIL= 2 # One or more cells have failed
+uint8 FAULT_OVER_CURRENT = 3 # Over-current
+uint8 FAULT_OVER_TEMPERATURE = 4 # Over-temperature
+uint8 FAULT_UNDER_TEMPERATURE = 5 # Under-temperature fault
+uint8 FAULT_INCOMPATIBLE_VOLTAGE = 6 # Vehicle voltage is not compatible with this battery (batteries on same power rail should have similar voltage)
+uint8 FAULT_INCOMPATIBLE_FIRMWARE = 7 # Battery firmware is not compatible with current autopilot firmware
+uint8 FAULT_INCOMPATIBLE_MODEL = 8 # Battery model is not supported by the system
+uint8 FAULT_HARDWARE_FAILURE = 9 # Hardware problem
+uint8 FAULT_FAILED_TO_ARM = 10 # Battery had a problem while arming
+uint8 FAULT_COUNT = 11 # Counter. Keep this as last element
-uint16 faults # [@enum FAULT] Smart battery supply status/fault flags (bitmask) for health indication
-uint8 FAULT_DEEP_DISCHARGE = 0 # Battery has deep discharged
-uint8 FAULT_SPIKES = 1 # Voltage spikes
-uint8 FAULT_CELL_FAIL= 2 # One or more cells have failed
-uint8 FAULT_OVER_CURRENT = 3 # Over-current
-uint8 FAULT_OVER_TEMPERATURE = 4 # Over-temperature
-uint8 FAULT_UNDER_TEMPERATURE = 5 # Under-temperature fault
-uint8 FAULT_INCOMPATIBLE_VOLTAGE = 6 # Vehicle voltage is not compatible with this battery (batteries on same power rail should have similar voltage)
-uint8 FAULT_INCOMPATIBLE_FIRMWARE = 7 # Battery firmware is not compatible with current autopilot firmware
-uint8 FAULT_INCOMPATIBLE_MODEL = 8 # Battery model is not supported by the system
-uint8 FAULT_HARDWARE_FAILURE = 9 # Hardware problem
-uint8 FAULT_FAILED_TO_ARM = 10 # Battery had a problem while arming
-uint8 FAULT_COUNT = 11 # Counter. Keep this as last element
+float32 full_charge_capacity_wh # [Wh] Compensated battery capacity
+float32 remaining_capacity_wh # [Wh] Compensated battery capacity remaining
+uint16 over_discharge_count # [-] Number of battery overdischarge
+float32 nominal_voltage # [V] Nominal voltage of the battery pack
-float32 full_charge_capacity_wh # [Wh] Compensated battery capacity
-float32 remaining_capacity_wh # [Wh] Compensated battery capacity remaining
-uint16 over_discharge_count # [-] Number of battery overdischarge
-float32 nominal_voltage # [V] Nominal voltage of the battery pack
-
-float32 internal_resistance_estimate # [Ohm] Internal resistance per cell estimate
-float32 ocv_estimate # [V] Open circuit voltage estimate
-float32 ocv_estimate_filtered # [V] Filtered open circuit voltage estimate
-float32 volt_based_soc_estimate # [-] [@range 0, 1] Normalized volt based state of charge estimate
-float32 voltage_prediction # [V] Predicted voltage
-float32 prediction_error # [V] Prediction error
-float32 estimation_covariance_norm # [-] Norm of the covariance matrix
+float32 internal_resistance_estimate # [Ohm] Internal resistance per cell estimate
+float32 ocv_estimate # [V] Open circuit voltage estimate
+float32 ocv_estimate_filtered # [V] Filtered open circuit voltage estimate
+float32 volt_based_soc_estimate # [-] [@range 0, 1] Normalized volt based state of charge estimate
+float32 voltage_prediction # [V] Predicted voltage
+float32 prediction_error # [V] Prediction error
+float32 estimation_covariance_norm # [-] Norm of the covariance matrix
```
:::
diff --git a/docs/uk/msg_docs/BatteryStatusV0.md b/docs/uk/msg_docs/BatteryStatusV0.md
index 699eedd680..2abd411342 100644
--- a/docs/uk/msg_docs/BatteryStatusV0.md
+++ b/docs/uk/msg_docs/BatteryStatusV0.md
@@ -10,7 +10,7 @@ Battery status information for up to 4 battery instances.
These are populated from power module and smart battery device drivers, and one battery updated from MAVLink.
Battery instance information is also logged and streamed in MAVLink telemetry.
-**TOPICS:** battery_statusv0
+**TOPICS:** battery_status_v0
## Fields
@@ -60,52 +60,52 @@ Battery instance information is also logged and streamed in MAVLink telemetry.
### SOURCE {#SOURCE}
-| Назва | Тип | Значення | Опис |
-| ------------------------------------------------------------------------------------------------- | ------- | -------- | ----------------------------------------------------------------- |
-| SOURCE_POWER_MODULE | `uint8` | 0 | Power module (analog ADC or I2C power monitor) |
-| SOURCE_EXTERNAL | `uint8` | 1 | External (MAVLink, CAN, or external driver) |
-| SOURCE_ESCS | `uint8` | 2 | ESCs (via ESC telemetry) |
+| Назва | Тип | Значення | Опис |
+| ----------------------------------------------------------------------------------------------- | ------- | -------- | ----------------------------------------------------------------- |
+| SOURCE_POWER_MODULE | `uint8` | 0 | Power module (analog ADC or I2C power monitor) |
+| SOURCE_EXTERNAL | `uint8` | 1 | External (MAVLink, CAN, or external driver) |
+| SOURCE_ESCS | `uint8` | 2 | ESCs (via ESC telemetry) |
### WARNING {#WARNING}
-| Назва | Тип | Значення | Опис |
-| ------------------------------------------------------------------------ | ------- | -------- | -------------------------------------------- |
-| WARNING_NONE | `uint8` | 0 | No battery low voltage warning active |
-| WARNING_LOW | `uint8` | 1 | Low voltage warning |
-| WARNING_CRITICAL | `uint8` | 2 | Critical voltage, return / abort immediately |
-| WARNING_EMERGENCY | `uint8` | 3 | Immediate landing required |
-| WARNING_FAILED | `uint8` | 4 | Battery has failed completely |
+| Назва | Тип | Значення | Опис |
+| ---------------------------------------------------------------------- | ------- | -------- | -------------------------------------------- |
+| WARNING_NONE | `uint8` | 0 | No battery low voltage warning active |
+| WARNING_LOW | `uint8` | 1 | Low voltage warning |
+| WARNING_CRITICAL | `uint8` | 2 | Critical voltage, return / abort immediately |
+| WARNING_EMERGENCY | `uint8` | 3 | Immediate landing required |
+| WARNING_FAILED | `uint8` | 4 | Battery has failed completely |
### STATE {#STATE}
-| Назва | Тип | Значення | Опис |
-| -------------------------------------------------------------------- | ------- | -------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
-| STATE_UNHEALTHY | `uint8` | 6 | Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in faults field |
-| STATE_CHARGING | `uint8` | 7 | Battery is charging |
+| Назва | Тип | Значення | Опис |
+| ------------------------------------------------------------------ | ------- | -------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
+| STATE_UNHEALTHY | `uint8` | 6 | Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in faults field |
+| STATE_CHARGING | `uint8` | 7 | Battery is charging |
### FAULT {#FAULT}
-| Назва | Тип | Значення | Опис |
-| ---------------------------------------------------------------------------------------------------------------------- | ------- | -------- | --------------------------------------------------------------------------------------------------------------------------------- |
-| FAULT_DEEP_DISCHARGE | `uint8` | 0 | Battery has deep discharged |
-| FAULT_SPIKES | `uint8` | 1 | Voltage spikes |
-| FAULT_CELL_FAIL | `uint8` | 2 | One or more cells have failed |
-| FAULT_OVER_CURRENT | `uint8` | 3 | Over-current |
-| FAULT_OVER_TEMPERATURE | `uint8` | 4 | Over-temperature |
-| FAULT_UNDER_TEMPERATURE | `uint8` | 5 | Under-temperature fault |
-| FAULT_INCOMPATIBLE_VOLTAGE | `uint8` | 6 | Vehicle voltage is not compatible with this battery (batteries on same power rail should have similar voltage) |
-| FAULT_INCOMPATIBLE_FIRMWARE | `uint8` | 7 | Battery firmware is not compatible with current autopilot firmware |
-| FAULT_INCOMPATIBLE_MODEL | `uint8` | 8 | Battery model is not supported by the system |
-| FAULT_HARDWARE_FAILURE | `uint8` | 9 | Hardware problem |
-| FAULT_FAILED_TO_ARM | `uint8` | 10 | Battery had a problem while arming |
-| FAULT_COUNT | `uint8` | 11 | Counter. Keep this as last element |
+| Назва | Тип | Значення | Опис |
+| -------------------------------------------------------------------------------------------------------------------- | ------- | -------- | --------------------------------------------------------------------------------------------------------------------------------- |
+| FAULT_DEEP_DISCHARGE | `uint8` | 0 | Battery has deep discharged |
+| FAULT_SPIKES | `uint8` | 1 | Voltage spikes |
+| FAULT_CELL_FAIL | `uint8` | 2 | One or more cells have failed |
+| FAULT_OVER_CURRENT | `uint8` | 3 | Over-current |
+| FAULT_OVER_TEMPERATURE | `uint8` | 4 | Over-temperature |
+| FAULT_UNDER_TEMPERATURE | `uint8` | 5 | Under-temperature fault |
+| FAULT_INCOMPATIBLE_VOLTAGE | `uint8` | 6 | Vehicle voltage is not compatible with this battery (batteries on same power rail should have similar voltage) |
+| FAULT_INCOMPATIBLE_FIRMWARE | `uint8` | 7 | Battery firmware is not compatible with current autopilot firmware |
+| FAULT_INCOMPATIBLE_MODEL | `uint8` | 8 | Battery model is not supported by the system |
+| FAULT_HARDWARE_FAILURE | `uint8` | 9 | Hardware problem |
+| FAULT_FAILED_TO_ARM | `uint8` | 10 | Battery had a problem while arming |
+| FAULT_COUNT | `uint8` | 11 | Counter. Keep this as last element |
## Constants
-| Назва | Тип | Значення | Опис |
-| -------------------------------------------------------------------- | -------- | -------- | ---- |
-| MESSAGE_VERSION | `uint32` | 0 | |
-| MAX_INSTANCES | `uint8` | 4 | |
+| Назва | Тип | Значення | Опис |
+| ------------------------------------------------------------------ | -------- | -------- | ---- |
+| MESSAGE_VERSION | `uint32` | 0 | |
+| MAX_INSTANCES | `uint8` | 4 | |
## Source Message
diff --git a/docs/uk/msg_docs/ButtonEvent.md b/docs/uk/msg_docs/ButtonEvent.md
index 782bf6b33a..cb8f817e0d 100644
--- a/docs/uk/msg_docs/ButtonEvent.md
+++ b/docs/uk/msg_docs/ButtonEvent.md
@@ -15,9 +15,9 @@ pageClass: is-wide-page
## Constants
-| Назва | Тип | Значення | Опис |
-| ------------------------------------------------------------------------------------------- | ------- | -------- | ---- |
-| ORB_QUEUE_LENGTH | `uint8` | 2 | |
+| Назва | Тип | Значення | Опис |
+| ----------------------------------------------------------------------------------------- | ------- | -------- | ---- |
+| ORB_QUEUE_LENGTH | `uint8` | 2 | |
## Source Message
diff --git a/docs/uk/msg_docs/CameraTrigger.md b/docs/uk/msg_docs/CameraTrigger.md
index 19d9bd4342..d12ab9bc1b 100644
--- a/docs/uk/msg_docs/CameraTrigger.md
+++ b/docs/uk/msg_docs/CameraTrigger.md
@@ -17,9 +17,9 @@ pageClass: is-wide-page
## Constants
-| Назва | Тип | Значення | Опис |
-| ------------------------------------------------------------------------------------------- | -------- | -------- | ---- |
-| ORB_QUEUE_LENGTH | `uint32` | 2 | |
+| Назва | Тип | Значення | Опис |
+| ----------------------------------------------------------------------------------------- | -------- | -------- | ---- |
+| ORB_QUEUE_LENGTH | `uint32` | 2 | |
## Source Message
diff --git a/docs/uk/msg_docs/CanInterfaceStatus.md b/docs/uk/msg_docs/CanInterfaceStatus.md
index 907269e25b..f9deefbe31 100644
--- a/docs/uk/msg_docs/CanInterfaceStatus.md
+++ b/docs/uk/msg_docs/CanInterfaceStatus.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# CanInterfaceStatus (повідомлення UORB)
-**TOPICS:** can_interfacestatus
+**TOPICS:** can_interface_status
## Fields
diff --git a/docs/uk/msg_docs/CellularStatus.md b/docs/uk/msg_docs/CellularStatus.md
index ecaac52960..a4abb6239b 100644
--- a/docs/uk/msg_docs/CellularStatus.md
+++ b/docs/uk/msg_docs/CellularStatus.md
@@ -27,40 +27,40 @@ This is currently used only for logging cell status from MAVLink.
### STATUS_FLAG {#STATUS_FLAG}
-| Назва | Тип | Значення | Опис |
-| ------------------------------------------------------------------------------------------------------------- | -------- | -------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| STATUS_FLAG_UNKNOWN | `uint16` | 1 | State unknown or not reportable |
-| STATUS_FLAG_FAILED | `uint16` | 2 | Modem is unusable |
-| STATUS_FLAG_INITIALIZING | `uint16` | 4 | Modem is being initialized |
-| STATUS_FLAG_LOCKED | `uint16` | 8 | Modem is locked |
-| STATUS_FLAG_DISABLED | `uint16` | 16 | Modem is not enabled and is powered down |
-| STATUS_FLAG_DISABLING | `uint16` | 32 | Modem is currently transitioning to the STATUS_FLAG_DISABLED state |
-| STATUS_FLAG_ENABLING | `uint16` | 64 | Modem is currently transitioning to the STATUS_FLAG_ENABLED state |
-| STATUS_FLAG_ENABLED | `uint16` | 128 | Modem is enabled and powered on but not registered with a network provider and not available for data connections |
-| STATUS_FLAG_SEARCHING | `uint16` | 256 | Modem is searching for a network provider to register |
-| STATUS_FLAG_REGISTERED | `uint16` | 512 | Modem is registered with a network provider, and data connections and messaging may be available for use |
-| STATUS_FLAG_DISCONNECTING | `uint16` | 1024 | Modem is disconnecting and deactivating the last active packet data bearer. This state will not be entered if more than one packet data bearer is active and one of the active bearers is deactivated |
-| STATUS_FLAG_CONNECTING | `uint16` | 2048 | Modem is activating and connecting the first packet data bearer. Subsequent bearer activations when another bearer is already active do not cause this state to be entered |
-| STATUS_FLAG_CONNECTED | `uint16` | 4096 | One or more packet data bearers is active and connected |
+| Назва | Тип | Значення | Опис |
+| ----------------------------------------------------------------------------------------------------------- | -------- | -------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| STATUS_FLAG_UNKNOWN | `uint16` | 1 | State unknown or not reportable |
+| STATUS_FLAG_FAILED | `uint16` | 2 | Modem is unusable |
+| STATUS_FLAG_INITIALIZING | `uint16` | 4 | Modem is being initialized |
+| STATUS_FLAG_LOCKED | `uint16` | 8 | Modem is locked |
+| STATUS_FLAG_DISABLED | `uint16` | 16 | Modem is not enabled and is powered down |
+| STATUS_FLAG_DISABLING | `uint16` | 32 | Modem is currently transitioning to the STATUS_FLAG_DISABLED state |
+| STATUS_FLAG_ENABLING | `uint16` | 64 | Modem is currently transitioning to the STATUS_FLAG_ENABLED state |
+| STATUS_FLAG_ENABLED | `uint16` | 128 | Modem is enabled and powered on but not registered with a network provider and not available for data connections |
+| STATUS_FLAG_SEARCHING | `uint16` | 256 | Modem is searching for a network provider to register |
+| STATUS_FLAG_REGISTERED | `uint16` | 512 | Modem is registered with a network provider, and data connections and messaging may be available for use |
+| STATUS_FLAG_DISCONNECTING | `uint16` | 1024 | Modem is disconnecting and deactivating the last active packet data bearer. This state will not be entered if more than one packet data bearer is active and one of the active bearers is deactivated |
+| STATUS_FLAG_CONNECTING | `uint16` | 2048 | Modem is activating and connecting the first packet data bearer. Subsequent bearer activations when another bearer is already active do not cause this state to be entered |
+| STATUS_FLAG_CONNECTED | `uint16` | 4096 | One or more packet data bearers is active and connected |
### FAILURE_REASON {#FAILURE_REASON}
-| Назва | Тип | Значення | Опис |
-| ------------------------------------------------------------------------------------------------------------------------------------ | ------- | -------- | ----------------------------------------------- |
-| FAILURE_REASON_NONE | `uint8` | 0 | No error |
-| FAILURE_REASON_UNKNOWN | `uint8` | 1 | Error state is unknown |
-| FAILURE_REASON_SIM_MISSING | `uint8` | 2 | SIM is required for the modem but missing |
-| FAILURE_REASON_SIM_ERROR | `uint8` | 3 | SIM is available, but not usable for connection |
+| Назва | Тип | Значення | Опис |
+| ---------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ----------------------------------------------- |
+| FAILURE_REASON_NONE | `uint8` | 0 | No error |
+| FAILURE_REASON_UNKNOWN | `uint8` | 1 | Error state is unknown |
+| FAILURE_REASON_SIM_MISSING | `uint8` | 2 | SIM is required for the modem but missing |
+| FAILURE_REASON_SIM_ERROR | `uint8` | 3 | SIM is available, but not usable for connection |
### CELLULAR_NETWORK_RADIO_TYPE {#CELLULAR_NETWORK_RADIO_TYPE}
-| Назва | Тип | Значення | Опис |
-| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ----- |
-| CELLULAR_NETWORK_RADIO_TYPE_NONE | `uint8` | 0 | None |
-| CELLULAR_NETWORK_RADIO_TYPE_GSM | `uint8` | 1 | GSM |
-| CELLULAR_NETWORK_RADIO_TYPE_CDMA | `uint8` | 2 | CDMA |
-| CELLULAR_NETWORK_RADIO_TYPE_WCDMA | `uint8` | 3 | WCDMA |
-| CELLULAR_NETWORK_RADIO_TYPE_LTE | `uint8` | 4 | LTE |
+| Назва | Тип | Значення | Опис |
+| --------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ----- |
+| CELLULAR_NETWORK_RADIO_TYPE_NONE | `uint8` | 0 | None |
+| CELLULAR_NETWORK_RADIO_TYPE_GSM | `uint8` | 1 | GSM |
+| CELLULAR_NETWORK_RADIO_TYPE_CDMA | `uint8` | 2 | CDMA |
+| CELLULAR_NETWORK_RADIO_TYPE_WCDMA | `uint8` | 3 | WCDMA |
+| CELLULAR_NETWORK_RADIO_TYPE_LTE | `uint8` | 4 | LTE |
## Source Message
diff --git a/docs/uk/msg_docs/ConfigOverrides.md b/docs/uk/msg_docs/ConfigOverrides.md
index 6af879b8d1..5a13d8e61d 100644
--- a/docs/uk/msg_docs/ConfigOverrides.md
+++ b/docs/uk/msg_docs/ConfigOverrides.md
@@ -22,12 +22,12 @@ Configurable overrides by (external) modes or mode executors.
## Constants
-| Назва | Тип | Значення | Опис |
-| ---------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ---- |
-| MESSAGE_VERSION | `uint32` | 1 | |
-| SOURCE_TYPE_MODE | `int8` | 0 | |
-| SOURCE_TYPE_MODE_EXECUTOR | `int8` | 1 | |
-| ORB_QUEUE_LENGTH | `uint8` | 4 | |
+| Назва | Тип | Значення | Опис |
+| -------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ---- |
+| MESSAGE_VERSION | `uint32` | 1 | |
+| SOURCE_TYPE_MODE | `int8` | 0 | |
+| SOURCE_TYPE_MODE_EXECUTOR | `int8` | 1 | |
+| ORB_QUEUE_LENGTH | `uint8` | 4 | |
## Source Message
diff --git a/docs/uk/msg_docs/ConfigOverridesV0.md b/docs/uk/msg_docs/ConfigOverridesV0.md
index 20358bc0eb..9274780467 100644
--- a/docs/uk/msg_docs/ConfigOverridesV0.md
+++ b/docs/uk/msg_docs/ConfigOverridesV0.md
@@ -21,12 +21,12 @@ Configurable overrides by (external) modes or mode executors.
## Constants
-| Назва | Тип | Значення | Опис |
-| ---------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ---- |
-| MESSAGE_VERSION | `uint32` | 0 | |
-| SOURCE_TYPE_MODE | `int8` | 0 | |
-| SOURCE_TYPE_MODE_EXECUTOR | `int8` | 1 | |
-| ORB_QUEUE_LENGTH | `uint8` | 4 | |
+| Назва | Тип | Значення | Опис |
+| -------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ---- |
+| MESSAGE_VERSION | `uint32` | 0 | |
+| SOURCE_TYPE_MODE | `int8` | 0 | |
+| SOURCE_TYPE_MODE_EXECUTOR | `int8` | 1 | |
+| ORB_QUEUE_LENGTH | `uint8` | 4 | |
## Source Message
diff --git a/docs/uk/msg_docs/ControlAllocatorStatus.md b/docs/uk/msg_docs/ControlAllocatorStatus.md
index c8fa45e6a0..44a068d26a 100644
--- a/docs/uk/msg_docs/ControlAllocatorStatus.md
+++ b/docs/uk/msg_docs/ControlAllocatorStatus.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# ControlAllocatorStatus (повідомлення UORB)
-**TOPICS:** control_allocatorstatus
+**TOPICS:** control_allocator_status
## Fields
@@ -21,13 +21,13 @@ pageClass: is-wide-page
## Constants
-| Назва | Тип | Значення | Опис |
-| ------------------------------------------------------------------------------------------------------------------------------------------ | ------ | -------- | ----------------------------------------------------------------------------------------------------------------------------------------------------- |
-| ACTUATOR_SATURATION_OK | `int8` | 0 | The actuator is not saturated |
-| ACTUATOR_SATURATION_UPPER_DYN | `int8` | 1 | The actuator is saturated (with a value <= the desired value) because it cannot increase its value faster |
-| ACTUATOR_SATURATION_UPPER | `int8` | 2 | The actuator is saturated (with a value <= the desired value) because it has reached its maximum value |
-| ACTUATOR_SATURATION_LOWER_DYN | `int8` | -1 | The actuator is saturated (with a value >= the desired value) because it cannot decrease its value faster |
-| ACTUATOR_SATURATION_LOWER | `int8` | -2 | The actuator is saturated (with a value >= the desired value) because it has reached its minimum value |
+| Назва | Тип | Значення | Опис |
+| ---------------------------------------------------------------------------------------------------------------------------------------- | ------ | -------- | ----------------------------------------------------------------------------------------------------------------------------------------------------- |
+| ACTUATOR_SATURATION_OK | `int8` | 0 | The actuator is not saturated |
+| ACTUATOR_SATURATION_UPPER_DYN | `int8` | 1 | The actuator is saturated (with a value <= the desired value) because it cannot increase its value faster |
+| ACTUATOR_SATURATION_UPPER | `int8` | 2 | The actuator is saturated (with a value <= the desired value) because it has reached its maximum value |
+| ACTUATOR_SATURATION_LOWER_DYN | `int8` | -1 | The actuator is saturated (with a value >= the desired value) because it cannot decrease its value faster |
+| ACTUATOR_SATURATION_LOWER | `int8` | -2 | The actuator is saturated (with a value >= the desired value) because it has reached its minimum value |
## Source Message
diff --git a/docs/uk/msg_docs/DatamanResponse.md b/docs/uk/msg_docs/DatamanResponse.md
index f4d49f334c..3f983efae3 100644
--- a/docs/uk/msg_docs/DatamanResponse.md
+++ b/docs/uk/msg_docs/DatamanResponse.md
@@ -20,14 +20,14 @@ pageClass: is-wide-page
## Constants
-| Назва | Тип | Значення | Опис |
-| -------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ---- |
-| STATUS_SUCCESS | `uint8` | 0 | |
-| STATUS_FAILURE_ID_ERR | `uint8` | 1 | |
-| STATUS_FAILURE_NO_DATA | `uint8` | 2 | |
-| STATUS_FAILURE_READ_FAILED | `uint8` | 3 | |
-| STATUS_FAILURE_WRITE_FAILED | `uint8` | 4 | |
-| STATUS_FAILURE_CLEAR_FAILED | `uint8` | 5 | |
+| Назва | Тип | Значення | Опис |
+| ------------------------------------------------------------------------------------------------------------------------------------ | ------- | -------- | ---- |
+| STATUS_SUCCESS | `uint8` | 0 | |
+| STATUS_FAILURE_ID_ERR | `uint8` | 1 | |
+| STATUS_FAILURE_NO_DATA | `uint8` | 2 | |
+| STATUS_FAILURE_READ_FAILED | `uint8` | 3 | |
+| STATUS_FAILURE_WRITE_FAILED | `uint8` | 4 | |
+| STATUS_FAILURE_CLEAR_FAILED | `uint8` | 5 | |
## Source Message
diff --git a/docs/uk/msg_docs/DebugArray.md b/docs/uk/msg_docs/DebugArray.md
index a2cd924b89..503136b10b 100644
--- a/docs/uk/msg_docs/DebugArray.md
+++ b/docs/uk/msg_docs/DebugArray.md
@@ -17,9 +17,9 @@ pageClass: is-wide-page
## Constants
-| Назва | Тип | Значення | Опис |
-| ---------------------------------------------------------- | ------- | -------- | ---- |
-| ARRAY_SIZE | `uint8` | 58 | |
+| Назва | Тип | Значення | Опис |
+| -------------------------------------------------------- | ------- | -------- | ---- |
+| ARRAY_SIZE | `uint8` | 58 | |
## Source Message
diff --git a/docs/uk/msg_docs/DebugKeyValue.md b/docs/uk/msg_docs/DebugKeyValue.md
index d99cfd3494..c79acead58 100644
--- a/docs/uk/msg_docs/DebugKeyValue.md
+++ b/docs/uk/msg_docs/DebugKeyValue.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# DebugKeyValue (повідомлення UORB)
-**TOPICS:** debug_keyvalue
+**TOPICS:** debug_key_value
## Fields
diff --git a/docs/uk/msg_docs/DeviceInformation.md b/docs/uk/msg_docs/DeviceInformation.md
index c3638f9196..8728432313 100644
--- a/docs/uk/msg_docs/DeviceInformation.md
+++ b/docs/uk/msg_docs/DeviceInformation.md
@@ -17,8 +17,7 @@ as well as tracking of the used firmware versions on the devices.
| ------------------------------------- | ---------- | ---------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| device_type | `uint8` | | [DEVICE_TYPE](#DEVICE_TYPE) | Type of the device. Matches MAVLink DEVICE_TYPE enum |
-| vendor_name | `char[32]` | | | Name of the device vendor |
-| model_name | `char[32]` | | | Name of the device model |
+| name | `char[80]` | | | Name of device e.g. DroneCAN node name |
| `uint32` | | | Unique device ID for the sensor. Does not change between power cycles. (Invalid: 0 if not available) | |
| firmware_version | `char[24]` | | | Firmware version. (Invalid: empty if not available) |
| hardware_version | `char[24]` | | | Hardware version. (Invalid: empty if not available) |
@@ -28,24 +27,24 @@ as well as tracking of the used firmware versions on the devices.
### DEVICE_TYPE {#DEVICE_TYPE}
-| Назва | Тип | Значення | Опис |
-| -------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ---------------------- |
-| DEVICE_TYPE_GENERIC | `uint8` | 0 | Generic/unknown sensor |
-| DEVICE_TYPE_AIRSPEED | `uint8` | 1 | Датчик швидкості |
-| DEVICE_TYPE_ESC | `uint8` | 2 | ESC |
-| DEVICE_TYPE_SERVO | `uint8` | 3 | Servo |
-| DEVICE_TYPE_GPS | `uint8` | 4 | GPS |
-| DEVICE_TYPE_MAGNETOMETER | `uint8` | 5 | Магнітометр |
-| DEVICE_TYPE_PARACHUTE | `uint8` | 6 | Парашут |
-| DEVICE_TYPE_RANGEFINDER | `uint8` | 7 | Rangefinder |
-| DEVICE_TYPE_WINCH | `uint8` | 8 | Winch |
-| DEVICE_TYPE_BAROMETER | `uint8` | 9 | Барометр |
-| DEVICE_TYPE_OPTICAL_FLOW | `uint8` | 10 | Optical flow |
-| DEVICE_TYPE_ACCELEROMETER | `uint8` | 11 | Accelerometer |
-| DEVICE_TYPE_GYROSCOPE | `uint8` | 12 | Gyroscope |
-| DEVICE_TYPE_DIFFERENTIAL_PRESSURE | `uint8` | 13 | Differential pressure |
-| DEVICE_TYPE_BATTERY | `uint8` | 14 | Battery |
-| DEVICE_TYPE_HYGROMETER | `uint8` | 15 | Hygrometer |
+| Назва | Тип | Значення | Опис |
+| ------------------------------------------------------------------------------------------------------------------------------------------------ | ------- | -------- | ---------------------- |
+| DEVICE_TYPE_GENERIC | `uint8` | 0 | Generic/unknown sensor |
+| DEVICE_TYPE_AIRSPEED | `uint8` | 1 | Датчик швидкості |
+| DEVICE_TYPE_ESC | `uint8` | 2 | ESC |
+| DEVICE_TYPE_SERVO | `uint8` | 3 | Servo |
+| DEVICE_TYPE_GPS | `uint8` | 4 | GPS |
+| DEVICE_TYPE_MAGNETOMETER | `uint8` | 5 | Магнітометр |
+| DEVICE_TYPE_PARACHUTE | `uint8` | 6 | Парашут |
+| DEVICE_TYPE_RANGEFINDER | `uint8` | 7 | Rangefinder |
+| DEVICE_TYPE_WINCH | `uint8` | 8 | Winch |
+| DEVICE_TYPE_BAROMETER | `uint8` | 9 | Барометр |
+| DEVICE_TYPE_OPTICAL_FLOW | `uint8` | 10 | Optical flow |
+| DEVICE_TYPE_ACCELEROMETER | `uint8` | 11 | Accelerometer |
+| DEVICE_TYPE_GYROSCOPE | `uint8` | 12 | Gyroscope |
+| DEVICE_TYPE_DIFFERENTIAL_PRESSURE | `uint8` | 13 | Differential pressure |
+| DEVICE_TYPE_BATTERY | `uint8` | 14 | Battery |
+| DEVICE_TYPE_HYGROMETER | `uint8` | 15 | Hygrometer |
## Source Message
@@ -63,7 +62,6 @@ Click here to see original file
uint64 timestamp # time since system start (microseconds)
uint8 device_type # [@enum DEVICE_TYPE] Type of the device. Matches MAVLink DEVICE_TYPE enum
-
uint8 DEVICE_TYPE_GENERIC = 0 # Generic/unknown sensor
uint8 DEVICE_TYPE_AIRSPEED = 1 # Airspeed sensor
uint8 DEVICE_TYPE_ESC = 2 # ESC
@@ -81,8 +79,7 @@ uint8 DEVICE_TYPE_DIFFERENTIAL_PRESSURE = 13 # Differential pressure
uint8 DEVICE_TYPE_BATTERY = 14 # Battery
uint8 DEVICE_TYPE_HYGROMETER = 15 # Hygrometer
-char[32] vendor_name # Name of the device vendor
-char[32] model_name # Name of the device model
+char[80] name # Name of device e.g. DroneCAN node name
uint32 device_id # [-] [@invalid 0 if not available] Unique device ID for the sensor. Does not change between power cycles.
char[24] firmware_version # [-] [@invalid empty if not available] Firmware version.
diff --git a/docs/uk/msg_docs/DistanceSensor.md b/docs/uk/msg_docs/DistanceSensor.md
index d0e173a9bc..318b12ab99 100644
--- a/docs/uk/msg_docs/DistanceSensor.md
+++ b/docs/uk/msg_docs/DistanceSensor.md
@@ -28,30 +28,30 @@ DISTANCE_SENSOR message data.
## Constants
-| Назва | Тип | Значення | Опис |
-| -------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ----------------------------------------------------------------------------------------------------------------- |
-| MAV_DISTANCE_SENSOR_LASER | `uint8` | 0 | |
-| MAV_DISTANCE_SENSOR_ULTRASOUND | `uint8` | 1 | |
-| MAV_DISTANCE_SENSOR_INFRARED | `uint8` | 2 | |
-| MAV_DISTANCE_SENSOR_RADAR | `uint8` | 3 | |
-| ROTATION_YAW_0 | `uint8` | 0 | MAV_SENSOR_ROTATION_NONE |
-| ROTATION_YAW_45 | `uint8` | 1 | MAV_SENSOR_ROTATION_YAW_45 |
-| ROTATION_YAW_90 | `uint8` | 2 | MAV_SENSOR_ROTATION_YAW_90 |
-| ROTATION_YAW_135 | `uint8` | 3 | MAV_SENSOR_ROTATION_YAW_135 |
-| ROTATION_YAW_180 | `uint8` | 4 | MAV_SENSOR_ROTATION_YAW_180 |
-| ROTATION_YAW_225 | `uint8` | 5 | MAV_SENSOR_ROTATION_YAW_225 |
-| ROTATION_YAW_270 | `uint8` | 6 | MAV_SENSOR_ROTATION_YAW_270 |
-| ROTATION_YAW_315 | `uint8` | 7 | MAV_SENSOR_ROTATION_YAW_315 |
-| ROTATION_FORWARD_FACING | `uint8` | 0 | MAV_SENSOR_ROTATION_NONE |
-| ROTATION_RIGHT_FACING | `uint8` | 2 | MAV_SENSOR_ROTATION_YAW_90 |
-| ROTATION_BACKWARD_FACING | `uint8` | 4 | MAV_SENSOR_ROTATION_YAW_180 |
-| ROTATION_LEFT_FACING | `uint8` | 6 | MAV_SENSOR_ROTATION_YAW_270 |
-| ROTATION_UPWARD_FACING | `uint8` | 24 | MAV_SENSOR_ROTATION_PITCH_90 |
-| ROTATION_DOWNWARD_FACING | `uint8` | 25 | MAV_SENSOR_ROTATION_PITCH_270 |
-| ROTATION_CUSTOM | `uint8` | 100 | MAV_SENSOR_ROTATION_CUSTOM |
-| MODE_UNKNOWN | `uint8` | 0 | |
-| MODE_ENABLED | `uint8` | 1 | |
-| MODE_DISABLED | `uint8` | 2 | |
+| Назва | Тип | Значення | Опис |
+| ------------------------------------------------------------------------------------------------------------------------------------------ | ------- | -------- | ----------------------------------------------------------------------------------------------------------------- |
+| MAV_DISTANCE_SENSOR_LASER | `uint8` | 0 | |
+| MAV_DISTANCE_SENSOR_ULTRASOUND | `uint8` | 1 | |
+| MAV_DISTANCE_SENSOR_INFRARED | `uint8` | 2 | |
+| MAV_DISTANCE_SENSOR_RADAR | `uint8` | 3 | |
+| ROTATION_YAW_0 | `uint8` | 0 | MAV_SENSOR_ROTATION_NONE |
+| ROTATION_YAW_45 | `uint8` | 1 | MAV_SENSOR_ROTATION_YAW_45 |
+| ROTATION_YAW_90 | `uint8` | 2 | MAV_SENSOR_ROTATION_YAW_90 |
+| ROTATION_YAW_135 | `uint8` | 3 | MAV_SENSOR_ROTATION_YAW_135 |
+| ROTATION_YAW_180 | `uint8` | 4 | MAV_SENSOR_ROTATION_YAW_180 |
+| ROTATION_YAW_225 | `uint8` | 5 | MAV_SENSOR_ROTATION_YAW_225 |
+| ROTATION_YAW_270 | `uint8` | 6 | MAV_SENSOR_ROTATION_YAW_270 |
+| ROTATION_YAW_315 | `uint8` | 7 | MAV_SENSOR_ROTATION_YAW_315 |
+| ROTATION_FORWARD_FACING | `uint8` | 0 | MAV_SENSOR_ROTATION_NONE |
+| ROTATION_RIGHT_FACING | `uint8` | 2 | MAV_SENSOR_ROTATION_YAW_90 |
+| ROTATION_BACKWARD_FACING | `uint8` | 4 | MAV_SENSOR_ROTATION_YAW_180 |
+| ROTATION_LEFT_FACING | `uint8` | 6 | MAV_SENSOR_ROTATION_YAW_270 |
+| ROTATION_UPWARD_FACING | `uint8` | 24 | MAV_SENSOR_ROTATION_PITCH_90 |
+| ROTATION_DOWNWARD_FACING | `uint8` | 25 | MAV_SENSOR_ROTATION_PITCH_270 |
+| ROTATION_CUSTOM | `uint8` | 100 | MAV_SENSOR_ROTATION_CUSTOM |
+| MODE_UNKNOWN | `uint8` | 0 | |
+| MODE_ENABLED | `uint8` | 1 | |
+| MODE_DISABLED | `uint8` | 2 | |
## Source Message
diff --git a/docs/uk/msg_docs/DistanceSensorModeChangeRequest.md b/docs/uk/msg_docs/DistanceSensorModeChangeRequest.md
index a54d1d5f68..1ac9ba3b7a 100644
--- a/docs/uk/msg_docs/DistanceSensorModeChangeRequest.md
+++ b/docs/uk/msg_docs/DistanceSensorModeChangeRequest.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# DistanceSensorModeChangeRequest (UORB message)
-**TOPICS:** distance_sensormode_changerequest
+**TOPICS:** distance_sensor_mode_change_request
## Fields
@@ -15,10 +15,10 @@ pageClass: is-wide-page
## Constants
-| Назва | Тип | Значення | Опис |
-| ------------------------------------------------------------ | ------- | -------- | ---- |
-| REQUEST_OFF | `uint8` | 0 | |
-| REQUEST_ON | `uint8` | 1 | |
+| Назва | Тип | Значення | Опис |
+| ---------------------------------------------------------- | ------- | -------- | ---- |
+| REQUEST_OFF | `uint8` | 0 | |
+| REQUEST_ON | `uint8` | 1 | |
## Source Message
diff --git a/docs/uk/msg_docs/DronecanNodeStatus.md b/docs/uk/msg_docs/DronecanNodeStatus.md
index 042c340f70..59ac90abd2 100644
--- a/docs/uk/msg_docs/DronecanNodeStatus.md
+++ b/docs/uk/msg_docs/DronecanNodeStatus.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# DronecanNodeStatus (UORB message)
-**TOPICS:** dronecan_nodestatus
+**TOPICS:** dronecan_node_status
## Fields
@@ -20,17 +20,17 @@ pageClass: is-wide-page
## Constants
-| Назва | Тип | Значення | Опис |
-| --------------------------------------------------------------------------------------------------- | ------- | -------- | ----------------------------------------------------------------------------------------------- |
-| HEALTH_OK | `uint8` | 0 | The node is functioning properly. |
-| HEALTH_WARNING | `uint8` | 1 | A critical parameter went out of range or the node encountered a minor failure. |
-| HEALTH_ERROR | `uint8` | 2 | The node encountered a major failure. |
-| HEALTH_CRITICAL | `uint8` | 3 | The node suffered a fatal malfunction. |
-| MODE_OPERATIONAL | `uint8` | 0 | Normal operating mode. |
-| MODE_INITIALIZATION | `uint8` | 1 | Initialization is in progress; this mode is entered immediately after startup. |
-| MODE_MAINTENANCE | `uint8` | 2 | Наприклад, calibration, the bootloader is running, etc. |
-| MODE_SOFTWARE_UPDATE | `uint8` | 3 | New software/firmware is being loaded. |
-| MODE_OFFLINE | `uint8` | 7 | The node is no longer available. |
+| Назва | Тип | Значення | Опис |
+| ------------------------------------------------------------------------------------------------- | ------- | -------- | ----------------------------------------------------------------------------------------------- |
+| HEALTH_OK | `uint8` | 0 | The node is functioning properly. |
+| HEALTH_WARNING | `uint8` | 1 | A critical parameter went out of range or the node encountered a minor failure. |
+| HEALTH_ERROR | `uint8` | 2 | The node encountered a major failure. |
+| HEALTH_CRITICAL | `uint8` | 3 | The node suffered a fatal malfunction. |
+| MODE_OPERATIONAL | `uint8` | 0 | Normal operating mode. |
+| MODE_INITIALIZATION | `uint8` | 1 | Initialization is in progress; this mode is entered immediately after startup. |
+| MODE_MAINTENANCE | `uint8` | 2 | Наприклад, calibration, the bootloader is running, etc. |
+| MODE_SOFTWARE_UPDATE | `uint8` | 3 | New software/firmware is being loaded. |
+| MODE_OFFLINE | `uint8` | 7 | The node is no longer available. |
## Source Message
diff --git a/docs/uk/msg_docs/Ekf2Timestamps.md b/docs/uk/msg_docs/Ekf2Timestamps.md
index bc85f54628..2002941ad2 100644
--- a/docs/uk/msg_docs/Ekf2Timestamps.md
+++ b/docs/uk/msg_docs/Ekf2Timestamps.md
@@ -23,9 +23,9 @@ pageClass: is-wide-page
## Constants
-| Назва | Тип | Значення | Опис |
-| --------------------------------------------------------------------------------------------------------------- | ------- | -------- | ------------------------------------------------------------- |
-| RELATIVE_TIMESTAMP_INVALID | `int16` | 32767 | (0x7fff) If one of the relative timestamps |
+| Назва | Тип | Значення | Опис |
+| ------------------------------------------------------------------------------------------------------------- | ------- | -------- | ------------------------------------------------------------- |
+| RELATIVE_TIMESTAMP_INVALID | `int16` | 32767 | (0x7fff) If one of the relative timestamps |
## Source Message
diff --git a/docs/uk/msg_docs/EscReport.md b/docs/uk/msg_docs/EscReport.md
index 89f7de7fdf..abcf887ee1 100644
--- a/docs/uk/msg_docs/EscReport.md
+++ b/docs/uk/msg_docs/EscReport.md
@@ -16,6 +16,7 @@ pageClass: is-wide-page
| esc_voltage | `float32` | | | Voltage measured from current ESC [V] - if supported |
| esc_current | `float32` | | | Current measured from current ESC [A] - if supported |
| esc_temperature | `float32` | | | Temperature measured from current ESC [degC] - if supported |
+| motor_temperature | `int16` | | | Temperature measured from current motor [degC] - if supported |
| esc_address | `uint8` | | | Address of current ESC (in most cases 1-8 / must be set by driver) |
| esc_cmdcount | `uint8` | | | Counter of number of commands |
| esc_state | `uint8` | | | State of ESC - depend on Vendor |
@@ -25,31 +26,31 @@ pageClass: is-wide-page
## Constants
-| Назва | Тип | Значення | Опис |
-| -------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
-| ACTUATOR_FUNCTION_MOTOR1 | `uint8` | 101 | |
-| ACTUATOR_FUNCTION_MOTOR2 | `uint8` | 102 | |
-| ACTUATOR_FUNCTION_MOTOR3 | `uint8` | 103 | |
-| ACTUATOR_FUNCTION_MOTOR4 | `uint8` | 104 | |
-| ACTUATOR_FUNCTION_MOTOR5 | `uint8` | 105 | |
-| ACTUATOR_FUNCTION_MOTOR6 | `uint8` | 106 | |
-| ACTUATOR_FUNCTION_MOTOR7 | `uint8` | 107 | |
-| ACTUATOR_FUNCTION_MOTOR8 | `uint8` | 108 | |
-| ACTUATOR_FUNCTION_MOTOR9 | `uint8` | 109 | |
-| ACTUATOR_FUNCTION_MOTOR10 | `uint8` | 110 | |
-| ACTUATOR_FUNCTION_MOTOR11 | `uint8` | 111 | |
-| ACTUATOR_FUNCTION_MOTOR12 | `uint8` | 112 | |
-| FAILURE_OVER_CURRENT | `uint8` | 0 | (1 << 0) |
-| FAILURE_OVER_VOLTAGE | `uint8` | 1 | (1 << 1) |
-| FAILURE_MOTOR_OVER_TEMPERATURE | `uint8` | 2 | (1 << 2) |
-| FAILURE_OVER_RPM | `uint8` | 3 | (1 << 3) |
-| FAILURE_INCONSISTENT_CMD | `uint8` | 4 | (1 << 4) Set if ESC received an inconsistent command (i.e out of boundaries) |
-| FAILURE_MOTOR_STUCK | `uint8` | 5 | (1 << 5) |
-| FAILURE_GENERIC | `uint8` | 6 | (1 << 6) |
-| FAILURE_MOTOR_WARN_TEMPERATURE | `uint8` | 7 | (1 << 7) |
-| FAILURE_WARN_ESC_TEMPERATURE | `uint8` | 8 | (1 << 8) |
-| FAILURE_OVER_ESC_TEMPERATURE | `uint8` | 9 | (1 << 9) |
-| ESC_FAILURE_COUNT | `uint8` | 10 | Counter - keep it as last element! |
+| Назва | Тип | Значення | Опис |
+| ------------------------------------------------------------------------------------------------------------------------------------------ | ------- | -------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
+| ACTUATOR_FUNCTION_MOTOR1 | `uint8` | 101 | |
+| ACTUATOR_FUNCTION_MOTOR2 | `uint8` | 102 | |
+| ACTUATOR_FUNCTION_MOTOR3 | `uint8` | 103 | |
+| ACTUATOR_FUNCTION_MOTOR4 | `uint8` | 104 | |
+| ACTUATOR_FUNCTION_MOTOR5 | `uint8` | 105 | |
+| ACTUATOR_FUNCTION_MOTOR6 | `uint8` | 106 | |
+| ACTUATOR_FUNCTION_MOTOR7 | `uint8` | 107 | |
+| ACTUATOR_FUNCTION_MOTOR8 | `uint8` | 108 | |
+| ACTUATOR_FUNCTION_MOTOR9 | `uint8` | 109 | |
+| ACTUATOR_FUNCTION_MOTOR10 | `uint8` | 110 | |
+| ACTUATOR_FUNCTION_MOTOR11 | `uint8` | 111 | |
+| ACTUATOR_FUNCTION_MOTOR12 | `uint8` | 112 | |
+| FAILURE_OVER_CURRENT | `uint8` | 0 | (1 << 0) |
+| FAILURE_OVER_VOLTAGE | `uint8` | 1 | (1 << 1) |
+| FAILURE_MOTOR_OVER_TEMPERATURE | `uint8` | 2 | (1 << 2) |
+| FAILURE_OVER_RPM | `uint8` | 3 | (1 << 3) |
+| FAILURE_INCONSISTENT_CMD | `uint8` | 4 | (1 << 4) Set if ESC received an inconsistent command (i.e out of boundaries) |
+| FAILURE_MOTOR_STUCK | `uint8` | 5 | (1 << 5) |
+| FAILURE_GENERIC | `uint8` | 6 | (1 << 6) |
+| FAILURE_MOTOR_WARN_TEMPERATURE | `uint8` | 7 | (1 << 7) |
+| FAILURE_WARN_ESC_TEMPERATURE | `uint8` | 8 | (1 << 8) |
+| FAILURE_OVER_ESC_TEMPERATURE | `uint8` | 9 | (1 << 9) |
+| ESC_FAILURE_COUNT | `uint8` | 10 | Counter - keep it as last element! |
## Source Message
@@ -65,6 +66,7 @@ int32 esc_rpm # Motor RPM, negative for reverse rotation [RPM] - if support
float32 esc_voltage # Voltage measured from current ESC [V] - if supported
float32 esc_current # Current measured from current ESC [A] - if supported
float32 esc_temperature # Temperature measured from current ESC [degC] - if supported
+int16 motor_temperature # Temperature measured from current motor [degC] - if supported
uint8 esc_address # Address of current ESC (in most cases 1-8 / must be set by driver)
uint8 esc_cmdcount # Counter of number of commands
diff --git a/docs/uk/msg_docs/EscStatus.md b/docs/uk/msg_docs/EscStatus.md
index 96f426faef..0c4acef115 100644
--- a/docs/uk/msg_docs/EscStatus.md
+++ b/docs/uk/msg_docs/EscStatus.md
@@ -20,15 +20,15 @@ pageClass: is-wide-page
## Constants
-| Назва | Тип | Значення | Опис |
-| -------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ---------------------------------------------------------------------------------------------------- |
-| CONNECTED_ESC_MAX | `uint8` | 8 | The number of ESCs supported. Current (Q2/2013) we support 8 ESCs |
-| ESC_CONNECTION_TYPE_PPM | `uint8` | 0 | Traditional PPM ESC |
-| ESC_CONNECTION_TYPE_SERIAL | `uint8` | 1 | Serial Bus connected ESC |
-| ESC_CONNECTION_TYPE_ONESHOT | `uint8` | 2 | One Shot PPM |
-| ESC_CONNECTION_TYPE_I2C | `uint8` | 3 | I2C |
-| ESC_CONNECTION_TYPE_CAN | `uint8` | 4 | CAN-Bus |
-| ESC_CONNECTION_TYPE_DSHOT | `uint8` | 5 | DShot |
+| Назва | Тип | Значення | Опис |
+| ------------------------------------------------------------------------------------------------------------------------------------ | ------- | -------- | ---------------------------------------------------------------------------------------------------- |
+| CONNECTED_ESC_MAX | `uint8` | 8 | The number of ESCs supported. Current (Q2/2013) we support 8 ESCs |
+| ESC_CONNECTION_TYPE_PPM | `uint8` | 0 | Traditional PPM ESC |
+| ESC_CONNECTION_TYPE_SERIAL | `uint8` | 1 | Serial Bus connected ESC |
+| ESC_CONNECTION_TYPE_ONESHOT | `uint8` | 2 | One Shot PPM |
+| ESC_CONNECTION_TYPE_I2C | `uint8` | 3 | I2C |
+| ESC_CONNECTION_TYPE_CAN | `uint8` | 4 | CAN-Bus |
+| ESC_CONNECTION_TYPE_DSHOT | `uint8` | 5 | DShot |
## Source Message
diff --git a/docs/uk/msg_docs/EstimatorEventFlags.md b/docs/uk/msg_docs/EstimatorEventFlags.md
index 1f2669d4ff..889265b204 100644
--- a/docs/uk/msg_docs/EstimatorEventFlags.md
+++ b/docs/uk/msg_docs/EstimatorEventFlags.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# EstimatorEventFlags (повідомлення UORB)
-**TOPICS:** estimator_eventflags
+**TOPICS:** estimator_event_flags
## Fields
diff --git a/docs/uk/msg_docs/EstimatorGpsStatus.md b/docs/uk/msg_docs/EstimatorGpsStatus.md
index 8a9ae0e57f..b68473fbcd 100644
--- a/docs/uk/msg_docs/EstimatorGpsStatus.md
+++ b/docs/uk/msg_docs/EstimatorGpsStatus.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# EstimatorGpsStatus (повідомлення UORB)
-**TOPICS:** estimator_gpsstatus
+**TOPICS:** estimator_gps_status
## Fields
diff --git a/docs/uk/msg_docs/EstimatorSelectorStatus.md b/docs/uk/msg_docs/EstimatorSelectorStatus.md
index 0fb11005fd..050615149d 100644
--- a/docs/uk/msg_docs/EstimatorSelectorStatus.md
+++ b/docs/uk/msg_docs/EstimatorSelectorStatus.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# EstimatorSelectorStatus (повідомлення UORB)
-**TOPICS:** estimator_selectorstatus
+**TOPICS:** estimator_selector_status
## Fields
diff --git a/docs/uk/msg_docs/EstimatorSensorBias.md b/docs/uk/msg_docs/EstimatorSensorBias.md
index d881564e12..13816d7086 100644
--- a/docs/uk/msg_docs/EstimatorSensorBias.md
+++ b/docs/uk/msg_docs/EstimatorSensorBias.md
@@ -6,7 +6,7 @@ pageClass: is-wide-page
Показання датчиків та похибки в процесі роботи в одиницях СІ. Sensor readings are compensated for static offsets,. scale errors, in-run bias and thermal drift (if thermal compensation is enabled and available).
