Link fixes galore (#25151)

2026-10-03 14:58:53 +08:00 · 2025-07-03 14:53:12 +10:00
parent dd0d00aedc
commit 375f421c61
107 changed files with 836 additions and 972 deletions
@@ -1,9 +1,7 @@
 - [Introduction](index.md)
  - [Basic Concepts](getting_started/px4_basic_concepts.md)
 - [Multicopters](frames_multicopter/index.md)
  - [Features](features_mc/index.md)
    - [Flight Modes](flight_modes_mc/index.md)
      - [Position Mode (MC)](flight_modes_mc/position.md)
@@ -57,7 +55,6 @@
    - [DJI F450 (CUAV v5 nano)](frames_multicopter/dji_f450_cuav_5nano.md)
 - [Planes (Fixed-Wing)](frames_plane/index.md)
  - [Assembly](assembly/assembly_fw.md)
  - [Config/Tuning](config_fw/index.md)
    - [Auto-tune](config/autotune_fw.md)
@@ -85,7 +82,6 @@
    - [Wing Wing Z84 (Pixracer)](frames_plane/wing_wing_z84.md)
 - [VTOL](frames_vtol/index.md)
  - [Assembly](assembly/assembly_vtol.md)
  - [VTOL Config/Tuning](config_vtol/index.md)
    - [Auto-tune](config/autotune_vtol.md)
@@ -110,7 +106,6 @@
  - [Complete Vehicles](complete_vehicles_vtol/index.md)
 - [Operations](config/operations.md)
  - [Safety](config/safety_intro.md)
    - [Safety Configuration (Failsafes)](config/safety.md)
    - [Failsafe Simulation](config/safety_simulation.md)
@@ -131,7 +126,6 @@
    - [QGroundControl Flight-Readiness Status](flying/pre_flight_checks.md)
 - [Hardware Selection & Setup](hardware/drone_parts.md)
  - [Flight Controllers (Autopilots)](flight_controller/index.md)
    - [Flight Controller Selection](getting_started/flight_controller_selection.md)
    - [Pixhawk Series](flight_controller/pixhawk_series.md)
@@ -174,7 +168,6 @@
        - [Wiring Quickstart](assembly/quick_start_cuav_v5_plus.md)
      - [CUAV V5 nano (FMUv5)](flight_controller/cuav_v5_nano.md)
        - [CUAV V5 nano Wiring Quickstart](assembly/quick_start_cuav_v5_nano.md)
      - [CUAV Pixhack v3 (FMUv3)](flight_controller/pixhack_v3.md)
      - [CubePilot Cube Orange+ (CubePilot)](flight_controller/cubepilot_cube_orangeplus.md)
      - [CubePilot Cube Orange (CubePilot)](flight_controller/cubepilot_cube_orange.md)
      - [CubePilot Cube Yellow (CubePilot)](flight_controller/cubepilot_cube_yellow.md)
@@ -209,6 +202,7 @@
      - [Bitcraze Crazyflie 2.0 ](complete_vehicles_mc/crazyflie2.md)
      - [Aerotenna OcPoC-Zynq Mini](flight_controller/ocpoc_zynq.md)
      - [CUAV v5](flight_controller/cuav_v5.md)
      - [CUAV Pixhack v3 (FMUv3)](flight_controller/pixhack_v3.md)
      - [Holybro Kakute F7](flight_controller/kakutef7.md)
      - [Holybro Pixfalcon](flight_controller/pixfalcon.md)
      - [Holybro pix32 (FMUv2)](flight_controller/holybro_pix32.md)
@@ -336,6 +330,7 @@
    - [FrSky Telemetry](peripherals/frsky_telemetry.md)
    - [TBS Crossfire (CRSF) Telemetry](telemetry/crsf_telemetry.md)
    - [Satellite Comms (Iridium/RockBlock)](advanced_features/satcom_roadblock.md)
  - [Power Systems](power_systems/index.md)
    - [Battery Estimation Tuning](config/battery.md)
    - [Battery Chemistry Overview](power_systems/battery_chemistry.md)
@@ -402,7 +397,6 @@
    - [Full Parameter Reference](advanced_config/parameter_reference.md)
 - [Other Vehicles](airframes/index.md)
  - [Airships (experimental)](frames_airship/index.md)
  - [Autogyros (experimental)](frames_autogyro/index.md)
    - [ThunderFly Auto-G2 (Holybro pix32)](frames_autogyro/thunderfly_auto_g2.md)
@@ -763,7 +757,7 @@
    - [Debugging with GDB](debug/gdb_debugging.md)
      - [SWD Debug Port](debug/swd_debug.md)
      - [JLink Probe](debug/probe_jlink.md)
-      - [Black Magic/DroneCode Probe](debug/probe_bmp.md)
+      - [Black Magic/Zubax BugFace BF1 Probe](debug/probe_bmp.md)
      - [STLink Probe](debug/probe_stlink.md)
      - [MCU-Link Probe](debug/probe_mculink.md)
      - [Hardfault Debugging](debug/gdb_hardfault.md)
@@ -39,7 +39,7 @@ The u-blox U-Center RTK module configuration tool is not needed/used!