-**TOPICS:** estimator_sensorbias
+**TOPICS:** estimator_sensor_bias
## Fields
diff --git a/docs/uk/msg_docs/EstimatorStatus.md b/docs/uk/msg_docs/EstimatorStatus.md
index 64c57e7f53..22058756d9 100644
--- a/docs/uk/msg_docs/EstimatorStatus.md
+++ b/docs/uk/msg_docs/EstimatorStatus.md
@@ -51,52 +51,52 @@ pageClass: is-wide-page
## Constants
-| Назва | Тип | Значення | Опис |
-| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ------------------------------------------------------------------------------------------------- |
-| GPS_CHECK_FAIL_GPS_FIX | `uint8` | 0 | 0 : insufficient fix type (no 3D solution) |
-| GPS_CHECK_FAIL_MIN_SAT_COUNT | `uint8` | 1 | 1 : minimum required sat count fail |
-| GPS_CHECK_FAIL_MAX_PDOP | `uint8` | 2 | 2 : maximum allowed PDOP fail |
-| GPS_CHECK_FAIL_MAX_HORZ_ERR | `uint8` | 3 | 3 : maximum allowed horizontal position error fail |
-| GPS_CHECK_FAIL_MAX_VERT_ERR | `uint8` | 4 | 4 : maximum allowed vertical position error fail |
-| GPS_CHECK_FAIL_MAX_SPD_ERR | `uint8` | 5 | 5 : maximum allowed speed error fail |
-| GPS_CHECK_FAIL_MAX_HORZ_DRIFT | `uint8` | 6 | 6 : maximum allowed horizontal position drift fail - requires stationary vehicle |
-| GPS_CHECK_FAIL_MAX_VERT_DRIFT | `uint8` | 7 | 7 : maximum allowed vertical position drift fail - requires stationary vehicle |
-| GPS_CHECK_FAIL_MAX_HORZ_SPD_ERR | `uint8` | 8 | 8 : maximum allowed horizontal speed fail - requires stationary vehicle |
-| GPS_CHECK_FAIL_MAX_VERT_SPD_ERR | `uint8` | 9 | 9 : maximum allowed vertical velocity discrepancy fail |
-| GPS_CHECK_FAIL_SPOOFED | `uint8` | 10 | 10 : GPS signal is spoofed |
-| GPS_CHECK_FAIL_JAMMED | `uint8` | 11 | 11 : GPS signal is jammed |
-| CS_TILT_ALIGN | `uint8` | 0 | 0 - true if the filter tilt alignment is complete |
-| CS_YAW_ALIGN | `uint8` | 1 | 1 - true if the filter yaw alignment is complete |
-| CS_GNSS_POS | `uint8` | 2 | 2 - true if GNSS position measurements are being fused |
-| CS_OPT_FLOW | `uint8` | 3 | 3 - true if optical flow measurements are being fused |
-| CS_MAG_HDG | `uint8` | 4 | 4 - true if a simple magnetic yaw heading is being fused |
-| CS_MAG_3D | `uint8` | 5 | 5 - true if 3-axis magnetometer measurement are being fused |
-| CS_MAG_DEC | `uint8` | 6 | 6 - true if synthetic magnetic declination measurements are being fused |
-| CS_IN_AIR | `uint8` | 7 | 7 - true when thought to be airborne |
-| CS_WIND | `uint8` | 8 | 8 - true when wind velocity is being estimated |
-| CS_BARO_HGT | `uint8` | 9 | 9 - true when baro data is being fused |
-| CS_RNG_HGT | `uint8` | 10 | 10 - true when range finder data is being fused for height aiding |
-| CS_GPS_HGT | `uint8` | 11 | 11 - true when GPS altitude is being fused |
-| CS_EV_POS | `uint8` | 12 | 12 - true when local position data from external vision is being fused |
-| CS_EV_YAW | `uint8` | 13 | 13 - true when yaw data from external vision measurements is being fused |
-| CS_EV_HGT | `uint8` | 14 | 14 - true when height data from external vision measurements is being fused |
-| CS_BETA | `uint8` | 15 | 15 - true when synthetic sideslip measurements are being fused |
-| CS_MAG_FIELD | `uint8` | 16 | 16 - true when only the magnetic field states are updated by the magnetometer |
-| CS_FIXED_WING | `uint8` | 17 | 17 - true when thought to be operating as a fixed wing vehicle with constrained sideslip |
-| CS_MAG_FAULT | `uint8` | 18 | 18 - true when the magnetometer has been declared faulty and is no longer being used |
-| CS_ASPD | `uint8` | 19 | 19 - true when airspeed measurements are being fused |
-| CS_GND_EFFECT | `uint8` | 20 | 20 - true when when protection from ground effect induced static pressure rise is active |
-| CS_RNG_STUCK | `uint8` | 21 | 21 - true when a stuck range finder sensor has been detected |
-| CS_GPS_YAW | `uint8` | 22 | 22 - true when yaw (not ground course) data from a GPS receiver is being fused |
-| CS_MAG_ALIGNED | `uint8` | 23 | 23 - true when the in-flight mag field alignment has been completed |
-| CS_EV_VEL | `uint8` | 24 | 24 - true when local frame velocity data fusion from external vision measurements is intended |
-| CS_SYNTHETIC_MAG_Z | `uint8` | 25 | 25 - true when we are using a synthesized measurement for the magnetometer Z component |
-| CS_VEHICLE_AT_REST | `uint8` | 26 | 26 - true when the vehicle is at rest |
-| CS_GPS_YAW_FAULT | `uint8` | 27 | 27 - true when the GNSS heading has been declared faulty and is no longer being used |
-| CS_RNG_FAULT | `uint8` | 28 | 28 - true when the range finder has been declared faulty and is no longer being used |
-| CS_GNSS_VEL | `uint8` | 44 | 44 - true if GNSS velocity measurement fusion is intended |
-| CS_GNSS_FAULT | `uint8` | 45 | 45 - true if GNSS measurements have been declared faulty and are no longer used |
-| CS_YAW_MANUAL | `uint8` | 46 | 46 - true if yaw has been set manually |
+| Назва | Тип | Значення | Опис |
+| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ------------------------------------------------------------------------------------------------- |
+| GPS_CHECK_FAIL_GPS_FIX | `uint8` | 0 | 0 : insufficient fix type (no 3D solution) |
+| GPS_CHECK_FAIL_MIN_SAT_COUNT | `uint8` | 1 | 1 : minimum required sat count fail |
+| GPS_CHECK_FAIL_MAX_PDOP | `uint8` | 2 | 2 : maximum allowed PDOP fail |
+| GPS_CHECK_FAIL_MAX_HORZ_ERR | `uint8` | 3 | 3 : maximum allowed horizontal position error fail |
+| GPS_CHECK_FAIL_MAX_VERT_ERR | `uint8` | 4 | 4 : maximum allowed vertical position error fail |
+| GPS_CHECK_FAIL_MAX_SPD_ERR | `uint8` | 5 | 5 : maximum allowed speed error fail |
+| GPS_CHECK_FAIL_MAX_HORZ_DRIFT | `uint8` | 6 | 6 : maximum allowed horizontal position drift fail - requires stationary vehicle |
+| GPS_CHECK_FAIL_MAX_VERT_DRIFT | `uint8` | 7 | 7 : maximum allowed vertical position drift fail - requires stationary vehicle |
+| GPS_CHECK_FAIL_MAX_HORZ_SPD_ERR | `uint8` | 8 | 8 : maximum allowed horizontal speed fail - requires stationary vehicle |
+| GPS_CHECK_FAIL_MAX_VERT_SPD_ERR | `uint8` | 9 | 9 : maximum allowed vertical velocity discrepancy fail |
+| GPS_CHECK_FAIL_SPOOFED | `uint8` | 10 | 10 : GPS signal is spoofed |
+| GPS_CHECK_FAIL_JAMMED | `uint8` | 11 | 11 : GPS signal is jammed |
+| CS_TILT_ALIGN | `uint8` | 0 | 0 - true if the filter tilt alignment is complete |
+| CS_YAW_ALIGN | `uint8` | 1 | 1 - true if the filter yaw alignment is complete |
+| CS_GNSS_POS | `uint8` | 2 | 2 - true if GNSS position measurements are being fused |
+| CS_OPT_FLOW | `uint8` | 3 | 3 - true if optical flow measurements are being fused |
+| CS_MAG_HDG | `uint8` | 4 | 4 - true if a simple magnetic yaw heading is being fused |
+| CS_MAG_3D | `uint8` | 5 | 5 - true if 3-axis magnetometer measurement are being fused |
+| CS_MAG_DEC | `uint8` | 6 | 6 - true if synthetic magnetic declination measurements are being fused |
+| CS_IN_AIR | `uint8` | 7 | 7 - true when thought to be airborne |
+| CS_WIND | `uint8` | 8 | 8 - true when wind velocity is being estimated |
+| CS_BARO_HGT | `uint8` | 9 | 9 - true when baro data is being fused |
+| CS_RNG_HGT | `uint8` | 10 | 10 - true when range finder data is being fused for height aiding |
+| CS_GPS_HGT | `uint8` | 11 | 11 - true when GPS altitude is being fused |
+| CS_EV_POS | `uint8` | 12 | 12 - true when local position data from external vision is being fused |
+| CS_EV_YAW | `uint8` | 13 | 13 - true when yaw data from external vision measurements is being fused |
+| CS_EV_HGT | `uint8` | 14 | 14 - true when height data from external vision measurements is being fused |
+| CS_BETA | `uint8` | 15 | 15 - true when synthetic sideslip measurements are being fused |
+| CS_MAG_FIELD | `uint8` | 16 | 16 - true when only the magnetic field states are updated by the magnetometer |
+| CS_FIXED_WING | `uint8` | 17 | 17 - true when thought to be operating as a fixed wing vehicle with constrained sideslip |
+| CS_MAG_FAULT | `uint8` | 18 | 18 - true when the magnetometer has been declared faulty and is no longer being used |
+| CS_ASPD | `uint8` | 19 | 19 - true when airspeed measurements are being fused |
+| CS_GND_EFFECT | `uint8` | 20 | 20 - true when when protection from ground effect induced static pressure rise is active |
+| CS_RNG_STUCK | `uint8` | 21 | 21 - true when a stuck range finder sensor has been detected |
+| CS_GPS_YAW | `uint8` | 22 | 22 - true when yaw (not ground course) data from a GPS receiver is being fused |
+| CS_MAG_ALIGNED | `uint8` | 23 | 23 - true when the in-flight mag field alignment has been completed |
+| CS_EV_VEL | `uint8` | 24 | 24 - true when local frame velocity data fusion from external vision measurements is intended |
+| CS_SYNTHETIC_MAG_Z | `uint8` | 25 | 25 - true when we are using a synthesized measurement for the magnetometer Z component |
+| CS_VEHICLE_AT_REST | `uint8` | 26 | 26 - true when the vehicle is at rest |
+| CS_GPS_YAW_FAULT | `uint8` | 27 | 27 - true when the GNSS heading has been declared faulty and is no longer being used |
+| CS_RNG_FAULT | `uint8` | 28 | 28 - true when the range finder has been declared faulty and is no longer being used |
+| CS_GNSS_VEL | `uint8` | 44 | 44 - true if GNSS velocity measurement fusion is intended |
+| CS_GNSS_FAULT | `uint8` | 45 | 45 - true if GNSS measurements have been declared faulty and are no longer used |
+| CS_YAW_MANUAL | `uint8` | 46 | 46 - true if yaw has been set manually |
## Source Message
diff --git a/docs/uk/msg_docs/EstimatorStatusFlags.md b/docs/uk/msg_docs/EstimatorStatusFlags.md
index 29d6a2cd0e..8e840460b8 100644
--- a/docs/uk/msg_docs/EstimatorStatusFlags.md
+++ b/docs/uk/msg_docs/EstimatorStatusFlags.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# EstimatorStatusFlags (повідомлення UORB)
-**TOPICS:** estimator_statusflags
+**TOPICS:** estimator_status_flags
## Fields
diff --git a/docs/uk/msg_docs/Event.md b/docs/uk/msg_docs/Event.md
index 5be6cbba4a..137d27ec40 100644
--- a/docs/uk/msg_docs/Event.md
+++ b/docs/uk/msg_docs/Event.md
@@ -20,10 +20,10 @@ Events interface.
## Constants
-| Назва | Тип | Значення | Опис |
-| ------------------------------------------------------------------------------------------- | -------- | -------- | ---- |
-| MESSAGE_VERSION | `uint32` | 1 | |
-| ORB_QUEUE_LENGTH | `uint8` | 16 | |
+| Назва | Тип | Значення | Опис |
+| ----------------------------------------------------------------------------------------- | -------- | -------- | ---- |
+| MESSAGE_VERSION | `uint32` | 1 | |
+| ORB_QUEUE_LENGTH | `uint8` | 16 | |
## Source Message
diff --git a/docs/uk/msg_docs/EventV0.md b/docs/uk/msg_docs/EventV0.md
index 4bf5f84e9c..430ed5404d 100644
--- a/docs/uk/msg_docs/EventV0.md
+++ b/docs/uk/msg_docs/EventV0.md
@@ -6,7 +6,7 @@ pageClass: is-wide-page
this message is required here in the msg_old folder because other msg are depending on it. Events interface.
-**TOPICS:** eventv0
+**TOPICS:** event_v0
## Fields
@@ -20,10 +20,10 @@ this message is required here in the msg_old folder because other msg are depend
## Constants
-| Назва | Тип | Значення | Опис |
-| ------------------------------------------------------------------------------------------- | -------- | -------- | ---- |
-| MESSAGE_VERSION | `uint32` | 0 | |
-| ORB_QUEUE_LENGTH | `uint8` | 16 | |
+| Назва | Тип | Значення | Опис |
+| ----------------------------------------------------------------------------------------- | -------- | -------- | ---- |
+| MESSAGE_VERSION | `uint32` | 0 | |
+| ORB_QUEUE_LENGTH | `uint8` | 16 | |
## Source Message
diff --git a/docs/uk/msg_docs/FailsafeFlags.md b/docs/uk/msg_docs/FailsafeFlags.md
index de1c3eb243..dce677b39a 100644
--- a/docs/uk/msg_docs/FailsafeFlags.md
+++ b/docs/uk/msg_docs/FailsafeFlags.md
@@ -46,6 +46,10 @@ The flag comments are used as label for the failsafe state machine simulation
| battery_warning | `uint8` | | | Battery warning level (see BatteryStatus.msg) |
| battery_low_remaining_time | `bool` | | | Low battery based on remaining flight time |
| battery_unhealthy | `bool` | | | Battery unhealthy |
+| fd_critical_failure | `bool` | | | Critical failure (attitude/altitude limit exceeded, or external ATS) |
+| fd_esc_arming_failure | `bool` | | | ESC failed to arm |
+| fd_imbalanced_prop | `bool` | | | Imbalanced propeller detected |
+| fd_motor_failure | `bool` | | | Motor failure |
| geofence_breached | `bool` | | | Geofence breached (one or multiple) |
| mission_failure | `bool` | | | Mission failure |
| vtol_fixed_wing_system_failure | `bool` | | | vehicle in fixed-wing system failure failsafe mode (after quad-chute) |
@@ -53,10 +57,7 @@ The flag comments are used as label for the failsafe state machine simulation
| flight_time_limit_exceeded | `bool` | | | Maximum flight time exceeded |
| position_accuracy_low | `bool` | | | Position estimate has dropped below threshold, but is currently still declared valid |
| navigator_failure | `bool` | | | Navigator failed to execute a mode |
-| fd_critical_failure | `bool` | | | Critical failure (attitude/altitude limit exceeded, or external ATS) |
-| fd_esc_arming_failure | `bool` | | | ESC failed to arm |
-| fd_imbalanced_prop | `bool` | | | Imbalanced propeller detected |
-| fd_motor_failure | `bool` | | | Motor failure |
+| parachute_unhealthy | `bool` | | | Parachute system missing or unhealthy |
## Source Message
@@ -112,6 +113,12 @@ uint8 battery_warning # Battery warning level (see BatteryStatus
bool battery_low_remaining_time # Low battery based on remaining flight time
bool battery_unhealthy # Battery unhealthy
+# Failure detector
+bool fd_critical_failure # Critical failure (attitude/altitude limit exceeded, or external ATS)
+bool fd_esc_arming_failure # ESC failed to arm
+bool fd_imbalanced_prop # Imbalanced propeller detected
+bool fd_motor_failure # Motor failure
+
# Other
bool geofence_breached # Geofence breached (one or multiple)
bool mission_failure # Mission failure
@@ -120,12 +127,7 @@ bool wind_limit_exceeded # Wind limit exceeded
bool flight_time_limit_exceeded # Maximum flight time exceeded
bool position_accuracy_low # Position estimate has dropped below threshold, but is currently still declared valid
bool navigator_failure # Navigator failed to execute a mode
-
-# Failure detector
-bool fd_critical_failure # Critical failure (attitude/altitude limit exceeded, or external ATS)
-bool fd_esc_arming_failure # ESC failed to arm
-bool fd_imbalanced_prop # Imbalanced propeller detected
-bool fd_motor_failure # Motor failure
+bool parachute_unhealthy # Parachute system missing or unhealthy
```
:::
diff --git a/docs/uk/msg_docs/FailureDetectorStatus.md b/docs/uk/msg_docs/FailureDetectorStatus.md
index 176312bd59..eea24c48fa 100644
--- a/docs/uk/msg_docs/FailureDetectorStatus.md
+++ b/docs/uk/msg_docs/FailureDetectorStatus.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# FailureDetectorStatus (повідомлення UORB)
-**TOPICS:** failure_detectorstatus
+**TOPICS:** failure_detector_status
## Fields
diff --git a/docs/uk/msg_docs/FigureEightStatus.md b/docs/uk/msg_docs/FigureEightStatus.md
index 9ac9b200f7..421dafaea8 100644
--- a/docs/uk/msg_docs/FigureEightStatus.md
+++ b/docs/uk/msg_docs/FigureEightStatus.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# FigureEightStatus (повідомлення UORB)
-**TOPICS:** figure_eightstatus
+**TOPICS:** figure_eight_status
## Fields
diff --git a/docs/uk/msg_docs/FixedWingLateralGuidanceStatus.md b/docs/uk/msg_docs/FixedWingLateralGuidanceStatus.md
index 1cef22460f..816eada352 100644
--- a/docs/uk/msg_docs/FixedWingLateralGuidanceStatus.md
+++ b/docs/uk/msg_docs/FixedWingLateralGuidanceStatus.md
@@ -6,7 +6,7 @@ pageClass: is-wide-page
Fixed Wing Lateral Guidance Status message. Published by fw_pos_control module to report the resultant lateral setpoints and NPFG debug outputs.
-**TOPICS:** fixed_winglateral_guidancestatus
+**TOPICS:** fixed_wing_lateral_guidance_status
## Fields
diff --git a/docs/uk/msg_docs/FixedWingLateralSetpoint.md b/docs/uk/msg_docs/FixedWingLateralSetpoint.md
index b4c3f069dd..150025c21f 100644
--- a/docs/uk/msg_docs/FixedWingLateralSetpoint.md
+++ b/docs/uk/msg_docs/FixedWingLateralSetpoint.md
@@ -4,24 +4,27 @@ pageClass: is-wide-page
# FixedWingLateralSetpoint (UORB message)
-Fixed Wing Lateral Setpoint message. Used by the fw_lateral_longitudinal_control module. At least one of course, airspeed_direction, or lateral_acceleration must be finite.
+Fixed Wing Lateral Setpoint message.
-**TOPICS:** fixed_winglateral_setpoint
+Used by the fw_lateral_longitudinal_control module
+At least one of course, airspeed_direction, or lateral_acceleration must be finite.
+
+**TOPICS:** fixed_wing_lateral_setpoint
## Fields
| Назва | Тип | Unit [Frame] | Range/Enum | Опис |
| ----------------------------------------- | --------- | ---------------------------------------------------------------- | ------------------------------------------------------------------------------ | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
-| timestamp | `uint64` | | | time since system start (microseconds) |
+| timestamp | `uint64` | us | | Time since system start |
| course | `float32` | rad | [-pi : pi] | Desired direction of travel over ground w.r.t (true) North. NAN if not controlled directly. |
| airspeed_direction | `float32` | rad | [-pi : pi] | Desired horizontal angle of airspeed vector w.r.t. (true) North. Same as vehicle heading if in the absence of sideslip. NAN if not controlled directly, takes precedence over course if finite. |
-| lateral_acceleration | `float32` | FRD | | Lateral acceleration setpoint. NAN if not controlled directly, used as feedforward if either course setpoint or airspeed_direction is finite. |
+| lateral_acceleration | `float32` | m/s^2 [FRD] | | Lateral acceleration setpoint. NAN if not controlled directly, used as feedforward if either course setpoint or airspeed_direction is finite. |
## Constants
-| Назва | Тип | Значення | Опис |
-| -------------------------------------------------------------------- | -------- | -------- | ---- |
-| MESSAGE_VERSION | `uint32` | 0 | |
+| Назва | Тип | Значення | Опис |
+| ------------------------------------------------------------------ | -------- | -------- | ---- |
+| MESSAGE_VERSION | `uint32` | 0 | |
## Source Message
@@ -32,16 +35,17 @@ Click here to see original file
```c
# Fixed Wing Lateral Setpoint message
+#
# Used by the fw_lateral_longitudinal_control module
# At least one of course, airspeed_direction, or lateral_acceleration must be finite.
uint32 MESSAGE_VERSION = 0
-uint64 timestamp # time since system start (microseconds)
+uint64 timestamp # [us] Time since system start
-float32 course # [rad] [@range -pi, pi] Desired direction of travel over ground w.r.t (true) North. NAN if not controlled directly.
-float32 airspeed_direction # [rad] [@range -pi, pi] Desired horizontal angle of airspeed vector w.r.t. (true) North. Same as vehicle heading if in the absence of sideslip. NAN if not controlled directly, takes precedence over course if finite.
-float32 lateral_acceleration # [m/s^2] [FRD] Lateral acceleration setpoint. NAN if not controlled directly, used as feedforward if either course setpoint or airspeed_direction is finite.
+float32 course # [rad] [@range -pi, pi] Desired direction of travel over ground w.r.t (true) North. NAN if not controlled directly.
+float32 airspeed_direction # [rad] [@range -pi, pi] Desired horizontal angle of airspeed vector w.r.t. (true) North. Same as vehicle heading if in the absence of sideslip. NAN if not controlled directly, takes precedence over course if finite.
+float32 lateral_acceleration # [m/s^2] [@frame FRD] Lateral acceleration setpoint. NAN if not controlled directly, used as feedforward if either course setpoint or airspeed_direction is finite.
```
:::
diff --git a/docs/uk/msg_docs/FixedWingLateralStatus.md b/docs/uk/msg_docs/FixedWingLateralStatus.md
index 694d0b58f3..fd63176a7b 100644
--- a/docs/uk/msg_docs/FixedWingLateralStatus.md
+++ b/docs/uk/msg_docs/FixedWingLateralStatus.md
@@ -6,7 +6,7 @@ pageClass: is-wide-page
Fixed Wing Lateral Status message. Published by the fw_lateral_longitudinal_control module to report the resultant lateral setpoint.
-**TOPICS:** fixed_winglateral_status
+**TOPICS:** fixed_wing_lateral_status
## Fields
diff --git a/docs/uk/msg_docs/FixedWingLongitudinalSetpoint.md b/docs/uk/msg_docs/FixedWingLongitudinalSetpoint.md
index 6f9514b496..4d34a51eed 100644
--- a/docs/uk/msg_docs/FixedWingLongitudinalSetpoint.md
+++ b/docs/uk/msg_docs/FixedWingLongitudinalSetpoint.md
@@ -4,26 +4,30 @@ pageClass: is-wide-page
# FixedWingLongitudinalSetpoint (UORB message)
-Fixed Wing Longitudinal Setpoint message. Used by the fw_lateral_longitudinal_control module. If pitch_direct and throttle_direct are not both finite, then the controller relies on altitude/height_rate and equivalent_airspeed to control vertical motion. If both altitude and height_rate are NAN, the controller maintains the current altitude.
+Fixed Wing Longitudinal Setpoint message.
-**TOPICS:** fixed_winglongitudinal_setpoint
+Used by the fw_lateral_longitudinal_control module
+If pitch_direct and throttle_direct are not both finite, then the controller relies on altitude/height_rate and equivalent_airspeed to control vertical motion.
+If both altitude and height_rate are NAN, the controller maintains the current altitude.
+
+**TOPICS:** fixed_wing_longitudinal_setpoint
## Fields
| Назва | Тип | Unit [Frame] | Range/Enum | Опис |
| ---------------------------------------- | --------- | ---------------------------------------------------------------- | ------------------------------------------------------------------------------ | ------------------------------------------------------------------------------------------------------- |
-| timestamp | `uint64` | | | time since system start (microseconds) |
+| timestamp | `uint64` | us | | Time since system start |
| altitude | `float32` | m | | Altitude setpoint AMSL, not controlled directly if NAN or if height_rate is finite |
-| height_rate | `float32` | ENU | | Scalar height rate setpoint. NAN if not controlled directly |
+| height_rate | `float32` | m/s [ENU] | | Scalar height rate setpoint. NAN if not controlled directly |
| equivalent_airspeed | `float32` | m/s | [0 : inf] | Scalar equivalent airspeed setpoint. NAN if system default should be used |
-| pitch_direct | `float32` | FRD | [-pi : pi] | NAN if not controlled, overrides total energy controller |
+| pitch_direct | `float32` | rad [FRD] | [-pi : pi] | NAN if not controlled, overrides total energy controller |
| throttle_direct | `float32` | norm | [0 : 1] | NAN if not controlled, overrides total energy controller |
## Constants
-| Назва | Тип | Значення | Опис |
-| -------------------------------------------------------------------- | -------- | -------- | ---- |
-| MESSAGE_VERSION | `uint32` | 0 | |
+| Назва | Тип | Значення | Опис |
+| ------------------------------------------------------------------ | -------- | -------- | ---- |
+| MESSAGE_VERSION | `uint32` | 0 | |
## Source Message
@@ -34,19 +38,20 @@ Click here to see original file
```c
# Fixed Wing Longitudinal Setpoint message
+#
# Used by the fw_lateral_longitudinal_control module
# If pitch_direct and throttle_direct are not both finite, then the controller relies on altitude/height_rate and equivalent_airspeed to control vertical motion.
# If both altitude and height_rate are NAN, the controller maintains the current altitude.
uint32 MESSAGE_VERSION = 0
-uint64 timestamp # time since system start (microseconds)
+uint64 timestamp # [us] Time since system start
-float32 altitude # [m] Altitude setpoint AMSL, not controlled directly if NAN or if height_rate is finite
-float32 height_rate # [m/s] [ENU] Scalar height rate setpoint. NAN if not controlled directly
-float32 equivalent_airspeed # [m/s] [@range 0, inf] Scalar equivalent airspeed setpoint. NAN if system default should be used
-float32 pitch_direct # [rad] [@range -pi, pi] [FRD] NAN if not controlled, overrides total energy controller
-float32 throttle_direct # [norm] [@range 0,1] NAN if not controlled, overrides total energy controller
+float32 altitude # [m] Altitude setpoint AMSL, not controlled directly if NAN or if height_rate is finite
+float32 height_rate # [m/s] [@frame ENU] Scalar height rate setpoint. NAN if not controlled directly
+float32 equivalent_airspeed # [m/s] [@range 0, inf] Scalar equivalent airspeed setpoint. NAN if system default should be used
+float32 pitch_direct # [rad] [@range -pi, pi] [@frame FRD] NAN if not controlled, overrides total energy controller
+float32 throttle_direct # [norm] [@range 0,1] NAN if not controlled, overrides total energy controller
```
:::
diff --git a/docs/uk/msg_docs/FixedWingRunwayControl.md b/docs/uk/msg_docs/FixedWingRunwayControl.md
index 3843f72858..d0ae616f4c 100644
--- a/docs/uk/msg_docs/FixedWingRunwayControl.md
+++ b/docs/uk/msg_docs/FixedWingRunwayControl.md
@@ -6,7 +6,7 @@ pageClass: is-wide-page
Auxiliary control fields for fixed-wing runway takeoff/landing.
-**TOPICS:** fixed_wingrunway_control
+**TOPICS:** fixed_wing_runway_control
## Fields
@@ -19,12 +19,12 @@ Auxiliary control fields for fixed-wing runway takeoff/landing.
## Constants
-| Назва | Тип | Значення | Опис |
-| ------------------------------------------------------------------------------------------------------------------------------ | ------- | -------- | -------------------------------------------------------------------------------- |
-| STATE_THROTTLE_RAMP | `uint8` | 0 | ramping up throttle |
-| STATE_CLAMPED_TO_RUNWAY | `uint8` | 1 | clamped to runway, controlling yaw directly (wheel or rudder) |
-| STATE_CLIMBOUT | `uint8` | 2 | climbout to safe height before navigation |
-| STATE_FLYING | `uint8` | 3 | navigate freely |
+| Назва | Тип | Значення | Опис |
+| ---------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | -------------------------------------------------------------------------------- |
+| STATE_THROTTLE_RAMP | `uint8` | 0 | ramping up throttle |
+| STATE_CLAMPED_TO_RUNWAY | `uint8` | 1 | clamped to runway, controlling yaw directly (wheel or rudder) |
+| STATE_CLIMBOUT | `uint8` | 2 | climbout to safe height before navigation |
+| STATE_FLYING | `uint8` | 3 | navigate freely |
## Source Message
diff --git a/docs/uk/msg_docs/FlightPhaseEstimation.md b/docs/uk/msg_docs/FlightPhaseEstimation.md
index 2a898f54b9..f0d97a6c06 100644
--- a/docs/uk/msg_docs/FlightPhaseEstimation.md
+++ b/docs/uk/msg_docs/FlightPhaseEstimation.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# FlightPhaseEstimation (повідомлення UORB)
-**TOPICS:** flight_phaseestimation
+**TOPICS:** flight_phase_estimation
## Fields
@@ -15,12 +15,12 @@ pageClass: is-wide-page
## Constants
-| Назва | Тип | Значення | Опис |
-| --------------------------------------------------------------------------------------------------- | ------- | -------- | ------------------------------- |
-| FLIGHT_PHASE_UNKNOWN | `uint8` | 0 | vehicle flight phase is unknown |
-| FLIGHT_PHASE_LEVEL | `uint8` | 1 | Vehicle is in level flight |
-| FLIGHT_PHASE_DESCEND | `uint8` | 2 | vehicle is in descend |
-| FLIGHT_PHASE_CLIMB | `uint8` | 3 | vehicle is climbing |
+| Назва | Тип | Значення | Опис |
+| ------------------------------------------------------------------------------------------------- | ------- | -------- | ------------------------------- |
+| FLIGHT_PHASE_UNKNOWN | `uint8` | 0 | vehicle flight phase is unknown |
+| FLIGHT_PHASE_LEVEL | `uint8` | 1 | Vehicle is in level flight |
+| FLIGHT_PHASE_DESCEND | `uint8` | 2 | vehicle is in descend |
+| FLIGHT_PHASE_CLIMB | `uint8` | 3 | vehicle is climbing |
## Source Message
diff --git a/docs/uk/msg_docs/FollowTargetEstimator.md b/docs/uk/msg_docs/FollowTargetEstimator.md
index df4a781847..220880b739 100644
--- a/docs/uk/msg_docs/FollowTargetEstimator.md
+++ b/docs/uk/msg_docs/FollowTargetEstimator.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# FollowTargetEstimator (UORB message)
-**TOPICS:** follow_targetestimator
+**TOPICS:** follow_target_estimator
## Fields
diff --git a/docs/uk/msg_docs/FollowTargetStatus.md b/docs/uk/msg_docs/FollowTargetStatus.md
index d2820f5c90..4bcb73a290 100644
--- a/docs/uk/msg_docs/FollowTargetStatus.md
+++ b/docs/uk/msg_docs/FollowTargetStatus.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# FollowTargetStatus (повідомлення UORB)
-**TOPICS:** follow_targetstatus
+**TOPICS:** follow_target_status
## Fields
diff --git a/docs/uk/msg_docs/FuelTankStatus.md b/docs/uk/msg_docs/FuelTankStatus.md
index 3908246f79..fced3efcf0 100644
--- a/docs/uk/msg_docs/FuelTankStatus.md
+++ b/docs/uk/msg_docs/FuelTankStatus.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# FuelTankStatus (UORB message)
-**TOPICS:** fuel_tankstatus
+**TOPICS:** fuel_tank_status
## Fields
@@ -22,11 +22,11 @@ pageClass: is-wide-page
## Constants
-| Назва | Тип | Значення | Опис |
-| -------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| MAV_FUEL_TYPE_UNKNOWN | `uint8` | 0 | fuel type not specified. Fuel levels are normalized (i.e., maximum is 1, and other levels are relative to 1). |
-| MAV_FUEL_TYPE_LIQUID | `uint8` | 1 | represents generic liquid fuels, such as gasoline or diesel. Fuel levels are measured in millilitres (ml), and flow rates in millilitres per second (ml/s). |
-| MAV_FUEL_TYPE_GAS | `uint8` | 2 | represents a gas fuel, such as hydrogen, methane, or propane. Fuel levels are in kilo-Pascal (kPa), and flow rates are in milliliters per second (ml/s). |
+| Назва | Тип | Значення | Опис |
+| ------------------------------------------------------------------------------------------------------------------------ | ------- | -------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| MAV_FUEL_TYPE_UNKNOWN | `uint8` | 0 | fuel type not specified. Fuel levels are normalized (i.e., maximum is 1, and other levels are relative to 1). |
+| MAV_FUEL_TYPE_LIQUID | `uint8` | 1 | represents generic liquid fuels, such as gasoline or diesel. Fuel levels are measured in millilitres (ml), and flow rates in millilitres per second (ml/s). |
+| MAV_FUEL_TYPE_GAS | `uint8` | 2 | represents a gas fuel, such as hydrogen, methane, or propane. Fuel levels are in kilo-Pascal (kPa), and flow rates are in milliliters per second (ml/s). |
## Source Message
diff --git a/docs/uk/msg_docs/GeneratorStatus.md b/docs/uk/msg_docs/GeneratorStatus.md
index 3a0562b865..b80362f319 100644
--- a/docs/uk/msg_docs/GeneratorStatus.md
+++ b/docs/uk/msg_docs/GeneratorStatus.md
@@ -25,31 +25,31 @@ pageClass: is-wide-page
## Constants
-| Назва | Тип | Значення | Опис |
-| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | -------- | -------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| STATUS_FLAG_OFF | `uint64` | 1 | Generator is off. |
-| STATUS_FLAG_READY | `uint64` | 2 | Generator is ready to start generating power. |
-| STATUS_FLAG_GENERATING | `uint64` | 4 | Generator is generating power. |
-| STATUS_FLAG_CHARGING | `uint64` | 8 | Generator is charging the batteries (generating enough power to charge and provide the load). |
-| STATUS_FLAG_REDUCED_POWER | `uint64` | 16 | Generator is operating at a reduced maximum power. |
-| STATUS_FLAG_MAXPOWER | `uint64` | 32 | Generator is providing the maximum output. |
-| STATUS_FLAG_OVERTEMP_WARNING | `uint64` | 64 | Generator is near the maximum operating temperature, cooling is insufficient. |
-| STATUS_FLAG_OVERTEMP_FAULT | `uint64` | 128 | Generator hit the maximum operating temperature and shutdown. |
-| STATUS_FLAG_ELECTRONICS_OVERTEMP_WARNING | `uint64` | 256 | Power electronics are near the maximum operating temperature, cooling is insufficient. |
-| STATUS_FLAG_ELECTRONICS_OVERTEMP_FAULT | `uint64` | 512 | Power electronics hit the maximum operating temperature and shutdown. |
-| STATUS_FLAG_ELECTRONICS_FAULT | `uint64` | 1024 | Power electronics experienced a fault and shutdown. |
-| STATUS_FLAG_POWERSOURCE_FAULT | `uint64` | 2048 | The power source supplying the generator failed e.g. mechanical generator stopped, tether is no longer providing power, solar cell is in shade, hydrogen reaction no longer happening. |
-| STATUS_FLAG_COMMUNICATION_WARNING | `uint64` | 4096 | Generator controller having communication problems. |
-| STATUS_FLAG_COOLING_WARNING | `uint64` | 8192 | Power electronic or generator cooling system error. |
-| STATUS_FLAG_POWER_RAIL_FAULT | `uint64` | 16384 | Generator controller power rail experienced a fault. |
-| STATUS_FLAG_OVERCURRENT_FAULT | `uint64` | 32768 | Generator controller exceeded the overcurrent threshold and shutdown to prevent damage. |
-| STATUS_FLAG_BATTERY_OVERCHARGE_CURRENT_FAULT | `uint64` | 65536 | Generator controller detected a high current going into the batteries and shutdown to prevent battery damage. |
-| STATUS_FLAG_OVERVOLTAGE_FAULT | `uint64` | 131072 | Generator controller exceeded it's overvoltage threshold and shutdown to prevent it exceeding the voltage rating. |
-| STATUS_FLAG_BATTERY_UNDERVOLT_FAULT | `uint64` | 262144 | Batteries are under voltage (generator will not start). |
-| STATUS_FLAG_START_INHIBITED | `uint64` | 524288 | Generator start is inhibited by e.g. a safety switch. |
-| STATUS_FLAG_MAINTENANCE_REQUIRED | `uint64` | 1048576 | Generator requires maintenance. |
-| STATUS_FLAG_WARMING_UP | `uint64` | 2097152 | Generator is not ready to generate yet. |
-| STATUS_FLAG_IDLE | `uint64` | 4194304 | Generator is idle. |
+| Назва | Тип | Значення | Опис |
+| ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| STATUS_FLAG_OFF | `uint64` | 1 | Generator is off. |
+| STATUS_FLAG_READY | `uint64` | 2 | Generator is ready to start generating power. |
+| STATUS_FLAG_GENERATING | `uint64` | 4 | Generator is generating power. |
+| STATUS_FLAG_CHARGING | `uint64` | 8 | Generator is charging the batteries (generating enough power to charge and provide the load). |
+| STATUS_FLAG_REDUCED_POWER | `uint64` | 16 | Generator is operating at a reduced maximum power. |
+| STATUS_FLAG_MAXPOWER | `uint64` | 32 | Generator is providing the maximum output. |
+| STATUS_FLAG_OVERTEMP_WARNING | `uint64` | 64 | Generator is near the maximum operating temperature, cooling is insufficient. |
+| STATUS_FLAG_OVERTEMP_FAULT | `uint64` | 128 | Generator hit the maximum operating temperature and shutdown. |
+| STATUS_FLAG_ELECTRONICS_OVERTEMP_WARNING | `uint64` | 256 | Power electronics are near the maximum operating temperature, cooling is insufficient. |
+| STATUS_FLAG_ELECTRONICS_OVERTEMP_FAULT | `uint64` | 512 | Power electronics hit the maximum operating temperature and shutdown. |
+| STATUS_FLAG_ELECTRONICS_FAULT | `uint64` | 1024 | Power electronics experienced a fault and shutdown. |
+| STATUS_FLAG_POWERSOURCE_FAULT | `uint64` | 2048 | The power source supplying the generator failed e.g. mechanical generator stopped, tether is no longer providing power, solar cell is in shade, hydrogen reaction no longer happening. |
+| STATUS_FLAG_COMMUNICATION_WARNING | `uint64` | 4096 | Generator controller having communication problems. |
+| STATUS_FLAG_COOLING_WARNING | `uint64` | 8192 | Power electronic or generator cooling system error. |
+| STATUS_FLAG_POWER_RAIL_FAULT | `uint64` | 16384 | Generator controller power rail experienced a fault. |
+| STATUS_FLAG_OVERCURRENT_FAULT | `uint64` | 32768 | Generator controller exceeded the overcurrent threshold and shutdown to prevent damage. |
+| STATUS_FLAG_BATTERY_OVERCHARGE_CURRENT_FAULT | `uint64` | 65536 | Generator controller detected a high current going into the batteries and shutdown to prevent battery damage. |
+| STATUS_FLAG_OVERVOLTAGE_FAULT | `uint64` | 131072 | Generator controller exceeded it's overvoltage threshold and shutdown to prevent it exceeding the voltage rating. |
+| STATUS_FLAG_BATTERY_UNDERVOLT_FAULT | `uint64` | 262144 | Batteries are under voltage (generator will not start). |
+| STATUS_FLAG_START_INHIBITED | `uint64` | 524288 | Generator start is inhibited by e.g. a safety switch. |
+| STATUS_FLAG_MAINTENANCE_REQUIRED | `uint64` | 1048576 | Generator requires maintenance. |
+| STATUS_FLAG_WARMING_UP | `uint64` | 2097152 | Generator is not ready to generate yet. |
+| STATUS_FLAG_IDLE | `uint64` | 4194304 | Generator is idle. |
## Source Message
diff --git a/docs/uk/msg_docs/GeofenceResult.md b/docs/uk/msg_docs/GeofenceResult.md
index 8c27e83dee..bcc6c18106 100644
--- a/docs/uk/msg_docs/GeofenceResult.md
+++ b/docs/uk/msg_docs/GeofenceResult.md
@@ -18,14 +18,14 @@ pageClass: is-wide-page
## Constants
-\| Name | Type | Value | Description |
-\| ------------------------------------------------------- | ------- | ----- | ------------------------------- | ------ |
-\| GF_ACTION_NONE | `uint8` | 0 | no action on geofence violation |
-\| GF_ACTION_WARN | `uint8` | 1 | critical mavlink message |
-\| GF_ACTION_LOITER | `uint8` | 2 | switch to AUTO | LOITER |
-\| GF_ACTION_RTL | `uint8` | 3 | switch to AUTO | RTL |
-\| GF_ACTION_TERMINATE | `uint8` | 4 | flight termination |
-\| GF_ACTION_LAND | `uint8` | 5 | switch to AUTO | LAND |
+\| Name | Type | Value | Description |
+\| ----------------------------------------------------- | ------- | ----- | ------------------------------- | ------ |
+\| GF_ACTION_NONE | `uint8` | 0 | no action on geofence violation |
+\| GF_ACTION_WARN | `uint8` | 1 | critical mavlink message |
+\| GF_ACTION_LOITER | `uint8` | 2 | switch to AUTO | LOITER |
+\| GF_ACTION_RTL | `uint8` | 3 | switch to AUTO | RTL |
+\| GF_ACTION_TERMINATE | `uint8` | 4 | flight termination |
+\| GF_ACTION_LAND | `uint8` | 5 | switch to AUTO | LAND |
## Source Message
diff --git a/docs/uk/msg_docs/GeofenceStatus.md b/docs/uk/msg_docs/GeofenceStatus.md
index 8d28fc8ee5..28f229fb7d 100644
--- a/docs/uk/msg_docs/GeofenceStatus.md
+++ b/docs/uk/msg_docs/GeofenceStatus.md
@@ -16,10 +16,10 @@ pageClass: is-wide-page
## Constants
-| Назва | Тип | Значення | Опис |
-| --------------------------------------------------------------------------------------------- | ------- | -------- | ---- |
-| GF_STATUS_LOADING | `uint8` | 0 | |
-| GF_STATUS_READY | `uint8` | 1 | |
+| Назва | Тип | Значення | Опис |
+| ------------------------------------------------------------------------------------------- | ------- | -------- | ---- |
+| GF_STATUS_LOADING | `uint8` | 0 | |
+| GF_STATUS_READY | `uint8` | 1 | |
## Source Message
diff --git a/docs/uk/msg_docs/GimbalControls.md b/docs/uk/msg_docs/GimbalControls.md
index 693d3a3c83..a133967608 100644
--- a/docs/uk/msg_docs/GimbalControls.md
+++ b/docs/uk/msg_docs/GimbalControls.md
@@ -16,11 +16,11 @@ pageClass: is-wide-page
## Constants
-| Назва | Тип | Значення | Опис |
-| ------------------------------------------------------------ | ------- | -------- | ---- |
-| INDEX_ROLL | `uint8` | 0 | |
-| INDEX_PITCH | `uint8` | 1 | |
-| INDEX_YAW | `uint8` | 2 | |
+| Назва | Тип | Значення | Опис |
+| ---------------------------------------------------------- | ------- | -------- | ---- |
+| INDEX_ROLL | `uint8` | 0 | |
+| INDEX_PITCH | `uint8` | 1 | |
+| INDEX_YAW | `uint8` | 2 | |
## Source Message
diff --git a/docs/uk/msg_docs/GimbalDeviceAttitudeStatus.md b/docs/uk/msg_docs/GimbalDeviceAttitudeStatus.md
index 796fbf9b25..9b4ae4ee3a 100644
--- a/docs/uk/msg_docs/GimbalDeviceAttitudeStatus.md
+++ b/docs/uk/msg_docs/GimbalDeviceAttitudeStatus.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# GimbalDeviceAttitudeStatus (повідомлення UORB)
-**TOPICS:** gimbal_deviceattitude_status
+**TOPICS:** gimbal_device_attitude_status
## Fields
@@ -26,15 +26,15 @@ pageClass: is-wide-page
## Constants
-| Назва | Тип | Значення | Опис |
-| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ---- |
-| DEVICE_FLAGS_RETRACT | `uint16` | 1 | |
-| DEVICE_FLAGS_NEUTRAL | `uint16` | 2 | |
-| DEVICE_FLAGS_ROLL_LOCK | `uint16` | 4 | |
-| DEVICE_FLAGS_PITCH_LOCK | `uint16` | 8 | |
-| DEVICE_FLAGS_YAW_LOCK | `uint16` | 16 | |
-| DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME | `uint16` | 32 | |
-| DEVICE_FLAGS_YAW_IN_EARTH_FRAME | `uint16` | 64 | |
+| Назва | Тип | Значення | Опис |
+| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | -------- | -------- | ---- |
+| DEVICE_FLAGS_RETRACT | `uint16` | 1 | |
+| DEVICE_FLAGS_NEUTRAL | `uint16` | 2 | |
+| DEVICE_FLAGS_ROLL_LOCK | `uint16` | 4 | |
+| DEVICE_FLAGS_PITCH_LOCK | `uint16` | 8 | |
+| DEVICE_FLAGS_YAW_LOCK | `uint16` | 16 | |
+| DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME | `uint16` | 32 | |
+| DEVICE_FLAGS_YAW_IN_EARTH_FRAME | `uint16` | 64 | |
## Source Message
diff --git a/docs/uk/msg_docs/GimbalDeviceInformation.md b/docs/uk/msg_docs/GimbalDeviceInformation.md
index 4617e7a707..1161d195ab 100644
--- a/docs/uk/msg_docs/GimbalDeviceInformation.md
+++ b/docs/uk/msg_docs/GimbalDeviceInformation.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# GimbalDeviceInformation (повідомлення UORB)
-**TOPICS:** gimbal_deviceinformation
+**TOPICS:** gimbal_device_information
## Fields
@@ -29,20 +29,20 @@ pageClass: is-wide-page
## Constants
-| Назва | Тип | Значення | Опис |
-| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ---- |
-| GIMBAL_DEVICE_CAP_FLAGS_HAS_RETRACT | `uint32` | 1 | |
-| GIMBAL_DEVICE_CAP_FLAGS_HAS_NEUTRAL | `uint32` | 2 | |
-| GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_AXIS | `uint32` | 4 | |
-| GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_FOLLOW | `uint32` | 8 | |
-| GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_LOCK | `uint32` | 16 | |
-| GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_AXIS | `uint32` | 32 | |
-| GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_FOLLOW | `uint32` | 64 | |
-| GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_LOCK | `uint32` | 128 | |
-| GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_AXIS | `uint32` | 256 | |
-| GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_FOLLOW | `uint32` | 512 | |
-| GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_LOCK | `uint32` | 1024 | |
-| GIMBAL_DEVICE_CAP_FLAGS_SUPPORTS_INFINITE_YAW | `uint32` | 2048 | |
+| Назва | Тип | Значення | Опис |
+| --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ---- |
+| GIMBAL_DEVICE_CAP_FLAGS_HAS_RETRACT | `uint32` | 1 | |
+| GIMBAL_DEVICE_CAP_FLAGS_HAS_NEUTRAL | `uint32` | 2 | |
+| GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_AXIS | `uint32` | 4 | |
+| GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_FOLLOW | `uint32` | 8 | |
+| GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_LOCK | `uint32` | 16 | |
+| GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_AXIS | `uint32` | 32 | |
+| GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_FOLLOW | `uint32` | 64 | |
+| GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_LOCK | `uint32` | 128 | |
+| GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_AXIS | `uint32` | 256 | |
+| GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_FOLLOW | `uint32` | 512 | |
+| GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_LOCK | `uint32` | 1024 | |
+| GIMBAL_DEVICE_CAP_FLAGS_SUPPORTS_INFINITE_YAW | `uint32` | 2048 | |
## Source Message
diff --git a/docs/uk/msg_docs/GimbalDeviceSetAttitude.md b/docs/uk/msg_docs/GimbalDeviceSetAttitude.md
index fc8535333c..38c55185eb 100644
--- a/docs/uk/msg_docs/GimbalDeviceSetAttitude.md
+++ b/docs/uk/msg_docs/GimbalDeviceSetAttitude.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# GimbalDeviceSetAttitude (повідомлення UORB)
-**TOPICS:** gimbal_deviceset_attitude
+**TOPICS:** gimbal_device_set_attitude
## Fields
@@ -21,13 +21,13 @@ pageClass: is-wide-page
## Constants
-| Назва | Тип | Значення | Опис |
-| ----------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ---- |
-| GIMBAL_DEVICE_FLAGS_RETRACT | `uint32` | 1 | |
-| GIMBAL_DEVICE_FLAGS_NEUTRAL | `uint32` | 2 | |
-| GIMBAL_DEVICE_FLAGS_ROLL_LOCK | `uint32` | 4 | |
-| GIMBAL_DEVICE_FLAGS_PITCH_LOCK | `uint32` | 8 | |
-| GIMBAL_DEVICE_FLAGS_YAW_LOCK | `uint32` | 16 | |
+| Назва | Тип | Значення | Опис |
+| --------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ---- |
+| GIMBAL_DEVICE_FLAGS_RETRACT | `uint32` | 1 | |
+| GIMBAL_DEVICE_FLAGS_NEUTRAL | `uint32` | 2 | |
+| GIMBAL_DEVICE_FLAGS_ROLL_LOCK | `uint32` | 4 | |
+| GIMBAL_DEVICE_FLAGS_PITCH_LOCK | `uint32` | 8 | |
+| GIMBAL_DEVICE_FLAGS_YAW_LOCK | `uint32` | 16 | |
## Source Message
diff --git a/docs/uk/msg_docs/GimbalManagerInformation.md b/docs/uk/msg_docs/GimbalManagerInformation.md
index 1c6a0686f5..6d0eb39f03 100644
--- a/docs/uk/msg_docs/GimbalManagerInformation.md
+++ b/docs/uk/msg_docs/GimbalManagerInformation.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# GimbalManagerInformation (повідомлення UORB)
-**TOPICS:** gimbal_managerinformation
+**TOPICS:** gimbal_manager_information
## Fields
@@ -22,22 +22,22 @@ pageClass: is-wide-page
## Constants
-| Назва | Тип | Значення | Опис |
-| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | -------- | -------- | ---- |
-| GIMBAL_MANAGER_CAP_FLAGS_HAS_RETRACT | `uint32` | 1 | |
-| GIMBAL_MANAGER_CAP_FLAGS_HAS_NEUTRAL | `uint32` | 2 | |
-| GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_AXIS | `uint32` | 4 | |
-| GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_FOLLOW | `uint32` | 8 | |
-| GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_LOCK | `uint32` | 16 | |
-| GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_AXIS | `uint32` | 32 | |
-| GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_FOLLOW | `uint32` | 64 | |
-| GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_LOCK | `uint32` | 128 | |
-| GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_AXIS | `uint32` | 256 | |
-| GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_FOLLOW | `uint32` | 512 | |
-| GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_LOCK | `uint32` | 1024 | |
-| GIMBAL_MANAGER_CAP_FLAGS_SUPPORTS_INFINITE_YAW | `uint32` | 2048 | |
-| GIMBAL_MANAGER_CAP_FLAGS_CAN_POINT_LOCATION_LOCAL | `uint32` | 65536 | |
-| GIMBAL_MANAGER_CAP_FLAGS_CAN_POINT_LOCATION_GLOBAL | `uint32` | 131072 | |
+| Назва | Тип | Значення | Опис |
+| ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ---- |
+| GIMBAL_MANAGER_CAP_FLAGS_HAS_RETRACT | `uint32` | 1 | |
+| GIMBAL_MANAGER_CAP_FLAGS_HAS_NEUTRAL | `uint32` | 2 | |
+| GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_AXIS | `uint32` | 4 | |
+| GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_FOLLOW | `uint32` | 8 | |
+| GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_LOCK | `uint32` | 16 | |
+| GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_AXIS | `uint32` | 32 | |
+| GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_FOLLOW | `uint32` | 64 | |
+| GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_LOCK | `uint32` | 128 | |
+| GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_AXIS | `uint32` | 256 | |
+| GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_FOLLOW | `uint32` | 512 | |
+| GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_LOCK | `uint32` | 1024 | |
+| GIMBAL_MANAGER_CAP_FLAGS_SUPPORTS_INFINITE_YAW | `uint32` | 2048 | |
+| GIMBAL_MANAGER_CAP_FLAGS_CAN_POINT_LOCATION_LOCAL | `uint32` | 65536 | |
+| GIMBAL_MANAGER_CAP_FLAGS_CAN_POINT_LOCATION_GLOBAL | `uint32` | 131072 | |
## Source Message
diff --git a/docs/uk/msg_docs/GimbalManagerSetAttitude.md b/docs/uk/msg_docs/GimbalManagerSetAttitude.md
index 1c36cefefd..77f830e5cd 100644
--- a/docs/uk/msg_docs/GimbalManagerSetAttitude.md
+++ b/docs/uk/msg_docs/GimbalManagerSetAttitude.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# GimbalManagerSetAttitude (повідомлення UORB)
-**TOPICS:** gimbal_managerset_attitude
+**TOPICS:** gimbal_manager_set_attitude
## Fields
@@ -24,14 +24,14 @@ pageClass: is-wide-page
## Constants
-| Назва | Тип | Значення | Опис |
-| ------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ---- |
-| GIMBAL_MANAGER_FLAGS_RETRACT | `uint32` | 1 | |
-| GIMBAL_MANAGER_FLAGS_NEUTRAL | `uint32` | 2 | |
-| GIMBAL_MANAGER_FLAGS_ROLL_LOCK | `uint32` | 4 | |
-| GIMBAL_MANAGER_FLAGS_PITCH_LOCK | `uint32` | 8 | |
-| GIMBAL_MANAGER_FLAGS_YAW_LOCK | `uint32` | 16 | |
-| ORB_QUEUE_LENGTH | `uint8` | 2 | |
+| Назва | Тип | Значення | Опис |
+| ----------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ---- |
+| GIMBAL_MANAGER_FLAGS_RETRACT | `uint32` | 1 | |
+| GIMBAL_MANAGER_FLAGS_NEUTRAL | `uint32` | 2 | |
+| GIMBAL_MANAGER_FLAGS_ROLL_LOCK | `uint32` | 4 | |
+| GIMBAL_MANAGER_FLAGS_PITCH_LOCK | `uint32` | 8 | |
+| GIMBAL_MANAGER_FLAGS_YAW_LOCK | `uint32` | 16 | |
+| ORB_QUEUE_LENGTH | `uint8` | 2 | |
## Source Message
diff --git a/docs/uk/msg_docs/GimbalManagerSetManualControl.md b/docs/uk/msg_docs/GimbalManagerSetManualControl.md
index 837c6f4e80..8891a55ada 100644
--- a/docs/uk/msg_docs/GimbalManagerSetManualControl.md
+++ b/docs/uk/msg_docs/GimbalManagerSetManualControl.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# GimbalManagerSetManualControl (повідомлення UORB)
-**TOPICS:** gimbal_managerset_manualcontrol
+**TOPICS:** gimbal_manager_set_manual_control
## Fields
@@ -24,13 +24,13 @@ pageClass: is-wide-page
## Constants
-| Назва | Тип | Значення | Опис |
-| ------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ---- |
-| GIMBAL_MANAGER_FLAGS_RETRACT | `uint32` | 1 | |
-| GIMBAL_MANAGER_FLAGS_NEUTRAL | `uint32` | 2 | |
-| GIMBAL_MANAGER_FLAGS_ROLL_LOCK | `uint32` | 4 | |
-| GIMBAL_MANAGER_FLAGS_PITCH_LOCK | `uint32` | 8 | |
-| GIMBAL_MANAGER_FLAGS_YAW_LOCK | `uint32` | 16 | |
+| Назва | Тип | Значення | Опис |
+| ----------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ---- |
+| GIMBAL_MANAGER_FLAGS_RETRACT | `uint32` | 1 | |
+| GIMBAL_MANAGER_FLAGS_NEUTRAL | `uint32` | 2 | |
+| GIMBAL_MANAGER_FLAGS_ROLL_LOCK | `uint32` | 4 | |
+| GIMBAL_MANAGER_FLAGS_PITCH_LOCK | `uint32` | 8 | |
+| GIMBAL_MANAGER_FLAGS_YAW_LOCK | `uint32` | 16 | |
## Source Message
diff --git a/docs/uk/msg_docs/GimbalManagerStatus.md b/docs/uk/msg_docs/GimbalManagerStatus.md
index f7f47c8bfe..b75bafaaa5 100644
--- a/docs/uk/msg_docs/GimbalManagerStatus.md
+++ b/docs/uk/msg_docs/GimbalManagerStatus.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# GimbalManagerStatus (UORB message)
-**TOPICS:** gimbal_managerstatus
+**TOPICS:** gimbal_manager_status
## Fields
diff --git a/docs/uk/msg_docs/GotoSetpoint.md b/docs/uk/msg_docs/GotoSetpoint.md
index 1478a1a028..5521f03b1e 100644
--- a/docs/uk/msg_docs/GotoSetpoint.md
+++ b/docs/uk/msg_docs/GotoSetpoint.md
@@ -4,7 +4,13 @@ pageClass: is-wide-page
# GotoSetpoint (повідомлення UORB)
-Position and (optional) heading setpoints with corresponding speed constraints. Setpoints are intended as inputs to position and heading smoothers, respectively. Setpoints do not need to be kinematically consistent. Optional heading setpoints may be specified as controlled by the respective flag. Unset optional setpoints are not controlled. Unset optional constraints default to vehicle specifications.
+Position and (optional) heading setpoints with corresponding speed constraints.
+
+Setpoints are intended as inputs to position and heading smoothers, respectively.
+Setpoints do not need to be kinematically consistent.
+Optional heading setpoints may be specified as controlled by the respective flag.
+Unset optional setpoints are not controlled.
+Unset optional constraints default to vehicle specifications.
**TOPICS:** goto_setpoint
@@ -12,22 +18,22 @@ Position and (optional) heading setpoints with corresponding speed constraints.
| Назва | Тип | Unit [Frame] | Range/Enum | Опис |
| ----------------------------------------------------------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| timestamp | `uint64` | | | time since system start (microseconds) |
-| положення | `float32[3]` | m | | NED local world frame |
+| timestamp | `uint64` | us | | Time since system start |
+| положення | `float32[3]` | m [NED] | | NED local world frame |
| flag_control_heading | `bool` | | | true if heading is to be controlled |
| heading | `float32` | | | (optional) [rad] [-pi,pi] from North |
| flag_set_max_horizontal_speed | `bool` | | | true if setting a non-default horizontal speed limit |
-| max_horizontal_speed | `float32` | | | (optional) [m/s] maximum speed (absolute) in the NE-plane |
+| max_horizontal_speed | `float32` | m/s | | (optional) Maximum speed (absolute) in the NE-plane |
| flag_set_max_vertical_speed | `bool` | | | true if setting a non-default vertical speed limit |
-| max_vertical_speed | `float32` | | | (optional) [m/s] maximum speed (absolute) in the D-axis |
+| max_vertical_speed | `float32` | m/s | | (optional) Maximum speed (absolute) in the D-axis |
| flag_set_max_heading_rate | `bool` | | | true if setting a non-default heading rate limit |
-| max_heading_rate | `float32` | | | (optional) [rad/s] maximum heading rate (absolute) |
+| max_heading_rate | `float32` | rad/s | | (optional) Maximum heading rate (absolute) |
## Constants
-| Назва | Тип | Значення | Опис |
-| -------------------------------------------------------------------- | -------- | -------- | ---- |
-| MESSAGE_VERSION | `uint32` | 0 | |
+| Назва | Тип | Значення | Опис |
+| ------------------------------------------------------------------ | -------- | -------- | ---- |
+| MESSAGE_VERSION | `uint32` | 0 | |
## Source Message
@@ -38,31 +44,32 @@ Click here to see original file
```c
# Position and (optional) heading setpoints with corresponding speed constraints
-# Setpoints are intended as inputs to position and heading smoothers, respectively
-# Setpoints do not need to be kinematically consistent
-# Optional heading setpoints may be specified as controlled by the respective flag
-# Unset optional setpoints are not controlled
-# Unset optional constraints default to vehicle specifications
+#
+# Setpoints are intended as inputs to position and heading smoothers, respectively.
+# Setpoints do not need to be kinematically consistent.
+# Optional heading setpoints may be specified as controlled by the respective flag.
+# Unset optional setpoints are not controlled.
+# Unset optional constraints default to vehicle specifications.
uint32 MESSAGE_VERSION = 0
-uint64 timestamp # time since system start (microseconds)
+uint64 timestamp # [us] Time since system start
# setpoints
-float32[3] position # [m] NED local world frame
+float32[3] position # [m] [@frame NED] NED local world frame
bool flag_control_heading # true if heading is to be controlled
float32 heading # (optional) [rad] [-pi,pi] from North
# constraints
bool flag_set_max_horizontal_speed # true if setting a non-default horizontal speed limit
-float32 max_horizontal_speed # (optional) [m/s] maximum speed (absolute) in the NE-plane
+float32 max_horizontal_speed # [m/s] (optional) Maximum speed (absolute) in the NE-plane
bool flag_set_max_vertical_speed # true if setting a non-default vertical speed limit
-float32 max_vertical_speed # (optional) [m/s] maximum speed (absolute) in the D-axis
+float32 max_vertical_speed # [m/s] (optional) Maximum speed (absolute) in the D-axis
bool flag_set_max_heading_rate # true if setting a non-default heading rate limit
-float32 max_heading_rate # (optional) [rad/s] maximum heading rate (absolute)
+float32 max_heading_rate # [rad/s] (optional) Maximum heading rate (absolute)
```
:::
diff --git a/docs/uk/msg_docs/GpioConfig.md b/docs/uk/msg_docs/GpioConfig.md
index 5b72d81018..df2d001e5a 100644
--- a/docs/uk/msg_docs/GpioConfig.md
+++ b/docs/uk/msg_docs/GpioConfig.md
@@ -20,19 +20,19 @@ GPIO configuration.
## Constants
-| Назва | Тип | Значення | Опис |
-| ---------------------------------------------------------------------------------------------------------- | -------- | -------- | ------ |
-| INPUT | `uint32` | 0 | 0x0000 |
-| OUTPUT | `uint32` | 1 | 0x0001 |
-| PULLUP | `uint32` | 16 | 0x0010 |
-| PULLDOWN | `uint32` | 32 | 0x0020 |
-| OPENDRAIN | `uint32` | 256 | 0x0100 |
-| INPUT_FLOATING | `uint32` | 0 | 0x0000 |
-| INPUT_PULLUP | `uint32` | 16 | 0x0010 |
-| INPUT_PULLDOWN | `uint32` | 32 | 0x0020 |
-| OUTPUT_PUSHPULL | `uint32` | 0 | 0x0000 |
-| OUTPUT_OPENDRAIN | `uint32` | 256 | 0x0100 |
-| OUTPUT_OPENDRAIN_PULLUP | `uint32` | 272 | 0x0110 |
+| Назва | Тип | Значення | Опис |
+| ------------------------------------------------------------------------------------------------------- | -------- | -------- | ------ |
+| INPUT | `uint32` | 0 | 0x0000 |
+| OUTPUT | `uint32` | 1 | 0x0001 |
+| PULLUP | `uint32` | 16 | 0x0010 |
+| PULLDOWN | `uint32` | 32 | 0x0020 |
+| OPENDRAIN | `uint32` | 256 | 0x0100 |
+| INPUT_FLOATING | `uint32` | 0 | 0x0000 |
+| INPUT_PULLUP | `uint32` | 16 | 0x0010 |
+| INPUT_PULLDOWN | `uint32` | 32 | 0x0020 |
+| OUTPUT_PUSHPULL | `uint32` | 0 | 0x0000 |
+| OUTPUT_OPENDRAIN | `uint32` | 256 | 0x0100 |
+| OUTPUT_OPENDRAIN_PULLUP | `uint32` | 272 | 0x0110 |
## Source Message
diff --git a/docs/uk/msg_docs/GpioIn.md b/docs/uk/msg_docs/GpioIn.md
index 5668bf5547..6b3aee789c 100644
--- a/docs/uk/msg_docs/GpioIn.md
+++ b/docs/uk/msg_docs/GpioIn.md
@@ -18,9 +18,9 @@ GPIO mask and state.
## Constants
-| Назва | Тип | Значення | Опис |
-| ---------------------------------------------------------------- | ------- | -------- | ---- |
-| MAX_INSTANCES | `uint8` | 8 | |
+| Назва | Тип | Значення | Опис |
+| -------------------------------------------------------------- | ------- | -------- | ---- |
+| MAX_INSTANCES | `uint8` | 8 | |
## Source Message
diff --git a/docs/uk/msg_docs/GpsDump.md b/docs/uk/msg_docs/GpsDump.md
index b06ba27ad0..419ccbdadd 100644
--- a/docs/uk/msg_docs/GpsDump.md
+++ b/docs/uk/msg_docs/GpsDump.md
@@ -20,11 +20,11 @@ This message is used to dump the raw gps communication to the log.
## Constants
-| Назва | Тип | Значення | Опис |
-| ------------------------------------------------------------------------------------------- | ------- | -------- | ---- |
-| INSTANCE_MAIN | `uint8` | 0 | |
-| INSTANCE_SECONDARY | `uint8` | 1 | |
-| ORB_QUEUE_LENGTH | `uint8` | 16 | |
+| Назва | Тип | Значення | Опис |
+| ----------------------------------------------------------------------------------------- | ------- | -------- | ---- |
+| INSTANCE_MAIN | `uint8` | 0 | |
+| INSTANCE_SECONDARY | `uint8` | 1 | |
+| ORB_QUEUE_LENGTH | `uint8` | 16 | |
## Source Message
diff --git a/docs/uk/msg_docs/GpsInjectData.md b/docs/uk/msg_docs/GpsInjectData.md
index 74ae8e5d73..cba0a60a61 100644
--- a/docs/uk/msg_docs/GpsInjectData.md
+++ b/docs/uk/msg_docs/GpsInjectData.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# GpsInjectData (повідомлення UORB)
-**TOPICS:** gps_injectdata
+**TOPICS:** gps_inject_data
## Fields
@@ -18,10 +18,10 @@ pageClass: is-wide-page
## Constants
-| Назва | Тип | Значення | Опис |
-| ------------------------------------------------------------------------------------------- | ------- | -------- | ---- |
-| ORB_QUEUE_LENGTH | `uint8` | 8 | |
-| MAX_INSTANCES | `uint8` | 2 | |
+| Назва | Тип | Значення | Опис |
+| ----------------------------------------------------------------------------------------- | ------- | -------- | ---- |
+| ORB_QUEUE_LENGTH | `uint8` | 8 | |
+| MAX_INSTANCES | `uint8` | 2 | |
## Source Message
diff --git a/docs/uk/msg_docs/Gripper.md b/docs/uk/msg_docs/Gripper.md
index 7b9ff1d2cd..4a8bbcd089 100644
--- a/docs/uk/msg_docs/Gripper.md
+++ b/docs/uk/msg_docs/Gripper.md
@@ -17,10 +17,10 @@ pageClass: is-wide-page
## Constants
-| Назва | Тип | Значення | Опис |
-| -------------------------------------------------------------------- | ------ | -------- | ---- |
-| COMMAND_GRAB | `int8` | 0 | |
-| COMMAND_RELEASE | `int8` | 1 | |
+| Назва | Тип | Значення | Опис |
+| ------------------------------------------------------------------ | ------ | -------- | ---- |
+| COMMAND_GRAB | `int8` | 0 | |
+| COMMAND_RELEASE | `int8` | 1 | |
## Source Message
diff --git a/docs/uk/msg_docs/HeaterStatus.md b/docs/uk/msg_docs/HeaterStatus.md
index 6fa6d20326..4549571607 100644
--- a/docs/uk/msg_docs/HeaterStatus.md
+++ b/docs/uk/msg_docs/HeaterStatus.md
@@ -25,10 +25,10 @@ pageClass: is-wide-page
## Constants
-| Назва | Тип | Значення | Опис |
-| ---------------------------------------------------------- | ------- | -------- | ---- |
-| MODE_GPIO | `uint8` | 1 | |
-| MODE_PX4IO | `uint8` | 2 | |
+| Назва | Тип | Значення | Опис |
+| -------------------------------------------------------- | ------- | -------- | ---- |
+| MODE_GPIO | `uint8` | 1 | |
+| MODE_PX4IO | `uint8` | 2 | |
## Source Message
diff --git a/docs/uk/msg_docs/HomePosition.md b/docs/uk/msg_docs/HomePosition.md
index 855140c375..6d9c9c66fc 100644
--- a/docs/uk/msg_docs/HomePosition.md
+++ b/docs/uk/msg_docs/HomePosition.md
@@ -30,9 +30,9 @@ pageClass: is-wide-page
## Constants
-| Назва | Тип | Значення | Опис |
-| -------------------------------------------------------------------- | -------- | -------- | ---- |
-| MESSAGE_VERSION | `uint32` | 1 | |
+| Назва | Тип | Значення | Опис |
+| ------------------------------------------------------------------ | -------- | -------- | ---- |
+| MESSAGE_VERSION | `uint32` | 1 | |
## Source Message
diff --git a/docs/uk/msg_docs/HomePositionV0.md b/docs/uk/msg_docs/HomePositionV0.md
index 296e57679b..adb22847a5 100644
--- a/docs/uk/msg_docs/HomePositionV0.md
+++ b/docs/uk/msg_docs/HomePositionV0.md
@@ -6,7 +6,7 @@ pageClass: is-wide-page
Домашнє GPS положення в координатах WGS84.
-**TOPICS:** home_positionv0
+**TOPICS:** home_position_v0
## Fields
@@ -28,9 +28,9 @@ pageClass: is-wide-page
## Constants
-| Назва | Тип | Значення | Опис |
-| -------------------------------------------------------------------- | -------- | -------- | ---- |
-| MESSAGE_VERSION | `uint32` | 0 | |
+| Назва | Тип | Значення | Опис |
+| ------------------------------------------------------------------ | -------- | -------- | ---- |
+| MESSAGE_VERSION | `uint32` | 0 | |
## Source Message
diff --git a/docs/uk/msg_docs/HoverThrustEstimate.md b/docs/uk/msg_docs/HoverThrustEstimate.md
index 0659284f2a..d72f9d1ccb 100644
--- a/docs/uk/msg_docs/HoverThrustEstimate.md
+++ b/docs/uk/msg_docs/HoverThrustEstimate.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# HoverThrustEstimate (повідомлення UORB)
-**TOPICS:** hover_thrustestimate
+**TOPICS:** hover_thrust_estimate
## Fields
diff --git a/docs/uk/msg_docs/InputRc.md b/docs/uk/msg_docs/InputRc.md
index 2a17aae0ca..c187f86eab 100644
--- a/docs/uk/msg_docs/InputRc.md
+++ b/docs/uk/msg_docs/InputRc.md
@@ -28,26 +28,26 @@ pageClass: is-wide-page
## Constants
-| Назва | Тип | Значення | Опис |
-| ------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | -------------------------------------------------------------------------------------------------------------------------------- |
-| RC_INPUT_SOURCE_UNKNOWN | `uint8` | 0 | |
-| RC_INPUT_SOURCE_PX4FMU_PPM | `uint8` | 1 | |
-| RC_INPUT_SOURCE_PX4IO_PPM | `uint8` | 2 | |
-| RC_INPUT_SOURCE_PX4IO_SPEKTRUM | `uint8` | 3 | |
-| RC_INPUT_SOURCE_PX4IO_SBUS | `uint8` | 4 | |
-| RC_INPUT_SOURCE_PX4IO_ST24 | `uint8` | 5 | |
-| RC_INPUT_SOURCE_MAVLINK | `uint8` | 6 | |
-| RC_INPUT_SOURCE_QURT | `uint8` | 7 | |
-| RC_INPUT_SOURCE_PX4FMU_SPEKTRUM | `uint8` | 8 | |
-| RC_INPUT_SOURCE_PX4FMU_SBUS | `uint8` | 9 | |
-| RC_INPUT_SOURCE_PX4FMU_ST24 | `uint8` | 10 | |
-| RC_INPUT_SOURCE_PX4FMU_SUMD | `uint8` | 11 | |
-| RC_INPUT_SOURCE_PX4FMU_DSM | `uint8` | 12 | |
-| RC_INPUT_SOURCE_PX4IO_SUMD | `uint8` | 13 | |
-| RC_INPUT_SOURCE_PX4FMU_CRSF | `uint8` | 14 | |
-| RC_INPUT_SOURCE_PX4FMU_GHST | `uint8` | 15 | |
-| RC_INPUT_MAX_CHANNELS | `uint8` | 18 | Maximum number of R/C input channels in the system. S.Bus has up to 18 channels. |
-| RSSI_MAX | `int8` | 100 | |
+| Назва | Тип | Значення | Опис |
+| ----------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | -------------------------------------------------------------------------------------------------------------------------------- |
+| RC_INPUT_SOURCE_UNKNOWN | `uint8` | 0 | |
+| RC_INPUT_SOURCE_PX4FMU_PPM | `uint8` | 1 | |
+| RC_INPUT_SOURCE_PX4IO_PPM | `uint8` | 2 | |
+| RC_INPUT_SOURCE_PX4IO_SPEKTRUM | `uint8` | 3 | |
+| RC_INPUT_SOURCE_PX4IO_SBUS | `uint8` | 4 | |
+| RC_INPUT_SOURCE_PX4IO_ST24 | `uint8` | 5 | |
+| RC_INPUT_SOURCE_MAVLINK | `uint8` | 6 | |
+| RC_INPUT_SOURCE_QURT | `uint8` | 7 | |
+| RC_INPUT_SOURCE_PX4FMU_SPEKTRUM | `uint8` | 8 | |
+| RC_INPUT_SOURCE_PX4FMU_SBUS | `uint8` | 9 | |
+| RC_INPUT_SOURCE_PX4FMU_ST24 | `uint8` | 10 | |
+| RC_INPUT_SOURCE_PX4FMU_SUMD | `uint8` | 11 | |
+| RC_INPUT_SOURCE_PX4FMU_DSM | `uint8` | 12 | |
+| RC_INPUT_SOURCE_PX4IO_SUMD | `uint8` | 13 | |
+| RC_INPUT_SOURCE_PX4FMU_CRSF | `uint8` | 14 | |
+| RC_INPUT_SOURCE_PX4FMU_GHST | `uint8` | 15 | |
+| RC_INPUT_MAX_CHANNELS | `uint8` | 18 | Maximum number of R/C input channels in the system. S.Bus has up to 18 channels. |
+| RSSI_MAX | `int8` | 100 | |
## Source Message
diff --git a/docs/uk/msg_docs/InternalCombustionEngineControl.md b/docs/uk/msg_docs/InternalCombustionEngineControl.md
index baa5b42ef9..c41be0444c 100644
--- a/docs/uk/msg_docs/InternalCombustionEngineControl.md
+++ b/docs/uk/msg_docs/InternalCombustionEngineControl.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# InternalCombustionEngineControl (UORB message)
-**TOPICS:** internal_combustionengine_control
+**TOPICS:** internal_combustion_engine_control
## Fields
diff --git a/docs/uk/msg_docs/InternalCombustionEngineStatus.md b/docs/uk/msg_docs/InternalCombustionEngineStatus.md
index 7301386016..0387faa670 100644
--- a/docs/uk/msg_docs/InternalCombustionEngineStatus.md
+++ b/docs/uk/msg_docs/InternalCombustionEngineStatus.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# InternalCombustionEngineStatus (повідомлення UORB)
-**TOPICS:** internal_combustionengine_status
+**TOPICS:** internal_combustion_engine_status
## Fields
@@ -36,36 +36,36 @@ pageClass: is-wide-page
## Constants
-| Назва | Тип | Значення | Опис |
-| --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | -------------------------------------------------------------------------------------- |
-| STATE_STOPPED | `uint8` | 0 | The engine is not running. This is the default state. |
-| STATE_STARTING | `uint8` | 1 | The engine is starting. This is a transient state. |
-| STATE_RUNNING | `uint8` | 2 | The engine is running normally. |
-| STATE_FAULT | `uint8` | 3 | The engine can no longer function. |
-| FLAG_GENERAL_ERROR | `uint32` | 1 | General error. |
-| FLAG_CRANKSHAFT_SENSOR_ERROR_SUPPORTED | `uint32` | 2 | Error of the crankshaft sensor. This flag is optional. |
-| FLAG_CRANKSHAFT_SENSOR_ERROR | `uint32` | 4 | |
-| FLAG_TEMPERATURE_SUPPORTED | `uint32` | 8 | Temperature levels. These flags are optional |
-| FLAG_TEMPERATURE_BELOW_NOMINAL | `uint32` | 16 | Under-temperature warning |
-| FLAG_TEMPERATURE_ABOVE_NOMINAL | `uint32` | 32 | Over-temperature warning |
-| FLAG_TEMPERATURE_OVERHEATING | `uint32` | 64 | Critical overheating |
-| FLAG_TEMPERATURE_EGT_ABOVE_NOMINAL | `uint32` | 128 | Exhaust gas over-temperature warning |
-| FLAG_FUEL_PRESSURE_SUPPORTED | `uint32` | 256 | Fuel pressure. These flags are optional |
-| FLAG_FUEL_PRESSURE_BELOW_NOMINAL | `uint32` | 512 | Under-pressure warning |
-| FLAG_FUEL_PRESSURE_ABOVE_NOMINAL | `uint32` | 1024 | Over-pressure warning |
-| FLAG_DETONATION_SUPPORTED | `uint32` | 2048 | Detonation warning. This flag is optional. |
-| FLAG_DETONATION_OBSERVED | `uint32` | 4096 | Detonation condition observed warning |
-| FLAG_MISFIRE_SUPPORTED | `uint32` | 8192 | Misfire warning. This flag is optional. |
-| FLAG_MISFIRE_OBSERVED | `uint32` | 16384 | Misfire condition observed warning |
-| FLAG_OIL_PRESSURE_SUPPORTED | `uint32` | 32768 | Oil pressure. These flags are optional |
-| FLAG_OIL_PRESSURE_BELOW_NOMINAL | `uint32` | 65536 | Under-pressure warning |
-| FLAG_OIL_PRESSURE_ABOVE_NOMINAL | `uint32` | 131072 | Over-pressure warning |
-| FLAG_DEBRIS_SUPPORTED | `uint32` | 262144 | Debris warning. This flag is optional |
-| FLAG_DEBRIS_DETECTED | `uint32` | 524288 | Detection of debris warning |
-| SPARK_PLUG_SINGLE | `uint8` | 0 | |
-| SPARK_PLUG_FIRST_ACTIVE | `uint8` | 1 | |
-| SPARK_PLUG_SECOND_ACTIVE | `uint8` | 2 | |
-| SPARK_PLUG_BOTH_ACTIVE | `uint8` | 3 | |
+| Назва | Тип | Значення | Опис |
+| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | -------------------------------------------------------------------------------------- |
+| STATE_STOPPED | `uint8` | 0 | The engine is not running. This is the default state. |
+| STATE_STARTING | `uint8` | 1 | The engine is starting. This is a transient state. |
+| STATE_RUNNING | `uint8` | 2 | The engine is running normally. |
+| STATE_FAULT | `uint8` | 3 | The engine can no longer function. |
+| FLAG_GENERAL_ERROR | `uint32` | 1 | General error. |
+| FLAG_CRANKSHAFT_SENSOR_ERROR_SUPPORTED | `uint32` | 2 | Error of the crankshaft sensor. This flag is optional. |
+| FLAG_CRANKSHAFT_SENSOR_ERROR | `uint32` | 4 | |
+| FLAG_TEMPERATURE_SUPPORTED | `uint32` | 8 | Temperature levels. These flags are optional |
+| FLAG_TEMPERATURE_BELOW_NOMINAL | `uint32` | 16 | Under-temperature warning |
+| FLAG_TEMPERATURE_ABOVE_NOMINAL | `uint32` | 32 | Over-temperature warning |
+| FLAG_TEMPERATURE_OVERHEATING | `uint32` | 64 | Critical overheating |
+| FLAG_TEMPERATURE_EGT_ABOVE_NOMINAL | `uint32` | 128 | Exhaust gas over-temperature warning |
+| FLAG_FUEL_PRESSURE_SUPPORTED | `uint32` | 256 | Fuel pressure. These flags are optional |
+| FLAG_FUEL_PRESSURE_BELOW_NOMINAL | `uint32` | 512 | Under-pressure warning |
+| FLAG_FUEL_PRESSURE_ABOVE_NOMINAL | `uint32` | 1024 | Over-pressure warning |
+| FLAG_DETONATION_SUPPORTED | `uint32` | 2048 | Detonation warning. This flag is optional. |
+| FLAG_DETONATION_OBSERVED | `uint32` | 4096 | Detonation condition observed warning |
+| FLAG_MISFIRE_SUPPORTED | `uint32` | 8192 | Misfire warning. This flag is optional. |
+| FLAG_MISFIRE_OBSERVED | `uint32` | 16384 | Misfire condition observed warning |
+| FLAG_OIL_PRESSURE_SUPPORTED | `uint32` | 32768 | Oil pressure. These flags are optional |
+| FLAG_OIL_PRESSURE_BELOW_NOMINAL | `uint32` | 65536 | Under-pressure warning |
+| FLAG_OIL_PRESSURE_ABOVE_NOMINAL | `uint32` | 131072 | Over-pressure warning |
+| FLAG_DEBRIS_SUPPORTED | `uint32` | 262144 | Debris warning. This flag is optional |
+| FLAG_DEBRIS_DETECTED | `uint32` | 524288 | Detection of debris warning |
+| SPARK_PLUG_SINGLE | `uint8` | 0 | |
+| SPARK_PLUG_FIRST_ACTIVE | `uint8` | 1 | |
+| SPARK_PLUG_SECOND_ACTIVE | `uint8` | 2 | |
+| SPARK_PLUG_BOTH_ACTIVE | `uint8` | 3 | |
## Source Message
diff --git a/docs/uk/msg_docs/LandingGear.md b/docs/uk/msg_docs/LandingGear.md
index f0c15eed06..11180579c0 100644
--- a/docs/uk/msg_docs/LandingGear.md
+++ b/docs/uk/msg_docs/LandingGear.md
@@ -15,11 +15,11 @@ pageClass: is-wide-page
## Constants
-| Назва | Тип | Значення | Опис |
-| -------------------------------------------------------- | ------ | -------- | ---------------------- |
-| GEAR_UP | `int8` | 1 | landing gear up |
-| GEAR_DOWN | `int8` | -1 | landing gear down |
-| GEAR_KEEP | `int8` | 0 | keep the current state |
+| Назва | Тип | Значення | Опис |
+| ------------------------------------------------------ | ------ | -------- | ---------------------- |
+| GEAR_UP | `int8` | 1 | landing gear up |
+| GEAR_DOWN | `int8` | -1 | landing gear down |
+| GEAR_KEEP | `int8` | 0 | keep the current state |
## Source Message
diff --git a/docs/uk/msg_docs/LandingGearWheel.md b/docs/uk/msg_docs/LandingGearWheel.md
index 26e1624ab1..e30a8e8845 100644
--- a/docs/uk/msg_docs/LandingGearWheel.md
+++ b/docs/uk/msg_docs/LandingGearWheel.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# LandingGearWheel (повідомлення UORB)
-**TOPICS:** landing_gearwheel
+**TOPICS:** landing_gear_wheel
## Fields
diff --git a/docs/uk/msg_docs/LandingTargetInnovations.md b/docs/uk/msg_docs/LandingTargetInnovations.md
index ce64d93f7f..c7a02a8335 100644
--- a/docs/uk/msg_docs/LandingTargetInnovations.md
+++ b/docs/uk/msg_docs/LandingTargetInnovations.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# LandingTargetInnovations (повідомлення UORB)
-**TOPICS:** landing_targetinnovations
+**TOPICS:** landing_target_innovations
## Fields
diff --git a/docs/uk/msg_docs/LandingTargetPose.md b/docs/uk/msg_docs/LandingTargetPose.md
index a139207aee..547cbd1857 100644
--- a/docs/uk/msg_docs/LandingTargetPose.md
+++ b/docs/uk/msg_docs/LandingTargetPose.md
@@ -6,7 +6,7 @@ pageClass: is-wide-page
Relative position of precision land target in navigation (body fixed, north aligned, NED) and inertial (world fixed, north aligned, NED) frames.
-**TOPICS:** landing_targetpose
+**TOPICS:** landing_target_pose
## Fields
diff --git a/docs/uk/msg_docs/LateralControlConfiguration.md b/docs/uk/msg_docs/LateralControlConfiguration.md
index 34f132856e..d02c38a8a6 100644
--- a/docs/uk/msg_docs/LateralControlConfiguration.md
+++ b/docs/uk/msg_docs/LateralControlConfiguration.md
@@ -4,22 +4,24 @@ pageClass: is-wide-page
# LateralControlConfiguration (UORB message)
-Fixed Wing Lateral Control Configuration message. Used by the fw_lateral_longitudinal_control module to constrain FixedWingLateralSetpoint messages.
+Fixed Wing Lateral Control Configuration message.
-**TOPICS:** lateral_controlconfiguration
+Used by the fw_lateral_longitudinal_control module to constrain FixedWingLateralSetpoint messages.
+
+**TOPICS:** lateral_control_configuration
## Fields
| Назва | Тип | Unit [Frame] | Range/Enum | Опис |
| ----------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ----------------------------------------------------------------------------------------------------------------------------------------- |
-| timestamp | `uint64` | | | time since system start (microseconds) |
-| lateral_accel_max | `float32` | m/s^2 | | currently maps to a maximum roll angle, accel_max = tan(roll_max) \* GRAVITY |
+| timestamp | `uint64` | us | | Time since system start |
+| lateral_accel_max | `float32` | m/s^2 | | Currently maps to a maximum roll angle, accel_max = tan(roll_max) \* GRAVITY |
## Constants
-| Назва | Тип | Значення | Опис |
-| -------------------------------------------------------------------- | -------- | -------- | ---- |
-| MESSAGE_VERSION | `uint32` | 0 | |
+| Назва | Тип | Значення | Опис |
+| ------------------------------------------------------------------ | -------- | -------- | ---- |
+| MESSAGE_VERSION | `uint32` | 0 | |
## Source Message
@@ -30,13 +32,14 @@ Click here to see original file
```c
# Fixed Wing Lateral Control Configuration message
+#
# Used by the fw_lateral_longitudinal_control module to constrain FixedWingLateralSetpoint messages.
uint32 MESSAGE_VERSION = 0
-uint64 timestamp # time since system start (microseconds)
+uint64 timestamp # [us] Time since system start
-float32 lateral_accel_max # [m/s^2] currently maps to a maximum roll angle, accel_max = tan(roll_max) * GRAVITY
+float32 lateral_accel_max # [m/s^2] Currently maps to a maximum roll angle, accel_max = tan(roll_max) * GRAVITY
```
:::
diff --git a/docs/uk/msg_docs/LaunchDetectionStatus.md b/docs/uk/msg_docs/LaunchDetectionStatus.md
index b19d12d773..a5c73e80ad 100644
--- a/docs/uk/msg_docs/LaunchDetectionStatus.md
+++ b/docs/uk/msg_docs/LaunchDetectionStatus.md
@@ -6,22 +6,23 @@ pageClass: is-wide-page
Status of the launch detection state machine (fixed-wing only).
-**TOPICS:** launch_detectionstatus
+**TOPICS:** launch_detection_status
## Fields
-| Назва | Тип | Unit [Frame] | Range/Enum | Опис |
-| ---------------------------------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- |
-| timestamp | `uint64` | | | time since system start (microseconds) |
-| launch_detection_state | `uint8` | | | |
+| Назва | Тип | Unit [Frame] | Range/Enum | Опис |
+| ------------------------------------------------------------------------------------------------ | -------- | ---------------------------------------------------------------- | ---------- | -------------------------------------------------------------------------------------------------------------------------------- |
+| timestamp | `uint64` | | | time since system start (microseconds) |
+| launch_detection_state | `uint8` | | | |
+| selected_control_surface_disarmed | `bool` | | | flag indicating whether selected actuators should kept disarmed (have to be configured in control allocation) |
## Constants
-| Назва | Тип | Значення | Опис |
-| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| STATE_WAITING_FOR_LAUNCH | `uint8` | 0 | waiting for launch |
-| STATE_LAUNCH_DETECTED_DISABLED_MOTOR | `uint8` | 1 | launch detected, but keep motor(s) disabled (e.g. because it can't spin freely while on catapult) |
-| STATE_FLYING | `uint8` | 2 | launch detected, use normal takeoff/flying configuration |
+| Назва | Тип | Значення | Опис |
+| --------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| STATE_WAITING_FOR_LAUNCH | `uint8` | 0 | waiting for launch |
+| STATE_LAUNCH_DETECTED_DISABLED_MOTOR | `uint8` | 1 | launch detected, but keep motor(s) disabled (e.g. because it can't spin freely while on catapult) |
+| STATE_FLYING | `uint8` | 2 | launch detected, use normal takeoff/flying configuration |
## Source Message
@@ -40,6 +41,8 @@ uint8 STATE_LAUNCH_DETECTED_DISABLED_MOTOR = 1 # launch detected, but keep moto
uint8 STATE_FLYING = 2 # launch detected, use normal takeoff/flying configuration
uint8 launch_detection_state
+
+bool selected_control_surface_disarmed # [-] flag indicating whether selected actuators should kept disarmed (have to be configured in control allocation)
```
:::
diff --git a/docs/uk/msg_docs/LedControl.md b/docs/uk/msg_docs/LedControl.md
index de36da51ab..93af6135f5 100644
--- a/docs/uk/msg_docs/LedControl.md
+++ b/docs/uk/msg_docs/LedControl.md
@@ -21,27 +21,27 @@ pageClass: is-wide-page
## Constants
-| Назва | Тип | Значення | Опис |
-| --------------------------------------------------------------------------------------------- | ------- | -------- | ------------------------------------------------------------------------------------------------------------------------------------------------ |
-| COLOR_OFF | `uint8` | 0 | this is only used in the drivers |
-| COLOR_RED | `uint8` | 1 | |
-| COLOR_GREEN | `uint8` | 2 | |
-| COLOR_BLUE | `uint8` | 3 | |
-| COLOR_YELLOW | `uint8` | 4 | |
-| COLOR_PURPLE | `uint8` | 5 | |
-| COLOR_AMBER | `uint8` | 6 | |
-| COLOR_CYAN | `uint8` | 7 | |
-| COLOR_WHITE | `uint8` | 8 | |
-| MODE_OFF | `uint8` | 0 | turn LED off |
-| MODE_ON | `uint8` | 1 | turn LED on |
-| MODE_DISABLED | `uint8` | 2 | disable this priority (switch to lower priority setting) |
-| MODE_BLINK_SLOW | `uint8` | 3 | |
-| MODE_BLINK_NORMAL | `uint8` | 4 | |
-| MODE_BLINK_FAST | `uint8` | 5 | |
-| MODE_BREATHE | `uint8` | 6 | continuously increase & decrease brightness (solid color if driver does not support it) |
-| MODE_FLASH | `uint8` | 7 | two fast blinks (on/off) with timing as in MODE_BLINK_FAST and then off for a while |
-| MAX_PRIORITY | `uint8` | 2 | maximum priority (minimum is 0) |
-| ORB_QUEUE_LENGTH | `uint8` | 8 | needs to match BOARD_MAX_LEDS |
+| Назва | Тип | Значення | Опис |
+| ------------------------------------------------------------------------------------------- | ------- | -------- | ------------------------------------------------------------------------------------------------------------------------------------------------ |
+| COLOR_OFF | `uint8` | 0 | this is only used in the drivers |
+| COLOR_RED | `uint8` | 1 | |
+| COLOR_GREEN | `uint8` | 2 | |
+| COLOR_BLUE | `uint8` | 3 | |
+| COLOR_YELLOW | `uint8` | 4 | |
+| COLOR_PURPLE | `uint8` | 5 | |
+| COLOR_AMBER | `uint8` | 6 | |
+| COLOR_CYAN | `uint8` | 7 | |
+| COLOR_WHITE | `uint8` | 8 | |
+| MODE_OFF | `uint8` | 0 | turn LED off |
+| MODE_ON | `uint8` | 1 | turn LED on |
+| MODE_DISABLED | `uint8` | 2 | disable this priority (switch to lower priority setting) |
+| MODE_BLINK_SLOW | `uint8` | 3 | |
+| MODE_BLINK_NORMAL | `uint8` | 4 | |
+| MODE_BLINK_FAST | `uint8` | 5 | |
+| MODE_BREATHE | `uint8` | 6 | continuously increase & decrease brightness (solid color if driver does not support it) |
+| MODE_FLASH | `uint8` | 7 | two fast blinks (on/off) with timing as in MODE_BLINK_FAST and then off for a while |
+| MAX_PRIORITY | `uint8` | 2 | maximum priority (minimum is 0) |
+| ORB_QUEUE_LENGTH | `uint8` | 8 | needs to match BOARD_MAX_LEDS |
## Source Message
diff --git a/docs/uk/msg_docs/LogMessage.md b/docs/uk/msg_docs/LogMessage.md
index 4b24ffa4be..0870cf6e4d 100644
--- a/docs/uk/msg_docs/LogMessage.md
+++ b/docs/uk/msg_docs/LogMessage.md
@@ -18,9 +18,9 @@ A logging message, output with PX4_WARN, PX4_ERR, PX4_INFO.
## Constants
-| Назва | Тип | Значення | Опис |
-| ------------------------------------------------------------------------------------------- | ------- | -------- | ---- |
-| ORB_QUEUE_LENGTH | `uint8` | 4 | |
+| Назва | Тип | Значення | Опис |
+| ----------------------------------------------------------------------------------------- | ------- | -------- | ---- |
+| ORB_QUEUE_LENGTH | `uint8` | 4 | |
## Source Message
diff --git a/docs/uk/msg_docs/LoggerStatus.md b/docs/uk/msg_docs/LoggerStatus.md
index 7267934916..0cbcf11138 100644
--- a/docs/uk/msg_docs/LoggerStatus.md
+++ b/docs/uk/msg_docs/LoggerStatus.md
@@ -24,13 +24,13 @@ pageClass: is-wide-page
## Constants
-| Назва | Тип | Значення | Опис |
-| ------------------------------------------------------------------------------------------------- | ------- | -------- | -------------------------------------------------------------------------------------------- |
-| LOGGER_TYPE_FULL | `uint8` | 0 | Normal, full size log |
-| LOGGER_TYPE_MISSION | `uint8` | 1 | reduced mission log (e.g. for geotagging) |
-| BACKEND_FILE | `uint8` | 1 | |
-| BACKEND_MAVLINK | `uint8` | 2 | |
-| BACKEND_ALL | `uint8` | 3 | |
+| Назва | Тип | Значення | Опис |
+| ----------------------------------------------------------------------------------------------- | ------- | -------- | -------------------------------------------------------------------------------------------- |
+| LOGGER_TYPE_FULL | `uint8` | 0 | Normal, full size log |
+| LOGGER_TYPE_MISSION | `uint8` | 1 | reduced mission log (e.g. for geotagging) |
+| BACKEND_FILE | `uint8` | 1 | |
+| BACKEND_MAVLINK | `uint8` | 2 | |
+| BACKEND_ALL | `uint8` | 3 | |
## Source Message
diff --git a/docs/uk/msg_docs/LongitudinalControlConfiguration.md b/docs/uk/msg_docs/LongitudinalControlConfiguration.md
index 56a4a1f3a4..b94efb64dc 100644
--- a/docs/uk/msg_docs/LongitudinalControlConfiguration.md
+++ b/docs/uk/msg_docs/LongitudinalControlConfiguration.md
@@ -4,30 +4,33 @@ pageClass: is-wide-page
# LongitudinalControlConfiguration (UORB message)
-Fixed Wing Longitudinal Control Configuration message. Used by the fw_lateral_longitudinal_control module and TECS to constrain FixedWingLongitudinalSetpoint messages. and configure the resultant setpoints.
+Fixed Wing Longitudinal Control Configuration message.
-**TOPICS:** longitudinal_controlconfiguration
+Used by the fw_lateral_longitudinal_control module and TECS to constrain FixedWingLongitudinalSetpoint messages
+and configure the resultant setpoints.
+
+**TOPICS:** longitudinal_control_configuration
## Fields
| Назва | Тип | Unit [Frame] | Range/Enum | Опис |
| ------------------------------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ------------------------------------------------------------------------------ | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| timestamp | `uint64` | | | time since system start (microseconds) |
-| pitch_min | `float32` | rad | [-pi : pi] | defaults to FW_P_LIM_MIN if NAN. |
-| pitch_max | `float32` | rad | [-pi : pi] | defaults to FW_P_LIM_MAX if NAN. |
-| throttle_min | `float32` | norm | [0 : 1] | deaults to FW_THR_MIN if NAN. |
-| throttle_max | `float32` | norm | [0 : 1] | defaults to FW_THR_MAX if NAN. |
-| climb_rate_target | `float32` | m/s | | target climbrate to change altitude. Defaults to FW_T_CLIMB_MAX if NAN. Not used if height_rate is directly set in FixedWingLongitudinalSetpoint. |
-| sink_rate_target | `float32` | m/s | | target sinkrate to change altitude. Defaults to FW_T_SINK_MAX if NAN. Not used if height_rate is directly set in FixedWingLongitudinalSetpoint. |
-| speed_weight | `float32` | | [0 : 2] | , 0=pitch controls altitude only, 2=pitch controls airspeed only |
-| enforce_low_height_condition | `bool` | boolean | | if true, the altitude controller is configured with an alternative timeconstant for tighter altitude tracking |
-| disable_underspeed_protection | `bool` | boolean | | if true, underspeed handling is disabled in the altitude controller |
+| timestamp | `uint64` | us | | Time since system start |
+| pitch_min | `float32` | rad | [-pi : pi] | Defaults to FW_P_LIM_MIN if NAN. |
+| pitch_max | `float32` | rad | [-pi : pi] | Defaults to FW_P_LIM_MAX if NAN. |
+| throttle_min | `float32` | norm | [0 : 1] | Defaults to FW_THR_MIN if NAN. |
+| throttle_max | `float32` | norm | [0 : 1] | Defaults to FW_THR_MAX if NAN. |
+| climb_rate_target | `float32` | m/s | | Target climbrate to change altitude. Defaults to FW_T_CLIMB_MAX if NAN. Not used if height_rate is directly set in FixedWingLongitudinalSetpoint. |
+| sink_rate_target | `float32` | m/s | | Target sinkrate to change altitude. Defaults to FW_T_SINK_MAX if NAN. Not used if height_rate is directly set in FixedWingLongitudinalSetpoint. |
+| speed_weight | `float32` | | [0 : 2] | 0=pitch controls altitude only, 2=pitch controls airspeed only |
+| enforce_low_height_condition | `bool` | | | If true, the altitude controller is configured with an alternative timeconstant for tighter altitude tracking |
+| disable_underspeed_protection | `bool` | | | If true, underspeed handling is disabled in the altitude controller |
## Constants
-| Назва | Тип | Значення | Опис |
-| -------------------------------------------------------------------- | -------- | -------- | ---- |
-| MESSAGE_VERSION | `uint32` | 0 | |
+| Назва | Тип | Значення | Опис |
+| ------------------------------------------------------------------ | -------- | -------- | ---- |
+| MESSAGE_VERSION | `uint32` | 0 | |
## Source Message
@@ -38,22 +41,23 @@ Click here to see original file
```c
# Fixed Wing Longitudinal Control Configuration message
+#
# Used by the fw_lateral_longitudinal_control module and TECS to constrain FixedWingLongitudinalSetpoint messages
# and configure the resultant setpoints.
uint32 MESSAGE_VERSION = 0
-uint64 timestamp # time since system start (microseconds)
+uint64 timestamp # [us] Time since system start
-float32 pitch_min # [rad][@range -pi, pi] defaults to FW_P_LIM_MIN if NAN.
-float32 pitch_max # [rad][@range -pi, pi] defaults to FW_P_LIM_MAX if NAN.
-float32 throttle_min # [norm] [@range 0,1] deaults to FW_THR_MIN if NAN.
-float32 throttle_max # [norm] [@range 0,1] defaults to FW_THR_MAX if NAN.
-float32 climb_rate_target # [m/s] target climbrate to change altitude. Defaults to FW_T_CLIMB_MAX if NAN. Not used if height_rate is directly set in FixedWingLongitudinalSetpoint.
-float32 sink_rate_target # [m/s] target sinkrate to change altitude. Defaults to FW_T_SINK_MAX if NAN. Not used if height_rate is directly set in FixedWingLongitudinalSetpoint.
-float32 speed_weight # [@range 0,2], 0=pitch controls altitude only, 2=pitch controls airspeed only
-bool enforce_low_height_condition # [boolean] if true, the altitude controller is configured with an alternative timeconstant for tighter altitude tracking
-bool disable_underspeed_protection # [boolean] if true, underspeed handling is disabled in the altitude controller
+float32 pitch_min # [rad] [@range -pi, pi] Defaults to FW_P_LIM_MIN if NAN.
+float32 pitch_max # [rad] [@range -pi, pi] Defaults to FW_P_LIM_MAX if NAN.
+float32 throttle_min # [norm] [@range 0,1] Defaults to FW_THR_MIN if NAN.
+float32 throttle_max # [norm] [@range 0,1] Defaults to FW_THR_MAX if NAN.
+float32 climb_rate_target # [m/s] Target climbrate to change altitude. Defaults to FW_T_CLIMB_MAX if NAN. Not used if height_rate is directly set in FixedWingLongitudinalSetpoint.
+float32 sink_rate_target # [m/s] Target sinkrate to change altitude. Defaults to FW_T_SINK_MAX if NAN. Not used if height_rate is directly set in FixedWingLongitudinalSetpoint.
+float32 speed_weight # [-] [@range 0,2] 0=pitch controls altitude only, 2=pitch controls airspeed only
+bool enforce_low_height_condition # If true, the altitude controller is configured with an alternative timeconstant for tighter altitude tracking
+bool disable_underspeed_protection # If true, underspeed handling is disabled in the altitude controller
```
:::
diff --git a/docs/uk/msg_docs/MagWorkerData.md b/docs/uk/msg_docs/MagWorkerData.md
index acd9753f80..f97b55d4e4 100644
--- a/docs/uk/msg_docs/MagWorkerData.md
+++ b/docs/uk/msg_docs/MagWorkerData.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# MagWorkerData (UORB message)
-**TOPICS:** mag_workerdata
+**TOPICS:** mag_worker_data
## Fields
@@ -23,9 +23,9 @@ pageClass: is-wide-page
## Constants
-| Назва | Тип | Значення | Опис |
-| ------------------------------------------------------ | ------- | -------- | ---- |
-| MAX_MAGS | `uint8` | 4 | |
+| Назва | Тип | Значення | Опис |
+| ---------------------------------------------------- | ------- | -------- | ---- |
+| MAX_MAGS | `uint8` | 4 | |
## Source Message
diff --git a/docs/uk/msg_docs/MagnetometerBiasEstimate.md b/docs/uk/msg_docs/MagnetometerBiasEstimate.md
index c31b62b822..6962a6479b 100644
--- a/docs/uk/msg_docs/MagnetometerBiasEstimate.md
+++ b/docs/uk/msg_docs/MagnetometerBiasEstimate.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# MagnetometerBiasEstimate (UORB message)
-**TOPICS:** magnetometer_biasestimate
+**TOPICS:** magnetometer_bias_estimate
## Fields
diff --git a/docs/uk/msg_docs/ManualControlSetpoint.md b/docs/uk/msg_docs/ManualControlSetpoint.md
index 4097d7f05a..f46dd21c4a 100644
--- a/docs/uk/msg_docs/ManualControlSetpoint.md
+++ b/docs/uk/msg_docs/ManualControlSetpoint.md
@@ -30,17 +30,17 @@ pageClass: is-wide-page
## Constants
-| Назва | Тип | Значення | Опис |
-| ------------------------------------------------------------------------------------------- | -------- | -------- | ---------------------------------------------------------------- |
-| MESSAGE_VERSION | `uint32` | 0 | |
-| SOURCE_UNKNOWN | `uint8` | 0 | |
-| SOURCE_RC | `uint8` | 1 | radio control (input_rc) |
-| SOURCE_MAVLINK_0 | `uint8` | 2 | mavlink instance 0 |
-| SOURCE_MAVLINK_1 | `uint8` | 3 | mavlink instance 1 |
-| SOURCE_MAVLINK_2 | `uint8` | 4 | mavlink instance 2 |
-| SOURCE_MAVLINK_3 | `uint8` | 5 | mavlink instance 3 |
-| SOURCE_MAVLINK_4 | `uint8` | 6 | mavlink instance 4 |
-| SOURCE_MAVLINK_5 | `uint8` | 7 | mavlink instance 5 |
+| Назва | Тип | Значення | Опис |
+| ----------------------------------------------------------------------------------------- | -------- | -------- | ---------------------------------------------------------------- |
+| MESSAGE_VERSION | `uint32` | 0 | |
+| SOURCE_UNKNOWN | `uint8` | 0 | |
+| SOURCE_RC | `uint8` | 1 | radio control (input_rc) |
+| SOURCE_MAVLINK_0 | `uint8` | 2 | mavlink instance 0 |
+| SOURCE_MAVLINK_1 | `uint8` | 3 | mavlink instance 1 |
+| SOURCE_MAVLINK_2 | `uint8` | 4 | mavlink instance 2 |
+| SOURCE_MAVLINK_3 | `uint8` | 5 | mavlink instance 3 |
+| SOURCE_MAVLINK_4 | `uint8` | 6 | mavlink instance 4 |
+| SOURCE_MAVLINK_5 | `uint8` | 7 | mavlink instance 5 |
## Source Message
diff --git a/docs/uk/msg_docs/ManualControlSwitches.md b/docs/uk/msg_docs/ManualControlSwitches.md
index 67b16ae32b..b25def95e4 100644
--- a/docs/uk/msg_docs/ManualControlSwitches.md
+++ b/docs/uk/msg_docs/ManualControlSwitches.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# ManualControlSwitches (UORB message)
-**TOPICS:** manual_controlswitches
+**TOPICS:** manual_control_switches
## Fields
@@ -29,20 +29,20 @@ pageClass: is-wide-page
## Constants
-| Назва | Тип | Значення | Опис |
-| --------------------------------------------------------------------------------------------- | ------- | -------- | ---------------------------------------------------- |
-| SWITCH_POS_NONE | `uint8` | 0 | switch is not mapped |
-| SWITCH_POS_ON | `uint8` | 1 | switch activated (value = 1) |
-| SWITCH_POS_MIDDLE | `uint8` | 2 | middle position (value = 0) |
-| SWITCH_POS_OFF | `uint8` | 3 | switch not activated (value = -1) |
-| MODE_SLOT_NONE | `uint8` | 0 | no mode slot assigned |
-| MODE_SLOT_1 | `uint8` | 1 | mode slot 1 selected |
-| MODE_SLOT_2 | `uint8` | 2 | mode slot 2 selected |
-| MODE_SLOT_3 | `uint8` | 3 | mode slot 3 selected |
-| MODE_SLOT_4 | `uint8` | 4 | mode slot 4 selected |
-| MODE_SLOT_5 | `uint8` | 5 | mode slot 5 selected |
-| MODE_SLOT_6 | `uint8` | 6 | mode slot 6 selected |
-| MODE_SLOT_NUM | `uint8` | 6 | number of slots |
+| Назва | Тип | Значення | Опис |
+| ------------------------------------------------------------------------------------------- | ------- | -------- | ---------------------------------------------------- |
+| SWITCH_POS_NONE | `uint8` | 0 | switch is not mapped |
+| SWITCH_POS_ON | `uint8` | 1 | switch activated (value = 1) |
+| SWITCH_POS_MIDDLE | `uint8` | 2 | middle position (value = 0) |
+| SWITCH_POS_OFF | `uint8` | 3 | switch not activated (value = -1) |
+| MODE_SLOT_NONE | `uint8` | 0 | no mode slot assigned |
+| MODE_SLOT_1 | `uint8` | 1 | mode slot 1 selected |
+| MODE_SLOT_2 | `uint8` | 2 | mode slot 2 selected |
+| MODE_SLOT_3 | `uint8` | 3 | mode slot 3 selected |
+| MODE_SLOT_4 | `uint8` | 4 | mode slot 4 selected |
+| MODE_SLOT_5 | `uint8` | 5 | mode slot 5 selected |
+| MODE_SLOT_6 | `uint8` | 6 | mode slot 6 selected |
+| MODE_SLOT_NUM | `uint8` | 6 | number of slots |
## Source Message
diff --git a/docs/uk/msg_docs/MavlinkLog.md b/docs/uk/msg_docs/MavlinkLog.md
index fcd74d3766..da1c7ef458 100644
--- a/docs/uk/msg_docs/MavlinkLog.md
+++ b/docs/uk/msg_docs/MavlinkLog.md
@@ -16,9 +16,9 @@ pageClass: is-wide-page
## Constants
-| Назва | Тип | Значення | Опис |
-| ------------------------------------------------------------------------------------------- | ------- | -------- | ---- |
-| ORB_QUEUE_LENGTH | `uint8` | 8 | |
+| Назва | Тип | Значення | Опис |
+| ----------------------------------------------------------------------------------------- | ------- | -------- | ---- |
+| ORB_QUEUE_LENGTH | `uint8` | 8 | |
## Source Message
diff --git a/docs/uk/msg_docs/MavlinkTunnel.md b/docs/uk/msg_docs/MavlinkTunnel.md
index 46bd317a62..346feb7abb 100644
--- a/docs/uk/msg_docs/MavlinkTunnel.md
+++ b/docs/uk/msg_docs/MavlinkTunnel.md
@@ -21,19 +21,19 @@ MAV_TUNNEL_PAYLOAD_TYPE enum.
## Constants
-| Назва | Тип | Значення | Опис |
-| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | ------- | -------- | ---------------------------------------- |
-| MAV_TUNNEL_PAYLOAD_TYPE_UNKNOWN | `uint8` | 0 | Encoding of payload unknown |
-| MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED0 | `uint8` | 200 | Registered for STorM32 gimbal controller |
-| MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED1 | `uint8` | 201 | Registered for STorM32 gimbal controller |
-| MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED2 | `uint8` | 202 | Registered for STorM32 gimbal controller |
-| MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED3 | `uint8` | 203 | Registered for STorM32 gimbal controller |
-| MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED4 | `uint8` | 204 | Registered for STorM32 gimbal controller |
-| MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED5 | `uint8` | 205 | Registered for STorM32 gimbal controller |
-| MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED6 | `uint8` | 206 | Registered for STorM32 gimbal controller |
-| MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED7 | `uint8` | 207 | Registered for STorM32 gimbal controller |
-| MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED8 | `uint8` | 208 | Registered for STorM32 gimbal controller |
-| MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED9 | `uint8` | 209 | Registered for STorM32 gimbal controller |
+| Назва | Тип | Значення | Опис |
+| ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ---------------------------------------- |
+| MAV_TUNNEL_PAYLOAD_TYPE_UNKNOWN | `uint8` | 0 | Encoding of payload unknown |
+| MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED0 | `uint8` | 200 | Registered for STorM32 gimbal controller |
+| MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED1 | `uint8` | 201 | Registered for STorM32 gimbal controller |
+| MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED2 | `uint8` | 202 | Registered for STorM32 gimbal controller |
+| MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED3 | `uint8` | 203 | Registered for STorM32 gimbal controller |
+| MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED4 | `uint8` | 204 | Registered for STorM32 gimbal controller |
+| MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED5 | `uint8` | 205 | Registered for STorM32 gimbal controller |
+| MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED6 | `uint8` | 206 | Registered for STorM32 gimbal controller |
+| MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED7 | `uint8` | 207 | Registered for STorM32 gimbal controller |
+| MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED8 | `uint8` | 208 | Registered for STorM32 gimbal controller |
+| MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED9 | `uint8` | 209 | Registered for STorM32 gimbal controller |
## Source Message
diff --git a/docs/uk/msg_docs/MessageFormatRequest.md b/docs/uk/msg_docs/MessageFormatRequest.md
index 3441e06d5f..8d2a57208b 100644
--- a/docs/uk/msg_docs/MessageFormatRequest.md
+++ b/docs/uk/msg_docs/MessageFormatRequest.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# MessageFormatRequest (UORB message)
-**TOPICS:** message_formatrequest
+**TOPICS:** message_format_request
## Fields
@@ -16,9 +16,9 @@ pageClass: is-wide-page
## Constants
-| Назва | Тип | Значення | Опис |
-| --------------------------------------------------------------------------------------------------------- | -------- | -------- | --------------------------------------------------------------------------------------------------------------------------------------------------- |
-| LATEST_PROTOCOL_VERSION | `uint16` | 1 | Current version of this protocol. Increase this whenever the MessageFormatRequest or MessageFormatResponse changes. |
+| Назва | Тип | Значення | Опис |
+| ------------------------------------------------------------------------------------------------------- | -------- | -------- | --------------------------------------------------------------------------------------------------------------------------------------------------- |
+| LATEST_PROTOCOL_VERSION | `uint16` | 1 | Current version of this protocol. Increase this whenever the MessageFormatRequest or MessageFormatResponse changes. |
## Source Message
diff --git a/docs/uk/msg_docs/MessageFormatResponse.md b/docs/uk/msg_docs/MessageFormatResponse.md
index 4a92cbb530..74cff8625f 100644
--- a/docs/uk/msg_docs/MessageFormatResponse.md
+++ b/docs/uk/msg_docs/MessageFormatResponse.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# MessageFormatResponse (UORB message)
-**TOPICS:** message_formatresponse
+**TOPICS:** message_format_response
## Fields
diff --git a/docs/uk/msg_docs/ModeCompleted.md b/docs/uk/msg_docs/ModeCompleted.md
index a0fbade04a..7e1b79cc71 100644
--- a/docs/uk/msg_docs/ModeCompleted.md
+++ b/docs/uk/msg_docs/ModeCompleted.md
@@ -18,11 +18,11 @@ pageClass: is-wide-page
## Constants
-| Назва | Тип | Значення | Опис |
-| --------------------------------------------------------------------------------------------------- | -------- | -------- | ---------------------------------------------- |
-| MESSAGE_VERSION | `uint32` | 0 | |
-| RESULT_SUCCESS | `uint8` | 0 | |
-| RESULT_FAILURE_OTHER | `uint8` | 100 | Mode failed (generic error) |
+| Назва | Тип | Значення | Опис |
+| ------------------------------------------------------------------------------------------------- | -------- | -------- | ---------------------------------------------- |
+| MESSAGE_VERSION | `uint32` | 0 | |
+| RESULT_SUCCESS | `uint8` | 0 | |
+| RESULT_FAILURE_OTHER | `uint8` | 100 | Mode failed (generic error) |
## Source Message
diff --git a/docs/uk/msg_docs/NavigatorMissionItem.md b/docs/uk/msg_docs/NavigatorMissionItem.md
index f4514dd297..0478e298bc 100644
--- a/docs/uk/msg_docs/NavigatorMissionItem.md
+++ b/docs/uk/msg_docs/NavigatorMissionItem.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# NavigatorMissionItem (UORB message)
-**TOPICS:** navigator_missionitem
+**TOPICS:** navigator_mission_item
## Fields
diff --git a/docs/uk/msg_docs/NavigatorStatus.md b/docs/uk/msg_docs/NavigatorStatus.md
index 3e0086ba8f..75525ee798 100644
--- a/docs/uk/msg_docs/NavigatorStatus.md
+++ b/docs/uk/msg_docs/NavigatorStatus.md
@@ -18,10 +18,10 @@ Current status of a Navigator mode. Можливі значення nav_state в
## Constants
-| Назва | Тип | Значення | Опис |
-| -------------------------------------------------------------- | ------- | -------- | --------------------------------------------------- |
-| FAILURE_NONE | `uint8` | 0 | |
-| FAILURE_HAGL | `uint8` | 1 | Target altitude exceeds maximum height above ground |
+| Назва | Тип | Значення | Опис |
+| ------------------------------------------------------------ | ------- | -------- | --------------------------------------------------- |
+| FAILURE_NONE | `uint8` | 0 | |
+| FAILURE_HAGL | `uint8` | 1 | Target altitude exceeds maximum height above ground |
## Source Message
diff --git a/docs/uk/msg_docs/ObstacleDistance.md b/docs/uk/msg_docs/ObstacleDistance.md
index de752880f8..e11f4c58de 100644
--- a/docs/uk/msg_docs/ObstacleDistance.md
+++ b/docs/uk/msg_docs/ObstacleDistance.md
@@ -23,15 +23,15 @@ pageClass: is-wide-page
## Constants
-| Назва | Тип | Значення | Опис |
-| -------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ---- |
-| MAV_FRAME_GLOBAL | `uint8` | 0 | |
-| MAV_FRAME_LOCAL_NED | `uint8` | 1 | |
-| MAV_FRAME_BODY_FRD | `uint8` | 12 | |
-| MAV_DISTANCE_SENSOR_LASER | `uint8` | 0 | |
-| MAV_DISTANCE_SENSOR_ULTRASOUND | `uint8` | 1 | |
-| MAV_DISTANCE_SENSOR_INFRARED | `uint8` | 2 | |
-| MAV_DISTANCE_SENSOR_RADAR | `uint8` | 3 | |
+| Назва | Тип | Значення | Опис |
+| ------------------------------------------------------------------------------------------------------------------------------------------ | ------- | -------- | ---- |
+| MAV_FRAME_GLOBAL | `uint8` | 0 | |
+| MAV_FRAME_LOCAL_NED | `uint8` | 1 | |
+| MAV_FRAME_BODY_FRD | `uint8` | 12 | |
+| MAV_DISTANCE_SENSOR_LASER | `uint8` | 0 | |
+| MAV_DISTANCE_SENSOR_ULTRASOUND | `uint8` | 1 | |
+| MAV_DISTANCE_SENSOR_INFRARED | `uint8` | 2 | |
+| MAV_DISTANCE_SENSOR_RADAR | `uint8` | 3 | |
## Source Message
diff --git a/docs/uk/msg_docs/OffboardControlMode.md b/docs/uk/msg_docs/OffboardControlMode.md
index 577e60c071..79a3118fef 100644
--- a/docs/uk/msg_docs/OffboardControlMode.md
+++ b/docs/uk/msg_docs/OffboardControlMode.md
@@ -6,7 +6,7 @@ pageClass: is-wide-page
Off-board control mode.