 :::
 ::: info
-Both _QGroundControl_ and the autopilot firmware share the same [PX4 GPS driver stack](https://github.com/PX4/GpsDrivers).
+Both _QGroundControl_ and the autopilot firmware share the same [PX4 GPS driver stack](https://github.com/PX4/PX4-GPSDrivers).
 In practice, this means that support for new protocols and/or messages only need to be added to one place.
 :::
@@ -74,7 +74,7 @@ arm-none-eabi-objcopy -O ihex build/px4_fmu-v6x_bootloader/px4_fmu-v6x_bootloade
 ### PX4 Bootloader FMUv5X and earlier
-PX4 boards up to FMUv5X (before STM32H7) used the [PX4 bootloader](https://github.com/PX4/Bootloader) repository.
+PX4 boards up to FMUv5X (before STM32H7) used the [PX4 bootloader](https://github.com/PX4/PX4-Bootloader) repository.
 The instructions in the repo README explain how to use it.
@@ -86,7 +86,6 @@ The following steps explain how you can "manually" update the bootloader using a
 2. Get a [Debug Probe](../debug/swd_debug.md#debug-probes-for-px4-hardware).
   Connect the probe your PC via USB and setup the `gdbserver`.
 3. Go into the directory containing the binary and run the command for your target bootloader in the terminal:
   - FMUv6X
     ```sh
@@ -140,7 +139,7 @@ The following steps explain how you can "manually" update the bootloader using a
 7. Power on the Pixhawk with another USB cable and connect the probe to the `FMU-DEBUG` port.
   ::: info
-   If using a Dronecode probe you may need to remove the case in order to connect to the `FMU-DEBUG` port (e.g. on Pixhawk 4 you would do this using a T6 Torx screwdriver).
+   If using a Zubax BugFace BF1 you may need to remove the case in order to connect to the `FMU-DEBUG` port (e.g. on Pixhawk 4 you would do this using a T6 Torx screwdriver).
   :::
 8. Use the following command to scan for the Pixhawk`s SWD and connect to it:
@@ -2,7 +2,7 @@
 This page documents how to flash the PX4 bootloader onto boards that are already flashed with Betaflight (e.g. [OmnibusF4 SD](../flight_controller/omnibus_f4_sd.md) or [Kakute F7](../flight_controller/kakutef7.md)).
-There are three tools that can be used to flash the PX4 bootloader: _Betaflight Configurator_, [dfu-util](http://dfu-util.sourceforge.net/) command line tool, or the graphical [dfuse](https://www.st.com/en/development-tools/stsw-stm32080.html) (Windows only).
+There are three tools that can be used to flash the PX4 bootloader: _Betaflight Configurator_, [dfu-util](https://dfu-util.sourceforge.net/) command line tool, or the graphical [dfuse](https://www.st.com/en/development-tools/stsw-stm32080.html) (Windows only).
 ::: info
 The _Betaflight Configurator_ is easiest, but newer versions may not support non-betaflight bootloader update.
@@ -22,7 +22,7 @@ To install the PX4 bootloader using the _Betaflight Configurator_:
 1. Download the [Betaflight Configurator](https://github.com/betaflight/betaflight-configurator/releases) for your platform.
   :::tip
-   If using the _Chrome_ web browser, a simple cross-platform alternative is to install the configurator as an [extension from here](https://chrome.google.com/webstore/detail/betaflight-configurator/kdaghagfopacdngbohiknlhcocjccjao).
+   If using the _Chrome_ web browser, a simple cross-platform alternative is to install the configurator as an [extension from here](https://chromewebstore.google.com/detail/betaflight-configurator/kdaghagfopacdngbohiknlhcocjccjao?pli=1).
   :::
 1. Connect the board to your PC and start the Configurator.
@@ -34,7 +34,7 @@ You should now be able to install PX4 firmware on the board.
 ## DFU Bootloader Update
-This section explains how to flash the PX4 bootloader using the [dfu-util](http://dfu-util.sourceforge.net/) or the graphical [dfuse](https://www.st.com/en/development-tools/stsw-stm32080.html) tool (Windows only).
+This section explains how to flash the PX4 bootloader using the [dfu-util](https://dfu-util.sourceforge.net/) or the graphical [dfuse](https://www.st.com/en/development-tools/stsw-stm32080.html) tool (Windows only).
 You will first need to download or build [bootloader firmware](#bootloader-firmware) for the board you want to flash (below, this is referred to as `<target.bin>`).