-**TOPICS:** offboard_controlmode
+**TOPICS:** offboard_control_mode
## Fields
diff --git a/docs/uk/msg_docs/OnboardComputerStatus.md b/docs/uk/msg_docs/OnboardComputerStatus.md
index a432555f4e..b271a50d45 100644
--- a/docs/uk/msg_docs/OnboardComputerStatus.md
+++ b/docs/uk/msg_docs/OnboardComputerStatus.md
@@ -6,7 +6,7 @@ pageClass: is-wide-page
ONBOARD_COMPUTER_STATUS message data.
-**TOPICS:** onboard_computerstatus
+**TOPICS:** onboard_computer_status
## Fields
diff --git a/docs/uk/msg_docs/OpenDroneIdArmStatus.md b/docs/uk/msg_docs/OpenDroneIdArmStatus.md
index 1d85568e59..9bafd98898 100644
--- a/docs/uk/msg_docs/OpenDroneIdArmStatus.md
+++ b/docs/uk/msg_docs/OpenDroneIdArmStatus.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# OpenDroneIdArmStatus (UORB message)
-**TOPICS:** open_droneid_armstatus
+**TOPICS:** open_drone_id_arm_status
## Fields
diff --git a/docs/uk/msg_docs/OpenDroneIdOperatorId.md b/docs/uk/msg_docs/OpenDroneIdOperatorId.md
index 1b5b11ac79..8c7d140048 100644
--- a/docs/uk/msg_docs/OpenDroneIdOperatorId.md
+++ b/docs/uk/msg_docs/OpenDroneIdOperatorId.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# OpenDroneIdOperatorId (UORB message)
-**TOPICS:** open_droneid_operatorid
+**TOPICS:** open_drone_id_operator_id
## Fields
diff --git a/docs/uk/msg_docs/OpenDroneIdSelfId.md b/docs/uk/msg_docs/OpenDroneIdSelfId.md
index cb2f0cae80..66169b2cf5 100644
--- a/docs/uk/msg_docs/OpenDroneIdSelfId.md
+++ b/docs/uk/msg_docs/OpenDroneIdSelfId.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# OpenDroneIdSelfId (UORB message)
-**TOPICS:** open_droneid_selfid
+**TOPICS:** open_drone_id_self_id
## Fields
diff --git a/docs/uk/msg_docs/OpenDroneIdSystem.md b/docs/uk/msg_docs/OpenDroneIdSystem.md
index c899b8b4e5..e750d9fcdb 100644
--- a/docs/uk/msg_docs/OpenDroneIdSystem.md
+++ b/docs/uk/msg_docs/OpenDroneIdSystem.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# OpenDroneIdSystem (UORB message)
-**TOPICS:** open_droneid_system
+**TOPICS:** open_drone_id_system
## Fields
diff --git a/docs/uk/msg_docs/OrbTestLarge.md b/docs/uk/msg_docs/OrbTestLarge.md
index fc87d53530..ad335b4624 100644
--- a/docs/uk/msg_docs/OrbTestLarge.md
+++ b/docs/uk/msg_docs/OrbTestLarge.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# OrbTestLarge (повідомлення UORB)
-**TOPICS:** orb_testlarge
+**TOPICS:** orb_test_large
## Fields
diff --git a/docs/uk/msg_docs/OrbTestMedium.md b/docs/uk/msg_docs/OrbTestMedium.md
index abc66d468e..30fe74931f 100644
--- a/docs/uk/msg_docs/OrbTestMedium.md
+++ b/docs/uk/msg_docs/OrbTestMedium.md
@@ -16,9 +16,9 @@ pageClass: is-wide-page
## Constants
-| Назва | Тип | Значення | Опис |
-| ------------------------------------------------------------------------------------------- | ------- | -------- | ---- |
-| ORB_QUEUE_LENGTH | `uint8` | 16 | |
+| Назва | Тип | Значення | Опис |
+| ----------------------------------------------------------------------------------------- | ------- | -------- | ---- |
+| ORB_QUEUE_LENGTH | `uint8` | 16 | |
## Source Message
diff --git a/docs/uk/msg_docs/OrbitStatus.md b/docs/uk/msg_docs/OrbitStatus.md
index 1965efea4e..eeb6d28db0 100644
--- a/docs/uk/msg_docs/OrbitStatus.md
+++ b/docs/uk/msg_docs/OrbitStatus.md
@@ -22,14 +22,14 @@ ORBIT_YAW_BEHAVIOUR.
## Constants
-| Назва | Тип | Значення | Опис |
-| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ---- |
-| ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TO_CIRCLE_CENTER | `uint8` | 0 | |
-| ORBIT_YAW_BEHAVIOUR_HOLD_INITIAL_HEADING | `uint8` | 1 | |
-| ORBIT_YAW_BEHAVIOUR_UNCONTROLLED | `uint8` | 2 | |
-| ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TANGENT_TO_CIRCLE | `uint8` | 3 | |
-| ORBIT_YAW_BEHAVIOUR_RC_CONTROLLED | `uint8` | 4 | |
-| ORBIT_YAW_BEHAVIOUR_UNCHANGED | `uint8` | 5 | |
+| Назва | Тип | Значення | Опис |
+| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | ------- | -------- | ---- |
+| ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TO_CIRCLE_CENTER | `uint8` | 0 | |
+| ORBIT_YAW_BEHAVIOUR_HOLD_INITIAL_HEADING | `uint8` | 1 | |
+| ORBIT_YAW_BEHAVIOUR_UNCONTROLLED | `uint8` | 2 | |
+| ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TANGENT_TO_CIRCLE | `uint8` | 3 | |
+| ORBIT_YAW_BEHAVIOUR_RC_CONTROLLED | `uint8` | 4 | |
+| ORBIT_YAW_BEHAVIOUR_UNCHANGED | `uint8` | 5 | |
## Source Message
diff --git a/docs/uk/msg_docs/ParameterResetRequest.md b/docs/uk/msg_docs/ParameterResetRequest.md
index a8561069aa..d1aea3f4b7 100644
--- a/docs/uk/msg_docs/ParameterResetRequest.md
+++ b/docs/uk/msg_docs/ParameterResetRequest.md
@@ -6,7 +6,7 @@ pageClass: is-wide-page
ParameterResetRequest : Used by the primary to reset one or all parameter value(s) on the remote.
-**TOPICS:** parameter_resetrequest
+**TOPICS:** parameter_reset_request
## Fields
@@ -18,9 +18,9 @@ ParameterResetRequest : Used by the primary to reset one or all parameter value(
## Constants
-| Назва | Тип | Значення | Опис |
-| ------------------------------------------------------------------------------------------- | ------- | -------- | ---- |
-| ORB_QUEUE_LENGTH | `uint8` | 4 | |
+| Назва | Тип | Значення | Опис |
+| ----------------------------------------------------------------------------------------- | ------- | -------- | ---- |
+| ORB_QUEUE_LENGTH | `uint8` | 4 | |
## Source Message
diff --git a/docs/uk/msg_docs/ParameterSetUsedRequest.md b/docs/uk/msg_docs/ParameterSetUsedRequest.md
index cab7fd68c2..fd26f6e4e9 100644
--- a/docs/uk/msg_docs/ParameterSetUsedRequest.md
+++ b/docs/uk/msg_docs/ParameterSetUsedRequest.md
@@ -6,7 +6,7 @@ pageClass: is-wide-page
ParameterSetUsedRequest : Used by a remote to update the used flag for a parameter on the primary.
-**TOPICS:** parameter_setused_request
+**TOPICS:** parameter_set_used_request
## Fields
@@ -17,9 +17,9 @@ ParameterSetUsedRequest : Used by a remote to update the used flag for a paramet
## Constants
-| Назва | Тип | Значення | Опис |
-| ------------------------------------------------------------------------------------------- | ------- | -------- | ---- |
-| ORB_QUEUE_LENGTH | `uint8` | 64 | |
+| Назва | Тип | Значення | Опис |
+| ----------------------------------------------------------------------------------------- | ------- | -------- | ---- |
+| ORB_QUEUE_LENGTH | `uint8` | 64 | |
## Source Message
diff --git a/docs/uk/msg_docs/ParameterSetValueRequest.md b/docs/uk/msg_docs/ParameterSetValueRequest.md
index 71365d6507..69540d404c 100644
--- a/docs/uk/msg_docs/ParameterSetValueRequest.md
+++ b/docs/uk/msg_docs/ParameterSetValueRequest.md
@@ -19,9 +19,9 @@ ParameterSetValueRequest : Used by a remote or primary to update the value for a
## Constants
-| Назва | Тип | Значення | Опис |
-| ------------------------------------------------------------------------------------------- | ------- | -------- | ---- |
-| ORB_QUEUE_LENGTH | `uint8` | 32 | |
+| Назва | Тип | Значення | Опис |
+| ----------------------------------------------------------------------------------------- | ------- | -------- | ---- |
+| ORB_QUEUE_LENGTH | `uint8` | 32 | |
## Source Message
diff --git a/docs/uk/msg_docs/ParameterSetValueResponse.md b/docs/uk/msg_docs/ParameterSetValueResponse.md
index 3f09e4ea8c..77010b5479 100644
--- a/docs/uk/msg_docs/ParameterSetValueResponse.md
+++ b/docs/uk/msg_docs/ParameterSetValueResponse.md
@@ -18,9 +18,9 @@ ParameterSetValueResponse : Response to a set value request by either primary or
## Constants
-| Назва | Тип | Значення | Опис |
-| ------------------------------------------------------------------------------------------- | ------- | -------- | ---- |
-| ORB_QUEUE_LENGTH | `uint8` | 4 | |
+| Назва | Тип | Значення | Опис |
+| ----------------------------------------------------------------------------------------- | ------- | -------- | ---- |
+| ORB_QUEUE_LENGTH | `uint8` | 4 | |
## Source Message
diff --git a/docs/uk/msg_docs/PositionControllerLandingStatus.md b/docs/uk/msg_docs/PositionControllerLandingStatus.md
index 0be7fbf0eb..d1e70e3918 100644
--- a/docs/uk/msg_docs/PositionControllerLandingStatus.md
+++ b/docs/uk/msg_docs/PositionControllerLandingStatus.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# PositionControllerLandingStatus (UORB message)
-**TOPICS:** position_controllerlanding_status
+**TOPICS:** position_controller_landing_status
## Fields
@@ -17,13 +17,13 @@ pageClass: is-wide-page
## Constants
-| Назва | Тип | Значення | Опис |
-| --------------------------------------------------------------------------------------------------------- | ------- | -------- | ------------------------------------------------------------------------------------------------------------------------------------ |
-| NOT_ABORTED | `uint8` | 0 | |
-| ABORTED_BY_OPERATOR | `uint8` | 1 | |
-| TERRAIN_NOT_FOUND | `uint8` | 2 | FW_LND_ABORT (1 << 0) |
-| TERRAIN_TIMEOUT | `uint8` | 3 | FW_LND_ABORT (1 << 1) |
-| UNKNOWN_ABORT_CRITERION | `uint8` | 4 | |
+| Назва | Тип | Значення | Опис |
+| ------------------------------------------------------------------------------------------------------- | ------- | -------- | ------------------------------------------------------------------------------------------------------------------------------------ |
+| NOT_ABORTED | `uint8` | 0 | |
+| ABORTED_BY_OPERATOR | `uint8` | 1 | |
+| TERRAIN_NOT_FOUND | `uint8` | 2 | FW_LND_ABORT (1 << 0) |
+| TERRAIN_TIMEOUT | `uint8` | 3 | FW_LND_ABORT (1 << 1) |
+| UNKNOWN_ABORT_CRITERION | `uint8` | 4 | |
## Source Message
diff --git a/docs/uk/msg_docs/PositionControllerStatus.md b/docs/uk/msg_docs/PositionControllerStatus.md
index 78bab1a3c6..cdde8f53c6 100644
--- a/docs/uk/msg_docs/PositionControllerStatus.md
+++ b/docs/uk/msg_docs/PositionControllerStatus.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# PositionControllerStatus (UORB message)
-**TOPICS:** position_controllerstatus
+**TOPICS:** position_controller_status
## Fields
diff --git a/docs/uk/msg_docs/PositionSetpoint.md b/docs/uk/msg_docs/PositionSetpoint.md
index c6b3cb23bb..af318bf176 100644
--- a/docs/uk/msg_docs/PositionSetpoint.md
+++ b/docs/uk/msg_docs/PositionSetpoint.md
@@ -35,16 +35,16 @@ this file is only used in the position_setpoint triple as a dependency.
## Constants
-| Назва | Тип | Значення | Опис |
-| --------------------------------------------------------------------------------------------------------- | ------- | -------- | --------------------------------------------------------------------------- |
-| SETPOINT_TYPE_POSITION | `uint8` | 0 | position setpoint |
-| SETPOINT_TYPE_VELOCITY | `uint8` | 1 | velocity setpoint |
-| SETPOINT_TYPE_LOITER | `uint8` | 2 | loiter setpoint |
-| SETPOINT_TYPE_TAKEOFF | `uint8` | 3 | takeoff setpoint |
-| SETPOINT_TYPE_LAND | `uint8` | 4 | land setpoint, altitude must be ignored, descend until landing |
-| SETPOINT_TYPE_IDLE | `uint8` | 5 | do nothing, switch off motors or keep at idle speed (MC) |
-| LOITER_TYPE_ORBIT | `uint8` | 0 | Circular pattern |
-| LOITER_TYPE_FIGUREEIGHT | `uint8` | 1 | Pattern resembling an 8 |
+| Назва | Тип | Значення | Опис |
+| ------------------------------------------------------------------------------------------------------- | ------- | -------- | --------------------------------------------------------------------------- |
+| SETPOINT_TYPE_POSITION | `uint8` | 0 | position setpoint |
+| SETPOINT_TYPE_VELOCITY | `uint8` | 1 | velocity setpoint |
+| SETPOINT_TYPE_LOITER | `uint8` | 2 | loiter setpoint |
+| SETPOINT_TYPE_TAKEOFF | `uint8` | 3 | takeoff setpoint |
+| SETPOINT_TYPE_LAND | `uint8` | 4 | land setpoint, altitude must be ignored, descend until landing |
+| SETPOINT_TYPE_IDLE | `uint8` | 5 | do nothing, switch off motors or keep at idle speed (MC) |
+| LOITER_TYPE_ORBIT | `uint8` | 0 | Circular pattern |
+| LOITER_TYPE_FIGUREEIGHT | `uint8` | 1 | Pattern resembling an 8 |
## Source Message
diff --git a/docs/uk/msg_docs/PositionSetpointTriplet.md b/docs/uk/msg_docs/PositionSetpointTriplet.md
index c8fcead679..c8482d7fe6 100644
--- a/docs/uk/msg_docs/PositionSetpointTriplet.md
+++ b/docs/uk/msg_docs/PositionSetpointTriplet.md
@@ -6,7 +6,7 @@ pageClass: is-wide-page
Глобальний набір точки встановлення у форматі координат WGS84. Ось наступні три способи вказівань (або просто наступні два або один).
-**TOPICS:** position_setpointtriplet
+**TOPICS:** position_setpoint_triplet
## Fields
diff --git a/docs/uk/msg_docs/PowerButtonState.md b/docs/uk/msg_docs/PowerButtonState.md
index 42f9ee30dc..49d8fc30c8 100644
--- a/docs/uk/msg_docs/PowerButtonState.md
+++ b/docs/uk/msg_docs/PowerButtonState.md
@@ -6,7 +6,7 @@ pageClass: is-wide-page
power button state notification message.
-**TOPICS:** power_buttonstate
+**TOPICS:** power_button_state
## Fields
@@ -17,12 +17,12 @@ power button state notification message.
## Constants
-| Назва | Тип | Значення | Опис |
-| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ------------------------------------------------------------------------------------------ |
-| PWR_BUTTON_STATE_IDEL | `uint8` | 0 | Button went up without meeting shutdown button down time (delete event) |
-| PWR_BUTTON_STATE_DOWN | `uint8` | 1 | Button went Down |
-| PWR_BUTTON_STATE_UP | `uint8` | 2 | Button went Up |
-| PWR_BUTTON_STATE_REQUEST_SHUTDOWN | `uint8` | 3 | Button went Up after meeting shutdown button down time |
+| Назва | Тип | Значення | Опис |
+| --------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ------------------------------------------------------------------------------------------ |
+| PWR_BUTTON_STATE_IDEL | `uint8` | 0 | Button went up without meeting shutdown button down time (delete event) |
+| PWR_BUTTON_STATE_DOWN | `uint8` | 1 | Button went Down |
+| PWR_BUTTON_STATE_UP | `uint8` | 2 | Button went Up |
+| PWR_BUTTON_STATE_REQUEST_SHUTDOWN | `uint8` | 3 | Button went Up after meeting shutdown button down time |
## Source Message
diff --git a/docs/uk/msg_docs/PurePursuitStatus.md b/docs/uk/msg_docs/PurePursuitStatus.md
index 9d4a1fb10f..c803722e9b 100644
--- a/docs/uk/msg_docs/PurePursuitStatus.md
+++ b/docs/uk/msg_docs/PurePursuitStatus.md
@@ -6,7 +6,7 @@ pageClass: is-wide-page
Pure pursuit status.
-**TOPICS:** pure_pursuitstatus
+**TOPICS:** pure_pursuit_status
## Fields
diff --git a/docs/uk/msg_docs/QshellReq.md b/docs/uk/msg_docs/QshellReq.md
index b755c7e26c..30c1adcc55 100644
--- a/docs/uk/msg_docs/QshellReq.md
+++ b/docs/uk/msg_docs/QshellReq.md
@@ -17,9 +17,9 @@ pageClass: is-wide-page
## Constants
-| Назва | Тип | Значення | Опис |
-| ---------------------------------------------------------- | -------- | -------- | ---- |
-| MAX_STRLEN | `uint32` | 100 | |
+| Назва | Тип | Значення | Опис |
+| -------------------------------------------------------- | -------- | -------- | ---- |
+| MAX_STRLEN | `uint32` | 100 | |
## Source Message
diff --git a/docs/uk/msg_docs/RaptorInput.md b/docs/uk/msg_docs/RaptorInput.md
index 61b245273c..9156c2716b 100644
--- a/docs/uk/msg_docs/RaptorInput.md
+++ b/docs/uk/msg_docs/RaptorInput.md
@@ -23,10 +23,10 @@ Raptor Input.
## Constants
-| Назва | Тип | Значення | Опис |
-| -------------------------------------------------------------------- | -------- | -------- | ---------------------------------------------------------------- |
-| MESSAGE_VERSION | `uint32` | 0 | |
-| ACTION_DIM | `uint8` | 4 | Policy output dimensionality (for quadrotors) |
+| Назва | Тип | Значення | Опис |
+| ------------------------------------------------------------------ | -------- | -------- | ---------------------------------------------------------------- |
+| MESSAGE_VERSION | `uint32` | 0 | |
+| ACTION_DIM | `uint8` | 4 | Policy output dimensionality (for quadrotors) |
## Source Message
diff --git a/docs/uk/msg_docs/RaptorStatus.md b/docs/uk/msg_docs/RaptorStatus.md
index 1571ee94b6..3cff868bc9 100644
--- a/docs/uk/msg_docs/RaptorStatus.md
+++ b/docs/uk/msg_docs/RaptorStatus.md
@@ -39,16 +39,16 @@ Raptor Status.
## Constants
-| Назва | Тип | Значення | Опис |
-| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| MESSAGE_VERSION | `uint32` | 0 | |
-| EXIT_REASON_NONE | `uint8` | 0 | No exit reason => Raptor control step was executed (actuator_motors should have been published) |
-| EXIT_REASON_NO_ANGULAR_VELOCITY_UPDATE | `uint8` | 1 | We synchronize the control onto the input observation with the highest update frequency, which is vehicle_angular_velocity. If there was no update, we do not need to execute the policy again |
-| EXIT_REASON_NOT_ALL_OBSERVATIONS_SET | `uint8` | 2 | We can not execute the policy if not all observations are available |
-| EXIT_REASON_ANGULAR_VELOCITY_STALE | `uint8` | 3 | If OBSERVATION_TIMEOUT_ANGULAR_VELOCITY is exceeded, we treat the vehicle_angular_velocity as stale and can not run the policy |
-| EXIT_REASON_LOCAL_POSITION_STALE | `uint8` | 4 | If OBSERVATION_TIMEOUT_LOCAL_POSITION is exceeded, we treat the vehicle_local_position as stale and can not run the policy |
-| EXIT_REASON_ATTITUDE_STALE | `uint8` | 5 | If OBSERVATION_TIMEOUT_ATTITUDE is exceeded, we treat the vehicle_attitude as stale and can not run the policy |
-| EXIT_REASON_EXECUTOR_STATUS_SOURCE_NOT_CONTROL | `uint8` | 6 | The executor that runs the policy can run in oversampling mode, where it decides if the policy should be ran based on the timestamp and not based on fixed synchronization onto the vehicle_angular_velocity. In this case the executor can decide to skip running the policy if the interval is too small, in which case this flag is set. |
+| Назва | Тип | Значення | Опис |
+| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| MESSAGE_VERSION | `uint32` | 0 | |
+| EXIT_REASON_NONE | `uint8` | 0 | No exit reason => Raptor control step was executed (actuator_motors should have been published) |
+| EXIT_REASON_NO_ANGULAR_VELOCITY_UPDATE | `uint8` | 1 | We synchronize the control onto the input observation with the highest update frequency, which is vehicle_angular_velocity. If there was no update, we do not need to execute the policy again |
+| EXIT_REASON_NOT_ALL_OBSERVATIONS_SET | `uint8` | 2 | We can not execute the policy if not all observations are available |
+| EXIT_REASON_ANGULAR_VELOCITY_STALE | `uint8` | 3 | If OBSERVATION_TIMEOUT_ANGULAR_VELOCITY is exceeded, we treat the vehicle_angular_velocity as stale and can not run the policy |
+| EXIT_REASON_LOCAL_POSITION_STALE | `uint8` | 4 | If OBSERVATION_TIMEOUT_LOCAL_POSITION is exceeded, we treat the vehicle_local_position as stale and can not run the policy |
+| EXIT_REASON_ATTITUDE_STALE | `uint8` | 5 | If OBSERVATION_TIMEOUT_ATTITUDE is exceeded, we treat the vehicle_attitude as stale and can not run the policy |
+| EXIT_REASON_EXECUTOR_STATUS_SOURCE_NOT_CONTROL | `uint8` | 6 | The executor that runs the policy can run in oversampling mode, where it decides if the policy should be ran based on the timestamp and not based on fixed synchronization onto the vehicle_angular_velocity. In this case the executor can decide to skip running the policy if the interval is too small, in which case this flag is set. |
## Source Message
diff --git a/docs/uk/msg_docs/RateCtrlStatus.md b/docs/uk/msg_docs/RateCtrlStatus.md
index 7a18bafbe2..b952edc1aa 100644
--- a/docs/uk/msg_docs/RateCtrlStatus.md
+++ b/docs/uk/msg_docs/RateCtrlStatus.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# RateCtrlStatus (UORB message)
-**TOPICS:** rate_ctrlstatus
+**TOPICS:** rate_ctrl_status
## Fields
diff --git a/docs/uk/msg_docs/RcChannels.md b/docs/uk/msg_docs/RcChannels.md
index c67d76b026..270bd8452d 100644
--- a/docs/uk/msg_docs/RcChannels.md
+++ b/docs/uk/msg_docs/RcChannels.md
@@ -21,39 +21,39 @@ pageClass: is-wide-page
## Constants
-| Назва | Тип | Значення | Опис |
-| ------------------------------------------------------------------------------------------------------------------------------------ | ------- | -------- | ---- |
-| FUNCTION_THROTTLE | `uint8` | 0 | |
-| FUNCTION_ROLL | `uint8` | 1 | |
-| FUNCTION_PITCH | `uint8` | 2 | |
-| FUNCTION_YAW | `uint8` | 3 | |
-| FUNCTION_RETURN | `uint8` | 4 | |
-| FUNCTION_LOITER | `uint8` | 5 | |
-| FUNCTION_OFFBOARD | `uint8` | 6 | |
-| FUNCTION_FLAPS | `uint8` | 7 | |
-| FUNCTION_AUX_1 | `uint8` | 8 | |
-| FUNCTION_AUX_2 | `uint8` | 9 | |
-| FUNCTION_AUX_3 | `uint8` | 10 | |
-| FUNCTION_AUX_4 | `uint8` | 11 | |
-| FUNCTION_AUX_5 | `uint8` | 12 | |
-| FUNCTION_AUX_6 | `uint8` | 13 | |
-| FUNCTION_PARAM_1 | `uint8` | 14 | |
-| FUNCTION_PARAM_2 | `uint8` | 15 | |
-| FUNCTION_PARAM_3_5 | `uint8` | 16 | |
-| FUNCTION_KILLSWITCH | `uint8` | 17 | |
-| FUNCTION_TRANSITION | `uint8` | 18 | |
-| FUNCTION_GEAR | `uint8` | 19 | |
-| FUNCTION_ARMSWITCH | `uint8` | 20 | |
-| FUNCTION_FLTBTN_SLOT_1 | `uint8` | 21 | |
-| FUNCTION_FLTBTN_SLOT_2 | `uint8` | 22 | |
-| FUNCTION_FLTBTN_SLOT_3 | `uint8` | 23 | |
-| FUNCTION_FLTBTN_SLOT_4 | `uint8` | 24 | |
-| FUNCTION_FLTBTN_SLOT_5 | `uint8` | 25 | |
-| FUNCTION_FLTBTN_SLOT_6 | `uint8` | 26 | |
-| FUNCTION_ENGAGE_MAIN_MOTOR | `uint8` | 27 | |
-| FUNCTION_PAYLOAD_POWER | `uint8` | 28 | |
-| FUNCTION_TERMINATION | `uint8` | 29 | |
-| FUNCTION_FLTBTN_SLOT_COUNT | `uint8` | 6 | |
+| Назва | Тип | Значення | Опис |
+| ---------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ---- |
+| FUNCTION_THROTTLE | `uint8` | 0 | |
+| FUNCTION_ROLL | `uint8` | 1 | |
+| FUNCTION_PITCH | `uint8` | 2 | |
+| FUNCTION_YAW | `uint8` | 3 | |
+| FUNCTION_RETURN | `uint8` | 4 | |
+| FUNCTION_LOITER | `uint8` | 5 | |
+| FUNCTION_OFFBOARD | `uint8` | 6 | |
+| FUNCTION_FLAPS | `uint8` | 7 | |
+| FUNCTION_AUX_1 | `uint8` | 8 | |
+| FUNCTION_AUX_2 | `uint8` | 9 | |
+| FUNCTION_AUX_3 | `uint8` | 10 | |
+| FUNCTION_AUX_4 | `uint8` | 11 | |
+| FUNCTION_AUX_5 | `uint8` | 12 | |
+| FUNCTION_AUX_6 | `uint8` | 13 | |
+| FUNCTION_PARAM_1 | `uint8` | 14 | |
+| FUNCTION_PARAM_2 | `uint8` | 15 | |
+| FUNCTION_PARAM_3_5 | `uint8` | 16 | |
+| FUNCTION_KILLSWITCH | `uint8` | 17 | |
+| FUNCTION_TRANSITION | `uint8` | 18 | |
+| FUNCTION_GEAR | `uint8` | 19 | |
+| FUNCTION_ARMSWITCH | `uint8` | 20 | |
+| FUNCTION_FLTBTN_SLOT_1 | `uint8` | 21 | |
+| FUNCTION_FLTBTN_SLOT_2 | `uint8` | 22 | |
+| FUNCTION_FLTBTN_SLOT_3 | `uint8` | 23 | |
+| FUNCTION_FLTBTN_SLOT_4 | `uint8` | 24 | |
+| FUNCTION_FLTBTN_SLOT_5 | `uint8` | 25 | |
+| FUNCTION_FLTBTN_SLOT_6 | `uint8` | 26 | |
+| FUNCTION_ENGAGE_MAIN_MOTOR | `uint8` | 27 | |
+| FUNCTION_PAYLOAD_POWER | `uint8` | 28 | |
+| FUNCTION_TERMINATION | `uint8` | 29 | |
+| FUNCTION_FLTBTN_SLOT_COUNT | `uint8` | 6 | |
## Source Message
diff --git a/docs/uk/msg_docs/RcParameterMap.md b/docs/uk/msg_docs/RcParameterMap.md
index f8221f20c4..8978eeb8cb 100644
--- a/docs/uk/msg_docs/RcParameterMap.md
+++ b/docs/uk/msg_docs/RcParameterMap.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# RcParameterMap (UORB message)
-**TOPICS:** rc_parametermap
+**TOPICS:** rc_parameter_map
## Fields
@@ -21,10 +21,10 @@ pageClass: is-wide-page
## Constants
-| Назва | Тип | Значення | Опис |
-| -------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
-| RC_PARAM_MAP_NCHAN | `uint8` | 3 | This limit is also hardcoded in the enum RC_CHANNELS_FUNCTION in rc_channels.h |
-| PARAM_ID_LEN | `uint8` | 16 | corresponds to MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN |
+| Назва | Тип | Значення | Опис |
+| ------------------------------------------------------------------------------------------------------------------ | ------- | -------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
+| RC_PARAM_MAP_NCHAN | `uint8` | 3 | This limit is also hardcoded in the enum RC_CHANNELS_FUNCTION in rc_channels.h |
+| PARAM_ID_LEN | `uint8` | 16 | corresponds to MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN |
## Source Message
diff --git a/docs/uk/msg_docs/RegisterExtComponentReply.md b/docs/uk/msg_docs/RegisterExtComponentReply.md
index 8637164989..3863499e03 100644
--- a/docs/uk/msg_docs/RegisterExtComponentReply.md
+++ b/docs/uk/msg_docs/RegisterExtComponentReply.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# RegisterExtComponentReply (UORB message)
-**TOPICS:** register_extcomponent_reply
+**TOPICS:** register_ext_component_reply
## Fields
@@ -22,10 +22,10 @@ pageClass: is-wide-page
## Constants
-| Назва | Тип | Значення | Опис |
-| ------------------------------------------------------------------------------------------- | -------- | -------- | ---- |
-| MESSAGE_VERSION | `uint32` | 1 | |
-| ORB_QUEUE_LENGTH | `uint8` | 2 | |
+| Назва | Тип | Значення | Опис |
+| ----------------------------------------------------------------------------------------- | -------- | -------- | ---- |
+| MESSAGE_VERSION | `uint32` | 1 | |
+| ORB_QUEUE_LENGTH | `uint8` | 2 | |
## Source Message
diff --git a/docs/uk/msg_docs/RegisterExtComponentReplyV0.md b/docs/uk/msg_docs/RegisterExtComponentReplyV0.md
index 702ea517d2..7c2af9fe7e 100644
--- a/docs/uk/msg_docs/RegisterExtComponentReplyV0.md
+++ b/docs/uk/msg_docs/RegisterExtComponentReplyV0.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# RegisterExtComponentReplyV0 (UORB message)
-**TOPICS:** register_extcomponent_replyv0
+**TOPICS:** register_ext_component_reply_v0
## Fields
@@ -21,10 +21,10 @@ pageClass: is-wide-page
## Constants
-| Назва | Тип | Значення | Опис |
-| ------------------------------------------------------------------------------------------- | -------- | -------- | ---- |
-| MESSAGE_VERSION | `uint32` | 0 | |
-| ORB_QUEUE_LENGTH | `uint8` | 2 | |
+| Назва | Тип | Значення | Опис |
+| ----------------------------------------------------------------------------------------- | -------- | -------- | ---- |
+| MESSAGE_VERSION | `uint32` | 0 | |
+| ORB_QUEUE_LENGTH | `uint8` | 2 | |
## Source Message
diff --git a/docs/uk/msg_docs/RegisterExtComponentRequest.md b/docs/uk/msg_docs/RegisterExtComponentRequest.md
index 95e2c41846..633218124e 100644
--- a/docs/uk/msg_docs/RegisterExtComponentRequest.md
+++ b/docs/uk/msg_docs/RegisterExtComponentRequest.md
@@ -6,7 +6,7 @@ pageClass: is-wide-page
Request to register an external component.
-**TOPICS:** register_extcomponent_request
+**TOPICS:** register_ext_component_request
## Fields
@@ -26,11 +26,11 @@ Request to register an external component.
## Constants
-| Назва | Тип | Значення | Опис |
-| ----------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| MESSAGE_VERSION | `uint32` | 1 | |
-| LATEST_PX4_ROS2_API_VERSION | `uint16` | 1 | API version compatibility. Increase this on a breaking semantic change. Changes to any message field are detected separately and do not require an API version change. |
-| ORB_QUEUE_LENGTH | `uint8` | 2 | |
+| Назва | Тип | Значення | Опис |
+| --------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| MESSAGE_VERSION | `uint32` | 1 | |
+| LATEST_PX4_ROS2_API_VERSION | `uint16` | 1 | API version compatibility. Increase this on a breaking semantic change. Changes to any message field are detected separately and do not require an API version change. |
+| ORB_QUEUE_LENGTH | `uint8` | 2 | |
## Source Message
diff --git a/docs/uk/msg_docs/RegisterExtComponentRequestV0.md b/docs/uk/msg_docs/RegisterExtComponentRequestV0.md
index a7968cc80d..09c8671ac2 100644
--- a/docs/uk/msg_docs/RegisterExtComponentRequestV0.md
+++ b/docs/uk/msg_docs/RegisterExtComponentRequestV0.md
@@ -6,7 +6,7 @@ pageClass: is-wide-page
Request to register an external component.
-**TOPICS:** register_extcomponent_requestv0
+**TOPICS:** register_ext_component_request_v0
## Fields
@@ -25,11 +25,11 @@ Request to register an external component.
## Constants
-| Назва | Тип | Значення | Опис |
-| ----------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| MESSAGE_VERSION | `uint32` | 0 | |
-| LATEST_PX4_ROS2_API_VERSION | `uint16` | 1 | API version compatibility. Increase this on a breaking semantic change. Changes to any message field are detected separately and do not require an API version change. |
-| ORB_QUEUE_LENGTH | `uint8` | 2 | |
+| Назва | Тип | Значення | Опис |
+| --------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| MESSAGE_VERSION | `uint32` | 0 | |
+| LATEST_PX4_ROS2_API_VERSION | `uint16` | 1 | API version compatibility. Increase this on a breaking semantic change. Changes to any message field are detected separately and do not require an API version change. |
+| ORB_QUEUE_LENGTH | `uint8` | 2 | |
## Source Message
diff --git a/docs/uk/msg_docs/RoverAttitudeSetpoint.md b/docs/uk/msg_docs/RoverAttitudeSetpoint.md
index ed0dd961e4..3b4d0676f5 100644
--- a/docs/uk/msg_docs/RoverAttitudeSetpoint.md
+++ b/docs/uk/msg_docs/RoverAttitudeSetpoint.md
@@ -6,7 +6,7 @@ pageClass: is-wide-page
Rover Attitude Setpoint.
-**TOPICS:** rover_attitudesetpoint
+**TOPICS:** rover_attitude_setpoint
## Fields
diff --git a/docs/uk/msg_docs/RoverAttitudeStatus.md b/docs/uk/msg_docs/RoverAttitudeStatus.md
index 189f32e279..499bc02edb 100644
--- a/docs/uk/msg_docs/RoverAttitudeStatus.md
+++ b/docs/uk/msg_docs/RoverAttitudeStatus.md
@@ -6,7 +6,7 @@ pageClass: is-wide-page
Rover Attitude Status.
-**TOPICS:** rover_attitudestatus
+**TOPICS:** rover_attitude_status
## Fields
diff --git a/docs/uk/msg_docs/RoverPositionSetpoint.md b/docs/uk/msg_docs/RoverPositionSetpoint.md
index 82f726026d..ff03dd395f 100644
--- a/docs/uk/msg_docs/RoverPositionSetpoint.md
+++ b/docs/uk/msg_docs/RoverPositionSetpoint.md
@@ -6,7 +6,7 @@ pageClass: is-wide-page
Rover Position Setpoint.
-**TOPICS:** rover_positionsetpoint
+**TOPICS:** rover_position_setpoint
## Fields
diff --git a/docs/uk/msg_docs/RoverRateSetpoint.md b/docs/uk/msg_docs/RoverRateSetpoint.md
index 2db7c145fb..87d1035870 100644
--- a/docs/uk/msg_docs/RoverRateSetpoint.md
+++ b/docs/uk/msg_docs/RoverRateSetpoint.md
@@ -6,7 +6,7 @@ pageClass: is-wide-page
Rover Rate setpoint.
-**TOPICS:** rover_ratesetpoint
+**TOPICS:** rover_rate_setpoint
## Fields
diff --git a/docs/uk/msg_docs/RoverRateStatus.md b/docs/uk/msg_docs/RoverRateStatus.md
index b5f35b0d9e..115ca78608 100644
--- a/docs/uk/msg_docs/RoverRateStatus.md
+++ b/docs/uk/msg_docs/RoverRateStatus.md
@@ -6,7 +6,7 @@ pageClass: is-wide-page
Rover Rate Status.
-**TOPICS:** rover_ratestatus
+**TOPICS:** rover_rate_status
## Fields
diff --git a/docs/uk/msg_docs/RoverSpeedSetpoint.md b/docs/uk/msg_docs/RoverSpeedSetpoint.md
index 82f033e7bf..6927a5fc53 100644
--- a/docs/uk/msg_docs/RoverSpeedSetpoint.md
+++ b/docs/uk/msg_docs/RoverSpeedSetpoint.md
@@ -6,7 +6,7 @@ pageClass: is-wide-page
Rover Speed Setpoint.
-**TOPICS:** rover_speedsetpoint
+**TOPICS:** rover_speed_setpoint
## Fields
diff --git a/docs/uk/msg_docs/RoverSpeedStatus.md b/docs/uk/msg_docs/RoverSpeedStatus.md
index 6184ecd469..019e3a8fc3 100644
--- a/docs/uk/msg_docs/RoverSpeedStatus.md
+++ b/docs/uk/msg_docs/RoverSpeedStatus.md
@@ -6,7 +6,7 @@ pageClass: is-wide-page
Rover Velocity Status.
-**TOPICS:** rover_speedstatus
+**TOPICS:** rover_speed_status
## Fields
diff --git a/docs/uk/msg_docs/RoverSteeringSetpoint.md b/docs/uk/msg_docs/RoverSteeringSetpoint.md
index bd9207cb3d..7fdd9107b1 100644
--- a/docs/uk/msg_docs/RoverSteeringSetpoint.md
+++ b/docs/uk/msg_docs/RoverSteeringSetpoint.md
@@ -6,7 +6,7 @@ pageClass: is-wide-page
Rover Steering setpoint.
-**TOPICS:** rover_steeringsetpoint
+**TOPICS:** rover_steering_setpoint
## Fields
diff --git a/docs/uk/msg_docs/RoverThrottleSetpoint.md b/docs/uk/msg_docs/RoverThrottleSetpoint.md
index 66ac614829..98b6ec4ec0 100644
--- a/docs/uk/msg_docs/RoverThrottleSetpoint.md
+++ b/docs/uk/msg_docs/RoverThrottleSetpoint.md
@@ -6,7 +6,7 @@ pageClass: is-wide-page
Rover Throttle setpoint.
-**TOPICS:** rover_throttlesetpoint
+**TOPICS:** rover_throttle_setpoint
## Fields
diff --git a/docs/uk/msg_docs/RtlStatus.md b/docs/uk/msg_docs/RtlStatus.md
index ac671fb244..ed12f9e0e1 100644
--- a/docs/uk/msg_docs/RtlStatus.md
+++ b/docs/uk/msg_docs/RtlStatus.md
@@ -19,13 +19,13 @@ pageClass: is-wide-page
## Constants
-| Назва | Тип | Значення | Опис |
-| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | ------- | -------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| RTL_STATUS_TYPE_NONE | `uint8` | 0 | pending if evaluation can't pe performed currently e.g. when it is still loading the safe points |
-| RTL_STATUS_TYPE_DIRECT_SAFE_POINT | `uint8` | 1 | chosen to directly go to a safe point or home position |
-| RTL_STATUS_TYPE_DIRECT_MISSION_LAND | `uint8` | 2 | going straight to the beginning of the mission landing |
-| RTL_STATUS_TYPE_FOLLOW_MISSION | `uint8` | 3 | Following the mission from start index to mission landing. Start index is current WP if in Mission mode, and closest WP otherwise. |
-| RTL_STATUS_TYPE_FOLLOW_MISSION_REVERSE | `uint8` | 4 | Following the mission in reverse from start index to the beginning of the mission. Start index is previous WP if in Mission mode, and closest WP otherwise. |
+| Назва | Тип | Значення | Опис |
+| ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| RTL_STATUS_TYPE_NONE | `uint8` | 0 | pending if evaluation can't pe performed currently e.g. when it is still loading the safe points |
+| RTL_STATUS_TYPE_DIRECT_SAFE_POINT | `uint8` | 1 | chosen to directly go to a safe point or home position |
+| RTL_STATUS_TYPE_DIRECT_MISSION_LAND | `uint8` | 2 | going straight to the beginning of the mission landing |
+| RTL_STATUS_TYPE_FOLLOW_MISSION | `uint8` | 3 | Following the mission from start index to mission landing. Start index is current WP if in Mission mode, and closest WP otherwise. |
+| RTL_STATUS_TYPE_FOLLOW_MISSION_REVERSE | `uint8` | 4 | Following the mission in reverse from start index to the beginning of the mission. Start index is previous WP if in Mission mode, and closest WP otherwise. |
## Source Message
diff --git a/docs/uk/msg_docs/RtlTimeEstimate.md b/docs/uk/msg_docs/RtlTimeEstimate.md
index e70839b593..8f825b892c 100644
--- a/docs/uk/msg_docs/RtlTimeEstimate.md
+++ b/docs/uk/msg_docs/RtlTimeEstimate.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# RtlTimeEstimate (UORB message)
-**TOPICS:** rtl_timeestimate
+**TOPICS:** rtl_time_estimate
## Fields
diff --git a/docs/uk/msg_docs/SatelliteInfo.md b/docs/uk/msg_docs/SatelliteInfo.md
index 01262913a4..f62a55be04 100644
--- a/docs/uk/msg_docs/SatelliteInfo.md
+++ b/docs/uk/msg_docs/SatelliteInfo.md
@@ -21,9 +21,9 @@ pageClass: is-wide-page
## Constants
-| Назва | Тип | Значення | Опис |
-| ------------------------------------------------------------------------------------------------------------------------------ | ------- | -------- | ---- |
-| SAT_INFO_MAX_SATELLITES | `uint8` | 40 | |
+| Назва | Тип | Значення | Опис |
+| ---------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ---- |
+| SAT_INFO_MAX_SATELLITES | `uint8` | 40 | |
## Source Message
diff --git a/docs/uk/msg_docs/SensorAccel.md b/docs/uk/msg_docs/SensorAccel.md
index 895fee5d7d..2ab0cf9964 100644
--- a/docs/uk/msg_docs/SensorAccel.md
+++ b/docs/uk/msg_docs/SensorAccel.md
@@ -23,9 +23,9 @@ pageClass: is-wide-page
## Constants
-| Назва | Тип | Значення | Опис |
-| ------------------------------------------------------------------------------------------- | ------- | -------- | ---- |
-| ORB_QUEUE_LENGTH | `uint8` | 8 | |
+| Назва | Тип | Значення | Опис |
+| ----------------------------------------------------------------------------------------- | ------- | -------- | ---- |
+| ORB_QUEUE_LENGTH | `uint8` | 8 | |
## Source Message
diff --git a/docs/uk/msg_docs/SensorAccelFifo.md b/docs/uk/msg_docs/SensorAccelFifo.md
index f9ed2f4296..c420dbe7d5 100644
--- a/docs/uk/msg_docs/SensorAccelFifo.md
+++ b/docs/uk/msg_docs/SensorAccelFifo.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# SensorAccelFifo (UORB message)
-**TOPICS:** sensor_accelfifo
+**TOPICS:** sensor_accel_fifo
## Fields
diff --git a/docs/uk/msg_docs/SensorBaro.md b/docs/uk/msg_docs/SensorBaro.md
index f666fd9eee..613f2d5f4c 100644
--- a/docs/uk/msg_docs/SensorBaro.md
+++ b/docs/uk/msg_docs/SensorBaro.md
@@ -24,9 +24,9 @@ The information is published in the `SCALED_PRESSURE_n` MAVLink messages (along
## Constants
-| Назва | Тип | Значення | Опис |
-| ------------------------------------------------------------------------------------------- | ------- | -------- | ---- |
-| ORB_QUEUE_LENGTH | `uint8` | 4 | |
+| Назва | Тип | Значення | Опис |
+| ----------------------------------------------------------------------------------------- | ------- | -------- | ---- |
+| ORB_QUEUE_LENGTH | `uint8` | 4 | |
## Source Message
diff --git a/docs/uk/msg_docs/SensorCombined.md b/docs/uk/msg_docs/SensorCombined.md
index 90145da660..d044dfaf50 100644
--- a/docs/uk/msg_docs/SensorCombined.md
+++ b/docs/uk/msg_docs/SensorCombined.md
@@ -25,12 +25,12 @@ pageClass: is-wide-page
## Constants
-| Назва | Тип | Значення | Опис |
-| --------------------------------------------------------------------------------------------------------------- | ------- | ---------- | ----------------------------------------------------------------------------------------------------------------------------------------- |
-| RELATIVE_TIMESTAMP_INVALID | `int32` | 2147483647 | (0x7fffffff) If one of the relative timestamps is set to this value, it means the associated sensor values are invalid |
-| CLIPPING_X | `uint8` | 1 | |
-| CLIPPING_Y | `uint8` | 2 | |
-| CLIPPING_Z | `uint8` | 4 | |
+| Назва | Тип | Значення | Опис |
+| ------------------------------------------------------------------------------------------------------------- | ------- | ---------- | ----------------------------------------------------------------------------------------------------------------------------------------- |
+| RELATIVE_TIMESTAMP_INVALID | `int32` | 2147483647 | (0x7fffffff) If one of the relative timestamps is set to this value, it means the associated sensor values are invalid |
+| CLIPPING_X | `uint8` | 1 | |
+| CLIPPING_Y | `uint8` | 2 | |
+| CLIPPING_Z | `uint8` | 4 | |
## Source Message
diff --git a/docs/uk/msg_docs/SensorGnssRelative.md b/docs/uk/msg_docs/SensorGnssRelative.md
index 4e5ed52e70..a459d0098e 100644
--- a/docs/uk/msg_docs/SensorGnssRelative.md
+++ b/docs/uk/msg_docs/SensorGnssRelative.md
@@ -6,7 +6,7 @@ pageClass: is-wide-page
Інформація про відносне позиціонування GNSS в рамці NED. NED кадр визначається як локальна топологічна система на задній станції.
-**TOPICS:** sensor_gnssrelative
+**TOPICS:** sensor_gnss_relative
## Fields
diff --git a/docs/uk/msg_docs/SensorGnssStatus.md b/docs/uk/msg_docs/SensorGnssStatus.md
index d2acc1278e..f4cbac9a04 100644
--- a/docs/uk/msg_docs/SensorGnssStatus.md
+++ b/docs/uk/msg_docs/SensorGnssStatus.md
@@ -6,7 +6,7 @@ pageClass: is-wide-page
Gnss quality indicators.
-**TOPICS:** sensor_gnssstatus
+**TOPICS:** sensor_gnss_status
## Fields
diff --git a/docs/uk/msg_docs/SensorGps.md b/docs/uk/msg_docs/SensorGps.md
index c01d04fba7..eee4f9468a 100644
--- a/docs/uk/msg_docs/SensorGps.md
+++ b/docs/uk/msg_docs/SensorGps.md
@@ -52,39 +52,39 @@ pageClass: is-wide-page
## Constants
-| Назва | Тип | Значення | Опис |
-| ------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ---------------------------------------------------------- |
-| FIX_TYPE_NONE | `uint8` | 1 | Value 0 is also valid to represent no fix. |
-| FIX_TYPE_2D | `uint8` | 2 | |
-| FIX_TYPE_3D | `uint8` | 3 | |
-| FIX_TYPE_RTCM_CODE_DIFFERENTIAL | `uint8` | 4 | |
-| FIX_TYPE_RTK_FLOAT | `uint8` | 5 | |
-| FIX_TYPE_RTK_FIXED | `uint8` | 6 | |
-| FIX_TYPE_EXTRAPOLATED | `uint8` | 8 | |
-| JAMMING_STATE_UNKNOWN | `uint8` | 0 | default |
-| JAMMING_STATE_OK | `uint8` | 1 | |
-| JAMMING_STATE_MITIGATED | `uint8` | 2 | |
-| JAMMING_STATE_DETECTED | `uint8` | 3 | |
-| SPOOFING_STATE_UNKNOWN | `uint8` | 0 | default |
-| SPOOFING_STATE_OK | `uint8` | 1 | |
-| SPOOFING_STATE_MITIGATED | `uint8` | 2 | |
-| SPOOFING_STATE_DETECTED | `uint8` | 3 | |
-| AUTHENTICATION_STATE_UNKNOWN | `uint8` | 0 | default |
-| AUTHENTICATION_STATE_INITIALIZING | `uint8` | 1 | |
-| AUTHENTICATION_STATE_ERROR | `uint8` | 2 | |
-| AUTHENTICATION_STATE_OK | `uint8` | 3 | |
-| AUTHENTICATION_STATE_DISABLED | `uint8` | 4 | |
-| SYSTEM_ERROR_OK | `uint32` | 0 | default |
-| SYSTEM_ERROR_INCOMING_CORRECTIONS | `uint32` | 1 | |
-| SYSTEM_ERROR_CONFIGURATION | `uint32` | 2 | |
-| SYSTEM_ERROR_SOFTWARE | `uint32` | 4 | |
-| SYSTEM_ERROR_ANTENNA | `uint32` | 8 | |
-| SYSTEM_ERROR_EVENT_CONGESTION | `uint32` | 16 | |
-| SYSTEM_ERROR_CPU_OVERLOAD | `uint32` | 32 | |
-| SYSTEM_ERROR_OUTPUT_CONGESTION | `uint32` | 64 | |
-| RTCM_MSG_USED_UNKNOWN | `uint8` | 0 | |
-| RTCM_MSG_USED_NOT_USED | `uint8` | 1 | |
-| RTCM_MSG_USED_USED | `uint8` | 2 | |
+| Назва | Тип | Значення | Опис |
+| ----------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ---------------------------------------------------------- |
+| FIX_TYPE_NONE | `uint8` | 1 | Value 0 is also valid to represent no fix. |
+| FIX_TYPE_2D | `uint8` | 2 | |
+| FIX_TYPE_3D | `uint8` | 3 | |
+| FIX_TYPE_RTCM_CODE_DIFFERENTIAL | `uint8` | 4 | |
+| FIX_TYPE_RTK_FLOAT | `uint8` | 5 | |
+| FIX_TYPE_RTK_FIXED | `uint8` | 6 | |
+| FIX_TYPE_EXTRAPOLATED | `uint8` | 8 | |
+| JAMMING_STATE_UNKNOWN | `uint8` | 0 | default |
+| JAMMING_STATE_OK | `uint8` | 1 | |
+| JAMMING_STATE_MITIGATED | `uint8` | 2 | |
+| JAMMING_STATE_DETECTED | `uint8` | 3 | |
+| SPOOFING_STATE_UNKNOWN | `uint8` | 0 | default |
+| SPOOFING_STATE_OK | `uint8` | 1 | |
+| SPOOFING_STATE_MITIGATED | `uint8` | 2 | |
+| SPOOFING_STATE_DETECTED | `uint8` | 3 | |
+| AUTHENTICATION_STATE_UNKNOWN | `uint8` | 0 | default |
+| AUTHENTICATION_STATE_INITIALIZING | `uint8` | 1 | |
+| AUTHENTICATION_STATE_ERROR | `uint8` | 2 | |
+| AUTHENTICATION_STATE_OK | `uint8` | 3 | |
+| AUTHENTICATION_STATE_DISABLED | `uint8` | 4 | |
+| SYSTEM_ERROR_OK | `uint32` | 0 | default |
+| SYSTEM_ERROR_INCOMING_CORRECTIONS | `uint32` | 1 | |
+| SYSTEM_ERROR_CONFIGURATION | `uint32` | 2 | |
+| SYSTEM_ERROR_SOFTWARE | `uint32` | 4 | |
+| SYSTEM_ERROR_ANTENNA | `uint32` | 8 | |
+| SYSTEM_ERROR_EVENT_CONGESTION | `uint32` | 16 | |
+| SYSTEM_ERROR_CPU_OVERLOAD | `uint32` | 32 | |
+| SYSTEM_ERROR_OUTPUT_CONGESTION | `uint32` | 64 | |
+| RTCM_MSG_USED_UNKNOWN | `uint8` | 0 | |
+| RTCM_MSG_USED_NOT_USED | `uint8` | 1 | |
+| RTCM_MSG_USED_USED | `uint8` | 2 | |
## Source Message
diff --git a/docs/uk/msg_docs/SensorGyro.md b/docs/uk/msg_docs/SensorGyro.md
index 673216cd7c..c8a7aa29ff 100644
--- a/docs/uk/msg_docs/SensorGyro.md
+++ b/docs/uk/msg_docs/SensorGyro.md
@@ -23,9 +23,9 @@ pageClass: is-wide-page
## Constants
-| Назва | Тип | Значення | Опис |
-| ------------------------------------------------------------------------------------------- | ------- | -------- | ---- |
-| ORB_QUEUE_LENGTH | `uint8` | 8 | |
+| Назва | Тип | Значення | Опис |
+| ----------------------------------------------------------------------------------------- | ------- | -------- | ---- |
+| ORB_QUEUE_LENGTH | `uint8` | 8 | |
## Source Message
diff --git a/docs/uk/msg_docs/SensorGyroFft.md b/docs/uk/msg_docs/SensorGyroFft.md
index 58a1c0d701..d407024df1 100644
--- a/docs/uk/msg_docs/SensorGyroFft.md
+++ b/docs/uk/msg_docs/SensorGyroFft.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# SensorGyroFft (UORB message)
-**TOPICS:** sensor_gyrofft
+**TOPICS:** sensor_gyro_fft
## Fields
diff --git a/docs/uk/msg_docs/SensorGyroFifo.md b/docs/uk/msg_docs/SensorGyroFifo.md
index a0cde80bb2..981577a76c 100644
--- a/docs/uk/msg_docs/SensorGyroFifo.md
+++ b/docs/uk/msg_docs/SensorGyroFifo.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# SensorGyroFifo (UORB message)
-**TOPICS:** sensor_gyrofifo
+**TOPICS:** sensor_gyro_fifo
## Fields
@@ -22,9 +22,9 @@ pageClass: is-wide-page
## Constants
-| Назва | Тип | Значення | Опис |
-| ------------------------------------------------------------------------------------------- | ------- | -------- | ---- |
-| ORB_QUEUE_LENGTH | `uint8` | 4 | |
+| Назва | Тип | Значення | Опис |
+| ----------------------------------------------------------------------------------------- | ------- | -------- | ---- |
+| ORB_QUEUE_LENGTH | `uint8` | 4 | |
## Source Message
diff --git a/docs/uk/msg_docs/SensorMag.md b/docs/uk/msg_docs/SensorMag.md
index 171c0d9990..18eb238d0b 100644
--- a/docs/uk/msg_docs/SensorMag.md
+++ b/docs/uk/msg_docs/SensorMag.md
@@ -21,9 +21,9 @@ pageClass: is-wide-page
## Constants
-| Назва | Тип | Значення | Опис |
-| ------------------------------------------------------------------------------------------- | ------- | -------- | ---- |
-| ORB_QUEUE_LENGTH | `uint8` | 4 | |
+| Назва | Тип | Значення | Опис |
+| ----------------------------------------------------------------------------------------- | ------- | -------- | ---- |
+| ORB_QUEUE_LENGTH | `uint8` | 4 | |
## Source Message
diff --git a/docs/uk/msg_docs/SensorOpticalFlow.md b/docs/uk/msg_docs/SensorOpticalFlow.md
index 0a8968bb7b..d9acccbeb0 100644
--- a/docs/uk/msg_docs/SensorOpticalFlow.md
+++ b/docs/uk/msg_docs/SensorOpticalFlow.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# SensorOpticalFlow (повідомлення UORB)
-**TOPICS:** sensor_opticalflow
+**TOPICS:** sensor_optical_flow
## Fields
@@ -28,12 +28,12 @@ pageClass: is-wide-page
## Constants
-| Назва | Тип | Значення | Опис |
-| ------------------------------------------------------------------------------------------------- | ------- | -------- | ---- |
-| MODE_UNKNOWN | `uint8` | 0 | |
-| MODE_BRIGHT | `uint8` | 1 | |
-| MODE_LOWLIGHT | `uint8` | 2 | |
-| MODE_SUPER_LOWLIGHT | `uint8` | 3 | |
+| Назва | Тип | Значення | Опис |
+| ----------------------------------------------------------------------------------------------- | ------- | -------- | ---- |
+| MODE_UNKNOWN | `uint8` | 0 | |
+| MODE_BRIGHT | `uint8` | 1 | |
+| MODE_LOWLIGHT | `uint8` | 2 | |
+| MODE_SUPER_LOWLIGHT | `uint8` | 3 | |
## Source Message
diff --git a/docs/uk/msg_docs/SensorPreflightMag.md b/docs/uk/msg_docs/SensorPreflightMag.md
index 931d5f18af..f4b1de646b 100644
--- a/docs/uk/msg_docs/SensorPreflightMag.md
+++ b/docs/uk/msg_docs/SensorPreflightMag.md
@@ -6,7 +6,7 @@ pageClass: is-wide-page
Метрики перевірки сенсорів перед польотом. The topic will not be updated when the vehicle is armed.
-**TOPICS:** sensor_preflightmag
+**TOPICS:** sensor_preflight_mag
## Fields
diff --git a/docs/uk/msg_docs/SensorsStatus.md b/docs/uk/msg_docs/SensorsStatus.md
index 853a81decd..16703b8b07 100644
--- a/docs/uk/msg_docs/SensorsStatus.md
+++ b/docs/uk/msg_docs/SensorsStatus.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# SensorsStatus (повідомлення UORB)
-Метрики перевірки датчика. Це значення буде нульовим для датчика, який є первинним або незаповненим.
+Метрики перевірки датчика. This will be zero for a sensor that's primary or unpopulated.
**TOPICS:** sensors_status_baro sensors_status_mag
diff --git a/docs/uk/msg_docs/SensorsStatusImu.md b/docs/uk/msg_docs/SensorsStatusImu.md
index d9fd0b090c..d4d8beb01d 100644
--- a/docs/uk/msg_docs/SensorsStatusImu.md
+++ b/docs/uk/msg_docs/SensorsStatusImu.md
@@ -4,9 +4,9 @@ pageClass: is-wide-page
# SensorsStatusImu (повідомлення UORB)
-Метрики перевірки датчика. Це значення буде нульовим для датчика, який є первинним або незаповненим.
+Метрики перевірки датчика. This will be zero for a sensor that's primary or unpopulated.
-**TOPICS:** sensors_statusimu
+**TOPICS:** sensors_status_imu
## Fields
diff --git a/docs/uk/msg_docs/SystemPower.md b/docs/uk/msg_docs/SystemPower.md
index 665b2546c8..48dcbd8e69 100644
--- a/docs/uk/msg_docs/SystemPower.md
+++ b/docs/uk/msg_docs/SystemPower.md
@@ -27,16 +27,16 @@ pageClass: is-wide-page
## Constants
-| Назва | Тип | Значення | Опис |
-| ------------------------------------------------------------------------------------------------- | ------- | -------- | ---- |
-| BRICK1_VALID_SHIFTS | `uint8` | 0 | |
-| BRICK1_VALID_MASK | `uint8` | 1 | |
-| BRICK2_VALID_SHIFTS | `uint8` | 1 | |
-| BRICK2_VALID_MASK | `uint8` | 2 | |
-| BRICK3_VALID_SHIFTS | `uint8` | 2 | |
-| BRICK3_VALID_MASK | `uint8` | 4 | |
-| BRICK4_VALID_SHIFTS | `uint8` | 3 | |
-| BRICK4_VALID_MASK | `uint8` | 8 | |
+| Назва | Тип | Значення | Опис |
+| ----------------------------------------------------------------------------------------------- | ------- | -------- | ---- |
+| BRICK1_VALID_SHIFTS | `uint8` | 0 | |
+| BRICK1_VALID_MASK | `uint8` | 1 | |
+| BRICK2_VALID_SHIFTS | `uint8` | 1 | |
+| BRICK2_VALID_MASK | `uint8` | 2 | |
+| BRICK3_VALID_SHIFTS | `uint8` | 2 | |
+| BRICK3_VALID_MASK | `uint8` | 4 | |
+| BRICK4_VALID_SHIFTS | `uint8` | 3 | |
+| BRICK4_VALID_MASK | `uint8` | 8 | |
## Source Message
diff --git a/docs/uk/msg_docs/TakeoffStatus.md b/docs/uk/msg_docs/TakeoffStatus.md
index ecdc3d1b91..f7e1fbe997 100644
--- a/docs/uk/msg_docs/TakeoffStatus.md
+++ b/docs/uk/msg_docs/TakeoffStatus.md
@@ -18,14 +18,14 @@ Status of the takeoff state machine currently just available for multicopters.
## Constants
-| Назва | Тип | Значення | Опис |
-| ------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ---- |
-| TAKEOFF_STATE_UNINITIALIZED | `uint8` | 0 | |
-| TAKEOFF_STATE_DISARMED | `uint8` | 1 | |
-| TAKEOFF_STATE_SPOOLUP | `uint8` | 2 | |
-| TAKEOFF_STATE_READY_FOR_TAKEOFF | `uint8` | 3 | |
-| TAKEOFF_STATE_RAMPUP | `uint8` | 4 | |
-| TAKEOFF_STATE_FLIGHT | `uint8` | 5 | |
+| Назва | Тип | Значення | Опис |
+| ----------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ---- |
+| TAKEOFF_STATE_UNINITIALIZED | `uint8` | 0 | |
+| TAKEOFF_STATE_DISARMED | `uint8` | 1 | |
+| TAKEOFF_STATE_SPOOLUP | `uint8` | 2 | |
+| TAKEOFF_STATE_READY_FOR_TAKEOFF | `uint8` | 3 | |
+| TAKEOFF_STATE_RAMPUP | `uint8` | 4 | |
+| TAKEOFF_STATE_FLIGHT | `uint8` | 5 | |
## Source Message
diff --git a/docs/uk/msg_docs/TaskStackInfo.md b/docs/uk/msg_docs/TaskStackInfo.md
index d42a5796a4..2189c2181d 100644
--- a/docs/uk/msg_docs/TaskStackInfo.md
+++ b/docs/uk/msg_docs/TaskStackInfo.md
@@ -6,7 +6,7 @@ pageClass: is-wide-page
stack information for a single running process.
-**TOPICS:** task_stackinfo
+**TOPICS:** task_stack_info
## Fields
@@ -18,9 +18,9 @@ stack information for a single running process.
## Constants
-| Назва | Тип | Значення | Опис |
-| ------------------------------------------------------------------------------------------- | ------- | -------- | ---- |
-| ORB_QUEUE_LENGTH | `uint8` | 2 | |
+| Назва | Тип | Значення | Опис |
+| ----------------------------------------------------------------------------------------- | ------- | -------- | ---- |
+| ORB_QUEUE_LENGTH | `uint8` | 2 | |
## Source Message
diff --git a/docs/uk/msg_docs/TelemetryStatus.md b/docs/uk/msg_docs/TelemetryStatus.md
index 5d1aa59ca3..8aeb7813e9 100644
--- a/docs/uk/msg_docs/TelemetryStatus.md
+++ b/docs/uk/msg_docs/TelemetryStatus.md
@@ -36,6 +36,7 @@ pageClass: is-wide-page
| heartbeat_type_onboard_controller | `bool` | | | MAV_TYPE_ONBOARD_CONTROLLER |
| heartbeat_type_gimbal | `bool` | | | MAV_TYPE_GIMBAL |
| heartbeat_type_adsb | `bool` | | | MAV_TYPE_ADSB |
+| heartbeat_type_flarm | `bool` | | | MAV_TYPE_FLARM |
| heartbeat_type_camera | `bool` | | | MAV_TYPE_CAMERA |
| heartbeat_type_parachute | `bool` | | | MAV_TYPE_PARACHUTE |
| heartbeat_type_open_drone_id | `bool` | | | MAV_TYPE_ODID |
@@ -51,14 +52,14 @@ pageClass: is-wide-page
## Constants
-| Назва | Тип | Значення | Опис |
-| ---------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ------------------------------------------------------------------ |
-| LINK_TYPE_GENERIC | `uint8` | 0 | |
-| LINK_TYPE_UBIQUITY_BULLET | `uint8` | 1 | |
-| LINK_TYPE_WIRE | `uint8` | 2 | |
-| LINK_TYPE_USB | `uint8` | 3 | |
-| LINK_TYPE_IRIDIUM | `uint8` | 4 | |
-| HEARTBEAT_TIMEOUT_US | `uint64` | 2500000 | Heartbeat timeout (tolerate missing 1 + jitter) |
+| Назва | Тип | Значення | Опис |
+| -------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ------------------------------------------------------------------ |
+| LINK_TYPE_GENERIC | `uint8` | 0 | |
+| LINK_TYPE_UBIQUITY_BULLET | `uint8` | 1 | |
+| LINK_TYPE_WIRE | `uint8` | 2 | |
+| LINK_TYPE_USB | `uint8` | 3 | |
+| LINK_TYPE_IRIDIUM | `uint8` | 4 | |
+| HEARTBEAT_TIMEOUT_US | `uint64` | 2500000 | Heartbeat timeout (tolerate missing 1 + jitter) |
## Source Message
@@ -113,6 +114,7 @@ bool heartbeat_type_gcs # MAV_TYPE_GCS
bool heartbeat_type_onboard_controller # MAV_TYPE_ONBOARD_CONTROLLER
bool heartbeat_type_gimbal # MAV_TYPE_GIMBAL
bool heartbeat_type_adsb # MAV_TYPE_ADSB
+bool heartbeat_type_flarm # MAV_TYPE_FLARM
bool heartbeat_type_camera # MAV_TYPE_CAMERA
bool heartbeat_type_parachute # MAV_TYPE_PARACHUTE
bool heartbeat_type_open_drone_id # MAV_TYPE_ODID
diff --git a/docs/uk/msg_docs/TiltrotorExtraControls.md b/docs/uk/msg_docs/TiltrotorExtraControls.md
index ee72fdae11..6f8fb44c7d 100644
--- a/docs/uk/msg_docs/TiltrotorExtraControls.md
+++ b/docs/uk/msg_docs/TiltrotorExtraControls.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# TiltrotorExtraControls (UORB message)
-**TOPICS:** tiltrotor_extracontrols
+**TOPICS:** tiltrotor_extra_controls
## Fields
diff --git a/docs/uk/msg_docs/TimesyncStatus.md b/docs/uk/msg_docs/TimesyncStatus.md
index 61c38e61e9..72691c5dc8 100644
--- a/docs/uk/msg_docs/TimesyncStatus.md
+++ b/docs/uk/msg_docs/TimesyncStatus.md
@@ -19,11 +19,11 @@ pageClass: is-wide-page
## Constants
-| Назва | Тип | Значення | Опис |
-| --------------------------------------------------------------------------------------------------------- | ------- | -------- | ---- |
-| SOURCE_PROTOCOL_UNKNOWN | `uint8` | 0 | |
-| SOURCE_PROTOCOL_MAVLINK | `uint8` | 1 | |
-| SOURCE_PROTOCOL_DDS | `uint8` | 2 | |
+| Назва | Тип | Значення | Опис |
+| ------------------------------------------------------------------------------------------------------- | ------- | -------- | ---- |
+| SOURCE_PROTOCOL_UNKNOWN | `uint8` | 0 | |
+| SOURCE_PROTOCOL_MAVLINK | `uint8` | 1 | |
+| SOURCE_PROTOCOL_DDS | `uint8` | 2 | |
## Source Message
diff --git a/docs/uk/msg_docs/TrajectorySetpoint.md b/docs/uk/msg_docs/TrajectorySetpoint.md
index 91e3d1380e..276876882b 100644
--- a/docs/uk/msg_docs/TrajectorySetpoint.md
+++ b/docs/uk/msg_docs/TrajectorySetpoint.md
@@ -22,9 +22,9 @@ Trajectory setpoint in NED frame. Input to PID position controller. Потріб
## Constants
-| Назва | Тип | Значення | Опис |
-| -------------------------------------------------------------------- | -------- | -------- | ---- |
-| MESSAGE_VERSION | `uint32` | 0 | |
+| Назва | Тип | Значення | Опис |
+| ------------------------------------------------------------------ | -------- | -------- | ---- |
+| MESSAGE_VERSION | `uint32` | 0 | |
## Source Message
diff --git a/docs/uk/msg_docs/TransponderReport.md b/docs/uk/msg_docs/TransponderReport.md
index da15f55a06..69f57c5218 100644
--- a/docs/uk/msg_docs/TransponderReport.md
+++ b/docs/uk/msg_docs/TransponderReport.md
@@ -28,37 +28,37 @@ pageClass: is-wide-page
## Constants
-| Назва | Тип | Значення | Опис |
-| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | -------- | -------- | ---- |
-| PX4_ADSB_FLAGS_VALID_COORDS | `uint16` | 1 | |
-| PX4_ADSB_FLAGS_VALID_ALTITUDE | `uint16` | 2 | |
-| PX4_ADSB_FLAGS_VALID_HEADING | `uint16` | 4 | |
-| PX4_ADSB_FLAGS_VALID_VELOCITY | `uint16` | 8 | |
-| PX4_ADSB_FLAGS_VALID_CALLSIGN | `uint16` | 16 | |
-| PX4_ADSB_FLAGS_VALID_SQUAWK | `uint16` | 32 | |
-| PX4_ADSB_FLAGS_RETRANSLATE | `uint16` | 256 | |
-| ADSB_EMITTER_TYPE_NO_INFO | `uint16` | 0 | |
-| ADSB_EMITTER_TYPE_LIGHT | `uint16` | 1 | |
-| ADSB_EMITTER_TYPE_SMALL | `uint16` | 2 | |
-| ADSB_EMITTER_TYPE_LARGE | `uint16` | 3 | |
-| ADSB_EMITTER_TYPE_HIGH_VORTEX_LARGE | `uint16` | 4 | |
-| ADSB_EMITTER_TYPE_HEAVY | `uint16` | 5 | |
-| ADSB_EMITTER_TYPE_HIGHLY_MANUV | `uint16` | 6 | |
-| ADSB_EMITTER_TYPE_ROTOCRAFT | `uint16` | 7 | |
-| ADSB_EMITTER_TYPE_UNASSIGNED | `uint16` | 8 | |
-| ADSB_EMITTER_TYPE_GLIDER | `uint16` | 9 | |
-| ADSB_EMITTER_TYPE_LIGHTER_AIR | `uint16` | 10 | |
-| ADSB_EMITTER_TYPE_PARACHUTE | `uint16` | 11 | |
-| ADSB_EMITTER_TYPE_ULTRA_LIGHT | `uint16` | 12 | |
-| ADSB_EMITTER_TYPE_UNASSIGNED2 | `uint16` | 13 | |
-| ADSB_EMITTER_TYPE_UAV | `uint16` | 14 | |
-| ADSB_EMITTER_TYPE_SPACE | `uint16` | 15 | |
-| ADSB_EMITTER_TYPE_UNASSGINED3 | `uint16` | 16 | |
-| ADSB_EMITTER_TYPE_EMERGENCY_SURFACE | `uint16` | 17 | |
-| ADSB_EMITTER_TYPE_SERVICE_SURFACE | `uint16` | 18 | |
-| ADSB_EMITTER_TYPE_POINT_OBSTACLE | `uint16` | 19 | |
-| ADSB_EMITTER_TYPE_ENUM_END | `uint16` | 20 | |
-| ORB_QUEUE_LENGTH | `uint8` | 16 | |
+| Назва | Тип | Значення | Опис |
+| ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ---- |
+| PX4_ADSB_FLAGS_VALID_COORDS | `uint16` | 1 | |
+| PX4_ADSB_FLAGS_VALID_ALTITUDE | `uint16` | 2 | |
+| PX4_ADSB_FLAGS_VALID_HEADING | `uint16` | 4 | |
+| PX4_ADSB_FLAGS_VALID_VELOCITY | `uint16` | 8 | |
+| PX4_ADSB_FLAGS_VALID_CALLSIGN | `uint16` | 16 | |
+| PX4_ADSB_FLAGS_VALID_SQUAWK | `uint16` | 32 | |
+| PX4_ADSB_FLAGS_RETRANSLATE | `uint16` | 256 | |
+| ADSB_EMITTER_TYPE_NO_INFO | `uint16` | 0 | |
+| ADSB_EMITTER_TYPE_LIGHT | `uint16` | 1 | |
+| ADSB_EMITTER_TYPE_SMALL | `uint16` | 2 | |
+| ADSB_EMITTER_TYPE_LARGE | `uint16` | 3 | |
+| ADSB_EMITTER_TYPE_HIGH_VORTEX_LARGE | `uint16` | 4 | |
+| ADSB_EMITTER_TYPE_HEAVY | `uint16` | 5 | |
+| ADSB_EMITTER_TYPE_HIGHLY_MANUV | `uint16` | 6 | |
+| ADSB_EMITTER_TYPE_ROTOCRAFT | `uint16` | 7 | |
+| ADSB_EMITTER_TYPE_UNASSIGNED | `uint16` | 8 | |
+| ADSB_EMITTER_TYPE_GLIDER | `uint16` | 9 | |
+| ADSB_EMITTER_TYPE_LIGHTER_AIR | `uint16` | 10 | |
+| ADSB_EMITTER_TYPE_PARACHUTE | `uint16` | 11 | |
+| ADSB_EMITTER_TYPE_ULTRA_LIGHT | `uint16` | 12 | |
+| ADSB_EMITTER_TYPE_UNASSIGNED2 | `uint16` | 13 | |
+| ADSB_EMITTER_TYPE_UAV | `uint16` | 14 | |
+| ADSB_EMITTER_TYPE_SPACE | `uint16` | 15 | |
+| ADSB_EMITTER_TYPE_UNASSGINED3 | `uint16` | 16 | |
+| ADSB_EMITTER_TYPE_EMERGENCY_SURFACE | `uint16` | 17 | |
+| ADSB_EMITTER_TYPE_SERVICE_SURFACE | `uint16` | 18 | |
+| ADSB_EMITTER_TYPE_POINT_OBSTACLE | `uint16` | 19 | |
+| ADSB_EMITTER_TYPE_ENUM_END | `uint16` | 20 | |
+| ORB_QUEUE_LENGTH | `uint8` | 16 | |
## Source Message
diff --git a/docs/uk/msg_docs/TuneControl.md b/docs/uk/msg_docs/TuneControl.md
index a52b2dab06..c9bb6fb193 100644
--- a/docs/uk/msg_docs/TuneControl.md
+++ b/docs/uk/msg_docs/TuneControl.md
@@ -22,33 +22,33 @@ This message is used to control the tunes, when the tune_id is set to CUSTOM. th
## Constants
-| Назва | Тип | Значення | Опис |
-| ------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ---- |
-| TUNE_ID_STOP | `uint8` | 0 | |
-| TUNE_ID_STARTUP | `uint8` | 1 | |
-| TUNE_ID_ERROR | `uint8` | 2 | |
-| TUNE_ID_NOTIFY_POSITIVE | `uint8` | 3 | |
-| TUNE_ID_NOTIFY_NEUTRAL | `uint8` | 4 | |
-| TUNE_ID_NOTIFY_NEGATIVE | `uint8` | 5 | |
-| TUNE_ID_ARMING_WARNING | `uint8` | 6 | |
-| TUNE_ID_BATTERY_WARNING_SLOW | `uint8` | 7 | |
-| TUNE_ID_BATTERY_WARNING_FAST | `uint8` | 8 | |
-| TUNE_ID_GPS_WARNING | `uint8` | 9 | |
-| TUNE_ID_ARMING_FAILURE | `uint8` | 10 | |
-| TUNE_ID_PARACHUTE_RELEASE | `uint8` | 11 | |
-| TUNE_ID_SINGLE_BEEP | `uint8` | 12 | |
-| TUNE_ID_HOME_SET | `uint8` | 13 | |
-| TUNE_ID_SD_INIT | `uint8` | 14 | |
-| TUNE_ID_SD_ERROR | `uint8` | 15 | |
-| TUNE_ID_PROG_PX4IO | `uint8` | 16 | |
-| TUNE_ID_PROG_PX4IO_OK | `uint8` | 17 | |
-| TUNE_ID_PROG_PX4IO_ERR | `uint8` | 18 | |
-| TUNE_ID_POWER_OFF | `uint8` | 19 | |
-| NUMBER_OF_TUNES | `uint8` | 20 | |
-| VOLUME_LEVEL_MIN | `uint8` | 0 | |
-| VOLUME_LEVEL_DEFAULT | `uint8` | 20 | |
-| VOLUME_LEVEL_MAX | `uint8` | 100 | |
-| ORB_QUEUE_LENGTH | `uint8` | 4 | |
+| Назва | Тип | Значення | Опис |
+| ----------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ---- |
+| TUNE_ID_STOP | `uint8` | 0 | |
+| TUNE_ID_STARTUP | `uint8` | 1 | |
+| TUNE_ID_ERROR | `uint8` | 2 | |
+| TUNE_ID_NOTIFY_POSITIVE | `uint8` | 3 | |
+| TUNE_ID_NOTIFY_NEUTRAL | `uint8` | 4 | |
+| TUNE_ID_NOTIFY_NEGATIVE | `uint8` | 5 | |
+| TUNE_ID_ARMING_WARNING | `uint8` | 6 | |
+| TUNE_ID_BATTERY_WARNING_SLOW | `uint8` | 7 | |
+| TUNE_ID_BATTERY_WARNING_FAST | `uint8` | 8 | |
+| TUNE_ID_GPS_WARNING | `uint8` | 9 | |
+| TUNE_ID_ARMING_FAILURE | `uint8` | 10 | |
+| TUNE_ID_PARACHUTE_RELEASE | `uint8` | 11 | |
+| TUNE_ID_SINGLE_BEEP | `uint8` | 12 | |
+| TUNE_ID_HOME_SET | `uint8` | 13 | |
+| TUNE_ID_SD_INIT | `uint8` | 14 | |
+| TUNE_ID_SD_ERROR | `uint8` | 15 | |
+| TUNE_ID_PROG_PX4IO | `uint8` | 16 | |
+| TUNE_ID_PROG_PX4IO_OK | `uint8` | 17 | |
+| TUNE_ID_PROG_PX4IO_ERR | `uint8` | 18 | |
+| TUNE_ID_POWER_OFF | `uint8` | 19 | |
+| NUMBER_OF_TUNES | `uint8` | 20 | |
+| VOLUME_LEVEL_MIN | `uint8` | 0 | |
+| VOLUME_LEVEL_DEFAULT | `uint8` | 20 | |
+| VOLUME_LEVEL_MAX | `uint8` | 100 | |
+| ORB_QUEUE_LENGTH | `uint8` | 4 | |
## Source Message
diff --git a/docs/uk/msg_docs/UavcanParameterRequest.md b/docs/uk/msg_docs/UavcanParameterRequest.md
index f068ce116a..513e8d2eab 100644
--- a/docs/uk/msg_docs/UavcanParameterRequest.md
+++ b/docs/uk/msg_docs/UavcanParameterRequest.md
@@ -6,7 +6,7 @@ pageClass: is-wide-page
UAVCAN-MAVLink parameter bridge request type.
-**TOPICS:** uavcan_parameterrequest
+**TOPICS:** uavcan_parameter_request
## Fields
@@ -23,16 +23,16 @@ UAVCAN-MAVLink parameter bridge request type.
## Constants
-| Назва | Тип | Значення | Опис |
-| ------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ------------------------------------------------------------------------------------------------------------------------------------------ |
-| MESSAGE_TYPE_PARAM_REQUEST_READ | `uint8` | 20 | MAVLINK_MSG_ID_PARAM_REQUEST_READ |
-| MESSAGE_TYPE_PARAM_REQUEST_LIST | `uint8` | 21 | MAVLINK_MSG_ID_PARAM_REQUEST_LIST |
-| MESSAGE_TYPE_PARAM_SET | `uint8` | 23 | MAVLINK_MSG_ID_PARAM_SET |
-| NODE_ID_ALL | `uint8` | 0 | MAV_COMP_ID_ALL |
-| PARAM_TYPE_UINT8 | `uint8` | 1 | MAV_PARAM_TYPE_UINT8 |
-| PARAM_TYPE_INT64 | `uint8` | 8 | MAV_PARAM_TYPE_INT64 |
-| PARAM_TYPE_REAL32 | `uint8` | 9 | MAV_PARAM_TYPE_REAL32 |
-| ORB_QUEUE_LENGTH | `uint8` | 4 | |
+| Назва | Тип | Значення | Опис |
+| ----------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ------------------------------------------------------------------------------------------------------------------------------------------ |
+| MESSAGE_TYPE_PARAM_REQUEST_READ | `uint8` | 20 | MAVLINK_MSG_ID_PARAM_REQUEST_READ |
+| MESSAGE_TYPE_PARAM_REQUEST_LIST | `uint8` | 21 | MAVLINK_MSG_ID_PARAM_REQUEST_LIST |
+| MESSAGE_TYPE_PARAM_SET | `uint8` | 23 | MAVLINK_MSG_ID_PARAM_SET |
+| NODE_ID_ALL | `uint8` | 0 | MAV_COMP_ID_ALL |
+| PARAM_TYPE_UINT8 | `uint8` | 1 | MAV_PARAM_TYPE_UINT8 |
+| PARAM_TYPE_INT64 | `uint8` | 8 | MAV_PARAM_TYPE_INT64 |
+| PARAM_TYPE_REAL32 | `uint8` | 9 | MAV_PARAM_TYPE_REAL32 |
+| ORB_QUEUE_LENGTH | `uint8` | 4 | |
## Source Message
diff --git a/docs/uk/msg_docs/UavcanParameterValue.md b/docs/uk/msg_docs/UavcanParameterValue.md
index 4e77fab3d8..73bacccf3f 100644
--- a/docs/uk/msg_docs/UavcanParameterValue.md
+++ b/docs/uk/msg_docs/UavcanParameterValue.md
@@ -6,7 +6,7 @@ pageClass: is-wide-page
UAVCAN-MAVLink parameter bridge response type.
-**TOPICS:** uavcan_parametervalue
+**TOPICS:** uavcan_parameter_value
## Fields
diff --git a/docs/uk/msg_docs/UlogStream.md b/docs/uk/msg_docs/UlogStream.md
index 08e9606c69..25dadb8bdc 100644
--- a/docs/uk/msg_docs/UlogStream.md
+++ b/docs/uk/msg_docs/UlogStream.md
@@ -21,10 +21,10 @@ pageClass: is-wide-page
## Constants
-| Назва | Тип | Значення | Опис |
-| ------------------------------------------------------------------------------------------- | ------- | -------- | ------------------------------------------------------------------------------------ |
-| FLAGS_NEED_ACK | `uint8` | 1 | if set, this message requires to be acked. |
-| ORB_QUEUE_LENGTH | `uint8` | 16 | TODO: we might be able to reduce this if mavlink polled on the topic |
+| Назва | Тип | Значення | Опис |
+| ----------------------------------------------------------------------------------------- | ------- | -------- | ------------------------------------------------------------------------------------ |
+| FLAGS_NEED_ACK | `uint8` | 1 | if set, this message requires to be acked. |
+| ORB_QUEUE_LENGTH | `uint8` | 16 | TODO: we might be able to reduce this if mavlink polled on the topic |
## Source Message
diff --git a/docs/uk/msg_docs/UlogStreamAck.md b/docs/uk/msg_docs/UlogStreamAck.md
index e01165ef0a..7359f78a69 100644
--- a/docs/uk/msg_docs/UlogStreamAck.md
+++ b/docs/uk/msg_docs/UlogStreamAck.md
@@ -6,7 +6,7 @@ pageClass: is-wide-page
Ack a previously sent ulog_stream message that had. the NEED_ACK flag set.
-**TOPICS:** ulog_streamack
+**TOPICS:** ulog_stream_ack
## Fields
@@ -17,10 +17,10 @@ Ack a previously sent ulog_stream message that had. the NEED_ACK flag set.
## Constants
-| Назва | Тип | Значення | Опис |
-| ------------------------------------------------------------------------------------- | ------- | -------- | ------------------------------------------------------------------------------------------------------------------------ |
-| ACK_TIMEOUT | `int32` | 50 | timeout waiting for an ack until we retry to send the message [ms] |
-| ACK_MAX_TRIES | `int32` | 50 | maximum amount of tries to (re-)send a message, each time waiting ACK_TIMEOUT ms |
+| Назва | Тип | Значення | Опис |
+| ----------------------------------------------------------------------------------- | ------- | -------- | ------------------------------------------------------------------------------------------------------------------------ |
+| ACK_TIMEOUT | `int32` | 50 | timeout waiting for an ack until we retry to send the message [ms] |
+| ACK_MAX_TRIES | `int32` | 50 | maximum amount of tries to (re-)send a message, each time waiting ACK_TIMEOUT ms |
## Source Message
diff --git a/docs/uk/msg_docs/UnregisterExtComponent.md b/docs/uk/msg_docs/UnregisterExtComponent.md
index 12a87efab3..3e90ce448e 100644
--- a/docs/uk/msg_docs/UnregisterExtComponent.md
+++ b/docs/uk/msg_docs/UnregisterExtComponent.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# UnregisterExtComponent (UORB message)
-**TOPICS:** unregister_extcomponent
+**TOPICS:** unregister_ext_component
## Fields
@@ -18,9 +18,9 @@ pageClass: is-wide-page
## Constants
-| Назва | Тип | Значення | Опис |
-| -------------------------------------------------------------------- | -------- | -------- | ---- |
-| MESSAGE_VERSION | `uint32` | 0 | |
+| Назва | Тип | Значення | Опис |
+| ------------------------------------------------------------------ | -------- | -------- | ---- |
+| MESSAGE_VERSION | `uint32` | 0 | |
## Source Message
diff --git a/docs/uk/msg_docs/VehicleAirData.md b/docs/uk/msg_docs/VehicleAirData.md
index 97b6e35b7d..35614ebce3 100644
--- a/docs/uk/msg_docs/VehicleAirData.md
+++ b/docs/uk/msg_docs/VehicleAirData.md
@@ -9,7 +9,7 @@ Vehicle air data.
Data from the currently selected barometer (plus ambient temperature from the source specified in temperature_source).
Includes calculated data such as barometric altitude and air density.
-**TOPICS:** vehicle_airdata
+**TOPICS:** vehicle_air_data
## Fields
diff --git a/docs/uk/msg_docs/VehicleAngularAccelerationSetpoint.md b/docs/uk/msg_docs/VehicleAngularAccelerationSetpoint.md
index 12fd5dc934..94df7a0b8f 100644
--- a/docs/uk/msg_docs/VehicleAngularAccelerationSetpoint.md
+++ b/docs/uk/msg_docs/VehicleAngularAccelerationSetpoint.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# VehicleAngularAccelerationSetpoint (Повідомлення UORB)
-**TOPICS:** vehicle_angularacceleration_setpoint
+**TOPICS:** vehicle_angular_acceleration_setpoint
## Fields
diff --git a/docs/uk/msg_docs/VehicleAngularVelocity.md b/docs/uk/msg_docs/VehicleAngularVelocity.md
index edc0b66901..db027b7668 100644
--- a/docs/uk/msg_docs/VehicleAngularVelocity.md
+++ b/docs/uk/msg_docs/VehicleAngularVelocity.md
@@ -17,9 +17,9 @@ pageClass: is-wide-page
## Constants
-| Назва | Тип | Значення | Опис |
-| -------------------------------------------------------------------- | -------- | -------- | ---- |
-| MESSAGE_VERSION | `uint32` | 0 | |
+| Назва | Тип | Значення | Опис |
+| ------------------------------------------------------------------ | -------- | -------- | ---- |
+| MESSAGE_VERSION | `uint32` | 0 | |
## Source Message
diff --git a/docs/uk/msg_docs/VehicleAttitude.md b/docs/uk/msg_docs/VehicleAttitude.md
index 7d6fb0df77..4dfe58a81c 100644
--- a/docs/uk/msg_docs/VehicleAttitude.md
+++ b/docs/uk/msg_docs/VehicleAttitude.md
@@ -20,9 +20,9 @@ This is similar to the mavlink message ATTITUDE_QUATERNION, but for onboard use.
## Constants
-| Назва | Тип | Значення | Опис |
-| -------------------------------------------------------------------- | -------- | -------- | ---- |
-| MESSAGE_VERSION | `uint32` | 0 | |
+| Назва | Тип | Значення | Опис |
+| ------------------------------------------------------------------ | -------- | -------- | ---- |
+| MESSAGE_VERSION | `uint32` | 0 | |
## Source Message
diff --git a/docs/uk/msg_docs/VehicleAttitudeSetpoint.md b/docs/uk/msg_docs/VehicleAttitudeSetpoint.md
index b1481f6d51..5db60e3d47 100644
--- a/docs/uk/msg_docs/VehicleAttitudeSetpoint.md
+++ b/docs/uk/msg_docs/VehicleAttitudeSetpoint.md
@@ -17,9 +17,9 @@ pageClass: is-wide-page
## Constants
-| Назва | Тип | Значення | Опис |
-| -------------------------------------------------------------------- | -------- | -------- | ---- |
-| MESSAGE_VERSION | `uint32` | 1 | |
+| Назва | Тип | Значення | Опис |
+| ------------------------------------------------------------------ | -------- | -------- | ---- |
+| MESSAGE_VERSION | `uint32` | 1 | |
## Source Message
diff --git a/docs/uk/msg_docs/VehicleAttitudeSetpointV0.md b/docs/uk/msg_docs/VehicleAttitudeSetpointV0.md
index 1918696cf4..98ef4303cd 100644
--- a/docs/uk/msg_docs/VehicleAttitudeSetpointV0.md
+++ b/docs/uk/msg_docs/VehicleAttitudeSetpointV0.md
@@ -19,9 +19,9 @@ pageClass: is-wide-page
## Constants
-| Назва | Тип | Значення | Опис |
-| -------------------------------------------------------------------- | -------- | -------- | ---- |
-| MESSAGE_VERSION | `uint32` | 0 | |
+| Назва | Тип | Значення | Опис |
+| ------------------------------------------------------------------ | -------- | -------- | ---- |
+| MESSAGE_VERSION | `uint32` | 0 | |
## Source Message
diff --git a/docs/uk/msg_docs/VehicleCommand.md b/docs/uk/msg_docs/VehicleCommand.md
index 81832aaf10..66bb2dce6e 100644
--- a/docs/uk/msg_docs/VehicleCommand.md
+++ b/docs/uk/msg_docs/VehicleCommand.md
@@ -1490,34 +1490,34 @@ Change mode by specifying nav_state directly.
### ORBIT_YAW_BEHAVIOUR {#ORBIT_YAW_BEHAVIOUR}
-| Назва | Тип | Значення | Опис |
-| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ---- |
-| ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TO_CIRCLE_CENTER | `uint8` | 0 | |
-| ORBIT_YAW_BEHAVIOUR_HOLD_INITIAL_HEADING | `uint8` | 1 | |
-| ORBIT_YAW_BEHAVIOUR_UNCONTROLLED | `uint8` | 2 | |
-| ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TANGENT_TO_CIRCLE | `uint8` | 3 | |
-| ORBIT_YAW_BEHAVIOUR_RC_CONTROLLED | `uint8` | 4 | |
-| ORBIT_YAW_BEHAVIOUR_UNCHANGED | `uint8` | 5 | |
+| Назва | Тип | Значення | Опис |
+| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | ------- | -------- | ---- |
+| ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TO_CIRCLE_CENTER | `uint8` | 0 | |
+| ORBIT_YAW_BEHAVIOUR_HOLD_INITIAL_HEADING | `uint8` | 1 | |
+| ORBIT_YAW_BEHAVIOUR_UNCONTROLLED | `uint8` | 2 | |
+| ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TANGENT_TO_CIRCLE | `uint8` | 3 | |
+| ORBIT_YAW_BEHAVIOUR_RC_CONTROLLED | `uint8` | 4 | |
+| ORBIT_YAW_BEHAVIOUR_UNCHANGED | `uint8` | 5 | |
### VEHICLE_ROI {#VEHICLE_ROI}
-| Назва | Тип | Значення | Опис |
-| ------------------------------------------------------------------------------------------------------------------------ | ------- | -------- | -------------------------------------------- |
-| VEHICLE_ROI_NONE | `uint8` | 0 | No region of interest. |
-| VEHICLE_ROI_WPNEXT | `uint8` | 1 | Point toward next MISSION. |
-| VEHICLE_ROI_WPINDEX | `uint8` | 2 | Point toward given MISSION. |
-| VEHICLE_ROI_LOCATION | `uint8` | 3 | Point toward fixed location. |
-| VEHICLE_ROI_TARGET | `uint8` | 4 | Point toward target. |
-| VEHICLE_ROI_ENUM_END | `uint8` | 5 | |
+| Назва | Тип | Значення | Опис |
+| ---------------------------------------------------------------------------------------------------------------------- | ------- | -------- | -------------------------------------------- |
+| VEHICLE_ROI_NONE | `uint8` | 0 | No region of interest. |
+| VEHICLE_ROI_WPNEXT | `uint8` | 1 | Point toward next MISSION. |
+| VEHICLE_ROI_WPINDEX | `uint8` | 2 | Point toward given MISSION. |
+| VEHICLE_ROI_LOCATION | `uint8` | 3 | Point toward fixed location. |
+| VEHICLE_ROI_TARGET | `uint8` | 4 | Point toward target. |
+| VEHICLE_ROI_ENUM_END | `uint8` | 5 | |
### SPEED_TYPE {#SPEED_TYPE}
-| Назва | Тип | Значення | Опис |
-| -------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ---- |
-| SPEED_TYPE_AIRSPEED | `uint8` | 0 | |
-| SPEED_TYPE_GROUNDSPEED | `uint8` | 1 | |
-| SPEED_TYPE_CLIMB_SPEED | `uint8` | 2 | |
-| SPEED_TYPE_DESCEND_SPEED | `uint8` | 3 | |
+| Назва | Тип | Значення | Опис |
+| ------------------------------------------------------------------------------------------------------------------------------ | ------- | -------- | ---- |
+| SPEED_TYPE_AIRSPEED | `uint8` | 0 | |
+| SPEED_TYPE_GROUNDSPEED | `uint8` | 1 | |
+| SPEED_TYPE_CLIMB_SPEED | `uint8` | 2 | |
+| SPEED_TYPE_DESCEND_SPEED | `uint8` | 3 | |
### MAV_MOUNT_MODE {#MAV_MOUNT_MODE}
@@ -1526,50 +1526,50 @@ Change mode by specifying nav_state directly.
## Constants
-| Назва | Тип | Значення | Опис |
-| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
-| MESSAGE_VERSION | `uint32` | 0 | |
-| PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION | `uint16` | 3 | Param value for VEHICLE_CMD_PREFLIGHT_CALIBRATION to start temperature calibration. |
-| VEHICLE_MOUNT_MODE_RETRACT | `uint8` | 0 | Load and keep safe position (Roll,Pitch,Yaw) from permanent memory and stop stabilization. |
-| VEHICLE_MOUNT_MODE_NEUTRAL | `uint8` | 1 | Load and keep neutral position (Roll,Pitch,Yaw) from permanent memory. |
-| VEHICLE_MOUNT_MODE_MAVLINK_TARGETING | `uint8` | 2 | Load neutral position and start MAVLink Roll,Pitch,Yaw control with stabilization. |
-| VEHICLE_MOUNT_MODE_RC_TARGETING | `uint8` | 3 | Load neutral position and start RC Roll,Pitch,Yaw control with stabilization. |
-| VEHICLE_MOUNT_MODE_GPS_POINT | `uint8` | 4 | Load neutral position and start to point to Lat,Lon,Alt. |
-| VEHICLE_MOUNT_MODE_ENUM_END | `uint8` | 5 | |
-| PARACHUTE_ACTION_DISABLE | `uint8` | 0 | |
-| PARACHUTE_ACTION_ENABLE | `uint8` | 1 | |
-| PARACHUTE_ACTION_RELEASE | `uint8` | 2 | |
-| FAILURE_UNIT_SENSOR_GYRO | `uint8` | 0 | |
-| FAILURE_UNIT_SENSOR_ACCEL | `uint8` | 1 | |
-| FAILURE_UNIT_SENSOR_MAG | `uint8` | 2 | |
-| FAILURE_UNIT_SENSOR_BARO | `uint8` | 3 | |
-| FAILURE_UNIT_SENSOR_GPS | `uint8` | 4 | |
-| FAILURE_UNIT_SENSOR_OPTICAL_FLOW | `uint8` | 5 | |
-| FAILURE_UNIT_SENSOR_VIO | `uint8` | 6 | |
-| FAILURE_UNIT_SENSOR_DISTANCE_SENSOR | `uint8` | 7 | |
-| FAILURE_UNIT_SENSOR_AIRSPEED | `uint8` | 8 | |
-| FAILURE_UNIT_SYSTEM_BATTERY | `uint8` | 100 | |
-| FAILURE_UNIT_SYSTEM_MOTOR | `uint8` | 101 | |
-| FAILURE_UNIT_SYSTEM_SERVO | `uint8` | 102 | |
-| FAILURE_UNIT_SYSTEM_AVOIDANCE | `uint8` | 103 | |
-| FAILURE_UNIT_SYSTEM_RC_SIGNAL | `uint8` | 104 | |
-| FAILURE_UNIT_SYSTEM_MAVLINK_SIGNAL | `uint8` | 105 | |
-| FAILURE_TYPE_OK | `uint8` | 0 | |
-| FAILURE_TYPE_OFF | `uint8` | 1 | |
-| FAILURE_TYPE_STUCK | `uint8` | 2 | |
-| FAILURE_TYPE_GARBAGE | `uint8` | 3 | |
-| FAILURE_TYPE_WRONG | `uint8` | 4 | |
-| FAILURE_TYPE_SLOW | `uint8` | 5 | |
-| FAILURE_TYPE_DELAYED | `uint8` | 6 | |
-| FAILURE_TYPE_INTERMITTENT | `uint8` | 7 | |
-| ARMING_ACTION_DISARM | `int8` | 0 | |
-| ARMING_ACTION_ARM | `int8` | 1 | |
-| GRIPPER_ACTION_RELEASE | `uint8` | 0 | |
-| GRIPPER_ACTION_GRAB | `uint8` | 1 | |
-| SAFETY_OFF | `uint8` | 0 | |
-| SAFETY_ON | `uint8` | 1 | |
-| ORB_QUEUE_LENGTH | `uint8` | 8 | |
-| COMPONENT_MODE_EXECUTOR_START | `uint16` | 1000 | |
+| Назва | Тип | Значення | Опис |
+| --------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
+| MESSAGE_VERSION | `uint32` | 0 | |
+| PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION | `uint16` | 3 | Param value for VEHICLE_CMD_PREFLIGHT_CALIBRATION to start temperature calibration. |
+| VEHICLE_MOUNT_MODE_RETRACT | `uint8` | 0 | Load and keep safe position (Roll,Pitch,Yaw) from permanent memory and stop stabilization. |
+| VEHICLE_MOUNT_MODE_NEUTRAL | `uint8` | 1 | Load and keep neutral position (Roll,Pitch,Yaw) from permanent memory. |
+| VEHICLE_MOUNT_MODE_MAVLINK_TARGETING | `uint8` | 2 | Load neutral position and start MAVLink Roll,Pitch,Yaw control with stabilization. |
+| VEHICLE_MOUNT_MODE_RC_TARGETING | `uint8` | 3 | Load neutral position and start RC Roll,Pitch,Yaw control with stabilization. |
+| VEHICLE_MOUNT_MODE_GPS_POINT | `uint8` | 4 | Load neutral position and start to point to Lat,Lon,Alt. |
+| VEHICLE_MOUNT_MODE_ENUM_END | `uint8` | 5 | |
+| PARACHUTE_ACTION_DISABLE | `uint8` | 0 | |
+| PARACHUTE_ACTION_ENABLE | `uint8` | 1 | |
+| PARACHUTE_ACTION_RELEASE | `uint8` | 2 | |
+| FAILURE_UNIT_SENSOR_GYRO | `uint8` | 0 | |
+| FAILURE_UNIT_SENSOR_ACCEL | `uint8` | 1 | |
+| FAILURE_UNIT_SENSOR_MAG | `uint8` | 2 | |
+| FAILURE_UNIT_SENSOR_BARO | `uint8` | 3 | |
+| FAILURE_UNIT_SENSOR_GPS | `uint8` | 4 | |
+| FAILURE_UNIT_SENSOR_OPTICAL_FLOW | `uint8` | 5 | |
+| FAILURE_UNIT_SENSOR_VIO | `uint8` | 6 | |
+| FAILURE_UNIT_SENSOR_DISTANCE_SENSOR | `uint8` | 7 | |
+| FAILURE_UNIT_SENSOR_AIRSPEED | `uint8` | 8 | |
+| FAILURE_UNIT_SYSTEM_BATTERY | `uint8` | 100 | |
+| FAILURE_UNIT_SYSTEM_MOTOR | `uint8` | 101 | |
+| FAILURE_UNIT_SYSTEM_SERVO | `uint8` | 102 | |
+| FAILURE_UNIT_SYSTEM_AVOIDANCE | `uint8` | 103 | |
+| FAILURE_UNIT_SYSTEM_RC_SIGNAL | `uint8` | 104 | |
+| FAILURE_UNIT_SYSTEM_MAVLINK_SIGNAL | `uint8` | 105 | |
+| FAILURE_TYPE_OK | `uint8` | 0 | |
+| FAILURE_TYPE_OFF | `uint8` | 1 | |
+| FAILURE_TYPE_STUCK | `uint8` | 2 | |
+| FAILURE_TYPE_GARBAGE | `uint8` | 3 | |
+| FAILURE_TYPE_WRONG | `uint8` | 4 | |
+| FAILURE_TYPE_SLOW | `uint8` | 5 | |
+| FAILURE_TYPE_DELAYED | `uint8` | 6 | |
+| FAILURE_TYPE_INTERMITTENT | `uint8` | 7 | |
+| ARMING_ACTION_DISARM | `int8` | 0 | |
+| ARMING_ACTION_ARM | `int8` | 1 | |
+| GRIPPER_ACTION_RELEASE | `uint8` | 0 | |
+| GRIPPER_ACTION_GRAB | `uint8` | 1 | |
+| SAFETY_OFF | `uint8` | 0 | |
+| SAFETY_ON | `uint8` | 1 | |
+| ORB_QUEUE_LENGTH | `uint8` | 8 | |
+| COMPONENT_MODE_EXECUTOR_START | `uint16` | 1000 | |
## Source Message
diff --git a/docs/uk/msg_docs/VehicleCommandAck.md b/docs/uk/msg_docs/VehicleCommandAck.md
index 871e43fa1f..c5bcc8c4cd 100644
--- a/docs/uk/msg_docs/VehicleCommandAck.md
+++ b/docs/uk/msg_docs/VehicleCommandAck.md
@@ -4,42 +4,55 @@ pageClass: is-wide-page
# VehicleCommandAck (повідомлення UORB)
-Повідомлення uORB підтвердження команди автомобіля. Used for acknowledging the vehicle command being received. Follows the MAVLink COMMAND_ACK message definition.
+Vehicle Command Acknowledgement uORB message.
-**TOPICS:** vehicle_commandack
+Used for acknowledging the vehicle command being received.
+Follows the MAVLink COMMAND_ACK message definition
+
+**TOPICS:** vehicle_command_ack
## Fields
-| Назва | Тип | Unit [Frame] | Range/Enum | Опис |
-| ------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| timestamp | `uint64` | | | time since system start (microseconds) |
-| command | `uint32` | | | Command that is being acknowledged |
-| result | `uint8` | | | Command result |
-| result_param1 | `uint8` | | | Also used as progress[%], it can be set with the reason why the command was denied, or the progress percentage when result is MAV_RESULT_IN_PROGRESS |
-| result_param2 | `int32` | | | Additional parameter of the result, example: which parameter of MAV_CMD_NAV_WAYPOINT caused it to be denied. |
-| target_system | `uint8` | | | |
-| target_component | `uint16` | | | Target component / mode executor |
-| from_external | `bool` | | | Indicates if the command came from an external source |
+| Назва | Тип | Unit [Frame] | Range/Enum | Опис |
+| ------------------------------------- | -------- | ------------------------------------------------------------------------------------------ | ----------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| timestamp | `uint64` | us | | time since system start |
+| command | `uint32` | | | Command that is being acknowledged |
+| result | `uint8` | | [VEHICLE_CMD_RESULT](#VEHICLE_CMD_RESULT) | Command result |
+| result_param1 | `uint8` | | | Can be set with the reason why the command was denied, or the progress percentage when result is MAV_RESULT_IN_PROGRESS (%) |
+| result_param2 | `int32` | enum ARM_AUTH_DENIED_REASON | | Additional parameter of the result, example: which parameter of MAV_CMD_NAV_WAYPOINT caused it to be denied, or what ARM_AUTH_DENIED_REASON |
+| target_system | `uint8` | | | Target system |
+| target_component | `uint16` | | | Target component / mode executor |
+| from_external | `bool` | | | Indicates if the command came from an external source |
+
+## Enums
+
+### VEHICLE_CMD_RESULT {#VEHICLE_CMD_RESULT}
+
+| Назва | Тип | Значення | Опис |
+| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ------------------------------------------------------------------------- |
+| VEHICLE_CMD_RESULT_ACCEPTED | `uint8` | 0 | Command ACCEPTED and EXECUTED |
+| VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED | `uint8` | 1 | Command TEMPORARY REJECTED/DENIED |
+| VEHICLE_CMD_RESULT_DENIED | `uint8` | 2 | Command PERMANENTLY DENIED |
+| VEHICLE_CMD_RESULT_UNSUPPORTED | `uint8` | 3 | Command UNKNOWN/UNSUPPORTED |
+| VEHICLE_CMD_RESULT_FAILED | `uint8` | 4 | Command executed, but failed |
+| VEHICLE_CMD_RESULT_IN_PROGRESS | `uint8` | 5 | Command being executed |
+| VEHICLE_CMD_RESULT_CANCELLED | `uint8` | 6 | Command Canceled |
+| VEHICLE_CMD_RESULT_COMMAND_LONG_ONLY | `uint8` | 7 | Command is only accepted when sent as a COMMAND_LONG |
+| VEHICLE_CMD_RESULT_COMMAND_INT_ONLY | `uint8` | 8 | Command is only accepted when sent as a COMMAND_INT |
+| VEHICLE_CMD_RESULT_UNSUPPORTED_MAV_FRAME | `uint8` | 9 | Command does not support specified frame |
## Constants
-| Назва | Тип | Значення | Опис |
-| --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | --------------------------------- |
-| MESSAGE_VERSION | `uint32` | 0 | |
-| VEHICLE_CMD_RESULT_ACCEPTED | `uint8` | 0 | Command ACCEPTED and EXECUTED |
-| VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED | `uint8` | 1 | Command TEMPORARY REJECTED/DENIED |
-| VEHICLE_CMD_RESULT_DENIED | `uint8` | 2 | Command PERMANENTLY DENIED |
-| VEHICLE_CMD_RESULT_UNSUPPORTED | `uint8` | 3 | Command UNKNOWN/UNSUPPORTED |
-| VEHICLE_CMD_RESULT_FAILED | `uint8` | 4 | Command executed, but failed |
-| VEHICLE_CMD_RESULT_IN_PROGRESS | `uint8` | 5 | Command being executed |
-| VEHICLE_CMD_RESULT_CANCELLED | `uint8` | 6 | Command Canceled |
-| ARM_AUTH_DENIED_REASON_GENERIC | `uint16` | 0 | |
-| ARM_AUTH_DENIED_REASON_NONE | `uint16` | 1 | |
-| ARM_AUTH_DENIED_REASON_INVALID_WAYPOINT | `uint16` | 2 | |
-| ARM_AUTH_DENIED_REASON_TIMEOUT | `uint16` | 3 | |
-| ARM_AUTH_DENIED_REASON_AIRSPACE_IN_USE | `uint16` | 4 | |
-| ARM_AUTH_DENIED_REASON_BAD_WEATHER | `uint16` | 5 | |
-| ORB_QUEUE_LENGTH | `uint8` | 8 | |
+| Назва | Тип | Значення | Опис |
+| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ---- |
+| MESSAGE_VERSION | `uint32` | 1 | |
+| ORB_QUEUE_LENGTH | `uint8` | 8 | |
+| ARM_AUTH_DENIED_REASON_GENERIC | `uint16` | 0 | |
+| ARM_AUTH_DENIED_REASON_NONE | `uint16` | 1 | |
+| ARM_AUTH_DENIED_REASON_INVALID_WAYPOINT | `uint16` | 2 | |
+| ARM_AUTH_DENIED_REASON_TIMEOUT | `uint16` | 3 | |
+| ARM_AUTH_DENIED_REASON_AIRSPACE_IN_USE | `uint16` | 4 | |
+| ARM_AUTH_DENIED_REASON_BAD_WEATHER | `uint16` | 5 | |
## Source Message
@@ -49,23 +62,35 @@ pageClass: is-wide-page
Click here to see original file
```c
-# Vehicle Command Ackonwledgement uORB message.
+# Vehicle Command Acknowledgement uORB message.
+#
# Used for acknowledging the vehicle command being received.
# Follows the MAVLink COMMAND_ACK message definition
-uint32 MESSAGE_VERSION = 0
+uint32 MESSAGE_VERSION = 1
-uint64 timestamp # time since system start (microseconds)
+uint64 timestamp # [us] time since system start
-# Result cases. This follows the MAVLink MAV_RESULT enum definition
-uint8 VEHICLE_CMD_RESULT_ACCEPTED = 0 # Command ACCEPTED and EXECUTED |
-uint8 VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED = 1 # Command TEMPORARY REJECTED/DENIED |
-uint8 VEHICLE_CMD_RESULT_DENIED = 2 # Command PERMANENTLY DENIED |
-uint8 VEHICLE_CMD_RESULT_UNSUPPORTED = 3 # Command UNKNOWN/UNSUPPORTED |
-uint8 VEHICLE_CMD_RESULT_FAILED = 4 # Command executed, but failed |
-uint8 VEHICLE_CMD_RESULT_IN_PROGRESS = 5 # Command being executed |
-uint8 VEHICLE_CMD_RESULT_CANCELLED = 6 # Command Canceled
+uint8 ORB_QUEUE_LENGTH = 8
+uint32 command # [-] Command that is being acknowledged
+
+uint8 result # [@enum VEHICLE_CMD_RESULT] Command result
+# VEHICLE_CMD_RESULT Result cases. Follows the MAVLink MAV_RESULT enum definition
+uint8 VEHICLE_CMD_RESULT_ACCEPTED = 0 # Command ACCEPTED and EXECUTED
+uint8 VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED = 1 # Command TEMPORARY REJECTED/DENIED
+uint8 VEHICLE_CMD_RESULT_DENIED = 2 # Command PERMANENTLY DENIED
+uint8 VEHICLE_CMD_RESULT_UNSUPPORTED = 3 # Command UNKNOWN/UNSUPPORTED
+uint8 VEHICLE_CMD_RESULT_FAILED = 4 # Command executed, but failed
+uint8 VEHICLE_CMD_RESULT_IN_PROGRESS = 5 # Command being executed
+uint8 VEHICLE_CMD_RESULT_CANCELLED = 6 # Command Canceled
+uint8 VEHICLE_CMD_RESULT_COMMAND_LONG_ONLY = 7 # Command is only accepted when sent as a COMMAND_LONG
+uint8 VEHICLE_CMD_RESULT_COMMAND_INT_ONLY = 8 # Command is only accepted when sent as a COMMAND_INT
+uint8 VEHICLE_CMD_RESULT_UNSUPPORTED_MAV_FRAME = 9 # Command does not support specified frame
+
+uint8 result_param1 # [-] Can be set with the reason why the command was denied, or the progress percentage when result is MAV_RESULT_IN_PROGRESS (%)
+
+int32 result_param2 # [enum ARM_AUTH_DENIED_REASON] Additional parameter of the result, example: which parameter of MAV_CMD_NAV_WAYPOINT caused it to be denied, or what ARM_AUTH_DENIED_REASON
# Arming denied specific cases
uint16 ARM_AUTH_DENIED_REASON_GENERIC = 0
uint16 ARM_AUTH_DENIED_REASON_NONE = 1
@@ -74,16 +99,10 @@ uint16 ARM_AUTH_DENIED_REASON_TIMEOUT = 3
uint16 ARM_AUTH_DENIED_REASON_AIRSPACE_IN_USE = 4
uint16 ARM_AUTH_DENIED_REASON_BAD_WEATHER = 5
-uint8 ORB_QUEUE_LENGTH = 8
+uint8 target_system # [-] Target system
+uint16 target_component # Target component / mode executor
-uint32 command # Command that is being acknowledged
-uint8 result # Command result
-uint8 result_param1 # Also used as progress[%], it can be set with the reason why the command was denied, or the progress percentage when result is MAV_RESULT_IN_PROGRESS
-int32 result_param2 # Additional parameter of the result, example: which parameter of MAV_CMD_NAV_WAYPOINT caused it to be denied.
-uint8 target_system
-uint16 target_component # Target component / mode executor
-
-bool from_external # Indicates if the command came from an external source
+bool from_external # Indicates if the command came from an external source
```
:::
diff --git a/docs/uk/msg_docs/VehicleCommandAckV0.md b/docs/uk/msg_docs/VehicleCommandAckV0.md
new file mode 100644
index 0000000000..9c31766d0f
--- /dev/null
+++ b/docs/uk/msg_docs/VehicleCommandAckV0.md
@@ -0,0 +1,89 @@
+---
+pageClass: is-wide-page
+---
+
+# VehicleCommandAckV0 (UORB message)
+
+Vehicle Command Ackonwledgement uORB message. Used for acknowledging the vehicle command being received. Follows the MAVLink COMMAND_ACK message definition.
+
+**TOPICS:** vehicle_command_ack_v0
+
+## Fields
+
+| Назва | Тип | Unit [Frame] | Range/Enum | Опис |
+| ------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| timestamp | `uint64` | | | time since system start (microseconds) |
+| command | `uint32` | | | Command that is being acknowledged |
+| result | `uint8` | | | Command result |
+| result_param1 | `uint8` | | | Also used as progress[%], it can be set with the reason why the command was denied, or the progress percentage when result is MAV_RESULT_IN_PROGRESS |
+| result_param2 | `int32` | | | Additional parameter of the result, example: which parameter of MAV_CMD_NAV_WAYPOINT caused it to be denied. |
+| target_system | `uint8` | | | |
+| target_component | `uint16` | | | Target component / mode executor |
+| from_external | `bool` | | | Indicates if the command came from an external source |
+
+## Constants
+
+| Назва | Тип | Значення | Опис |
+| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | --------------------------------- |
+| MESSAGE_VERSION | `uint32` | 0 | |
+| VEHICLE_CMD_RESULT_ACCEPTED | `uint8` | 0 | Command ACCEPTED and EXECUTED |
+| VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED | `uint8` | 1 | Command TEMPORARY REJECTED/DENIED |
+| VEHICLE_CMD_RESULT_DENIED | `uint8` | 2 | Command PERMANENTLY DENIED |
+| VEHICLE_CMD_RESULT_UNSUPPORTED | `uint8` | 3 | Command UNKNOWN/UNSUPPORTED |
+| VEHICLE_CMD_RESULT_FAILED | `uint8` | 4 | Command executed, but failed |
+| VEHICLE_CMD_RESULT_IN_PROGRESS | `uint8` | 5 | Command being executed |
+| VEHICLE_CMD_RESULT_CANCELLED | `uint8` | 6 | Command Canceled |
+| ARM_AUTH_DENIED_REASON_GENERIC | `uint16` | 0 | |
+| ARM_AUTH_DENIED_REASON_NONE | `uint16` | 1 | |
+| ARM_AUTH_DENIED_REASON_INVALID_WAYPOINT | `uint16` | 2 | |
+| ARM_AUTH_DENIED_REASON_TIMEOUT | `uint16` | 3 | |
+| ARM_AUTH_DENIED_REASON_AIRSPACE_IN_USE | `uint16` | 4 | |
+| ARM_AUTH_DENIED_REASON_BAD_WEATHER | `uint16` | 5 | |
+| ORB_QUEUE_LENGTH | `uint8` | 8 | |
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/VehicleCommandAckV0.msg)
+
+:::details
+Click here to see original file
+
+```c
+# Vehicle Command Ackonwledgement uORB message.
+# Used for acknowledging the vehicle command being received.
+# Follows the MAVLink COMMAND_ACK message definition
+
+uint32 MESSAGE_VERSION = 0
+
+uint64 timestamp # time since system start (microseconds)
+
+# Result cases. This follows the MAVLink MAV_RESULT enum definition
+uint8 VEHICLE_CMD_RESULT_ACCEPTED = 0 # Command ACCEPTED and EXECUTED |
+uint8 VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED = 1 # Command TEMPORARY REJECTED/DENIED |
+uint8 VEHICLE_CMD_RESULT_DENIED = 2 # Command PERMANENTLY DENIED |
+uint8 VEHICLE_CMD_RESULT_UNSUPPORTED = 3 # Command UNKNOWN/UNSUPPORTED |
+uint8 VEHICLE_CMD_RESULT_FAILED = 4 # Command executed, but failed |
+uint8 VEHICLE_CMD_RESULT_IN_PROGRESS = 5 # Command being executed |
+uint8 VEHICLE_CMD_RESULT_CANCELLED = 6 # Command Canceled
+
+# Arming denied specific cases
+uint16 ARM_AUTH_DENIED_REASON_GENERIC = 0
+uint16 ARM_AUTH_DENIED_REASON_NONE = 1
+uint16 ARM_AUTH_DENIED_REASON_INVALID_WAYPOINT = 2
+uint16 ARM_AUTH_DENIED_REASON_TIMEOUT = 3
+uint16 ARM_AUTH_DENIED_REASON_AIRSPACE_IN_USE = 4
+uint16 ARM_AUTH_DENIED_REASON_BAD_WEATHER = 5
+
+uint8 ORB_QUEUE_LENGTH = 8
+
+uint32 command # Command that is being acknowledged
+uint8 result # Command result
+uint8 result_param1 # Also used as progress[%], it can be set with the reason why the command was denied, or the progress percentage when result is MAV_RESULT_IN_PROGRESS
+int32 result_param2 # Additional parameter of the result, example: which parameter of MAV_CMD_NAV_WAYPOINT caused it to be denied.
+uint8 target_system
+uint16 target_component # Target component / mode executor
+
+bool from_external # Indicates if the command came from an external source
+```
+
+:::
diff --git a/docs/uk/msg_docs/VehicleControlMode.md b/docs/uk/msg_docs/VehicleControlMode.md
index c0a28c1c59..1821f46f01 100644
--- a/docs/uk/msg_docs/VehicleControlMode.md
+++ b/docs/uk/msg_docs/VehicleControlMode.md
@@ -29,9 +29,9 @@ pageClass: is-wide-page
## Constants
-| Назва | Тип | Значення | Опис |
-| -------------------------------------------------------------------- | -------- | -------- | ---- |
-| MESSAGE_VERSION | `uint32` | 0 | |
+| Назва | Тип | Значення | Опис |
+| ------------------------------------------------------------------ | -------- | -------- | ---- |
+| MESSAGE_VERSION | `uint32` | 0 | |
## Source Message
diff --git a/docs/uk/msg_docs/VehicleGlobalPosition.md b/docs/uk/msg_docs/VehicleGlobalPosition.md
index 81349e8c6c..4e9593bc6b 100644
--- a/docs/uk/msg_docs/VehicleGlobalPosition.md
+++ b/docs/uk/msg_docs/VehicleGlobalPosition.md
@@ -6,7 +6,7 @@ pageClass: is-wide-page
Об'єднана глобальна позиція в WGS84. This struct contains global position estimation. It is not the raw GPS. measurement (@see vehicle_gps_position). This topic is usually published by the position. estimator, which will take more sources of information into account than just GPS,. e.g. control inputs of the vehicle in a Kalman-filter implementation.
-**TOPICS:** vehicle_global_position vehicle_global_position_groundtruth external_ins_global_position estimator_global_position aux_global_position
+**TOPICS:** vehicle_global_position vehicle_global_position_groundtruth external_ins_global_position estimator_global_position
## Fields
@@ -33,9 +33,9 @@ pageClass: is-wide-page
## Constants
-| Назва | Тип | Значення | Опис |
-| -------------------------------------------------------------------- | -------- | -------- | ---- |
-| MESSAGE_VERSION | `uint32` | 0 | |
+| Назва | Тип | Значення | Опис |
+| ------------------------------------------------------------------ | -------- | -------- | ---- |
+| MESSAGE_VERSION | `uint32` | 0 | |
## Source Message
@@ -81,7 +81,6 @@ bool dead_reckoning # True if this position is estimated through dead-reckoning
# TOPICS vehicle_global_position vehicle_global_position_groundtruth external_ins_global_position
# TOPICS estimator_global_position
-# TOPICS aux_global_position
```
:::
diff --git a/docs/uk/msg_docs/VehicleGlobalPositionV0.md b/docs/uk/msg_docs/VehicleGlobalPositionV0.md
new file mode 100644
index 0000000000..5b7bc51385
--- /dev/null
+++ b/docs/uk/msg_docs/VehicleGlobalPositionV0.md
@@ -0,0 +1,86 @@
+---
+pageClass: is-wide-page
+---
+
+# VehicleGlobalPositionV0 (UORB message)
+
+Об'єднана глобальна позиція в WGS84. This struct contains global position estimation. It is not the raw GPS. measurement (@see vehicle_gps_position). This topic is usually published by the position. estimator, which will take more sources of information into account than just GPS,. e.g. control inputs of the vehicle in a Kalman-filter implementation.
+
+**TOPICS:** vehicle_global_position vehicle_global_position_groundtruth external_ins_global_position estimator_global_position
+
+## Fields
+
+| Назва | Тип | Unit [Frame] | Range/Enum | Опис |
+| ------------------------------------------------------------------------------------ | --------- | ---------------------------------------------------------------- | ---------- | ---------------------------------------------------------------------------- |
+| timestamp | `uint64` | | | time since system start (microseconds) |
+| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) |
+| lat | `float64` | | | Latitude, (degrees) |
+| lon | `float64` | | | Longitude, (degrees) |
+| alt | `float32` | | | Altitude AMSL, (meters) |
+| alt_ellipsoid | `float32` | | | Altitude above ellipsoid, (meters) |
+| lat_lon_valid | `bool` | | | |
+| alt_valid | `bool` | | | |
+| delta_alt | `float32` | | | Reset delta for altitude |
+| delta_terrain | `float32` | | | Reset delta for terrain |
+| lat_lon_reset_counter | `uint8` | | | Counter for reset events on horizontal position coordinates |
+| alt_reset_counter | `uint8` | | | Counter for reset events on altitude |
+| terrain_reset_counter | `uint8` | | | Counter for reset events on terrain |
+| eph | `float32` | | | Standard deviation of horizontal position error, (metres) |
+| epv | `float32` | | | Standard deviation of vertical position error, (metres) |
+| terrain_alt | `float32` | | | Terrain altitude WGS84, (metres) |
+| terrain_alt_valid | `bool` | | | Terrain altitude estimate is valid |
+| dead_reckoning | `bool` | | | True if this position is estimated through dead-reckoning |
+
+## Constants
+
+| Назва | Тип | Значення | Опис |
+| ------------------------------------------------------------------ | -------- | -------- | ---- |
+| MESSAGE_VERSION | `uint32` | 0 | |
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/VehicleGlobalPositionV0.msg)
+
+:::details
+Click here to see original file
+
+```c
+# Fused global position in WGS84.
+# This struct contains global position estimation. It is not the raw GPS
+# measurement (@see vehicle_gps_position). This topic is usually published by the position
+# estimator, which will take more sources of information into account than just GPS,
+# e.g. control inputs of the vehicle in a Kalman-filter implementation.
+#
+
+uint32 MESSAGE_VERSION = 0
+
+uint64 timestamp # time since system start (microseconds)
+uint64 timestamp_sample # the timestamp of the raw data (microseconds)
+
+float64 lat # Latitude, (degrees)
+float64 lon # Longitude, (degrees)
+float32 alt # Altitude AMSL, (meters)
+float32 alt_ellipsoid # Altitude above ellipsoid, (meters)
+
+bool lat_lon_valid
+bool alt_valid
+
+float32 delta_alt # Reset delta for altitude
+float32 delta_terrain # Reset delta for terrain
+uint8 lat_lon_reset_counter # Counter for reset events on horizontal position coordinates
+uint8 alt_reset_counter # Counter for reset events on altitude
+uint8 terrain_reset_counter # Counter for reset events on terrain
+
+float32 eph # Standard deviation of horizontal position error, (metres)
+float32 epv # Standard deviation of vertical position error, (metres)
+
+float32 terrain_alt # Terrain altitude WGS84, (metres)
+bool terrain_alt_valid # Terrain altitude estimate is valid
+
+bool dead_reckoning # True if this position is estimated through dead-reckoning
+
+# TOPICS vehicle_global_position vehicle_global_position_groundtruth external_ins_global_position
+# TOPICS estimator_global_position
+```
+
+:::
diff --git a/docs/uk/msg_docs/VehicleImu.md b/docs/uk/msg_docs/VehicleImu.md
index d18db63ada..58426f92e6 100644
--- a/docs/uk/msg_docs/VehicleImu.md
+++ b/docs/uk/msg_docs/VehicleImu.md
@@ -27,11 +27,11 @@ pageClass: is-wide-page
## Constants
-| Назва | Тип | Значення | Опис |
-| ---------------------------------------------------------- | ------- | -------- | ---- |
-| CLIPPING_X | `uint8` | 1 | |
-| CLIPPING_Y | `uint8` | 2 | |
-| CLIPPING_Z | `uint8` | 4 | |
+| Назва | Тип | Значення | Опис |
+| -------------------------------------------------------- | ------- | -------- | ---- |
+| CLIPPING_X | `uint8` | 1 | |
+| CLIPPING_Y | `uint8` | 2 | |
+| CLIPPING_Z | `uint8` | 4 | |
## Source Message
diff --git a/docs/uk/msg_docs/VehicleImuStatus.md b/docs/uk/msg_docs/VehicleImuStatus.md
index 9e53a2a312..9393287a3c 100644
--- a/docs/uk/msg_docs/VehicleImuStatus.md
+++ b/docs/uk/msg_docs/VehicleImuStatus.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# VehicleImuStatus (повідомлення UORB)
-**TOPICS:** vehicle_imustatus
+**TOPICS:** vehicle_imu_status
## Fields
diff --git a/docs/uk/msg_docs/VehicleLandDetected.md b/docs/uk/msg_docs/VehicleLandDetected.md
index 56f92f660d..418b19cba9 100644
--- a/docs/uk/msg_docs/VehicleLandDetected.md
+++ b/docs/uk/msg_docs/VehicleLandDetected.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# VehicleLandDetected (повідомлення UORB)
-**TOPICS:** vehicle_landdetected
+**TOPICS:** vehicle_land_detected
## Fields
@@ -26,9 +26,9 @@ pageClass: is-wide-page
## Constants
-| Назва | Тип | Значення | Опис |
-| -------------------------------------------------------------------- | -------- | -------- | ---- |
-| MESSAGE_VERSION | `uint32` | 0 | |
+| Назва | Тип | Значення | Опис |
+| ------------------------------------------------------------------ | -------- | -------- | ---- |
+| MESSAGE_VERSION | `uint32` | 0 | |
## Source Message
diff --git a/docs/uk/msg_docs/VehicleLocalPosition.md b/docs/uk/msg_docs/VehicleLocalPosition.md
index 2d387eba15..d3395dffb2 100644
--- a/docs/uk/msg_docs/VehicleLocalPosition.md
+++ b/docs/uk/msg_docs/VehicleLocalPosition.md
@@ -68,12 +68,12 @@ Fused local position in NED. The coordinate system origin is the vehicle positio
## Constants
-| Назва | Тип | Значення | Опис |
-| -------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
-| MESSAGE_VERSION | `uint32` | 1 | |
-| DIST_BOTTOM_SENSOR_NONE | `uint8` | 0 | |
-| DIST_BOTTOM_SENSOR_RANGE | `uint8` | 1 | (1 << 0) a range sensor is used to estimate dist_bottom field |
-| DIST_BOTTOM_SENSOR_FLOW | `uint8` | 2 | (1 << 1) a flow sensor is used to estimate dist_bottom field (mostly fixed-wing use case) |
+| Назва | Тип | Значення | Опис |
+| ------------------------------------------------------------------------------------------------------------------------------ | -------- | -------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
+| MESSAGE_VERSION | `uint32` | 1 | |
+| DIST_BOTTOM_SENSOR_NONE | `uint8` | 0 | |
+| DIST_BOTTOM_SENSOR_RANGE | `uint8` | 1 | (1 << 0) a range sensor is used to estimate dist_bottom field |
+| DIST_BOTTOM_SENSOR_FLOW | `uint8` | 2 | (1 << 1) a flow sensor is used to estimate dist_bottom field (mostly fixed-wing use case) |
## Source Message
diff --git a/docs/uk/msg_docs/VehicleLocalPositionSetpoint.md b/docs/uk/msg_docs/VehicleLocalPositionSetpoint.md
index 6bc878001a..a3cd039857 100644
--- a/docs/uk/msg_docs/VehicleLocalPositionSetpoint.md
+++ b/docs/uk/msg_docs/VehicleLocalPositionSetpoint.md
@@ -6,7 +6,7 @@ pageClass: is-wide-page
Local position setpoint in NED frame. Telemetry of PID position controller to monitor tracking. NaN means the state was not controlled.
-**TOPICS:** vehicle_localposition_setpoint
+**TOPICS:** vehicle_local_position_setpoint
## Fields
diff --git a/docs/uk/msg_docs/VehicleLocalPositionV0.md b/docs/uk/msg_docs/VehicleLocalPositionV0.md
index 0085af22c9..bcc377356d 100644
--- a/docs/uk/msg_docs/VehicleLocalPositionV0.md
+++ b/docs/uk/msg_docs/VehicleLocalPositionV0.md
@@ -67,12 +67,12 @@ Fused local position in NED. The coordinate system origin is the vehicle positio
## Constants
-| Назва | Тип | Значення | Опис |
-| -------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
-| MESSAGE_VERSION | `uint32` | 0 | |
-| DIST_BOTTOM_SENSOR_NONE | `uint8` | 0 | |
-| DIST_BOTTOM_SENSOR_RANGE | `uint8` | 1 | (1 << 0) a range sensor is used to estimate dist_bottom field |
-| DIST_BOTTOM_SENSOR_FLOW | `uint8` | 2 | (1 << 1) a flow sensor is used to estimate dist_bottom field (mostly fixed-wing use case) |
+| Назва | Тип | Значення | Опис |
+| ------------------------------------------------------------------------------------------------------------------------------ | -------- | -------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
+| MESSAGE_VERSION | `uint32` | 0 | |
+| DIST_BOTTOM_SENSOR_NONE | `uint8` | 0 | |
+| DIST_BOTTOM_SENSOR_RANGE | `uint8` | 1 | (1 << 0) a range sensor is used to estimate dist_bottom field |
+| DIST_BOTTOM_SENSOR_FLOW | `uint8` | 2 | (1 << 1) a flow sensor is used to estimate dist_bottom field (mostly fixed-wing use case) |
## Source Message
diff --git a/docs/uk/msg_docs/VehicleOdometry.md b/docs/uk/msg_docs/VehicleOdometry.md
index 83cace64f0..3b1cec6482 100644
--- a/docs/uk/msg_docs/VehicleOdometry.md
+++ b/docs/uk/msg_docs/VehicleOdometry.md
@@ -32,26 +32,26 @@ Fits ROS REP 147 for aerial vehicles
### POSE_FRAME {#POSE_FRAME}
-| Назва | Тип | Значення | Опис |
-| ----------------------------------------------------------------------------------------------- | ------- | -------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| POSE_FRAME_UNKNOWN | `uint8` | 0 | Unknown frame |
-| POSE_FRAME_NED | `uint8` | 1 | North-East-Down (NED) navigation frame. Aligned with True North. |
-| POSE_FRAME_FRD | `uint8` | 2 | Forward-Right-Down (FRD) frame. Constant arbitrary heading offset from True North. Z is down. |
+| Назва | Тип | Значення | Опис |
+| --------------------------------------------------------------------------------------------- | ------- | -------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| POSE_FRAME_UNKNOWN | `uint8` | 0 | Unknown frame |
+| POSE_FRAME_NED | `uint8` | 1 | North-East-Down (NED) navigation frame. Aligned with True North. |
+| POSE_FRAME_FRD | `uint8` | 2 | Forward-Right-Down (FRD) frame. Constant arbitrary heading offset from True North. Z is down. |
### VELOCITY_FRAME {#VELOCITY_FRAME}
-| Назва | Тип | Значення | Опис |
-| ------------------------------------------------------------------------------------------------------------------------------ | ------- | -------- | ------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| VELOCITY_FRAME_UNKNOWN | `uint8` | 0 | Unknown frame |
-| VELOCITY_FRAME_NED | `uint8` | 1 | NED navigation frame at current position. |
-| VELOCITY_FRAME_FRD | `uint8` | 2 | FRD navigation frame at current position. Constant arbitrary heading offset from True North. Z is down. |
-| VELOCITY_FRAME_BODY_FRD | `uint8` | 3 | FRD body-fixed frame |
+| Назва | Тип | Значення | Опис |
+| ---------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| VELOCITY_FRAME_UNKNOWN | `uint8` | 0 | Unknown frame |
+| VELOCITY_FRAME_NED | `uint8` | 1 | NED navigation frame at current position. |
+| VELOCITY_FRAME_FRD | `uint8` | 2 | FRD navigation frame at current position. Constant arbitrary heading offset from True North. Z is down. |
+| VELOCITY_FRAME_BODY_FRD | `uint8` | 3 | FRD body-fixed frame |
## Constants
-| Назва | Тип | Значення | Опис |
-| -------------------------------------------------------------------- | -------- | -------- | ---- |
-| MESSAGE_VERSION | `uint32` | 0 | |
+| Назва | Тип | Значення | Опис |
+| ------------------------------------------------------------------ | -------- | -------- | ---- |
+| MESSAGE_VERSION | `uint32` | 0 | |
## Source Message
diff --git a/docs/uk/msg_docs/VehicleOpticalFlow.md b/docs/uk/msg_docs/VehicleOpticalFlow.md
index b3662a263f..0b3d931378 100644
--- a/docs/uk/msg_docs/VehicleOpticalFlow.md
+++ b/docs/uk/msg_docs/VehicleOpticalFlow.md
@@ -6,7 +6,7 @@ pageClass: is-wide-page
Оптичний потік в кадрі тіла XYZ в одиницях SI.
-**TOPICS:** vehicle_opticalflow
+**TOPICS:** vehicle_optical_flow
## Fields
diff --git a/docs/uk/msg_docs/VehicleRatesSetpoint.md b/docs/uk/msg_docs/VehicleRatesSetpoint.md
index be37193266..66ac32c7b2 100644
--- a/docs/uk/msg_docs/VehicleRatesSetpoint.md
+++ b/docs/uk/msg_docs/VehicleRatesSetpoint.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# VehicleRatesSetpoint (повідомлення UORB)
-**TOPICS:** vehicle_ratessetpoint
+**TOPICS:** vehicle_rates_setpoint
## Fields
@@ -19,9 +19,9 @@ pageClass: is-wide-page
## Constants
-| Назва | Тип | Значення | Опис |
-| -------------------------------------------------------------------- | -------- | -------- | ---- |
-| MESSAGE_VERSION | `uint32` | 0 | |
+| Назва | Тип | Значення | Опис |
+| ------------------------------------------------------------------ | -------- | -------- | ---- |
+| MESSAGE_VERSION | `uint32` | 0 | |
## Source Message
diff --git a/docs/uk/msg_docs/VehicleRoi.md b/docs/uk/msg_docs/VehicleRoi.md
index 1d01fa88f2..7f78801914 100644
--- a/docs/uk/msg_docs/VehicleRoi.md
+++ b/docs/uk/msg_docs/VehicleRoi.md
@@ -23,14 +23,14 @@ Vehicle Region Of Interest (ROI).
## Constants
-| Назва | Тип | Значення | Опис |
-| ----------------------------------------------------------------------------------- | ------- | -------- | ---------------------------------------------- |
-| ROI_NONE | `uint8` | 0 | No region of interest |
-| ROI_WPNEXT | `uint8` | 1 | Point toward next MISSION with optional offset |
-| ROI_WPINDEX | `uint8` | 2 | Point toward given MISSION |
-| ROI_LOCATION | `uint8` | 3 | Point toward fixed location |
-| ROI_TARGET | `uint8` | 4 | Point toward target |
-| ROI_ENUM_END | `uint8` | 5 | |
+| Назва | Тип | Значення | Опис |
+| --------------------------------------------------------------------------------- | ------- | -------- | ---------------------------------------------- |
+| ROI_NONE | `uint8` | 0 | No region of interest |
+| ROI_WPNEXT | `uint8` | 1 | Point toward next MISSION with optional offset |
+| ROI_WPINDEX | `uint8` | 2 | Point toward given MISSION |
+| ROI_LOCATION | `uint8` | 3 | Point toward fixed location |
+| ROI_TARGET | `uint8` | 4 | Point toward target |
+| ROI_ENUM_END | `uint8` | 5 | |
## Source Message
diff --git a/docs/uk/msg_docs/VehicleStatus.md b/docs/uk/msg_docs/VehicleStatus.md
index e37a7cefb9..c7d07907c4 100644
--- a/docs/uk/msg_docs/VehicleStatus.md
+++ b/docs/uk/msg_docs/VehicleStatus.md
@@ -22,6 +22,7 @@ Encodes the system state of the vehicle published by commander.
| nav_state_user_intention | `uint8` | | | Mode that the user selected (might be different from nav_state in a failsafe situation) |
| nav_state | `uint8` | | | Currently active mode |
| executor_in_charge | `uint8` | | | Current mode executor in charge (0=Autopilot) |
+| nav_state_display | `uint8` | | | User-visible nav state sent via MAVLink (executor state if active, otherwise nav_state) |
| valid_nav_states_mask | `uint32` | | | Bitmask for all valid nav_state values |
| can_set_nav_states_mask | `uint32` | | | Bitmask for all modes that a user can select |
| failure_detector_status | `uint16` | | | |
@@ -48,77 +49,78 @@ Encodes the system state of the vehicle published by commander.
| open_drone_id_system_healthy | `bool` | | | |
| parachute_system_present | `bool` | | | |
| parachute_system_healthy | `bool` | | | |
+| traffic_avoidance_system_present | `bool` | | | |
| rc_calibration_in_progress | `bool` | | | |
| calibration_enabled | `bool` | | | |
| pre_flight_checks_pass | `bool` | | | true if all checks necessary to arm pass |
## Constants
-| Назва | Тип | Значення | Опис |
-| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ----------------------------------------------------------------------------- |
-| MESSAGE_VERSION | `uint32` | 1 | |
-| ARMING_STATE_DISARMED | `uint8` | 1 | |
-| ARMING_STATE_ARMED | `uint8` | 2 | |
-| ARM_DISARM_REASON_STICK_GESTURE | `uint8` | 1 | |
-| ARM_DISARM_REASON_RC_SWITCH | `uint8` | 2 | |
-| ARM_DISARM_REASON_COMMAND_INTERNAL | `uint8` | 3 | |
-| ARM_DISARM_REASON_COMMAND_EXTERNAL | `uint8` | 4 | |
-| ARM_DISARM_REASON_MISSION_START | `uint8` | 5 | |
-| ARM_DISARM_REASON_LANDING | `uint8` | 6 | |
-| ARM_DISARM_REASON_PREFLIGHT_INACTION | `uint8` | 7 | |
-| ARM_DISARM_REASON_KILL_SWITCH | `uint8` | 8 | |
-| ARM_DISARM_REASON_RC_BUTTON | `uint8` | 13 | |
-| ARM_DISARM_REASON_FAILSAFE | `uint8` | 14 | |
-| NAVIGATION_STATE_MANUAL | `uint8` | 0 | Manual mode |
-| NAVIGATION_STATE_ALTCTL | `uint8` | 1 | Altitude control mode |
-| NAVIGATION_STATE_POSCTL | `uint8` | 2 | Position control mode |
-| NAVIGATION_STATE_AUTO_MISSION | `uint8` | 3 | Auto mission mode |
-| NAVIGATION_STATE_AUTO_LOITER | `uint8` | 4 | Auto loiter mode |
-| NAVIGATION_STATE_AUTO_RTL | `uint8` | 5 | Auto return to launch mode |
-| NAVIGATION_STATE_POSITION_SLOW | `uint8` | 6 | |
-| NAVIGATION_STATE_FREE5 | `uint8` | 7 | |
-| NAVIGATION_STATE_ALTITUDE_CRUISE | `uint8` | 8 | Altitude with Cruise mode |
-| NAVIGATION_STATE_FREE3 | `uint8` | 9 | |
-| NAVIGATION_STATE_ACRO | `uint8` | 10 | Acro mode |
-| NAVIGATION_STATE_FREE2 | `uint8` | 11 | |
-| NAVIGATION_STATE_DESCEND | `uint8` | 12 | Descend mode (no position control) |
-| NAVIGATION_STATE_TERMINATION | `uint8` | 13 | Termination mode |
-| NAVIGATION_STATE_OFFBOARD | `uint8` | 14 | |
-| NAVIGATION_STATE_STAB | `uint8` | 15 | Stabilized mode |
-| NAVIGATION_STATE_FREE1 | `uint8` | 16 | |
-| NAVIGATION_STATE_AUTO_TAKEOFF | `uint8` | 17 | Takeoff |
-| NAVIGATION_STATE_AUTO_LAND | `uint8` | 18 | Land |
-| NAVIGATION_STATE_AUTO_FOLLOW_TARGET | `uint8` | 19 | Auto Follow |
-| NAVIGATION_STATE_AUTO_PRECLAND | `uint8` | 20 | Precision land with landing target |
-| NAVIGATION_STATE_ORBIT | `uint8` | 21 | Orbit in a circle |
-| NAVIGATION_STATE_AUTO_VTOL_TAKEOFF | `uint8` | 22 | Takeoff, transition, establish loiter |
-| NAVIGATION_STATE_EXTERNAL1 | `uint8` | 23 | |
-| NAVIGATION_STATE_EXTERNAL2 | `uint8` | 24 | |
-| NAVIGATION_STATE_EXTERNAL3 | `uint8` | 25 | |
-| NAVIGATION_STATE_EXTERNAL4 | `uint8` | 26 | |
-| NAVIGATION_STATE_EXTERNAL5 | `uint8` | 27 | |
-| NAVIGATION_STATE_EXTERNAL6 | `uint8` | 28 | |
-| NAVIGATION_STATE_EXTERNAL7 | `uint8` | 29 | |
-| NAVIGATION_STATE_EXTERNAL8 | `uint8` | 30 | |
-| NAVIGATION_STATE_MAX | `uint8` | 31 | |
-| FAILURE_NONE | `uint16` | 0 | |
-| FAILURE_ROLL | `uint16` | 1 | (1 << 0) |
-| FAILURE_PITCH | `uint16` | 2 | (1 << 1) |
-| FAILURE_ALT | `uint16` | 4 | (1 << 2) |
-| FAILURE_EXT | `uint16` | 8 | (1 << 3) |
-| FAILURE_ARM_ESC | `uint16` | 16 | (1 << 4) |
-| FAILURE_BATTERY | `uint16` | 32 | (1 << 5) |
-| FAILURE_IMBALANCED_PROP | `uint16` | 64 | (1 << 6) |
-| FAILURE_MOTOR | `uint16` | 128 | (1 << 7) |
-| HIL_STATE_OFF | `uint8` | 0 | |
-| HIL_STATE_ON | `uint8` | 1 | |
-| VEHICLE_TYPE_UNSPECIFIED | `uint8` | 0 | |
-| VEHICLE_TYPE_ROTARY_WING | `uint8` | 1 | |
-| VEHICLE_TYPE_FIXED_WING | `uint8` | 2 | |
-| VEHICLE_TYPE_ROVER | `uint8` | 3 | |
-| FAILSAFE_DEFER_STATE_DISABLED | `uint8` | 0 | |
-| FAILSAFE_DEFER_STATE_ENABLED | `uint8` | 1 | |
-| FAILSAFE_DEFER_STATE_WOULD_FAILSAFE | `uint8` | 2 | Failsafes deferred, but would trigger a failsafe |
+| Назва | Тип | Значення | Опис |
+| --------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ----------------------------------------------------------------------------- |
+| MESSAGE_VERSION | `uint32` | 2 | |
+| ARMING_STATE_DISARMED | `uint8` | 1 | |
+| ARMING_STATE_ARMED | `uint8` | 2 | |
+| ARM_DISARM_REASON_STICK_GESTURE | `uint8` | 1 | |
+| ARM_DISARM_REASON_RC_SWITCH | `uint8` | 2 | |
+| ARM_DISARM_REASON_COMMAND_INTERNAL | `uint8` | 3 | |
+| ARM_DISARM_REASON_COMMAND_EXTERNAL | `uint8` | 4 | |
+| ARM_DISARM_REASON_MISSION_START | `uint8` | 5 | |
+| ARM_DISARM_REASON_LANDING | `uint8` | 6 | |
+| ARM_DISARM_REASON_PREFLIGHT_INACTION | `uint8` | 7 | |
+| ARM_DISARM_REASON_KILL_SWITCH | `uint8` | 8 | |
+| ARM_DISARM_REASON_RC_BUTTON | `uint8` | 13 | |
+| ARM_DISARM_REASON_FAILSAFE | `uint8` | 14 | |
+| NAVIGATION_STATE_MANUAL | `uint8` | 0 | Manual mode |
+| NAVIGATION_STATE_ALTCTL | `uint8` | 1 | Altitude control mode |
+| NAVIGATION_STATE_POSCTL | `uint8` | 2 | Position control mode |
+| NAVIGATION_STATE_AUTO_MISSION | `uint8` | 3 | Auto mission mode |
+| NAVIGATION_STATE_AUTO_LOITER | `uint8` | 4 | Auto loiter mode |
+| NAVIGATION_STATE_AUTO_RTL | `uint8` | 5 | Auto return to launch mode |
+| NAVIGATION_STATE_POSITION_SLOW | `uint8` | 6 | |
+| NAVIGATION_STATE_FREE5 | `uint8` | 7 | |
+| NAVIGATION_STATE_ALTITUDE_CRUISE | `uint8` | 8 | Altitude with Cruise mode |
+| NAVIGATION_STATE_FREE3 | `uint8` | 9 | |
+| NAVIGATION_STATE_ACRO | `uint8` | 10 | Acro mode |
+| NAVIGATION_STATE_FREE2 | `uint8` | 11 | |
+| NAVIGATION_STATE_DESCEND | `uint8` | 12 | Descend mode (no position control) |
+| NAVIGATION_STATE_TERMINATION | `uint8` | 13 | Termination mode |
+| NAVIGATION_STATE_OFFBOARD | `uint8` | 14 | |
+| NAVIGATION_STATE_STAB | `uint8` | 15 | Stabilized mode |
+| NAVIGATION_STATE_FREE1 | `uint8` | 16 | |
+| NAVIGATION_STATE_AUTO_TAKEOFF | `uint8` | 17 | Takeoff |
+| NAVIGATION_STATE_AUTO_LAND | `uint8` | 18 | Land |
+| NAVIGATION_STATE_AUTO_FOLLOW_TARGET | `uint8` | 19 | Auto Follow |
+| NAVIGATION_STATE_AUTO_PRECLAND | `uint8` | 20 | Precision land with landing target |
+| NAVIGATION_STATE_ORBIT | `uint8` | 21 | Orbit in a circle |
+| NAVIGATION_STATE_AUTO_VTOL_TAKEOFF | `uint8` | 22 | Takeoff, transition, establish loiter |
+| NAVIGATION_STATE_EXTERNAL1 | `uint8` | 23 | |
+| NAVIGATION_STATE_EXTERNAL2 | `uint8` | 24 | |
+| NAVIGATION_STATE_EXTERNAL3 | `uint8` | 25 | |
+| NAVIGATION_STATE_EXTERNAL4 | `uint8` | 26 | |
+| NAVIGATION_STATE_EXTERNAL5 | `uint8` | 27 | |
+| NAVIGATION_STATE_EXTERNAL6 | `uint8` | 28 | |
+| NAVIGATION_STATE_EXTERNAL7 | `uint8` | 29 | |
+| NAVIGATION_STATE_EXTERNAL8 | `uint8` | 30 | |
+| NAVIGATION_STATE_MAX | `uint8` | 31 | |
+| FAILURE_NONE | `uint16` | 0 | |
+| FAILURE_ROLL | `uint16` | 1 | (1 << 0) |
+| FAILURE_PITCH | `uint16` | 2 | (1 << 1) |
+| FAILURE_ALT | `uint16` | 4 | (1 << 2) |
+| FAILURE_EXT | `uint16` | 8 | (1 << 3) |
+| FAILURE_ARM_ESC | `uint16` | 16 | (1 << 4) |
+| FAILURE_BATTERY | `uint16` | 32 | (1 << 5) |
+| FAILURE_IMBALANCED_PROP | `uint16` | 64 | (1 << 6) |
+| FAILURE_MOTOR | `uint16` | 128 | (1 << 7) |
+| HIL_STATE_OFF | `uint8` | 0 | |
+| HIL_STATE_ON | `uint8` | 1 | |
+| VEHICLE_TYPE_UNSPECIFIED | `uint8` | 0 | |
+| VEHICLE_TYPE_ROTARY_WING | `uint8` | 1 | |
+| VEHICLE_TYPE_FIXED_WING | `uint8` | 2 | |
+| VEHICLE_TYPE_ROVER | `uint8` | 3 | |
+| FAILSAFE_DEFER_STATE_DISABLED | `uint8` | 0 | |
+| FAILSAFE_DEFER_STATE_ENABLED | `uint8` | 1 | |
+| FAILSAFE_DEFER_STATE_WOULD_FAILSAFE | `uint8` | 2 | Failsafes deferred, but would trigger a failsafe |
## Source Message
@@ -130,7 +132,7 @@ Click here to see original file
```c
# Encodes the system state of the vehicle published by commander
-uint32 MESSAGE_VERSION = 1
+uint32 MESSAGE_VERSION = 2
uint64 timestamp # time since system start (microseconds)
@@ -193,6 +195,7 @@ uint8 NAVIGATION_STATE_EXTERNAL8 = 30
uint8 NAVIGATION_STATE_MAX = 31
uint8 executor_in_charge # Current mode executor in charge (0=Autopilot)
+uint8 nav_state_display # User-visible nav state sent via MAVLink (executor state if active, otherwise nav_state)
uint32 valid_nav_states_mask # Bitmask for all valid nav_state values
uint32 can_set_nav_states_mask # Bitmask for all modes that a user can select
@@ -256,6 +259,8 @@ bool open_drone_id_system_healthy
bool parachute_system_present
bool parachute_system_healthy
+bool traffic_avoidance_system_present
+
bool rc_calibration_in_progress
bool calibration_enabled
diff --git a/docs/uk/msg_docs/VehicleStatusV0.md b/docs/uk/msg_docs/VehicleStatusV0.md
index e155e098f5..a5f5caae0c 100644
--- a/docs/uk/msg_docs/VehicleStatusV0.md
+++ b/docs/uk/msg_docs/VehicleStatusV0.md
@@ -6,7 +6,7 @@ pageClass: is-wide-page
Encodes the system state of the vehicle published by commander.
-**TOPICS:** vehicle_statusv0
+**TOPICS:** vehicle_status_v0
## Fields
@@ -56,76 +56,76 @@ Encodes the system state of the vehicle published by commander.
## Constants
-| Назва | Тип | Значення | Опис |
-| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ----------------------------------------------------------------------------- |
-| MESSAGE_VERSION | `uint32` | 0 | |
-| ARMING_STATE_DISARMED | `uint8` | 1 | |
-| ARMING_STATE_ARMED | `uint8` | 2 | |
-| ARM_DISARM_REASON_TRANSITION_TO_STANDBY | `uint8` | 0 | |
-| ARM_DISARM_REASON_STICK_GESTURE | `uint8` | 1 | |
-| ARM_DISARM_REASON_RC_SWITCH | `uint8` | 2 | |
-| ARM_DISARM_REASON_COMMAND_INTERNAL | `uint8` | 3 | |
-| ARM_DISARM_REASON_COMMAND_EXTERNAL | `uint8` | 4 | |
-| ARM_DISARM_REASON_MISSION_START | `uint8` | 5 | |
-| ARM_DISARM_REASON_SAFETY_BUTTON | `uint8` | 6 | |
-| ARM_DISARM_REASON_AUTO_DISARM_LAND | `uint8` | 7 | |
-| ARM_DISARM_REASON_AUTO_DISARM_PREFLIGHT | `uint8` | 8 | |
-| ARM_DISARM_REASON_KILL_SWITCH | `uint8` | 9 | |
-| ARM_DISARM_REASON_LOCKDOWN | `uint8` | 10 | |
-| ARM_DISARM_REASON_FAILURE_DETECTOR | `uint8` | 11 | |
-| ARM_DISARM_REASON_SHUTDOWN | `uint8` | 12 | |
-| ARM_DISARM_REASON_UNIT_TEST | `uint8` | 13 | |
-| NAVIGATION_STATE_MANUAL | `uint8` | 0 | Manual mode |
-| NAVIGATION_STATE_ALTCTL | `uint8` | 1 | Altitude control mode |
-| NAVIGATION_STATE_POSCTL | `uint8` | 2 | Position control mode |
-| NAVIGATION_STATE_AUTO_MISSION | `uint8` | 3 | Auto mission mode |
-| NAVIGATION_STATE_AUTO_LOITER | `uint8` | 4 | Auto loiter mode |
-| NAVIGATION_STATE_AUTO_RTL | `uint8` | 5 | Auto return to launch mode |
-| NAVIGATION_STATE_POSITION_SLOW | `uint8` | 6 | |
-| NAVIGATION_STATE_FREE5 | `uint8` | 7 | |
-| NAVIGATION_STATE_FREE4 | `uint8` | 8 | |
-| NAVIGATION_STATE_FREE3 | `uint8` | 9 | |
-| NAVIGATION_STATE_ACRO | `uint8` | 10 | Acro mode |
-| NAVIGATION_STATE_FREE2 | `uint8` | 11 | |
-| NAVIGATION_STATE_DESCEND | `uint8` | 12 | Descend mode (no position control) |
-| NAVIGATION_STATE_TERMINATION | `uint8` | 13 | Termination mode |
-| NAVIGATION_STATE_OFFBOARD | `uint8` | 14 | |
-| NAVIGATION_STATE_STAB | `uint8` | 15 | Stabilized mode |
-| NAVIGATION_STATE_FREE1 | `uint8` | 16 | |
-| NAVIGATION_STATE_AUTO_TAKEOFF | `uint8` | 17 | Takeoff |
-| NAVIGATION_STATE_AUTO_LAND | `uint8` | 18 | Land |
-| NAVIGATION_STATE_AUTO_FOLLOW_TARGET | `uint8` | 19 | Auto Follow |
-| NAVIGATION_STATE_AUTO_PRECLAND | `uint8` | 20 | Precision land with landing target |
-| NAVIGATION_STATE_ORBIT | `uint8` | 21 | Orbit in a circle |
-| NAVIGATION_STATE_AUTO_VTOL_TAKEOFF | `uint8` | 22 | Takeoff, transition, establish loiter |
-| NAVIGATION_STATE_EXTERNAL1 | `uint8` | 23 | |
-| NAVIGATION_STATE_EXTERNAL2 | `uint8` | 24 | |
-| NAVIGATION_STATE_EXTERNAL3 | `uint8` | 25 | |
-| NAVIGATION_STATE_EXTERNAL4 | `uint8` | 26 | |
-| NAVIGATION_STATE_EXTERNAL5 | `uint8` | 27 | |
-| NAVIGATION_STATE_EXTERNAL6 | `uint8` | 28 | |
-| NAVIGATION_STATE_EXTERNAL7 | `uint8` | 29 | |
-| NAVIGATION_STATE_EXTERNAL8 | `uint8` | 30 | |
-| NAVIGATION_STATE_MAX | `uint8` | 31 | |
-| FAILURE_NONE | `uint16` | 0 | |
-| FAILURE_ROLL | `uint16` | 1 | (1 << 0) |
-| FAILURE_PITCH | `uint16` | 2 | (1 << 1) |
-| FAILURE_ALT | `uint16` | 4 | (1 << 2) |
-| FAILURE_EXT | `uint16` | 8 | (1 << 3) |
-| FAILURE_ARM_ESC | `uint16` | 16 | (1 << 4) |
-| FAILURE_BATTERY | `uint16` | 32 | (1 << 5) |
-| FAILURE_IMBALANCED_PROP | `uint16` | 64 | (1 << 6) |
-| FAILURE_MOTOR | `uint16` | 128 | (1 << 7) |
-| HIL_STATE_OFF | `uint8` | 0 | |
-| HIL_STATE_ON | `uint8` | 1 | |
-| VEHICLE_TYPE_UNKNOWN | `uint8` | 0 | |
-| VEHICLE_TYPE_ROTARY_WING | `uint8` | 1 | |
-| VEHICLE_TYPE_FIXED_WING | `uint8` | 2 | |
-| VEHICLE_TYPE_ROVER | `uint8` | 3 | |
-| VEHICLE_TYPE_AIRSHIP | `uint8` | 4 | |
-| FAILSAFE_DEFER_STATE_DISABLED | `uint8` | 0 | |
-| FAILSAFE_DEFER_STATE_ENABLED | `uint8` | 1 | |
-| FAILSAFE_DEFER_STATE_WOULD_FAILSAFE | `uint8` | 2 | Failsafes deferred, but would trigger a failsafe |
+| Назва | Тип | Значення | Опис |
+| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | -------- | -------- | ----------------------------------------------------------------------------- |
+| MESSAGE_VERSION | `uint32` | 0 | |
+| ARMING_STATE_DISARMED | `uint8` | 1 | |
+| ARMING_STATE_ARMED | `uint8` | 2 | |
+| ARM_DISARM_REASON_TRANSITION_TO_STANDBY | `uint8` | 0 | |
+| ARM_DISARM_REASON_STICK_GESTURE | `uint8` | 1 | |
+| ARM_DISARM_REASON_RC_SWITCH | `uint8` | 2 | |
+| ARM_DISARM_REASON_COMMAND_INTERNAL | `uint8` | 3 | |
+| ARM_DISARM_REASON_COMMAND_EXTERNAL | `uint8` | 4 | |
+| ARM_DISARM_REASON_MISSION_START | `uint8` | 5 | |
+| ARM_DISARM_REASON_SAFETY_BUTTON | `uint8` | 6 | |
+| ARM_DISARM_REASON_AUTO_DISARM_LAND | `uint8` | 7 | |
+| ARM_DISARM_REASON_AUTO_DISARM_PREFLIGHT | `uint8` | 8 | |
+| ARM_DISARM_REASON_KILL_SWITCH | `uint8` | 9 | |
+| ARM_DISARM_REASON_LOCKDOWN | `uint8` | 10 | |
+| ARM_DISARM_REASON_FAILURE_DETECTOR | `uint8` | 11 | |
+| ARM_DISARM_REASON_SHUTDOWN | `uint8` | 12 | |
+| ARM_DISARM_REASON_UNIT_TEST | `uint8` | 13 | |
+| NAVIGATION_STATE_MANUAL | `uint8` | 0 | Manual mode |
+| NAVIGATION_STATE_ALTCTL | `uint8` | 1 | Altitude control mode |
+| NAVIGATION_STATE_POSCTL | `uint8` | 2 | Position control mode |
+| NAVIGATION_STATE_AUTO_MISSION | `uint8` | 3 | Auto mission mode |
+| NAVIGATION_STATE_AUTO_LOITER | `uint8` | 4 | Auto loiter mode |
+| NAVIGATION_STATE_AUTO_RTL | `uint8` | 5 | Auto return to launch mode |
+| NAVIGATION_STATE_POSITION_SLOW | `uint8` | 6 | |
+| NAVIGATION_STATE_FREE5 | `uint8` | 7 | |
+| NAVIGATION_STATE_FREE4 | `uint8` | 8 | |
+| NAVIGATION_STATE_FREE3 | `uint8` | 9 | |
+| NAVIGATION_STATE_ACRO | `uint8` | 10 | Acro mode |
+| NAVIGATION_STATE_FREE2 | `uint8` | 11 | |
+| NAVIGATION_STATE_DESCEND | `uint8` | 12 | Descend mode (no position control) |
+| NAVIGATION_STATE_TERMINATION | `uint8` | 13 | Termination mode |
+| NAVIGATION_STATE_OFFBOARD | `uint8` | 14 | |
+| NAVIGATION_STATE_STAB | `uint8` | 15 | Stabilized mode |
+| NAVIGATION_STATE_FREE1 | `uint8` | 16 | |
+| NAVIGATION_STATE_AUTO_TAKEOFF | `uint8` | 17 | Takeoff |
+| NAVIGATION_STATE_AUTO_LAND | `uint8` | 18 | Land |
+| NAVIGATION_STATE_AUTO_FOLLOW_TARGET | `uint8` | 19 | Auto Follow |
+| NAVIGATION_STATE_AUTO_PRECLAND | `uint8` | 20 | Precision land with landing target |
+| NAVIGATION_STATE_ORBIT | `uint8` | 21 | Orbit in a circle |
+| NAVIGATION_STATE_AUTO_VTOL_TAKEOFF | `uint8` | 22 | Takeoff, transition, establish loiter |
+| NAVIGATION_STATE_EXTERNAL1 | `uint8` | 23 | |
+| NAVIGATION_STATE_EXTERNAL2 | `uint8` | 24 | |
+| NAVIGATION_STATE_EXTERNAL3 | `uint8` | 25 | |
+| NAVIGATION_STATE_EXTERNAL4 | `uint8` | 26 | |
+| NAVIGATION_STATE_EXTERNAL5 | `uint8` | 27 | |
+| NAVIGATION_STATE_EXTERNAL6 | `uint8` | 28 | |
+| NAVIGATION_STATE_EXTERNAL7 | `uint8` | 29 | |
+| NAVIGATION_STATE_EXTERNAL8 | `uint8` | 30 | |
+| NAVIGATION_STATE_MAX | `uint8` | 31 | |
+| FAILURE_NONE | `uint16` | 0 | |
+| FAILURE_ROLL | `uint16` | 1 | (1 << 0) |
+| FAILURE_PITCH | `uint16` | 2 | (1 << 1) |
+| FAILURE_ALT | `uint16` | 4 | (1 << 2) |
+| FAILURE_EXT | `uint16` | 8 | (1 << 3) |
+| FAILURE_ARM_ESC | `uint16` | 16 | (1 << 4) |
+| FAILURE_BATTERY | `uint16` | 32 | (1 << 5) |
+| FAILURE_IMBALANCED_PROP | `uint16` | 64 | (1 << 6) |
+| FAILURE_MOTOR | `uint16` | 128 | (1 << 7) |
+| HIL_STATE_OFF | `uint8` | 0 | |
+| HIL_STATE_ON | `uint8` | 1 | |
+| VEHICLE_TYPE_UNKNOWN | `uint8` | 0 | |
+| VEHICLE_TYPE_ROTARY_WING | `uint8` | 1 | |
+| VEHICLE_TYPE_FIXED_WING | `uint8` | 2 | |
+| VEHICLE_TYPE_ROVER | `uint8` | 3 | |
+| VEHICLE_TYPE_AIRSHIP | `uint8` | 4 | |
+| FAILSAFE_DEFER_STATE_DISABLED | `uint8` | 0 | |
+| FAILSAFE_DEFER_STATE_ENABLED | `uint8` | 1 | |
+| FAILSAFE_DEFER_STATE_WOULD_FAILSAFE | `uint8` | 2 | Failsafes deferred, but would trigger a failsafe |
## Source Message
diff --git a/docs/uk/msg_docs/VehicleStatusV1.md b/docs/uk/msg_docs/VehicleStatusV1.md
new file mode 100644
index 0000000000..394657e460
--- /dev/null
+++ b/docs/uk/msg_docs/VehicleStatusV1.md
@@ -0,0 +1,287 @@
+---
+pageClass: is-wide-page
+---
+
+# VehicleStatusV1 (UORB message)
+
+Encodes the system state of the vehicle published by commander.
+
+**TOPICS:** vehicle_status_v1
+
+## Fields
+
+| Назва | Тип | Unit [Frame] | Range/Enum | Опис |
+| ---------------------------------------------------------------------------------------------------------------- | -------- | ---------------------------------------------------------------- | --------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| timestamp | `uint64` | us | | Time since system start |
+| armed_time | `uint64` | us | | Arming timestamp |
+| takeoff_time | `uint64` | us | | Takeoff timestamp |
+| arming_state | `uint8` | | | |
+| latest_arming_reason | `uint8` | | | |
+| latest_disarming_reason | `uint8` | | | |
+| nav_state_timestamp | `uint64` | | | Time when current nav_state activated |
+| nav_state_user_intention | `uint8` | | | Mode that the user selected (might be different from nav_state in a failsafe situation) |
+| nav_state | `uint8` | | [NAVIGATION_STATE](#NAVIGATION_STATE) | Currently active mode |
+| executor_in_charge | `uint8` | | | Current mode executor in charge (0=Autopilot) |
+| valid_nav_states_mask | `uint32` | | | Bitmask for all valid nav_state values |
+| can_set_nav_states_mask | `uint32` | | | Bitmask for all modes that a user can select |
+| failure_detector_status | `uint16` | | [FAILURE](#FAILURE) | |
+| hil_state | `uint8` | enum HIL_STATE | | |
+| vehicle_type | `uint8` | | [VEHICLE_TYPE](#VEHICLE_TYPE) | |
+| failsafe | `bool` | | | true if system is in failsafe state (e.g.:RTL, Hover, Terminate, ...) |
+| failsafe_and_user_took_over | `bool` | | | true if system is in failsafe state but the user took over control |
+| failsafe_defer_state | `uint8` | | [FAILSAFE_DEFER_STATE](#FAILSAFE_DEFER_STATE) | |
+| gcs_connection_lost | `bool` | | | datalink to GCS lost |
+| gcs_connection_lost_counter | `uint8` | | | counts unique GCS connection lost events |
+| high_latency_data_link_lost | `bool` | | | Set to true if the high latency data link (eg. RockBlock Iridium 9603 telemetry module) is lost |
+| is_vtol | `bool` | | | True if the system is VTOL capable |
+| is_vtol_tailsitter | `bool` | | | True if the system performs a 90° pitch down rotation during transition from MC to FW |
+| in_transition_mode | `bool` | | | True if VTOL is doing a transition |
+| in_transition_to_fw | `bool` | | | True if VTOL is doing a transition from MC to FW |
+| system_type | `uint8` | | | system type, contains mavlink MAV_TYPE |
+| system_id | `uint8` | | | system id, contains MAVLink's system ID field |
+| component_id | `uint8` | | | subsystem / component id, contains MAVLink's component ID field |
+| safety_button_available | `bool` | | | Set to true if a safety button is connected |
+| safety_off | `bool` | | | Set to true if safety is off |
+| power_input_valid | `bool` | | | Set if input power is valid |
+| usb_connected | `bool` | | | Set to true (never cleared) once telemetry received from usb link |
+| open_drone_id_system_present | `bool` | | | |
+| open_drone_id_system_healthy | `bool` | | | |
+| parachute_system_present | `bool` | | | |
+| parachute_system_healthy | `bool` | | | |
+| rc_calibration_in_progress | `bool` | | | |
+| calibration_enabled | `bool` | | | |
+| pre_flight_checks_pass | `bool` | | | true if all checks necessary to arm pass |
+
+## Enums
+
+### NAVIGATION_STATE {#NAVIGATION_STATE}
+
+| Назва | Тип | Значення | Опис |
+| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ----------------------------------------------------- |
+| NAVIGATION_STATE_MANUAL | `uint8` | 0 | Manual mode |
+| NAVIGATION_STATE_ALTCTL | `uint8` | 1 | Altitude control mode |
+| NAVIGATION_STATE_POSCTL | `uint8` | 2 | Position control mode |
+| NAVIGATION_STATE_AUTO_MISSION | `uint8` | 3 | Auto mission mode |
+| NAVIGATION_STATE_AUTO_LOITER | `uint8` | 4 | Auto loiter mode |
+| NAVIGATION_STATE_AUTO_RTL | `uint8` | 5 | Auto return to launch mode |
+| NAVIGATION_STATE_POSITION_SLOW | `uint8` | 6 | |
+| NAVIGATION_STATE_FREE5 | `uint8` | 7 | |
+| NAVIGATION_STATE_ALTITUDE_CRUISE | `uint8` | 8 | Altitude with Cruise mode |
+| NAVIGATION_STATE_FREE3 | `uint8` | 9 | |
+| NAVIGATION_STATE_ACRO | `uint8` | 10 | Acro mode |
+| NAVIGATION_STATE_FREE2 | `uint8` | 11 | |
+| NAVIGATION_STATE_DESCEND | `uint8` | 12 | Descend mode (no position control) |
+| NAVIGATION_STATE_TERMINATION | `uint8` | 13 | Termination mode |
+| NAVIGATION_STATE_OFFBOARD | `uint8` | 14 | |
+| NAVIGATION_STATE_STAB | `uint8` | 15 | Stabilized mode |
+| NAVIGATION_STATE_FREE1 | `uint8` | 16 | |
+| NAVIGATION_STATE_AUTO_TAKEOFF | `uint8` | 17 | Takeoff |
+| NAVIGATION_STATE_AUTO_LAND | `uint8` | 18 | Land |
+| NAVIGATION_STATE_AUTO_FOLLOW_TARGET | `uint8` | 19 | Auto Follow |
+| NAVIGATION_STATE_AUTO_PRECLAND | `uint8` | 20 | Precision land with landing target |
+| NAVIGATION_STATE_ORBIT | `uint8` | 21 | Orbit in a circle |
+| NAVIGATION_STATE_AUTO_VTOL_TAKEOFF | `uint8` | 22 | Takeoff, transition, establish loiter |
+| NAVIGATION_STATE_EXTERNAL1 | `uint8` | 23 | |
+| NAVIGATION_STATE_EXTERNAL2 | `uint8` | 24 | |
+| NAVIGATION_STATE_EXTERNAL3 | `uint8` | 25 | |
+| NAVIGATION_STATE_EXTERNAL4 | `uint8` | 26 | |
+| NAVIGATION_STATE_EXTERNAL5 | `uint8` | 27 | |
+| NAVIGATION_STATE_EXTERNAL6 | `uint8` | 28 | |
+| NAVIGATION_STATE_EXTERNAL7 | `uint8` | 29 | |
+| NAVIGATION_STATE_EXTERNAL8 | `uint8` | 30 | |
+| NAVIGATION_STATE_MAX | `uint8` | 31 | |
+
+### FAILURE {#FAILURE}
+
+| Назва | Тип | Значення | Опис |
+| ------------------------------------------------------------------------------------------------------- | -------- | -------- | ----------------------------------------------------------------------------- |
+| FAILURE_NONE | `uint16` | 0 | |
+| FAILURE_ROLL | `uint16` | 1 | (1 << 0) |
+| FAILURE_PITCH | `uint16` | 2 | (1 << 1) |
+| FAILURE_ALT | `uint16` | 4 | (1 << 2) |
+| FAILURE_EXT | `uint16` | 8 | (1 << 3) |
+| FAILURE_ARM_ESC | `uint16` | 16 | (1 << 4) |
+| FAILURE_BATTERY | `uint16` | 32 | (1 << 5) |
+| FAILURE_IMBALANCED_PROP | `uint16` | 64 | (1 << 6) |
+| FAILURE_MOTOR | `uint16` | 128 | (1 << 7) |
+
+### VEHICLE_TYPE {#VEHICLE_TYPE}
+
+| Назва | Тип | Значення | Опис |
+| ------------------------------------------------------------------------------------------------------------------------------ | ------- | -------- | ---- |
+| VEHICLE_TYPE_UNSPECIFIED | `uint8` | 0 | |
+| VEHICLE_TYPE_ROTARY_WING | `uint8` | 1 | |
+| VEHICLE_TYPE_FIXED_WING | `uint8` | 2 | |
+| VEHICLE_TYPE_ROVER | `uint8` | 3 | |
+
+### FAILSAFE_DEFER_STATE {#FAILSAFE_DEFER_STATE}
+
+| Назва | Тип | Значення | Опис |
+| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ------------------------------------------------ |
+| FAILSAFE_DEFER_STATE_DISABLED | `uint8` | 0 | |
+| FAILSAFE_DEFER_STATE_ENABLED | `uint8` | 1 | |
+| FAILSAFE_DEFER_STATE_WOULD_FAILSAFE | `uint8` | 2 | Failsafes deferred, but would trigger a failsafe |
+
+## Constants
+
+| Назва | Тип | Значення | Опис |
+| --------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ---- |
+| MESSAGE_VERSION | `uint32` | 1 | |
+| ARMING_STATE_DISARMED | `uint8` | 1 | |
+| ARMING_STATE_ARMED | `uint8` | 2 | |
+| ARM_DISARM_REASON_STICK_GESTURE | `uint8` | 1 | |
+| ARM_DISARM_REASON_RC_SWITCH | `uint8` | 2 | |
+| ARM_DISARM_REASON_COMMAND_INTERNAL | `uint8` | 3 | |
+| ARM_DISARM_REASON_COMMAND_EXTERNAL | `uint8` | 4 | |
+| ARM_DISARM_REASON_MISSION_START | `uint8` | 5 | |
+| ARM_DISARM_REASON_LANDING | `uint8` | 6 | |
+| ARM_DISARM_REASON_PREFLIGHT_INACTION | `uint8` | 7 | |
+| ARM_DISARM_REASON_KILL_SWITCH | `uint8` | 8 | |
+| ARM_DISARM_REASON_RC_BUTTON | `uint8` | 13 | |
+| ARM_DISARM_REASON_FAILSAFE | `uint8` | 14 | |
+| HIL_STATE_OFF | `uint8` | 0 | |
+| HIL_STATE_ON | `uint8` | 1 | |
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/VehicleStatusV1.msg)
+
+:::details
+Click here to see original file
+
+```c
+# Encodes the system state of the vehicle published by commander
+
+uint32 MESSAGE_VERSION = 1
+
+uint64 timestamp # [us] Time since system start
+
+uint64 armed_time # [us] Arming timestamp
+uint64 takeoff_time # [us] Takeoff timestamp
+
+uint8 arming_state
+uint8 ARMING_STATE_DISARMED = 1
+uint8 ARMING_STATE_ARMED = 2
+
+uint8 latest_arming_reason
+uint8 latest_disarming_reason
+uint8 ARM_DISARM_REASON_STICK_GESTURE = 1
+uint8 ARM_DISARM_REASON_RC_SWITCH = 2
+uint8 ARM_DISARM_REASON_COMMAND_INTERNAL = 3
+uint8 ARM_DISARM_REASON_COMMAND_EXTERNAL = 4
+uint8 ARM_DISARM_REASON_MISSION_START = 5
+uint8 ARM_DISARM_REASON_LANDING = 6
+uint8 ARM_DISARM_REASON_PREFLIGHT_INACTION = 7
+uint8 ARM_DISARM_REASON_KILL_SWITCH = 8
+uint8 ARM_DISARM_REASON_RC_BUTTON = 13
+uint8 ARM_DISARM_REASON_FAILSAFE = 14
+
+uint64 nav_state_timestamp # Time when current nav_state activated
+
+uint8 nav_state_user_intention # Mode that the user selected (might be different from nav_state in a failsafe situation)
+
+uint8 nav_state # [@enum NAVIGATION_STATE] Currently active mode
+uint8 NAVIGATION_STATE_MANUAL = 0 # Manual mode
+uint8 NAVIGATION_STATE_ALTCTL = 1 # Altitude control mode
+uint8 NAVIGATION_STATE_POSCTL = 2 # Position control mode
+uint8 NAVIGATION_STATE_AUTO_MISSION = 3 # Auto mission mode
+uint8 NAVIGATION_STATE_AUTO_LOITER = 4 # Auto loiter mode
+uint8 NAVIGATION_STATE_AUTO_RTL = 5 # Auto return to launch mode
+uint8 NAVIGATION_STATE_POSITION_SLOW = 6
+uint8 NAVIGATION_STATE_FREE5 = 7
+uint8 NAVIGATION_STATE_ALTITUDE_CRUISE = 8 # Altitude with Cruise mode
+uint8 NAVIGATION_STATE_FREE3 = 9
+uint8 NAVIGATION_STATE_ACRO = 10 # Acro mode
+uint8 NAVIGATION_STATE_FREE2 = 11
+uint8 NAVIGATION_STATE_DESCEND = 12 # Descend mode (no position control)
+uint8 NAVIGATION_STATE_TERMINATION = 13 # Termination mode
+uint8 NAVIGATION_STATE_OFFBOARD = 14
+uint8 NAVIGATION_STATE_STAB = 15 # Stabilized mode
+uint8 NAVIGATION_STATE_FREE1 = 16
+uint8 NAVIGATION_STATE_AUTO_TAKEOFF = 17 # Takeoff
+uint8 NAVIGATION_STATE_AUTO_LAND = 18 # Land
+uint8 NAVIGATION_STATE_AUTO_FOLLOW_TARGET = 19 # Auto Follow
+uint8 NAVIGATION_STATE_AUTO_PRECLAND = 20 # Precision land with landing target
+uint8 NAVIGATION_STATE_ORBIT = 21 # Orbit in a circle
+uint8 NAVIGATION_STATE_AUTO_VTOL_TAKEOFF = 22 # Takeoff, transition, establish loiter
+uint8 NAVIGATION_STATE_EXTERNAL1 = 23
+uint8 NAVIGATION_STATE_EXTERNAL2 = 24
+uint8 NAVIGATION_STATE_EXTERNAL3 = 25
+uint8 NAVIGATION_STATE_EXTERNAL4 = 26
+uint8 NAVIGATION_STATE_EXTERNAL5 = 27
+uint8 NAVIGATION_STATE_EXTERNAL6 = 28
+uint8 NAVIGATION_STATE_EXTERNAL7 = 29
+uint8 NAVIGATION_STATE_EXTERNAL8 = 30
+uint8 NAVIGATION_STATE_MAX = 31
+
+uint8 executor_in_charge # [-] Current mode executor in charge (0=Autopilot)
+
+uint32 valid_nav_states_mask # [-] Bitmask for all valid nav_state values
+uint32 can_set_nav_states_mask # [-] Bitmask for all modes that a user can select
+
+# Bitmask of detected failures
+uint16 failure_detector_status # [@enum FAILURE]
+uint16 FAILURE_NONE = 0
+uint16 FAILURE_ROLL = 1 # (1 << 0)
+uint16 FAILURE_PITCH = 2 # (1 << 1)
+uint16 FAILURE_ALT = 4 # (1 << 2)
+uint16 FAILURE_EXT = 8 # (1 << 3)
+uint16 FAILURE_ARM_ESC = 16 # (1 << 4)
+uint16 FAILURE_BATTERY = 32 # (1 << 5)
+uint16 FAILURE_IMBALANCED_PROP = 64 # (1 << 6)
+uint16 FAILURE_MOTOR = 128 # (1 << 7)
+
+uint8 hil_state # [enum HIL_STATE]
+uint8 HIL_STATE_OFF = 0
+uint8 HIL_STATE_ON = 1
+
+# Current vehicle locomotion method. A vehicle can have different methods (e.g. VTOL transitions from RW to FW method)
+uint8 vehicle_type # [@enum VEHICLE_TYPE]
+uint8 VEHICLE_TYPE_UNSPECIFIED = 0
+uint8 VEHICLE_TYPE_ROTARY_WING = 1
+uint8 VEHICLE_TYPE_FIXED_WING = 2
+uint8 VEHICLE_TYPE_ROVER = 3
+
+uint8 FAILSAFE_DEFER_STATE_DISABLED = 0
+uint8 FAILSAFE_DEFER_STATE_ENABLED = 1
+uint8 FAILSAFE_DEFER_STATE_WOULD_FAILSAFE = 2 # Failsafes deferred, but would trigger a failsafe
+
+bool failsafe # true if system is in failsafe state (e.g.:RTL, Hover, Terminate, ...)
+bool failsafe_and_user_took_over # true if system is in failsafe state but the user took over control
+uint8 failsafe_defer_state # [@enum FAILSAFE_DEFER_STATE]
+
+# Link loss
+bool gcs_connection_lost # datalink to GCS lost
+uint8 gcs_connection_lost_counter # counts unique GCS connection lost events
+bool high_latency_data_link_lost # Set to true if the high latency data link (eg. RockBlock Iridium 9603 telemetry module) is lost
+
+# VTOL flags
+bool is_vtol # True if the system is VTOL capable
+bool is_vtol_tailsitter # True if the system performs a 90° pitch down rotation during transition from MC to FW
+bool in_transition_mode # True if VTOL is doing a transition
+bool in_transition_to_fw # True if VTOL is doing a transition from MC to FW
+
+# MAVLink identification
+uint8 system_type # system type, contains mavlink MAV_TYPE
+uint8 system_id # system id, contains MAVLink's system ID field
+uint8 component_id # subsystem / component id, contains MAVLink's component ID field
+
+bool safety_button_available # Set to true if a safety button is connected
+bool safety_off # Set to true if safety is off
+
+bool power_input_valid # Set if input power is valid
+bool usb_connected # Set to true (never cleared) once telemetry received from usb link
+
+bool open_drone_id_system_present
+bool open_drone_id_system_healthy
+
+bool parachute_system_present
+bool parachute_system_healthy
+
+bool rc_calibration_in_progress
+bool calibration_enabled
+
+bool pre_flight_checks_pass # true if all checks necessary to arm pass
+```
+
+:::
diff --git a/docs/uk/msg_docs/VtolVehicleStatus.md b/docs/uk/msg_docs/VtolVehicleStatus.md
index ced3fee553..bf469cc0b5 100644
--- a/docs/uk/msg_docs/VtolVehicleStatus.md
+++ b/docs/uk/msg_docs/VtolVehicleStatus.md
@@ -6,7 +6,7 @@ pageClass: is-wide-page
VEHICLE_VTOL_STATE, should match 1:1 MAVLinks's MAV_VTOL_STATE.
-**TOPICS:** vtol_vehiclestatus
+**TOPICS:** vtol_vehicle_status
## Fields
@@ -18,14 +18,14 @@ VEHICLE_VTOL_STATE, should match 1:1 MAVLinks's MAV_VTOL_STATE.
## Constants
-| Назва | Тип | Значення | Опис |
-| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | -------- | -------- | ---- |
-| MESSAGE_VERSION | `uint32` | 0 | |
-| VEHICLE_VTOL_STATE_UNDEFINED | `uint8` | 0 | |
-| VEHICLE_VTOL_STATE_TRANSITION_TO_FW | `uint8` | 1 | |
-| VEHICLE_VTOL_STATE_TRANSITION_TO_MC | `uint8` | 2 | |
-| VEHICLE_VTOL_STATE_MC | `uint8` | 3 | |
-| VEHICLE_VTOL_STATE_FW | `uint8` | 4 | |
+| Назва | Тип | Значення | Опис |
+| ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ---- |
+| MESSAGE_VERSION | `uint32` | 0 | |
+| VEHICLE_VTOL_STATE_UNDEFINED | `uint8` | 0 | |
+| VEHICLE_VTOL_STATE_TRANSITION_TO_FW | `uint8` | 1 | |
+| VEHICLE_VTOL_STATE_TRANSITION_TO_MC | `uint8` | 2 | |
+| VEHICLE_VTOL_STATE_MC | `uint8` | 3 | |
+| VEHICLE_VTOL_STATE_FW | `uint8` | 4 | |
## Source Message
diff --git a/docs/uk/msg_docs/Vtx.md b/docs/uk/msg_docs/Vtx.md
index 2668dd7a27..64c45c39a4 100644
--- a/docs/uk/msg_docs/Vtx.md
+++ b/docs/uk/msg_docs/Vtx.md
@@ -24,20 +24,20 @@ pageClass: is-wide-page
## Constants
-| Назва | Тип | Значення | Опис |
-| ------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ----------------------------------------- |
-| BAND_NAME_LENGTH | `uint8` | 12 | |
-| POWER_LABEL_LENGTH | `uint8` | 4 | |
-| PROTOCOL_NONE | `uint8` | 0 | No protocol is detected, usually an error |
-| PROTOCOL_SMART_AUDIO_V1 | `uint8` | 10 | |
-| PROTOCOL_SMART_AUDIO_V2 | `uint8` | 20 | |
-| PROTOCOL_SMART_AUDIO_V2_1 | `uint8` | 21 | |
-| PROTOCOL_TRAMP | `uint8` | 100 | |
-| DEVICE_UNKNOWN | `uint8` | 0 | |
-| DEVICE_PEAK_THOR_T67 | `uint8` | 20 | |
-| DEVICE_RUSH_MAX_SOLO | `uint8` | 40 | |
-| MODE_NORMAL | `uint8` | 0 | |
-| MODE_PIT | `uint8` | 1 | |
+| Назва | Тип | Значення | Опис |
+| ----------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ----------------------------------------- |
+| BAND_NAME_LENGTH | `uint8` | 12 | |
+| POWER_LABEL_LENGTH | `uint8` | 4 | |
+| PROTOCOL_NONE | `uint8` | 0 | No protocol is detected, usually an error |
+| PROTOCOL_SMART_AUDIO_V1 | `uint8` | 10 | |
+| PROTOCOL_SMART_AUDIO_V2 | `uint8` | 20 | |
+| PROTOCOL_SMART_AUDIO_V2_1 | `uint8` | 21 | |
+| PROTOCOL_TRAMP | `uint8` | 100 | |
+| DEVICE_UNKNOWN | `uint8` | 0 | |
+| DEVICE_PEAK_THOR_T67 | `uint8` | 20 | |
+| DEVICE_RUSH_MAX_SOLO | `uint8` | 40 | |
+| MODE_NORMAL | `uint8` | 0 | |
+| MODE_PIT | `uint8` | 1 | |
## Source Message
diff --git a/docs/uk/msg_docs/Wind.md b/docs/uk/msg_docs/Wind.md
index d2d542be9b..c90274aa9f 100644
--- a/docs/uk/msg_docs/Wind.md
+++ b/docs/uk/msg_docs/Wind.md
@@ -28,9 +28,9 @@ Published by the navigation filter (EKF2) for use by other flight modules and li
## Constants
-| Назва | Тип | Значення | Опис |
-| -------------------------------------------------------------------- | -------- | -------- | ---- |
-| MESSAGE_VERSION | `uint32` | 0 | |
+| Назва | Тип | Значення | Опис |
+| ------------------------------------------------------------------ | -------- | -------- | ---- |
+| MESSAGE_VERSION | `uint32` | 0 | |
## Source Message
diff --git a/docs/uk/msg_docs/YawEstimatorStatus.md b/docs/uk/msg_docs/YawEstimatorStatus.md
index f45e7c22b4..110ccae163 100644
--- a/docs/uk/msg_docs/YawEstimatorStatus.md
+++ b/docs/uk/msg_docs/YawEstimatorStatus.md
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# YawEstimatorStatus (повідомлення UORB)
-**TOPICS:** yaw_estimatorstatus
+**TOPICS:** yaw_estimator_status
## Fields
diff --git a/docs/uk/msg_docs/index.md b/docs/uk/msg_docs/index.md
index 6ffa67c21e..b79bcc06e9 100644
--- a/docs/uk/msg_docs/index.md
+++ b/docs/uk/msg_docs/index.md
@@ -18,15 +18,16 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
- [AirspeedValidated](AirspeedValidated.md) — Validated airspeed.
- [ArmingCheckReply](ArmingCheckReply.md) — Arming check reply.
- [ArmingCheckRequest](ArmingCheckRequest.md) — Arming check request.
+- [AuxGlobalPosition](AuxGlobalPosition.md) — Auxiliary global position.
- [BatteryStatus](BatteryStatus.md) — Battery status.
- [ConfigOverrides](ConfigOverrides.md) — Configurable overrides by (external) modes or mode executors.
- [Event](Event.md) — Events interface.
-- [FixedWingLateralSetpoint](FixedWingLateralSetpoint.md) — Fixed Wing Lateral Setpoint message. Used by the fw_lateral_longitudinal_control module. At least one of course, airspeed_direction, or lateral_acceleration must be finite.
-- [FixedWingLongitudinalSetpoint](FixedWingLongitudinalSetpoint.md) — Fixed Wing Longitudinal Setpoint message. Used by the fw_lateral_longitudinal_control module. If pitch_direct and throttle_direct are not both finite, then the controller relies on altitude/height_rate and equivalent_airspeed to control vertical motion. If both altitude and height_rate are NAN, the controller maintains the current altitude.
-- [GotoSetpoint](GotoSetpoint.md) — Position and (optional) heading setpoints with corresponding speed constraints. Setpoints are intended as inputs to position and heading smoothers, respectively. Setpoints do not need to be kinematically consistent. Optional heading setpoints may be specified as controlled by the respective flag. Unset optional setpoints are not controlled. Unset optional constraints default to vehicle specifications.
+- [FixedWingLateralSetpoint](FixedWingLateralSetpoint.md) — Fixed Wing Lateral Setpoint message.
+- [FixedWingLongitudinalSetpoint](FixedWingLongitudinalSetpoint.md) — Fixed Wing Longitudinal Setpoint message.
+- [GotoSetpoint](GotoSetpoint.md) — Position and (optional) heading setpoints with corresponding speed constraints.
- [HomePosition](HomePosition.md) — GPS home position in WGS84 coordinates.
-- [LateralControlConfiguration](LateralControlConfiguration.md) — Fixed Wing Lateral Control Configuration message. Used by the fw_lateral_longitudinal_control module to constrain FixedWingLateralSetpoint messages.
-- [LongitudinalControlConfiguration](LongitudinalControlConfiguration.md) — Fixed Wing Longitudinal Control Configuration message. Used by the fw_lateral_longitudinal_control module and TECS to constrain FixedWingLongitudinalSetpoint messages. and configure the resultant setpoints.
+- [LateralControlConfiguration](LateralControlConfiguration.md) — Fixed Wing Lateral Control Configuration message.
+- [LongitudinalControlConfiguration](LongitudinalControlConfiguration.md) — Fixed Wing Longitudinal Control Configuration message.
- [ManualControlSetpoint](ManualControlSetpoint.md)
- [ModeCompleted](ModeCompleted.md) — Mode completion result, published by an active mode. Можливі значення nav_state визначені в повідомленні VehicleStatus. Note that this is not always published (e.g. when a user switches modes or on. failsafe activation).
- [RaptorInput](RaptorInput.md) — Raptor Input.
@@ -39,7 +40,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
- [VehicleAttitude](VehicleAttitude.md) — This is similar to the mavlink message ATTITUDE_QUATERNION, but for onboard use. The quaternion uses the Hamilton convention, and the order is q(w, x, y, z).
- [VehicleAttitudeSetpoint](VehicleAttitudeSetpoint.md)
- [VehicleCommand](VehicleCommand.md) — Vehicle Command uORB message. Використовується для управління місією / дією / тощо. Follows the MAVLink COMMAND_INT / COMMAND_LONG definition.
-- [VehicleCommandAck](VehicleCommandAck.md) — Vehicle Command Ackonwledgement uORB message. Used for acknowledging the vehicle command being received. Follows the MAVLink COMMAND_ACK message definition.
+- [VehicleCommandAck](VehicleCommandAck.md) — Vehicle Command Acknowledgement uORB message.
- [VehicleControlMode](VehicleControlMode.md)
- [VehicleGlobalPosition](VehicleGlobalPosition.md) — Fused global position in WGS84. This struct contains global position estimation. It is not the raw GPS. measurement (@see vehicle_gps_position). This topic is usually published by the position. estimator, which will take more sources of information into account than just GPS,. e.g. control inputs of the vehicle in a Kalman-filter implementation.
- [VehicleLandDetected](VehicleLandDetected.md)
@@ -224,8 +225,8 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
- [SensorSelection](SensorSelection.md) — Sensor ID's for the voted sensors output on the sensor_combined topic. Will be updated on startup of the sensor module and when sensor selection changes.
- [SensorTemp](SensorTemp.md)
- [SensorUwb](SensorUwb.md) — UWB distance contains the distance information measured by an ultra-wideband positioning system,. such as Pozyx or NXP Rddrone.
-- [SensorsStatus](SensorsStatus.md) — Sensor check metrics. Це значення буде нульовим для датчика, який є первинним або незаповненим.
-- [SensorsStatusImu](SensorsStatusImu.md) — Sensor check metrics. Це значення буде нульовим для датчика, який є первинним або незаповненим.
+- [SensorsStatus](SensorsStatus.md) — Sensor check metrics. This will be zero for a sensor that's primary or unpopulated.
+- [SensorsStatusImu](SensorsStatusImu.md) — Sensor check metrics. This will be zero for a sensor that's primary or unpopulated.
- [SystemPower](SystemPower.md)
- [TakeoffStatus](TakeoffStatus.md) — Status of the takeoff state machine currently just available for multicopters.
- [TaskStackInfo](TaskStackInfo.md) — stack information for a single running process.
@@ -267,5 +268,8 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
- [RegisterExtComponentReplyV0](RegisterExtComponentReplyV0.md)
- [RegisterExtComponentRequestV0](RegisterExtComponentRequestV0.md) — Request to register an external component.
- [VehicleAttitudeSetpointV0](VehicleAttitudeSetpointV0.md)
+- [VehicleCommandAckV0](VehicleCommandAckV0.md) — Vehicle Command Ackonwledgement uORB message. Used for acknowledging the vehicle command being received. Follows the MAVLink COMMAND_ACK message definition.
+- [VehicleGlobalPositionV0](VehicleGlobalPositionV0.md) — Fused global position in WGS84. This struct contains global position estimation. It is not the raw GPS. measurement (@see vehicle_gps_position). This topic is usually published by the position. estimator, which will take more sources of information into account than just GPS,. e.g. control inputs of the vehicle in a Kalman-filter implementation.
- [VehicleLocalPositionV0](VehicleLocalPositionV0.md) — Fused local position in NED. The coordinate system origin is the vehicle position at the time when the EKF2-module was started.
- [VehicleStatusV0](VehicleStatusV0.md) — Encodes the system state of the vehicle published by commander.
+- [VehicleStatusV1](VehicleStatusV1.md) — Encodes the system state of the vehicle published by commander.
diff --git a/docs/uk/neural_networks/mc_neural_network_control.md b/docs/uk/neural_networks/mc_neural_network_control.md
index 53339f5ee3..a6f0d712df 100644
--- a/docs/uk/neural_networks/mc_neural_network_control.md
+++ b/docs/uk/neural_networks/mc_neural_network_control.md
@@ -17,7 +17,7 @@ Note that after training the network you will need to update and rebuild PX4.
TLFM is a mature inference library intended for use on embedded devices.
It has support for several architectures, so there is a high likelihood that you can build it for the board you want to use.
-If not, there are other possible NN frameworks, such as [Eigen](https://eigen.tuxfamily.org/index.php?title=Main_Page) and [Executorch](https://pytorch.org/executorch-overview).
+If not, there are other possible NN frameworks, such as [Eigen](https://eigen.tuxfamily.org/index.php?title=Main_Page) and [Executorch](https://docs.pytorch.org/executorch/stable/intro-overview.html).
This document explains how you can include the module in your PX4 build, and provides a broad overview of how it works.
The other documents in the section provide more information about the integration, allowing you to replace the NN with a version trained on different data, or even to replace the TLFM library altogether.
diff --git a/docs/uk/neural_networks/nn_module_utilities.md b/docs/uk/neural_networks/nn_module_utilities.md
index c41a520cf6..a6888fa50b 100644
--- a/docs/uk/neural_networks/nn_module_utilities.md
+++ b/docs/uk/neural_networks/nn_module_utilities.md
@@ -41,7 +41,7 @@ This only works for some flight controllers, so you might have to use an RC cont
This specifies what you want to create, you can read more about this in the [Control Interface](../ros2/px4_ros2_control_interface.md).
In this case we register an arming check and a mode.
2. Wait for a [RegisterExtComponentReply](../msg_docs/RegisterExtComponentReply.md).
- This will give feedback on wether the mode registration was successful, and what the mode and arming check id is for the new mode.
+ This will give feedback on whether the mode registration was successful, and what the mode and arming check id is for the new mode.
3. [Optional] With the mode id, publish a [VehicleControlMode](../msg_docs/VehicleControlMode.md) message on the `config_control_setpoints` topic.
Here you can configure what other modules run in parallel.
The example controller replaces everything, so it turns off allocation.
@@ -71,7 +71,7 @@ For these messages to be saved in your logs you need to include `debug` in the [
The module has two includes for measuring the inference times.
The first one is a driver that works on the actual flight controller units, but a second one, `chrono`, is loaded for SITL testing.
-Which timing library is included and used is based on wether PX4 is built with NUTTX or not.
+Which timing library is included and used is based on whether PX4 is built with NUTTX or not.
## Changing the setpoint
diff --git a/docs/uk/neural_networks/raptor.md b/docs/uk/neural_networks/raptor.md
index 5568790267..86990b4776 100644
--- a/docs/uk/neural_networks/raptor.md
+++ b/docs/uk/neural_networks/raptor.md
@@ -1,6 +1,6 @@
# RAPTOR: A Neural Network Module for Adaptive Quadrotor Control
-/out` to `fmu/out/`, and [Adusting the QoS settings](../ros2/user_guide.md#ros-2-subscriber-qos-settings).
+Modifying topic names to match the new naming pattern, which changed from `fmu//out` to `fmu/out/`, and [Adjusting the QoS settings](../ros2/user_guide.md#ros-2-subscriber-qos-settings).
For more information see [Fast-RTPS to uXRCE-DDS Migration Guidelines](../middleware/uxrce_dds.md#fast-rtps-to-uxrce-dds-migration-guidelines)
@@ -102,7 +102,7 @@ For more information see [Fast-RTPS to uXRCE-DDS Migration Guidelines](../middle
- Failsafe state machine rewrite and [web simulation](../config/safety_simulation.md)
- Improved preflight failure check reporting (requires QGC [v4.2.0](https://github.com/mavlink/qgroundcontrol/releases/tag/v4.2.0) or later): [PX4-Autopilot#20030](https://github.com/PX4/PX4-Autopilot/pull/20030) and [qgroundcontrol#10362](https://github.com/mavlink/qgroundcontrol/pull/10362)
-- [Package delivery in mission](../advanced/package_delivery.md): For package delivery applications, inital support for payload delivery in mission for gripper actuator was added
+- [Package delivery in mission](../advanced/package_delivery.md): For package delivery applications, initial support for payload delivery in mission for gripper actuator was added
- Manual control setpoint message redefinition: `manual_control_setpoint.x`, `y`, `z`, `w` -> `roll`, `pitch`, `yaw`, `throttle`; `throttle scale [0,1] -> [-1,1]` - [PX4-Autopilot#15949](https://github.com/PX4/PX4-Autopilot/pull/15949)
- Default motor PWM configuration - [PX4-Autopilot#21800](https://github.com/PX4/PX4-Autopilot/pull/21800)
- Fix PWM/Oneshot calibration - [PX4-Autopilot#21726](https://github.com/PX4/PX4-Autopilot/pull/21726)
@@ -135,7 +135,7 @@ For more information see [Fast-RTPS to uXRCE-DDS Migration Guidelines](../middle
- [Gazebo-classic] Додавання моделі Омнікоптера: До Gazebo SITL була додана повністю актована модель омнідирекціонального транспортного засобу - https://github.com/PX4/PX4-SITL_gazebo-classic/pull/866
- [Gazebo-classic] Addition of Advanced liftdrag plugin: Advanced liftdrag plugin that models nonlinear aerodynamics based on AVL - [PX4-SITL_gazebo-classic#901](https://github.com/PX4/PX4-SITL_gazebo-classic/pull/901)
- [Gazebo-classic] Addition of Safe landing world: Addition of safe landing world, for testing safe landing - [PX4-SITL_gazebo-classic#93](https://github.com/PX4/PX4-SITL_gazebo-classic/pull/93)
-- [Gazebo-classic] Depricated Ubuntu Bionic reated tests: Removed testing due to EOL of Ubuntu Bionic - [PX4-SITL_gazebo-classic#974](https://github.com/PX4/PX4-SITL_gazebo-classic/pull/974)
+- [Gazebo-classic] Deprecated Ubuntu Bionic reated tests: Removed testing due to EOL of Ubuntu Bionic - [PX4-SITL_gazebo-classic#974](https://github.com/PX4/PX4-SITL_gazebo-classic/pull/974)
- [SIH] Самостійні симуляції датчиків у дереві: Здатність симулювати датчики у дереві, яке було частиною SIH, тепер є самостійним модулем датчика. Sensors include magnetometer, GPS, Barometer, Airspeed - [PX4-Autopilot#20137](https://github.com/PX4/PX4-Autopilot/pull/20137), https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/sensor_airspeed_sim
- [SIH] Впровадження відмов для імітації акумулятора - https://github.com/PX4/PX4-Autopilot/commit/ebc1d7544e8146788c9e7cf5e8b64f60199240e4
diff --git a/docs/uk/releases/1.15.md b/docs/uk/releases/1.15.md
index d974126659..caadc9d253 100644
--- a/docs/uk/releases/1.15.md
+++ b/docs/uk/releases/1.15.md
@@ -79,7 +79,7 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
- Correct way of describing the quaternion uncertainty using Lie group theory
- Use Joseph stabilized covariance update algorithm for better covariance stability and allow use of "consider states" (inactive states with non-zero variance) ([PX4-Autopilot#22770](https://github.com/PX4/PX4-Autopilot/pull/22770))
- Covariance prediction, measurement jacobians, state struct and covariance index auto-generated using SymForce
-- Manual position update throught MAVLink (`MAV_CMD_EXTERNAL_POSITION_ESTIMATE`)
+- Manual position update through MAVLink (`MAV_CMD_EXTERNAL_POSITION_ESTIMATE`)
- Add Auxiliary Global Position (AGP) fusion (for e.g.: external map matching vision algorithm)
**Mag:**
diff --git a/docs/uk/releases/1.16.md b/docs/uk/releases/1.16.md
index a60af13c90..c0b9b84434 100644
--- a/docs/uk/releases/1.16.md
+++ b/docs/uk/releases/1.16.md
@@ -57,7 +57,7 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
- [Voltage-based estimation with load compensation](../config/battery.md#voltage-based-estimation-with-load-compensation) now uses a real-time estimate of the internal resistance of the battery to compensate voltage drops under load (with increased current), providing a better capacity estimate than with the raw measured voltage.
- Thrust-based load compensation has been removed (along with the `BATn_V_LOAD_DROP` parameters, where `n` is the battery number).
-- The [Position (GNSS) loss failsafe](../config/safety.md#position-gnss-loss-failsafe) configurable delay (`COM_POS_FS_DELAY`) has been removed.
+- The [Position (GNSS) loss failsafe](../config/safety.md#position-loss-failsafe) configurable delay (`COM_POS_FS_DELAY`) has been removed.
The failsafe will now trigger 1 second after position has been lost. ([PX4-Autopilot#24063](https://github.com/PX4/PX4-Autopilot/pull/24063)).
- [Log Encryption](../dev_log/log_encryption.md) now generates an encrypted log that contains the public-key-encrypted symmetric key that can be used to decrypt it, instead of putting the key into a separate file.
@@ -160,7 +160,7 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
- mavlink_ftp: handle relative paths correctly. ([PX4-Autopilot#22980](https://github.com/PX4/PX4-Autopilot/pull/22980))
- Parameter to always start mavlink stream via USB. ([PX4-Autopilot#22234](https://github.com/PX4/PX4-Autopilot/pull/22234))
- Refactor: MAVLink message handling in one function, reference instead of pointer to main instance ([PX4-Autopilo#23219](https://github.com/PX4/PX4-Autopilot/pull/22234))
-- mavlink log handler rewrite for improved effeciency ([PX4-Autopilo#23219](https://github.com/PX4/PX4-Autopilot/pull/22234))
+- mavlink log handler rewrite for improved efficiency ([PX4-Autopilo#23219](https://github.com/PX4/PX4-Autopilot/pull/22234))
### Мульти-Ротор
diff --git a/docs/uk/releases/1.17.md b/docs/uk/releases/1.17.md
index 5b388e69e0..b0e6026728 100644
--- a/docs/uk/releases/1.17.md
+++ b/docs/uk/releases/1.17.md
@@ -9,11 +9,11 @@ const { site } = useData();
-This contains changes to PX4 planned for PX4 v1.17 (since the last major release [PX v1.16](../releases/1.16.md)).
+This contains changes in PX4 v1.17 (since the last major release [PX v1.16](../releases/1.16.md)).
:::warning
PX4 v1.17 is in alpha/beta testing.
@@ -57,7 +57,7 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
-->
--
// Template function to get the message version suffix
-// The correct message version is directly inferred from the message defintion
+// The correct message version is directly inferred from the message definition
template
std::string getMessageNameVersion() {
if (T::MESSAGE_VERSION == 0) return "";
diff --git a/docs/uk/ros2/px4_ros2_navigation_interface.md b/docs/uk/ros2/px4_ros2_navigation_interface.md
index a946973966..918fbc6e23 100644
--- a/docs/uk/ros2/px4_ros2_navigation_interface.md
+++ b/docs/uk/ros2/px4_ros2_navigation_interface.md
@@ -104,7 +104,7 @@
Для надсилання вимірювання позиції ви заповнюєте структуру позиції з виміряними значеннями.
Потім викликаєте функцію оновлення інтерфейсу з цією структурою як аргументом.
-Для базового прикладу, як користуватися цим інтерфейсом, ознайомтеся з [examples](https://github.com/Auterion/px4-ros2-interface-lib/tree/main/examples/cpp/navigation) в `Auterion/px4-rosface-lib` репозиторію, наприклад [examples/cpp/navigation/local_navigation](https://github.com/Auterion/px4-ros2-interface-lib/b/main/examples/cpp/navigation/local_navigation/inclation/inclde/local_localation.hppation.hpp) або examples/cpps/cppation/globation](https://github.com/Auter/intertere-face-face-face-facb/mainb/mppation/mppation/example/example/navigation/navigation/navigation/navig/navigation/navigation/navig/navig/navig/navighblob/navig
+For a basic example of how to use this interface, check out the [examples](https://github.com/Auterion/px4-ros2-interface-lib/tree/main/examples/cpp/navigation) in the `Auterion/px4-ros2-interface-lib` repository, such as [examples/cpp/navigation/local_navigation](https://github.com/Auterion/px4-ros2-interface-lib/blob/main/examples/cpp/navigation/local_navigation/include/local_navigation.hpp) or [examples/cpp/navigation/global_navigation](https://github.com/Auterion/px4-ros2-interface-lib/blob/main/examples/cpp/navigation/global_navigation/include/global_navigation.hpp).
### Оновлення локальної позиції
@@ -223,7 +223,7 @@ private:
###
-Спочатку переконайтеся, що параметр PX4 [`EKF2_EV_CTRL`](../advanced_config/parameter_reference.md#EKF2_EV_CTRL) налаштований належним чином для ефективного використання зовнішніх локальних вимірів, встановивши відповідні біти в `true`:
+First ensure that the PX4 [`EKF2_AGP_CTRLn`](../advanced_config/parameter_reference.md#EKF2_AGP0_CTRL) parameters are properly configured to fuse external global measurements, by setting the appropriate bits to `true`:
- 0: Дані горизонтальної позиції
- 1: Дані вертикальної позиції
diff --git a/docs/uk/ros2/user_guide.md b/docs/uk/ros2/user_guide.md
index 2f5ff0d4c0..910171082e 100644
--- a/docs/uk/ros2/user_guide.md
+++ b/docs/uk/ros2/user_guide.md
@@ -9,7 +9,7 @@ From PX4 v1.14, ROS 2 uses [uXRCE-DDS](../middleware/uxrce_dds.md) middleware, r
The [migration guide](../middleware/uxrce_dds.md#fast-rtps-to-uxrce-dds-migration-guidelines) explains what you need to do in order to migrate ROS 2 apps from PX4 v1.13 to PX4 v1.14.
-If you're still working on PX4 v1.13, please follow the instructions in the [PX4 v1.13 Docs](https://docs.px4.io/v1.13/en/ros/ros2_comm.html).
+If you're still working on PX4 v1.13, please follow the instructions in the [PX4 v1.13 Docs](https://docs.px4.io/v1.13/en/ros/ros2_comm).
@@ -137,7 +137,7 @@ To install ROS 2 and its dependencies:
2. Some Python dependencies must also be installed (using **`pip`** or **`apt`**):
```sh
- pip install --user -U empy==3.3.4 pyros-genmsg setuptools
+ pip install --user -U empty==3.3.4 pyros-genmsg setuptools
```
### Setup Micro XRCE-DDS Agent & Client
diff --git a/docs/uk/sensor/airspeed.md b/docs/uk/sensor/airspeed.md
index 35847149c3..f361f81e97 100644
--- a/docs/uk/sensor/airspeed.md
+++ b/docs/uk/sensor/airspeed.md
@@ -11,8 +11,8 @@ Airspeed sensors are _highly recommended_ for fixed-wing and VTOL frames.
Рекомендовані цифрові сенсори швидкості в повітрі включають:
- 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))
- - [mRo I2C Airspeed Sensor JST-GH MS4525DO](https://store.3dr.com/mro-i2c-airspeed-sensor-jst-gh-ms4525do/) (3DR store)
+ - 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)
- [Holybro Digital Air Speed Sensor - MS5525DSO](https://holybro.com/collections/sensors/products/digital-air-speed-sensor-ms5525dso)
diff --git a/docs/uk/sensor/airspeed_tfslot.md b/docs/uk/sensor/airspeed_tfslot.md
index f97c594f13..a0531471d3 100644
--- a/docs/uk/sensor/airspeed_tfslot.md
+++ b/docs/uk/sensor/airspeed_tfslot.md
@@ -5,7 +5,7 @@
[TFSLOT](https://github.com/ThunderFly-aerospace/TFSLOT01) is an airspeed sensor based on venturi effects.
-In the basic configuration, the TFSLOT is equipped with the [TFASPDIMU02](https://github.com/ThunderFly-aerospace/TFASPDIMU02) sensor board, which contains a differential pressure sensor ([Sensirion SDP3x series](https://sensirion.com/products/catalog/?filter_series=d1816d53-f5c8-47e3-ab47-818c3fd54259)) and a 9-axis motion tracking sensor ([ICM-20948](https://invensense.tdk.com/products/motion-tracking/9-axis/icm-20948/)).
+In the basic configuration, the TFSLOT is equipped with the [TFASPDIMU02](https://github.com/ThunderFly-aerospace/TFASPDIMU02) sensor board, which contains a differential pressure sensor ([Sensirion SDP3x series](https://sensirion.com/products/catalog?filter_series=d1816d53-f5c8-47e3-ab47-818c3fd54259)) and a 9-axis motion tracking sensor ([ICM-20948](https://invensense.tdk.com/products/motion-tracking/9-axis/icm-20948/)).
Одиницю IMU можна використовувати як зовнішній компас.
- Цей дизайн має кілька переваг при використанні на невеликих і повільних безпілотних літальних апаратах.
diff --git a/docs/uk/sensor/grf_lidar.md b/docs/uk/sensor/grf_lidar.md
new file mode 100644
index 0000000000..e83fed6a1b
--- /dev/null
+++ b/docs/uk/sensor/grf_lidar.md
@@ -0,0 +1,69 @@
+# Lightware GRF250/GRF500 Gimbal Lidar
+
+LightWare [GRF250](https://lightwarelidar.com/shop/grf-250/) and [GRF500](https://lightwarelidar.com/shop/grf-500/) are small and light Lidar modules with a range of 250m and 500m, respectively.
+
+
+
+:::info
+The Lidar driver is not included in the default build of PX4.
+You will need to [create and use a custom build](#add-the-driver-to-the-px4-build).
+:::
+
+## Де купити
+
+Order these modules from:
+
+- [GRF250](https://lightwarelidar.com/shop/grf-250/)
+- [GRF500](https://lightwarelidar.com/shop/grf-500/)
+
+## Налаштування програмного забезпечення
+
+The rangefinder can be connected to any unused serial port, such as `TELEM2`.
+[Parameter Configuration](#parameter-configuration) explains how to configure the port to use and the other properties of the rangefinder.
+
+## Налаштування PX4
+
+### Add the Driver to the PX4 Build
+
+The [lightware_grf_serial](../modules/modules_driver_distance_sensor.md#lightware-grf-serial) driver for this Lidar is not included in PX4 firmware by default.
+In order to use these modules you will first need to update the firmware configuration to add the driver, and then build the firmware.
+
+1. Update the firmware configuration. You can use either of the following options:
+ - Menuconfig:
+ 1. Install and open [menuconfig](../hardware/porting_guide_config.md#px4-menuconfig-setup)
+ 2. In [menuconfig](../hardware/porting_guide_config.md#px4-menuconfig-setup), navigate to **Drivers > Distance sensors**
+ 3. Select/Enable `lightware_grf_serial`
+ 4. Save the configuration
+
+ - Manually update `default.px4` to include the configuration key:
+ 1. Open the `default.px4board` config file that corresponds to the board you want to build for.
+ For example, to add the driver to `fmu-v6x` boards you would update [/boards/px4/fmu-v6x/default.px4board ](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v6x/default.px4board)
+ 2. Add the following line and save the file:
+
+ ```txt
+ CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_GRF_SERIAL=y
+ ```
+
+2. [Build PX4](../dev_setup/building_px4.md) for your flight controller target and upload the new firmware.
+
+### Налаштування параметрів
+
+You will need to configure PX4 to indicate the serial port to which the sensor is connected (as per [Serial Port Configuration](../peripherals/serial_configuration.md)) and also the orientation and other properties of the sensor.
+
+The [parameters to change](../advanced_config/parameters.md) are listed in the table.
+
+| Параметр | Опис |
+| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------ |
+| [SENS_EN_GRF_CFG](../advanced_config/parameter_reference.md#SENS_EN_GRF_CFG) | Set to the serial port the sensor is connected to. |
+| [GRF_RATE_CFG](../advanced_config/parameter_reference.md#GRF_RATE_CFG) | Set the update rate. |
+| [GRF_SENS_MODEL](../advanced_config/parameter_reference.md#GRF_SENS_MODEL) | Set the sensor model to use. |
+
+## Тестування
+
+You can confirm that the sensor is correctly configured by connecting QGroundControl, and observing that [DISTANCE_SENSOR](https://mavlink.io/en/messages/common.html#DISTANCE_SENSOR) is present in the [MAVLink Inspector](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/analyze_view/mavlink_inspector.html).
+
+Moving the sensor around at various distances from a surface will have the `current_distance` value change.
+
+## Усунення проблем
+
+If you are having problems with connecting to the sensor you may need to unassign a the default serial port. [Unassign Default Serial Port](../peripherals/serial_configuration.md)
diff --git a/docs/uk/sensor/inertial_navigation_systems.md b/docs/uk/sensor/inertial_navigation_systems.md
index 6dd786584c..5732d3734a 100644
--- a/docs/uk/sensor/inertial_navigation_systems.md
+++ b/docs/uk/sensor/inertial_navigation_systems.md
@@ -49,5 +49,4 @@ INS є навігаційним пристроєм, який використо
## Подальша інформація
-- [Що таке інерційна навігаційна система?](https://www.vectornav.com/resources/inertial-navigation-articles/what-is-an-ins) (VectorNav)
- [Посібник з інерціальної навігації](https://www.vectornav.com/resources/inertial-navigation-primer) (VectorNav)
diff --git a/docs/uk/sensor/inertiallabs.md b/docs/uk/sensor/inertiallabs.md
index e7e3c6e4b3..2847434065 100644
--- a/docs/uk/sensor/inertiallabs.md
+++ b/docs/uk/sensor/inertiallabs.md
@@ -21,8 +21,8 @@ The mode is configurable using a parameter.
[Get technical support or send requests to sales team](https://inertiallabs.com/inertial-labs-inc/contact-inertial-labs-team/).
Recommended sensors:
-- [INS-U GNSS/INS](https://inertiallabs.com/ins-u-datasheet): Recommended for fixed-wing systems without hovering, where static heading is not necessary.
-- [INS-DU DUAL GNSS/INS](https://inertiallabs.com/ins-du-datasheet): Recommended for multicopter systems where hovering and low dynamics requires the use of static heading.
+- [INS-U GNSS/INS](https://inertiallabs.com/wp-content/uploads/2026/01/INS-U_INS-U-OEM_Datasheet_REV2.18_JAN2026.pdf): Recommended for fixed-wing systems without hovering, where static heading is not necessary.
+- [INS-DU DUAL GNSS/INS](https://inertiallabs.com/wp-content/uploads/2025/12/INS-DU_INS-DU-OEM_Datasheet_REV1.00_DEC2025.pdf): Recommended for multicopter systems where hovering and low dynamics requires the use of static heading.
## Налаштування програмного забезпечення
diff --git a/docs/uk/sensor/lidar_lite.md b/docs/uk/sensor/lidar_lite.md
index dbbfeeff08..85a1f009c0 100644
--- a/docs/uk/sensor/lidar_lite.md
+++ b/docs/uk/sensor/lidar_lite.md
@@ -6,7 +6,7 @@ LIDAR-Lite це компактний, високопродуктивний оп
## Де купити
-- [LIDAR-Lite v3](https://buy.garmin.com/en-AU/AU/p/557294) (5cm - 40m)
+- [LIDAR-Lite v3](https://www.garmin.com/en-AU/p/557294/) (5cm - 40m)
## Схема розташування виводів
diff --git a/docs/uk/sensor/microstrain.md b/docs/uk/sensor/microstrain.md
index 7503f30629..57292c45a9 100644
--- a/docs/uk/sensor/microstrain.md
+++ b/docs/uk/sensor/microstrain.md
@@ -7,10 +7,10 @@ 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-units--vru-/3dm-cv7-ar): Inertial Measurement Unit (IMU) and Vertical Reference Unit (VRU)
-- [`MicroStrain CV7-AHRS`](https://www.hbkworld.com/en/products/transducers/inertial-sensors/attitude-and-heading-reference-systems--ahrs-/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/inertial-navigation-systems--ins-/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/inertial-navigation-systems--ins-/3dm-cv7-gnss-ins): Inertial Measurement Unit (IMU) and Inertial Navigation System (INS) combined with dual multiband (GNSS) receivers.
+- [`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.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.
For more information, including user manuals and datasheets, please refer to the sensors product page.
@@ -18,7 +18,7 @@ For more information, including user manuals and datasheets, please refer to the
## Де купити
MicroStrain sensors can be purchased through HBK's official [MicroStrain product page](https://www.hbkworld.com/en/products/transducers/inertial-sensors) or through authorized distributors globally.
-For large orders, custom requirements, or technical inquiries, reach out directly to [sales](https://www.hbkworld.com/en/contact-us/contact-sales-microstrain)
+For large orders, custom requirements, or technical inquiries, reach out directly to [sales](https://www.hbkworld.com/en/contact-us)
## Налаштування програмного забезпечення
diff --git a/docs/uk/sensor/optical_flow.md b/docs/uk/sensor/optical_flow.md
index 8f301d4ad7..e104d8e440 100644
--- a/docs/uk/sensor/optical_flow.md
+++ b/docs/uk/sensor/optical_flow.md
@@ -71,7 +71,7 @@ An all-in-one design that simplifies installation, with an onboard infrared LED
### Інші Камери/Сенсори
Також можна використовувати дошку/квадрокоптер, яка має вбудовану камеру.
-For this the [Optical Flow repo](https://github.com/PX4/OpticalFlow) can be used (see also [snap_cam](https://github.com/PX4/snap_cam)).
+For this the [Optical Flow repo](https://github.com/PX4/PX4-OpticalFlow) can be used (see also [snap_cam](https://github.com/PX4/snap_cam)).
## Далекомір
diff --git a/docs/uk/sensor/px4flow.md b/docs/uk/sensor/px4flow.md
index 419d38bbec..b9159f35f5 100644
--- a/docs/uk/sensor/px4flow.md
+++ b/docs/uk/sensor/px4flow.md
@@ -5,4 +5,4 @@
PX4 does not support the PX4Flow [optical flow](../sensor/optical_flow.md) sensor from PX4 v1.13 (it doesn't work with current firmware).
PX4 може працювати зі старішою прошивкою PX4Flow.
-Documentation has been removed (if needed, see [Legacy Docs for PX4Flow in v1.13](https://docs.px4.io/v1.13/en/sensor/px4flow.html)).
+Documentation has been removed (if needed, see [Legacy Docs for PX4Flow in v1.13](https://docs.px4.io/v1.13/en/sensor/px4flow)).
diff --git a/docs/uk/sensor/rangefinders.md b/docs/uk/sensor/rangefinders.md
index e5280bf30a..b1b3450d32 100644
--- a/docs/uk/sensor/rangefinders.md
+++ b/docs/uk/sensor/rangefinders.md
@@ -93,7 +93,7 @@ It comes with a JST GHR 4 pin connector that is compatible with the I2C port on
### MaxBotix I2CXL-MaxSonar-EZ
-The MaxBotix [I2CXL-MaxSonar-EZ](https://www.maxbotix.com/product-category/i2cxl-maxsonar-ez-products) range has a number of relatively short-ranged sonar based rangefinders that are suitable for assisted takeoff/landing and collision avoidance.
+The MaxBotix [I2CXL-MaxSonar-EZ](https://maxbotix.com/collections/i2cxl-maxsonar-ez-products) range has a number of relatively short-ranged sonar based rangefinders that are suitable for assisted takeoff/landing and collision avoidance.
Ці можуть бути підключені за допомогою порту I2C.
The rangefinders are enabled using the parameter [SENS_EN_MB12XX](../advanced_config/parameter_reference.md#SENS_EN_MB12XX).
@@ -163,7 +163,7 @@ Features:
- [VL53L1CBV0FY-1](https://www.st.com/resource/en/datasheet/vl53l1.pdf) sensor
- Input voltage sensor
-- CAN connectors: 2 [UCANPHY Micro (JST-GH 4)](https://raccoonlabdev.github.io/docs/guide/wires/).
+- CAN connectors: 2 [UCANPHY Micro (JST-GH 4)](https://docs.raccoonlab.co/guide/wires/).
## Configuration/Setup {#configuration}
diff --git a/docs/uk/sensor/sbgecom.md b/docs/uk/sensor/sbgecom.md
index 4e65d0243c..bc9be0427f 100644
--- a/docs/uk/sensor/sbgecom.md
+++ b/docs/uk/sensor/sbgecom.md
@@ -2,7 +2,7 @@
[SBG-Systems](https://www.sbg-systems.com/) designs, manufactures, and support an extensive range of state-of-the-art inertial sensors such as Inertial Measurement Units (IMU), Attitude and Heading Reference Systems (AHRS), Inertial Navigation Systems with embedded GNSS (INS/GNSS), and so on.
-PX4 supports [all SBG Systems products](https://www.sbg-systems.com/products/) and can use these as an [external INS](../sensor/inertial_navigation_systems.md) (bypassing/replacing the EKF2 estimator), or as a source of raw sensor data provided to the navigation estimator.
+PX4 supports [all SBG Systems products](https://www.sbg-systems.com/) and can use these as an [external INS](../sensor/inertial_navigation_systems.md) (bypassing/replacing the EKF2 estimator), or as a source of raw sensor data provided to the navigation estimator.
@@ -17,7 +17,7 @@ SBG Systems products provide a range of benefits to PX4 users and can be integra
The sbgECom PX4 driver is streamlined to provide a simple plug-and-play architecture, removing engineering obstacles and allowing the acceleration of the design, development, and launch of platforms to keep pace with the rapid rate of innovation.
-The driver supports [all SBG Systems products](https://www.sbg-systems.com/products/).
+The driver supports [all SBG Systems products](https://www.sbg-systems.com/).
Зокрема, рекомендуємо наступні системи:
- **Pulse:** Recommended for fixed-wing systems without hovering, where static heading is not necessary.
@@ -151,5 +151,5 @@ and, if configured as an INS, publishes:
## Характеристики обладнання
-- [Product Briefs](https://www.sbg-systems.com/products/)
+- [Product Briefs](https://www.sbg-systems.com/)
- [Datasheets](https://www.sbg-systems.com/contact/#products)
diff --git a/docs/uk/sensor/sf45_rotating_lidar.md b/docs/uk/sensor/sf45_rotating_lidar.md
index a4137666d4..d52fda64b2 100644
--- a/docs/uk/sensor/sf45_rotating_lidar.md
+++ b/docs/uk/sensor/sf45_rotating_lidar.md
@@ -12,7 +12,7 @@ You will need to [create and use a custom build](#add-the-driver-to-the-px4-buil
## LightWare Studio Setup
-In the [LightWare Studio](https://www.lightwarelidar.com/resources-software) app set following values:
+In the [LightWare Studio](https://lightwarelidar.com/resources-software/) app set following values:
| Параметр | Опис |
| --------- | ------ |
diff --git a/docs/uk/sensor/sfxx_lidar.md b/docs/uk/sensor/sfxx_lidar.md
index 98becf2484..9f7428d015 100644
--- a/docs/uk/sensor/sfxx_lidar.md
+++ b/docs/uk/sensor/sfxx_lidar.md
@@ -9,14 +9,14 @@ LightWare розробляє широкий спектр легких, зага
Наступні моделі підтримуються PX4 та можуть бути підключені до шини I2C або Serial (таблиці нижче показують, яку шину можна використовувати для кожної моделі).
-| Модель | Range (m) | Шина | Опис |
-| ------------------------------------------------------- | ---------------------------- | -------------------- | ------------------------------------------------------------------------------------------------------------- |
-| [SF11/C](https://lightwarelidar.com/shop/sf11-c-100-m/) | 100 | Серійна або I2C шина | |
-| [LW20/C](https://lightware.co.za/products/lw20-c-100-m) | 100 | Шина I2C | Водонепроникний (IP67) з сервоприводом для додатків з детекцією та уникненням перешкод |
-| [SF30/D](https://lightwarelidar.com/shop/sf30-d-200-m/) | 200 | Шина I2C | Waterproofed (IP67) |
-| [SF45/B](../sensor/sf45_rotating_lidar.md) | 50 | Серія | Rotary Lidar (Used for [Collision Prevention](../computer_vision/collision_prevention.md)) |
-| [GRF250](https://lightwarelidar.com/shop/grf-250/) | 250 | I2C | Gimbal Range Finder |
-| [GRF500](https://lightwarelidar.com/shop/grf-500/) | 500 | I2C | Gimbal Range Finder |
+| Модель | Range (m) | Шина | Опис |
+| ---------------------------------------------------------- | ---------------------------- | -------------------- | ------------------------------------------------------------------------------------------------------------- |
+| [SF11/C](https://lightwarelidar.com/shop/sf11-c-100-m/) | 100 | Серійна або I2C шина | |
+| [LW20/C](https://lightwarelidar.com/products/lw20-c-100-m) | 100 | Шина I2C | Водонепроникний (IP67) з сервоприводом для додатків з детекцією та уникненням перешкод |
+| [SF30/D](https://lightwarelidar.com/shop/sf30-d-200-m/) | 200 | Шина I2C | Waterproofed (IP67) |
+| [SF45/B](../sensor/sf45_rotating_lidar.md) | 50 | Серія | Rotary Lidar (Used for [Collision Prevention](../computer_vision/collision_prevention.md)) |
+| [GRF250](../sensor/grf_lidar.md) | 250 | Серійна або I2C шина | Gimbal Range Finder |
+| [GRF500](../sensor/grf_lidar.md) | 500 | Серійна або I2C шина | Gimbal Range Finder |
:::details
Discontinued
diff --git a/docs/uk/sensor/teraranger.md b/docs/uk/sensor/teraranger.md
index daf0723f8b..3ba1216056 100644
--- a/docs/uk/sensor/teraranger.md
+++ b/docs/uk/sensor/teraranger.md
@@ -1,12 +1,17 @@
-# Дальніміри TeraRanger
+# 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 надає ряд легких сенсорів вимірювання відстані на основі інфрачервоної технології часу польоту (ToF).
Вони зазвичай швидші і мають більший діапазон, ніж ехолокатори, і менші та легші, ніж системи на основі лазера.
PX4 підтримує:
-- [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).
diff --git a/docs/uk/sensor/thunderfly_tachometer.md b/docs/uk/sensor/thunderfly_tachometer.md
index 5fe8e25ee3..609505db1d 100644
--- a/docs/uk/sensor/thunderfly_tachometer.md
+++ b/docs/uk/sensor/thunderfly_tachometer.md
@@ -31,7 +31,7 @@ The TFRPM01 sensor is open-source hardware commercially available from [ThunderF
Датчики Холла (магнітно-оперовані) ідеально підходять для жорстких умов, де бруд, пил і вода можуть контактувати з відчуваним ротором.
Багато різних датчиків ефекту Холла є комерційно доступними.
-For example, a [55100 Miniature Flange Mounting Proximity Sensor](https://m.littelfuse.com/media?resourcetype=datasheets&itemid=6d69d457-770e-46ba-9998-012c5e0aedd7&filename=littelfuse-hall-effect-sensors-55100-datasheet) 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.
@@ -90,7 +90,7 @@ pcf8583 status
```
Якщо драйвер працює, порт I²C буде надруковано разом з іншими основними параметрами запущеного екземпляру.
-Якщо драйвер не працює, його можна запустити за допомогою процедури, описаної вище.
+If the driver is not running it can be started using theprocedure described above.
The [listener](../modules/modules_command.md#listener) command allows you to monitor RPM UORB messages from the running driver.
diff --git a/docs/uk/sensor/vectornav.md b/docs/uk/sensor/vectornav.md
index c5544fdd56..0751e65574 100644
--- a/docs/uk/sensor/vectornav.md
+++ b/docs/uk/sensor/vectornav.md
@@ -42,7 +42,7 @@ PX4 може використовувати це як [зовнішній INS] (
Якщо використовується продукт з підтримкою GNSS, антена GNSS повинна бути жорстко монтуватися щодо інерційного датчика та мати необмежений вид на небо. Якщо використовується продукт з підтримкою двоканальної ГНСС (VN-3X0), друга антена повинна бути жорстко змонтована щодо первинної антени та інерціального датчика з неперешкодженим видом на небо.
-Для отримання додаткових вимог і рекомендацій щодо монтажу, див. відповідний [Керівний початок роботи](https://www.vectornav.com/resources/quick-start-guides).
+For more mounting requirements and recommendations, see the relevant [Quick Start Guide](https://www.vectornav.com/resources/technical-documentation/quick-start-guides).
## Конфігурація прошивки
@@ -82,7 +82,7 @@ PX4 може використовувати це як [зовнішній INS] (
## Конфігурація VectorNav
-Визначення для всіх команд та реєстрів, на які посилаються в цьому розділі, можна знайти в відповідному [VectorNav ICD](https://www.vectornav.com/resources/interface-control-documents).
+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).
Під час ініціалізації PX4 налаштовує пристрій VectorNav наступним чином:
@@ -137,5 +137,5 @@ PX4 може використовувати це як [зовнішній INS] (
## Характеристики обладнання
-- [Короткі описи продуктів](https://www.vectornav.com/resources/product-briefs)
-- [Документи з даними](https://www.vectornav.com/resources/datasheets)
+- [Product Briefs](https://www.vectornav.com/resources/product-information/product-briefs)
+- [Datasheets](https://www.vectornav.com/resources/technical-documentation/datasheets)
diff --git a/docs/uk/sensor_bus/translator_tfi2cadt.md b/docs/uk/sensor_bus/translator_tfi2cadt.md
index 596035c247..63e97dda33 100644
--- a/docs/uk/sensor_bus/translator_tfi2cadt.md
+++ b/docs/uk/sensor_bus/translator_tfi2cadt.md
@@ -13,7 +13,7 @@ The module has an input and an output side and a sensor is connected to the mast
:::info
[TFI2CADT01](https://github.com/ThunderFly-aerospace/TFI2CADT01) is designed as open-source hardware with GPLv3 license.
-It is commercially available from [ThunderFly](https://www.thunderfly.cz/) company or from [Tindie eshop](https://www.tindie.com/products/26353/).
+It is commercially available from [ThunderFly](https://www.thunderfly.cz/) company or from [Tindie eshop](https://www.tindie.com/products/thunderfly/tfi2cadt01-pixhawk-i2c-address-translator/).
:::
## Метод перетворення адрес
@@ -30,7 +30,7 @@ TFI2CADT01 виконує операцію XOR на викликаній адр
The tachometer sensor [TFRPM01](../sensor/thunderfly_tachometer.md) can be set to two different addresses using a solder jumper.
If the autopilot has three buses, only 6 sensors can be connected and no bus remains free (2 available addresses \* 3 I2C ports).
У деяких мультикоптерах або рішеннях VTOL є необхідність вимірювати оберти хвилину RPM 8 або більше елементів.
-The [TFI2CADT01](https://www.tindie.com/products/26353/) is highly recommended in this case.
+The [TFI2CADT01](https://www.tindie.com/products/thunderfly/tfi2cadt01-pixhawk-i2c-address-translator/) is highly recommended in this case.
diff --git a/docs/uk/sim_gazebo_classic/index.md b/docs/uk/sim_gazebo_classic/index.md
index d4a131c6ae..4a081864c3 100644
--- a/docs/uk/sim_gazebo_classic/index.md
+++ b/docs/uk/sim_gazebo_classic/index.md
@@ -347,7 +347,7 @@ The video below shows that the location of the environment is aligned with the w
For extended development sessions it might be more convenient to start Gazebo Classic and PX4 separately or even from within an IDE.
-In addition to the existing cmake targets that run `sitl_run.sh` with parameters for px4 to load the correct model it creates a launcher targets named `px4_` that is a thin wrapper around original sitl px4 app.
+In addition to the existing cmake targets that run `sitl_run.sh` with parameters for PX4 to load the correct model it creates a launcher targets named `px4_` that is a thin wrapper around original sitl PX4 app.
This thin wrapper simply embeds app arguments like current working directories and the path to the model file.
To start Gazebo Classic and PX4 separately:
@@ -368,7 +368,7 @@ To start Gazebo Classic and PX4 separately:
- Start the debug session directly from IDE
-This approach significantly reduces the debug cycle time because simulator is always running in background and you only re-run the px4 process which is very light.
+This approach significantly reduces the debug cycle time because simulator is always running in background and you only re-run the PX4 process which is very light.
## Simulated Survey Camera
diff --git a/docs/uk/sim_gazebo_gz/gazebo_models.md b/docs/uk/sim_gazebo_gz/gazebo_models.md
index 0bbaa35775..d4dc771188 100644
--- a/docs/uk/sim_gazebo_gz/gazebo_models.md
+++ b/docs/uk/sim_gazebo_gz/gazebo_models.md
@@ -44,8 +44,8 @@ python simulation-gazebo --overwrite
Там введіть "resource spawner" та у "Fuel resources" додайте власника "px4".
Ви можете перетягнути будь-яку PX4 модель у вашу симуляцію.
- :::info
- Ці моделі взяті з вебсервера, який називається [Gazebo Fuel](https://app.gazebosim.org/dashboard), що по суті діє як онлайн база всіх світів та типів моделей, які можуть бути запущені у Gazebo.
+ ::: info
+ These models are taken from an web-server called [Gazebo Fuel](https://app.gazebosim.org/PX4), which essentially acts as an online database for all types of models and worlds that can be launched in Gazebo.
:::
diff --git a/docs/uk/sim_gazebo_gz/index.md b/docs/uk/sim_gazebo_gz/index.md
index e2f0cd5637..71486775ac 100644
--- a/docs/uk/sim_gazebo_gz/index.md
+++ b/docs/uk/sim_gazebo_gz/index.md
@@ -5,7 +5,7 @@ Gazebo was previously known as "Gazebo Ignition" (while _Gazebo Classic_ was pre
See the [official blog post](https://www.openrobotics.org/blog/2022/4/6/a-new-era-for-gazebo) for more information.
:::
-[Gazebo](https://gazebosim.org/home) is an open source robotics simulator.
+[Gazebo](https://gazebosim.org/docs/latest/getstarted/) is an open source robotics simulator.
It supersedes the older [Gazebo Classic](../sim_gazebo_classic/index.md) simulator, and is the only supported version of Gazebo for Ubuntu 22.04 and onwards.
**Supported Vehicles:** Quadrotor, Plane, VTOL, Rover
@@ -303,7 +303,7 @@ where `ARGS` is a list of environment variables including:
- `PX4_GZ_FOLLOW_OFFSET_X`, `PX4_GZ_FOLLOW_OFFSET_Y`, `PX4_GZ_FOLLOW_OFFSET_Z`:
Set the relative offset of the follow camera to the vehicle.
-The PX4 Gazebo worlds and and models databases [can be found on GitHub here](https://github.com/PX4/PX4-gazebo-models).
+The PX4 Gazebo worlds and models databases [can be found on GitHub here](https://github.com/PX4/PX4-gazebo-models).
:::info
`gz_env.sh.in` is compiled and made available in `$PX4_DIR/build/px4_sitl_default/rootfs/gz_env.sh`
diff --git a/docs/uk/sim_gazebo_gz/tools_avl_automation.md b/docs/uk/sim_gazebo_gz/tools_avl_automation.md
index 80e32b4bb8..9d68a55902 100644
--- a/docs/uk/sim_gazebo_gz/tools_avl_automation.md
+++ b/docs/uk/sim_gazebo_gz/tools_avl_automation.md
@@ -121,7 +121,7 @@ The parameters have not been verified by an expert, so you should check them in
| CYa | CYa | dCy/da (нахил бічної сили відносно кута атаки) |
| Cla | Cell | dCl/da (нахил моменту крену відносно кута атаки) |
| Cma | Cema | dCm/da (нахил моменту тангажу відносно кута атаки - до звалювання) |
-| Cna | Cena | dCn/da (нахил моменту рискання відносно кута атаки) |
+| Can | Cena | dCn/da (нахил моменту рискання відносно кута атаки) |
| CLb | CLb | dCL/dbeta (нахил коефіцієнту сили підйому відносно кута ковзання) |
| CYb | CYb | dCY/dbeta (нахил бічної сили відносно кута ковзання) |
| Clb | Cell | dCl/dbeta (нахил моменту крену відносно кута ковзання) |
diff --git a/docs/uk/sim_gazebo_gz/vehicles.md b/docs/uk/sim_gazebo_gz/vehicles.md
index 1660045bed..513903b423 100644
--- a/docs/uk/sim_gazebo_gz/vehicles.md
+++ b/docs/uk/sim_gazebo_gz/vehicles.md
@@ -8,7 +8,7 @@ Supported vehicle types include: mutirotor, VTOL, Plane, Rover.
:::warning
See [Gazebo Classic Vehicles](../sim_gazebo_classic/vehicles.md) for vehicles that work with the older [Gazebo "Classic" simulation](../sim_gazebo_classic/index.md).
-Note that vehicle models are not interchangable between the two versions of the simulator: the vehicles on this page only work with (new) [Gazebo](../sim_gazebo_gz/index.md).
+Note that vehicle models are not interchangeable between the two versions of the simulator: the vehicles on this page only work with (new) [Gazebo](../sim_gazebo_gz/index.md).
:::
## Мультикоптер
diff --git a/docs/uk/sim_gazebo_gz/worlds.md b/docs/uk/sim_gazebo_gz/worlds.md
index c9d3636fb6..db74f136b0 100644
--- a/docs/uk/sim_gazebo_gz/worlds.md
+++ b/docs/uk/sim_gazebo_gz/worlds.md
@@ -104,4 +104,4 @@ The PX4 toolchain will automatically spawn a world that has the same name as the
Світи певних моделей:
-- [Aruco world](#aruco): Default world with an [ArUco marker](https://docs.opencv.org/4.x/d5/dae/tutorial_aruco_detection.html) that can be used with with [x500_mono_cam_down](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-monocular-camera-down-facing) for testing [precision landing](../advanced_features/precland.md).
+- [Aruco world](#aruco): Default world with an [ArUco marker](https://docs.opencv.org/4.x/d5/dae/tutorial_aruco_detection.html) that can be used with [x500_mono_cam_down](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-monocular-camera-down-facing) for testing [precision landing](../advanced_features/precland.md).
diff --git a/docs/uk/sim_jmavsim/index.md b/docs/uk/sim_jmavsim/index.md
index 2b92535f04..50af0cc712 100644
--- a/docs/uk/sim_jmavsim/index.md
+++ b/docs/uk/sim_jmavsim/index.md
@@ -310,7 +310,7 @@ sudo gedit /etc/java-8-openjdk/accessibility.properties
та закоментуйте рядок, вказаний нижче:
```sh
-#assistive_technologies=org.GNOME.Acessibility.AtkWrapper
+#assistive_technologies=org.GNOME.Accessibility.AtkWrapper
```
For more info, check [this GitHub issue](https://github.com/PX4/PX4-Autopilot/issues/9557).
diff --git a/docs/uk/sim_sih/index.md b/docs/uk/sim_sih/index.md
index e94df82509..534dcb3d20 100644
--- a/docs/uk/sim_sih/index.md
+++ b/docs/uk/sim_sih/index.md
@@ -121,7 +121,7 @@ CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
:::
-As an alterative to updating configuration files manually, you can use the following command to launch a GUI configuration tool, and interactively enable the required modules at the path: **modules > Simulation > simulator_sih**.
+As an alternative to updating configuration files manually, you can use the following command to launch a GUI configuration tool, and interactively enable the required modules at the path: **modules > Simulation > simulator_sih**.
For example, to update the fmu-v6x configuration you would use:
```sh
@@ -130,7 +130,7 @@ make px4_fmu-v6x boardconfig
After uploading, check that the required modules are present.
-:::note
+:::info
To use rover in SIH you must use the [rover build](../config_rover/index.md#flashing-the-rover-build) or add the rover modules to your board configuration.
:::
@@ -326,7 +326,7 @@ For SIH as SITL (no FC):
- `param set-default SENS_EN_MAGSIM 1`
- `param set-default SENS_EN_ARSPDSIM 1` (if it is a fixed-wing or VTOL airframe with airspeed sensor)
-For specific examples see the `_sihsim_` airframes in [ROMFS/px4fmu_common/init.d-posix/airframes](https://github.com/PX4/PX4-Autopilot/blob/main/ROMFS/px4fmu_common/init.d-posix/airframes/) (SIH as SITL) and [ROMFS/px4fmu_common/init.d/airframes](https://github.com/PX4/PX4-Autopilot/tree/main/ROMFS/px4fmu_common/init.d/airframes) (SIH on FC).
+For specific examples see the `_sihsim_` airframes in [ROMFS/px4fmu_common/init.d-posix/airframes](https://github.com/PX4/PX4-Autopilot/tree/main/ROMFS/px4fmu_common/init.d-posix/airframes) (SIH as SITL) and [ROMFS/px4fmu_common/init.d/airframes](https://github.com/PX4/PX4-Autopilot/tree/main/ROMFS/px4fmu_common/init.d/airframes) (SIH on FC).
## Controlling Actuators in SIH
diff --git a/docs/uk/simulation/hitl.md b/docs/uk/simulation/hitl.md
index ab003d2c37..5fce58c8a6 100644
--- a/docs/uk/simulation/hitl.md
+++ b/docs/uk/simulation/hitl.md
@@ -104,18 +104,18 @@ make px4_fmu-v6x boardconfig
2. Select a [compatible airframe](#compatible_airframe) you want to test.
Then click **Apply and Restart** on top-right of the _Airframe Setup_ page.
-3. При необхідності відкалібруйте пульт РК або джойстик.
+3. Calibrate your [Manual Controller](../config/manual_control.md) (RC or Joystick), if needed.
4. Налаштування UDP
1. Under the _General_ tab of the settings menu, uncheck all _AutoConnect_ boxes except for **UDP**.
-5. (Необов'язково) Налаштуйте джойстик та запобіжник відмови.
- Set the following [parameters](../advanced_config/parameters.md) in order to use a joystick instead of an RC remote control transmitter:
+5. (Optional) Configure your manual controller priority and failsafe:
- - [COM_RC_IN_MODE](../advanced_config/parameter_reference.md#COM_RC_IN_MODE) to "Joystick/No RC Checks". Це дозволить керування джойстиком та відключить перевірки пульту РК.
- - [NAV_RCL_ACT](../advanced_config/parameter_reference.md#NAV_RCL_ACT) to "Disabled". Це гарантує, що ніякі дії запобігання відмові не будуть перешкоджати коли не виконується HITL з радіо керуванням.
+ - [Enable a mode in `COM_RC_IN_MODE` that enables and prioritises the controllers you want to use](../config/manual_control.md#px4-configuration).
+ The default `RC or MAVLink keep first` should work if you plan to only have a Joystick (no RC).
+ - You can set [NAV_RCL_ACT](../advanced_config/parameter_reference.md#NAV_RCL_ACT) to disable manual control loss failsafe while flying in a simulation.
:::tip
The _QGroundControl User Guide_ also has instructions on [Joystick](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/setup_view/joystick.html) and [Virtual Joystick](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/settings_view/virtual_joystick.html) setup.
@@ -137,7 +137,7 @@ Make sure _QGroundControl_ is not running!
1. Build PX4 with [Gazebo Classic](../sim_gazebo_classic/index.md) (in order to build the Gazebo Classic plugins).
```sh
- cd
+ cd
DONT_RUN=1 make px4_sitl_default gazebo-classic
```
diff --git a/docs/uk/simulation/index.md b/docs/uk/simulation/index.md
index 2f0e51f38f..94878a1ff3 100644
--- a/docs/uk/simulation/index.md
+++ b/docs/uk/simulation/index.md
@@ -67,7 +67,7 @@ A SITL build of PX4 uses [SimulatorMavlink.cpp](https://github.com/PX4/PX4-Autop
-PX4 directly uses the [Gazebo API](https://gazebosim.org/docs) to interface with [Gazebo](../sim_gazebo_gz/index.md) and MAVlink is not required.
+PX4 directly uses the [Gazebo API](https://gazebosim.org/docs/) to interface with [Gazebo](../sim_gazebo_gz/index.md) and MAVlink is not required.
## Порти UDP PX4 MAVLink за замовчуванням
@@ -213,7 +213,7 @@ For setup information see the _QGroundControl User Guide_:
PX4 supports capture of both still images and video from within the [Gazebo Classic](../sim_gazebo_classic/index.md) simulated environment.
This can be enabled/set up as described in [Gazebo Glassic > Video Streaming](../sim_gazebo_classic/index.md#video-streaming).
-The simulated camera is a gazebo classic plugin that implements the [MAVLink Camera Protocol](https://mavlink.io/en/protocol/camera.html) .
+The simulated camera is a gazebo classic plugin that implements the [MAVLink Camera Protocol](https://mavlink.io/en/services/camera.html) .
PX4 connects/integrates with this camera in _exactly the same way_ as it would with any other MAVLink camera:
1. [TRIG_INTERFACE](../advanced_config/parameter_reference.md#TRIG_INTERFACE) must be set to `3` to configure the camera trigger driver for use with a MAVLink camera
diff --git a/docs/uk/smart_batteries/index.md b/docs/uk/smart_batteries/index.md
index 4cda07347c..71c6e6295a 100644
--- a/docs/uk/smart_batteries/index.md
+++ b/docs/uk/smart_batteries/index.md
@@ -1,7 +1,7 @@
# Розумні акумулятори
Розумні батареї надають більш точну (і часто більш детальну) інформацію про стан батареї, ніж автопілот може оцінити для «тупих» батарей.
-Це дозволяє забезпечити більш надійне сповіщення про умови випадкового відмовлення при плануванні польоту.
+This allows for more reliable flight planning notification of failure conditions.
Інформація може включати деякі з наступного: залишковий заряд, час до розряду (оцінений), напругу на елементах (оцінена максимальна/мінімальна, поточна напруга тощо), температуру, струми, інформацію про несправності, виробника батареї, хімічний склад тощо.
PX4 підтримує (принаймні) наступні розумні батарейки:
diff --git a/docs/uk/smart_batteries/rotoye_batmon.md b/docs/uk/smart_batteries/rotoye_batmon.md
index 43f79d30c7..4b907a03de 100644
--- a/docs/uk/smart_batteries/rotoye_batmon.md
+++ b/docs/uk/smart_batteries/rotoye_batmon.md
@@ -1,6 +1,6 @@
# Rotoye Batmon
-[Rotoye Batmon](https://rotoye.com/batmon/) is a kit for adding smart battery functionality to off-the-shelf Lithium-Ion and LiPo batteries.
+[Rotoye Batmon](https://shop.rotoye.com/batmon/) is a kit for adding smart battery functionality to off-the-shelf Lithium-Ion and LiPo batteries.
Його можна придбати як самостійний пристрій або як частину заводсько зібраної розумної батареї.
@@ -9,7 +9,7 @@
## Де купити
-[Rotoye Store](https://rotoye.com/batmon/): Batmon kits, custom smart-batteries, and accessories
+[Rotoye Store](https://shop.rotoye.com/batmon/): Batmon kits, custom smart-batteries, and accessories
## Проведення/Підключення
@@ -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
```
-
-## Подальша інформація
-
-[Quick Start Guide](https://rotoye.com/batmon-tutorial/) (Rotoye)
diff --git a/docs/uk/software_update/stm32_bootloader.md b/docs/uk/software_update/stm32_bootloader.md
index 8dc025f0d0..3e22534a0c 100644
--- a/docs/uk/software_update/stm32_bootloader.md
+++ b/docs/uk/software_update/stm32_bootloader.md
@@ -62,7 +62,7 @@ arm-none-eabi-gdb
###
-These instructions are for the [J-Link GDB server](https://www.segger.com/jlink-gdb-server.html).
+These instructions are for the [J-Link GDB server](https://www.segger.com/products/debug-probes/j-link/tools/j-link-gdb-server/about-j-link-gdb-server/).
#### Вимоги
diff --git a/docs/uk/telemetry/cuav_p8_radio.md b/docs/uk/telemetry/cuav_p8_radio.md
index ec273c3399..814191477b 100644
--- a/docs/uk/telemetry/cuav_p8_radio.md
+++ b/docs/uk/telemetry/cuav_p8_radio.md
@@ -19,7 +19,7 @@ CUAV P8 Radio is a long range (>60km) and high data rate (375 Kbps) remote data
## Де купити
-- [CUAV store](https://www.cuav.net/en/p8-2/)
+- [CUAV store](https://www.cuav.net/en/p8-en/)
- [CUAV alibaba](https://www.alibaba.com/product-detail/Free-shipping-CUAV-UAV-P8-Radio_1600324379418.html?spm=a2747.manage.0.0.2dca71d2bY4B0M)
## Конфігурація PX4
@@ -61,6 +61,6 @@ CUAV P8 Radio does not support power supply from the flight controller, it needs
## Докладніше
-[P8 manual](http://manual.cuav.net/data-transmission/p8-radio/p8-user-manual-en.pdf)
+[P8 manual](https://manual.cuav.net/data-transmission/p8-radio/p8_user_manual_cn.pdf)
[CUAV P8 Radio](https://doc.cuav.net/data-transmission/p8-radio/en/) (Official Guide)
diff --git a/docs/uk/telemetry/jfi_telemetry.md b/docs/uk/telemetry/jfi_telemetry.md
index d6ec2f083c..b64098de16 100644
--- a/docs/uk/telemetry/jfi_telemetry.md
+++ b/docs/uk/telemetry/jfi_telemetry.md
@@ -94,7 +94,7 @@ If you want to change the baud rate:
### One-to-many (1:N) Setups
For one-to-many (1:N) setups a higher baud rate is _highly recommended_ to ensure stable data reception.
-All J.Fi devices should be set to the same baud rate (although communication may work even when when devices use different baud rates).
+All J.Fi devices should be set to the same baud rate (although communication may work even when devices use different baud rates).
This should be changed in both PX4 and the J.Fi modules as explained in the previous section.
You will also need to make sure that all vehicles on the MAVLink network are assigned a unique **System ID** ([MAV_SYS_ID](../advanced_config/parameter_reference.md#MAV_SYS_ID)).
diff --git a/docs/uk/test_and_ci/integration_testing_mavsdk.md b/docs/uk/test_and_ci/integration_testing_mavsdk.md
index d08ff03367..a8937a36cb 100644
--- a/docs/uk/test_and_ci/integration_testing_mavsdk.md
+++ b/docs/uk/test_and_ci/integration_testing_mavsdk.md
@@ -7,7 +7,7 @@ PX4 can be tested end to end to using integration tests based on [MAVSDK](https:
Інструкції нижче пояснюють, як налаштувати та запустити тести локально.
-:::note
+:::info
This is the recommended integration test framework for PX4.
:::
diff --git a/docs/uk/test_and_ci/integration_testing_ros1_mavros.md b/docs/uk/test_and_ci/integration_testing_ros1_mavros.md
index 4ca05494ec..8235b8d5d0 100644
--- a/docs/uk/test_and_ci/integration_testing_ros1_mavros.md
+++ b/docs/uk/test_and_ci/integration_testing_ros1_mavros.md
@@ -9,7 +9,7 @@ It should be used only for new test cases that _require_ ROS 1.
[MAVSDK Integration Testing](../test_and_ci/integration_testing_mavsdk.md) is preferred when writing new tests.
:::
-:::note
+:::info
All PX4 integration tests are executed automatically by our [Continuous Integration](../test_and_ci/continous_integration.md) system.
:::
diff --git a/docs/uk/test_and_ci/test_flights.md b/docs/uk/test_and_ci/test_flights.md
index 103549e361..abf026170e 100644
--- a/docs/uk/test_and_ci/test_flights.md
+++ b/docs/uk/test_and_ci/test_flights.md
@@ -7,7 +7,7 @@ const { site } = useData();
diff --git a/docs/uk/test_and_ci/unit_tests.md b/docs/uk/test_and_ci/unit_tests.md
index f72444d986..ba17be0263 100644
--- a/docs/uk/test_and_ci/unit_tests.md
+++ b/docs/uk/test_and_ci/unit_tests.md
@@ -141,7 +141,7 @@ It can be run directly in a debugger, however be careful to only run one test pe
}
```
- `OPTION` can be `OPT_NOALLTEST`,`OPT_NOJIGTEST` or `0` and is considered if within px4 shell one of the two commands are called:
+ `OPTION` can be `OPT_NOALLTEST`,`OPT_NOJIGTEST` or `0` and is considered if within PX4 shell one of the two commands are called:
```sh
pxh> tests all
diff --git a/docs/uk/test_cards/mc_02_full_autonomous.md b/docs/uk/test_cards/mc_02_full_autonomous.md
index 3653f83193..3685ab02d7 100644
--- a/docs/uk/test_cards/mc_02_full_autonomous.md
+++ b/docs/uk/test_cards/mc_02_full_autonomous.md
@@ -54,7 +54,7 @@ Plan a mission on the ground. Ensure the mission has
- Зліт повинен бути плавним, коли газ піднято
- Місія має бути завантажена при першій спробі
- Дрон повинен автоматично злетіти після ввімкнення автоматичного режиму
-- Vehicle shoud adjust height to RTL altitude before returning home
+- Vehicle should adjust height to RTL altitude before returning home
- Після посадки, коптер не повинен підскакувати на землі
@@ -8,7 +8,7 @@ The [CUAV C-RTK GPS receiver](https://www.cuav.net/en/c_rtk_9ps/) is an [RTK GPS
## Де купити
- [cuav taobao](https://item.taobao.com/item.htm?id=565380634341&spm=2014.21600712.0.0)
-- [cuav aliexpress](https://www.aliexpress.com/store/product/CUAV-NEW-Flight-Controller-GPS-C-RTK-differential-positioning-navigation-module-GPS-for-PIX4-Pixhawk-pixhack/3257035_32853894248.html?spm=2114.12010608.0.0.75592fadQKPPEn)
+- [cuav aliexpress](https://www.aliexpress.com/item/32853894248.html?spm=2114.12010608.0.0.75592fadQKPPEn)
## Налаштування
@@ -16,7 +16,7 @@ RTK setup and use on PX4 via _QGroundControl_ is largely plug and play \(see [RT
## Підключення та з'єднання
-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).
6-контактний роз'єм забезпечує інтерфейс для RTK GPS і повинен бути підключений до GPS-порту польотного контролера.
4-контактний роз'єм - це GPS-інтерфейс m8n (стандартний), який призначений для (додаткового) використання в якості другого GPS.
diff --git a/docs/uk/gps_compass/rtk_gps_cuav_c-rtk2.md b/docs/uk/gps_compass/rtk_gps_cuav_c-rtk2.md
index 9fcf84c922..0973f8706a 100644
--- a/docs/uk/gps_compass/rtk_gps_cuav_c-rtk2.md
+++ b/docs/uk/gps_compass/rtk_gps_cuav_c-rtk2.md
@@ -1,6 +1,6 @@
# CUAV C-RTK2 GNSS Module (RTK/PPK)
-The [CUAV C-RTK2 receiver](https://www.cuav.net/en/c_rtk_9ps/) is a high-performance PPK/RTK positioning module created by CUAV for professional applications such as drone aerial surveying and mapping.
+The [CUAV C-RTK2 receiver](https://www.cuav.net/en/c-rtk-9ps-en/) is a high-performance PPK/RTK positioning module created by CUAV for professional applications such as drone aerial surveying and mapping.
It has a high-precision IMU and positioning module, and can reduce the number of required [control points](https://www.youtube.com/watch?v=3k7v5aXyuKQ) by more than to 80%.
На додаток до зйомки/картографування, він підходить для багатьох інших випадків використання, включаючи: захист сільськогосподарських рослин та рої дронів.
@@ -10,7 +10,7 @@ It has a high-precision IMU and positioning module, and can reduce the number of
- Потужний процесор H7
- Високоточний IMU промислового класу
-- Підтримка RTK та одночасне збереження необроблених даних RAW (PPK)
+- Support RTK and save raw data (PPK) at the same time
- Багатосупутникові та багаточастотні приймачі
- Протокол UAVCAN/Dronecan
- Підтримка гарячого взуття та спуску спусковик
@@ -18,7 +18,7 @@ It has a high-precision IMU and positioning module, and can reduce the number of
## Де купити
-- [CUAV Store](https://store.cuav.net/shop/c-rtk-2/)
+- [CUAV Store](https://store.cuav.net/?route=product%2Fproduct&product_id=159)
- [CUAV aliexpress](https://pt.aliexpress.com/item/1005003754165772.html?spm=a2g0o.store_pc_groupList.8148356.13.2f893550i0NE4o)
# Короткий опис
diff --git a/docs/uk/gps_compass/rtk_gps_datagnss_nano_hrtk.md b/docs/uk/gps_compass/rtk_gps_datagnss_nano_hrtk.md
index cf4c1c5d24..d9c28c3417 100644
--- a/docs/uk/gps_compass/rtk_gps_datagnss_nano_hrtk.md
+++ b/docs/uk/gps_compass/rtk_gps_datagnss_nano_hrtk.md
@@ -90,7 +90,7 @@ Note that for the base we recommend the [NANO RTK Receiver](https://www.datagnss
-See to [How to setup Base station](https://wiki.datagnss.com/index.php/GEM1305-autopilot#Base_station_setup) for information on how to configure the module for use as a base station (not including step 6 and later, for which you would QGroundControl instead of Mission Planner).
+See to [How to setup Base station](https://docs.datagnss.com/#Base_station_setup) for information on how to configure the module for use as a base station (not including step 6 and later, for which you would QGroundControl instead of Mission Planner).
### Rover Setup (PX4)
@@ -111,13 +111,12 @@ GPS and RTK configuration on PX4 via _QGroundControl_ is plug and play (see [RTK
## Resources
-- [NANO RTK Receiver 2D drawing file](https://wiki.datagnss.com/images/3/31/EVK-DG-1206_V.2.0.pdf)
- [NANO HRTK Receiver Wiki](https://docs.datagnss.com/gnss/rtk_receiver/NANO/nano-helix-rtk/) (DATAGNSS WiKi)
- [HED-10L Heading RTK Receiver](https://docs.datagnss.com/gnss/rtk_receiver/HED-10L/)
## Докладніше
-- [NANO RTK Receiver](https://docs.datagnss.com/gnss/rtk_receiver/NANO/nano-rtk-receiver)
+- [NANO RTK Receiver](https://docs.datagnss.com/gnss/rtk_receiver/NANO/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)
diff --git a/docs/uk/gps_compass/rtk_gps_drotek_xl.md b/docs/uk/gps_compass/rtk_gps_drotek_xl.md
index 36b774b426..11d3d190eb 100644
--- a/docs/uk/gps_compass/rtk_gps_drotek_xl.md
+++ b/docs/uk/gps_compass/rtk_gps_drotek_xl.md
@@ -2,7 +2,7 @@
:::info
This module appears to have been discontinued, and is no longer on the Drotek site (September 2023).
-The last documentation was in [PX4 v1.13 here](https://docs.px4.io/v1.13/en/gps_compass/rtk_gps_drotek_xl.html)
+The last documentation was in [PX4 v1.13 here](https://docs.px4.io/v1.13/en/gps_compass/rtk_gps_drotek_xl)
:::
diff --git a/docs/uk/gps_compass/rtk_gps_gem1305.md b/docs/uk/gps_compass/rtk_gps_gem1305.md
index 92c6c3aea5..b0bbe06ebf 100644
--- a/docs/uk/gps_compass/rtk_gps_gem1305.md
+++ b/docs/uk/gps_compass/rtk_gps_gem1305.md
@@ -77,7 +77,7 @@ The 1.25mm pitch 6P connector (from left: PIN1 to PIN6) supports UART for GNSS a
## Налаштування програмного забезпечення
RTK requires a base RTK module attached to the ground station, and a rover RTK module on the vehicle.
-The data from the base needs to be transmitted to the drone via telemetry radio and inputed into the RTK receiver on the rover.
+The data from the base needs to be transmitted to the drone via telemetry radio and inputted into the RTK receiver on the rover.
@@ -93,7 +93,7 @@ Note that for the base we recommend the [NANO RTK Receiver](https://www.datagnss
-See to [How to setup Base station](https://wiki.datagnss.com/index.php/GEM1305-autopilot#Base_station_setup) for information on how to configure the module for use as a base station (not including step 6 and later, for which you would QGroundControl instead of Mission Planner).
+See to [How to setup Base station](https://docs.datagnss.com/#Base_station_setup) for information on how to configure the module for use as a base station (not including step 6 and later, for which you would QGroundControl instead of Mission Planner).
### Rover Setup (PX4)
@@ -115,14 +115,13 @@ GPS and RTK configuration on PX4 via _QGroundControl_ is plug and play (see [RTK
## Resources
-- [NANO RTK Receiver 2D drawing file](https://wiki.datagnss.com/images/3/31/EVK-DG-1206_V.2.0.pdf)
- [GEM1305 Wiki](https://docs.datagnss.com/gnss/rtk_receiver/GEM1305/) (DATAGNSS WiKi)
- [HED-10L Heading RTK Receiver](https://docs.datagnss.com/gnss/rtk_receiver/HED-10L/)
- [NANO HRTK Receiver](https://docs.datagnss.com/gnss/rtk_receiver/NANO/nano-helix-rtk/)
## Докладніше
-- [NANO RTK Receiver](https://www.datagnss.com/collections/evk/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)
diff --git a/docs/uk/gps_compass/rtk_gps_hex_hereplus.md b/docs/uk/gps_compass/rtk_gps_hex_hereplus.md
index c6cca64024..35c531a7ba 100644
--- a/docs/uk/gps_compass/rtk_gps_hex_hereplus.md
+++ b/docs/uk/gps_compass/rtk_gps_hex_hereplus.md
@@ -5,7 +5,7 @@
:::info
This GPS is no longer available for purchase but is still compatible with PX4.
-Usage documentation can be found in [PX4v1.11 docs](https://docs.px4.io/v1.11/en/gps_compass/rtk_gps_hex_hereplus.html)
+Usage documentation can be found in [PX4v1.11 docs](https://docs.px4.io/v1.11/en/gps_compass/rtk_gps_hex_hereplus)
:::
The **Here+ RTK GPS receiver** is a small, light and energy efficient [RTK GPS module](../gps_compass/rtk_gps.md), based on the u-blox M8P. Використовуючи RTK, PX4 може визначати своє місцезнаходження з точністю до сантиметра, що набагато точніше, ніж може забезпечити звичайний GPS.
diff --git a/docs/uk/gps_compass/rtk_gps_holybro_h-rtk-f9p.md b/docs/uk/gps_compass/rtk_gps_holybro_h-rtk-f9p.md
index 43793d98dd..a91ccc1630 100644
--- a/docs/uk/gps_compass/rtk_gps_holybro_h-rtk-f9p.md
+++ b/docs/uk/gps_compass/rtk_gps_holybro_h-rtk-f9p.md
@@ -19,7 +19,7 @@ Using RTK allows PX4 to get its position with centimetre-level accuracy, which i
## Де купити
- [H-RTK F9P (Holybro Website)](https://holybro.com/products/h-rtk-f9p-gnss-series)
-- [H-RTK Accessories (Holybro Website)](https://holybro.com/collections/h-rtk-gps)
+- [H-RTK Accessories (Holybro Website)](https://holybro.com/collections/gps)
## Налаштування
@@ -50,6 +50,6 @@ The cables/connectors may need to be modified in order to connect to other fligh
## Аксесуари до GPS
-[H-RTK Mount (Holybro Website)](https://holybro.com/products/vertical-mount-for-h-rtk-helical)
+[H-RTK Mount (Holybro Website)](https://holybro.com/collections/gps-accessories/products/vertical-mount-for-h-rtk-helical)
diff --git a/docs/uk/gps_compass/rtk_gps_holybro_h-rtk-m8p.md b/docs/uk/gps_compass/rtk_gps_holybro_h-rtk-m8p.md
index 3e5d7b133e..79b138ad63 100644
--- a/docs/uk/gps_compass/rtk_gps_holybro_h-rtk-m8p.md
+++ b/docs/uk/gps_compass/rtk_gps_holybro_h-rtk-m8p.md
@@ -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\_.
Є три моделі Holybro H-RTK M8P на вибір, кожна з різним дизайном антени, щоб задовольнити різні потреби.
@@ -16,7 +17,7 @@ Refer to the [Specification and Model Comparison section](#specification-and-mod
## Де купити
-- [H-RTK M8P (GPS RTK Mounts)](https://holybro.com/products/vertical-mount-for-h-rtk-helical)
+- Припинено.
## Налаштування
@@ -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).
:::
-
-
-## Карта виводів
+## Pin Map {#pin_map}
diff --git a/docs/uk/gps_compass/rtk_gps_holybro_unicore_um982.md b/docs/uk/gps_compass/rtk_gps_holybro_unicore_um982.md
index c5e24df2a4..479b9d277e 100644
--- a/docs/uk/gps_compass/rtk_gps_holybro_unicore_um982.md
+++ b/docs/uk/gps_compass/rtk_gps_holybro_unicore_um982.md
@@ -1,10 +1,10 @@
# Holybro H-RTK Unicore UM982 GPS
-The [Holybro H-RTK Unicore UM982 GPS](https://holybro.com/products/h-rtk-um982) is an multi-band high-precision [RTK GNSS System](../gps_compass/rtk_gps.md) launched by Holybro.
+The [Holybro H-RTK Unicore UM982 GPS](https://holybro.com/products/h-rtk-unicore-um982) is an multi-band high-precision [RTK GNSS System](../gps_compass/rtk_gps.md) launched by Holybro.
-This module is based on the [Unicore UM982 Chip](https://en.unicorecomm.com/products/detail/24), which supports RTK positioning and dual-antenna heading calculation.
+This module is based on the [Unicore UM982 Chip](https://en.unicore.com/products/dual-antenna-gnss-um982/), which supports RTK positioning and dual-antenna heading calculation.
Це означає, що він може генерувати рухому базову лінію визначення курсу/рискання для автопілотів з одним GPS-модулем і двома антенами - магнітометр не потрібен.
Unlike when using a module such as the U-blox F9P, where you would need [two U-blox F9P modules to compute a heading angle](../gps_compass/u-blox_f9p_heading.md), with the Unicore UM982 GPS, you only need one GPS module!
@@ -20,7 +20,7 @@ Additional technical information can be found at [Holybro Technical Documentatio
## Де купити
-- [Holybro Website](https://holybro.com/products/h-rtk-um982)
+- [Holybro Website](https://holybro.com/products/h-rtk-unicore-um982)
## Підключення
diff --git a/docs/uk/gps_compass/rtk_gps_locosys_r2.md b/docs/uk/gps_compass/rtk_gps_locosys_r2.md
index 9eabfb72af..0db339c34f 100644
--- a/docs/uk/gps_compass/rtk_gps_locosys_r2.md
+++ b/docs/uk/gps_compass/rtk_gps_locosys_r2.md
@@ -23,7 +23,7 @@ The [LOCOSYS Hawk R2](https://www.locosystech.com/en/product/hawk-r2.html) is a
- Безкоштовне прогнозування гібридних ефемерид для швидшого холодного старту
- Стандартна частота оновлення 5 Гц, до 10 Гц (підтримка SBAS лише 5 Гц)
- Вбудований суперконденсатор для резервування системних даних для швидкого отримання супутникових даних
-- Вбудована функція компасу 3-х вимірів
+- Built-in 3 axis compass function
- Три світлодіодного індикатора для живлення, PPS та передачі даних
diff --git a/docs/uk/gps_compass/septentrio.md b/docs/uk/gps_compass/septentrio.md
index b358383bd3..cc63cc211d 100644
--- a/docs/uk/gps_compass/septentrio.md
+++ b/docs/uk/gps_compass/septentrio.md
@@ -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.
diff --git a/docs/uk/gps_compass/septentrio_mosaic-go.md b/docs/uk/gps_compass/septentrio_mosaic-go.md
index 431cefff97..e6188d64be 100644
--- a/docs/uk/gps_compass/septentrio_mosaic-go.md
+++ b/docs/uk/gps_compass/septentrio_mosaic-go.md
@@ -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).
@@ -108,7 +108,7 @@ Make sure the JST cable is wired correctly since this is not a standard cable:
These can be compensated for with the heading parameters provided by the Septentrio driver in PX4.
:::info
-For optimal heading results, the two antennas should be seperated by at least 30cm / 11.8 in (ideally 50cm / 19.7in or more).
+For optimal heading results, the two antennas should be separated by at least 30cm / 11.8 in (ideally 50cm / 19.7in or more).
For additional configuration of the dual antenna setup, please refer to our [Knowledge Base](https://support.septentrio.com/l/858493/2022-04-19/xgrqd) or the [hardware manual](https://web.septentrio.com/l/858493/2022-04-19/xgrql).
:::
diff --git a/docs/uk/gps_compass/u-blox_f9p_heading.md b/docs/uk/gps_compass/u-blox_f9p_heading.md
index 2c679bb912..f8b59d906c 100644
--- a/docs/uk/gps_compass/u-blox_f9p_heading.md
+++ b/docs/uk/gps_compass/u-blox_f9p_heading.md
@@ -10,7 +10,7 @@ The two GPS devices in this scenario are referred to as the _Moving Base_ and _R
Підтримуються наступні пристрої:
- [ARK RTK GPS](https://arkelectron.com/product/ark-rtk-gps/) (arkelectron.com)
-- [SparkFun GPS-RTK2 Board - ZED-F9P](https://www.sparkfun.com/products/15136) (www.sparkfun.com)
+- [SparkFun GPS-RTK2 Board - ZED-F9P](https://www.sparkfun.com/sparkfun-gps-rtk2-board-zed-f9p-qwiic-gps-15136.html) (www.sparkfun.com)
- [SIRIUS RTK GNSS ROVER (F9P)](https://store-drotek.com/911-sirius-rtk-gnss-rover-f9p.html) (store-drotek.com)
- [mRo u-blox ZED-F9 RTK L1/L2 GPS](https://store.mrobotics.io/product-p/m10020d.htm) (store.mrobotics.io)
- [Holybro H-RTK F9P Helical or Base](https://holybro.com/products/h-rtk-f9p-gnss-series) (Holybro Store)
diff --git a/docs/uk/hardware/board_support_guide.md b/docs/uk/hardware/board_support_guide.md
index 9d1f1854db..1fe32f511c 100644
--- a/docs/uk/hardware/board_support_guide.md
+++ b/docs/uk/hardware/board_support_guide.md
@@ -57,7 +57,7 @@ PX4 загалом підтримує лише плати, які є комер
### VER and REV ID (Hardware Revision and Version Sensing) {#ver_rev_id}
У FMUv5 та пізніше є електричний механізм виявлення.
-Цей сенсорний зв'язок разом з необов'язковими даними конфігурації буде використовуватися для визначення конфігурації апаратного забезпечення щодо обов'язкової конфігурації пристрою та живлення. Manufacturers must obtain the VER and REV ID from PX4 board maintainers by issuing a PR to ammend the [DS-018 Pixhawk standard](https://github.com/pixhawk/Pixhawk-Standards) for board versions and revisions.
+Цей сенсорний зв'язок разом з необов'язковими даними конфігурації буде використовуватися для визначення конфігурації апаратного забезпечення щодо обов'язкової конфігурації пристрою та живлення. Manufacturers must obtain the VER and REV ID from PX4 board maintainers by issuing a PR to amend the [DS-018 Pixhawk standard](https://github.com/pixhawk/Pixhawk-Standards) for board versions and revisions.
Оскільки ці борди на 100% відповідають стандарту Pixhawk, значення, призначені для VER та REV ID, є значеннями за замовчуванням для цієї версії FMU.
@@ -97,7 +97,7 @@ _New_ experimental boards are allocated [VER and REV IDs](#ver_rev_id) based on
Ця категорія включає всі плати, які не підтримуються проектом PX4 або виробником, і що виходять за межі "експериментальної" підтримки.
- Плата на папері в певній мірі сумісна з чимось, що ми вже підтримуємо, і для того, щоб підняти її до рівня "експериментального", потрібно буде мінімальних зусиль, проте або команда розробників, або виробник наразі цим не займаються
-- Manufacturer/Owner of hardware violates our [Code of Conduct](https://discuss.px4.io/t/code-of-conduct/13655)
+- Manufacturer/Owner of hardware violates our [Code of Conduct](https://discuss.px4.io/t/px4-community-code-of-conduct/13655)
- Закритий вихідний код, де будь-які необхідні інструменти/бібліотеки/драйвери тощо, необхідні для підтримки плати, вважаються несумісними через ліцензійні обмеження
- Плата не відповідає мінімальним вимогам, визначеним у Загальних вимогах
diff --git a/docs/uk/hardware/drone_parts.md b/docs/uk/hardware/drone_parts.md
index 42a6209123..31cefb55fb 100644
--- a/docs/uk/hardware/drone_parts.md
+++ b/docs/uk/hardware/drone_parts.md
@@ -1,4 +1,4 @@
-# Hardware Hardware Selection & Setup
+# Hardware Selection & Setup
У цьому розділі міститься інформація про повністю готові транспортні засоби PX4 і компоненти, які ви можете використовувати для створення власних дронів:
diff --git a/docs/uk/index.md b/docs/uk/index.md
index 729767f521..093035aba9 100644
--- a/docs/uk/index.md
+++ b/docs/uk/index.md
@@ -5,7 +5,7 @@ const { site } = useData();
# Посібник користувача автопілота PX4
-[](https://github.com/PX4/PX4-Autopilot/releases) [](https://discuss.px4.io//) [](https://discord.gg/dronecode)
+[](https://github.com/PX4/PX4-Autopilot/releases) [](https://discuss.px4.io//) [](https://discord.com/invite/dronecode)
PX4 is an open-source autopilot for drones and autonomous vehicles. It runs on multirotors, fixed-wing, VTOL, helicopters, rovers, and more. This guide covers everything from assembly and configuration to flight operations and development.
@@ -49,7 +49,7 @@ Read [Operations](config/operations.md) to understand safety features and failsa
## Підтримка
-Get help on the [discussion forums](https://discuss.px4.io/) or [Discord](https://discord.gg/dronecode). See the [Support](contribute/support.md) page for diagnosing problems, reporting bugs, and joining the [weekly dev call](contribute/dev_call.md).
+Get help on the [discussion forums](https://discuss.px4.io/) or [Discord](https://discord.com/invite/dronecode). See the [Support](contribute/support.md) page for diagnosing problems, reporting bugs, and joining the [weekly dev call](contribute/dev_call.md).
## Долучитись до проєкту
@@ -93,9 +93,9 @@ The calendar default timezone is Central European Time (CET).
## Управління
-The PX4 Autopilot project is hosted by the [Dronecode Foundation](https://www.dronecode.org/), a [Linux Foundation](https://www.linuxfoundation.org/) Collaborative Project. Dronecode holds all PX4 trademarks and serves as the project's legal guardian, ensuring vendor-neutral stewardship. No single company owns the name or controls the roadmap. The source code is licensed under the [BSD 3-Clause](https://opensource.org/license/BSD-3-Clause) license, so you are free to use, modify, and distribute it in your own projects.
+The PX4 Autopilot project is hosted by the [Dronecode Foundation](https://dronecode.org/), a [Linux Foundation](https://www.linuxfoundation.org/) Collaborative Project. Dronecode holds all PX4 trademarks and serves as the project's legal guardian, ensuring vendor-neutral stewardship. No single company owns the name or controls the roadmap. The source code is licensed under the [BSD 3-Clause](https://opensource.org/license/BSD-3-Clause) license, so you are free to use, modify, and distribute it in your own projects.
-
+
-
This page is on a release branch, and hence probably out of date. See the latest version.
+This page is on a release branch, and hence probably out of date. See the latest version.
-
This page is on a release branch, and hence probably out of date. See the latest version.
+This page is on a release branch, and hence probably out of date. See the latest version.
-
Ця сторінка може бути застарілою. Переглянути останню версію.
+This page may be out of date. See the latest version.