@@ -114,10 +114,10 @@ cd PX4-Autopilot
 make <target> # For example: holybro_kakuteh7mini_bootloader
 ```
-For other flight controllers download the [PX4/Bootloader](https://github.com/PX4/Bootloader) repository and build the source code using the appropriate targets:
+For other flight controllers download the [PX4/Bootloader](https://github.com/PX4/PX4-Bootloader) repository and build the source code using the appropriate targets:
 ```
-git clone --recursive  https://github.com/PX4/Bootloader.git
+git clone --recursive  https://github.com/PX4/PX4-Bootloader.git
 cd Bootloader
 make <target> # For example: omnibusf4sd_bl or kakutef7_bl
 ```
@@ -105,7 +105,7 @@ You also need to [configure the Ethernet port](#px4-mavlink-serial-port-configur
 If you're using Ubuntu for your ground station (or companion computer) then you can use [netplan](https://netplan.io/) to configure the network.
 Below we show how you write a setup to the netplan configuration file "`/etc/netplan/01-network-manager-all.yaml`", which would run on the same network as used by the PX4 setup above.
-Note that there are many more [examples](https://netplan.io/examples/) and instructions in the [netplan](https://netplan.io/) documentation.
+Note that there are many more [examples](https://github.com/canonical/netplan/tree/main/examples) and instructions in the [netplan](https://netplan.io/) documentation.
 To setup the Ubuntu Computer:
@@ -106,7 +106,7 @@ Arming is prevented if:
 - The current mode requires an adequate global position estimate but the vehicle does not have GPS lock.
 - Many more (see [arming/disarming safety settings](../config/safety.md#arming-disarming-settings) for more information).
-The current failed checks can be viewed in QGroundControl (v4.2.0 and later) [Arming Check Report](../flying/pre_flight_checks.md#qgc-arming-check-report) (see also [Fly View > Arming and Preflight Checks](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/fly_view/fly_view.md#arm)).
+The current failed checks can be viewed in QGroundControl (v4.2.0 and later) [Arming Check Report](../flying/pre_flight_checks.md#qgc-arming-check-report) (see also [Fly View > Toolbar > Flight Status](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/fly_view/fly_view_toolbar.html#flight-status)).
 Note that internally PX4 runs arming checks at 10Hz.
 A list of the failed checks is kept, and if the list changes PX4 emits the current list using the [Events interface](../concept/events_interface.md).
@@ -155,7 +155,6 @@ The default startup sequence is:
   - System now prearmed: non-throttling actuators can move (e.g. ailerons).
   - System safety is off: Arming possible.
 1. Arm command is issued.
   - The system is armed.
   - All motors and actuators can move.
@@ -173,7 +172,6 @@ The startup sequence is:
   - _All actuators stay locked into disarmed position (same as disarmed)._
   - System safety is off: Arming possible.
 1. Arm command is issued.
   - The system is armed.
   - All motors and actuators can move.
@@ -274,7 +274,7 @@ For more details about the configuration of height sources, [click here](#height
 #### Yaw Measurements
-Some GPS receivers such as the [Trimble MB-Two RTK GPS receiver](https://www.trimble.com/Precision-GNSS/MB-Two-Board.aspx) can be used to provide a heading measurement that replaces the use of magnetometer data.
+Some GPS receivers such as the [Trimble MB-Two RTK GPS receiver](https://oemgnss.trimble.com/en/products/receiver-modules/mb-two) can be used to provide a heading measurement that replaces the use of magnetometer data.
 This can be a significant advantage when operating in an environment where large magnetic anomalies are present, or at latitudes here the earth's magnetic field has a high inclination.
 Use of GPS yaw measurements is enabled by setting bit position 3 to 1 (adding 8) in the [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL) parameter.
@@ -536,9 +536,9 @@ When this has been done, the performance metadata files can be processed to prov
 ### Output Data
- Attitude output data is found in the [VehicleAttitude](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleAttitude.msg) message.
+- Attitude output data is found in the [VehicleAttitude](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleAttitude.msg) message.
- Local position output data is found in the [VehicleLocalPosition](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleLocalPosition.msg) message.
+- Local position output data is found in the [VehicleLocalPosition](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleLocalPosition.msg) message.
- Global \(WGS-84\) output data is found in the [VehicleGlobalPosition](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleGlobalPosition.msg) message.
+- Global \(WGS-84\) output data is found in the [VehicleGlobalPosition](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleGlobalPosition.msg) message.
 - Wind velocity output data is found in the [Wind.msg](https://github.com/PX4/PX4-Autopilot/blob/main/msg/Wind.msg) message.
 ### States
@@ -102,10 +102,10 @@ At time of writing is no _convenient_ way to directly invoke precision landing (
 ### IR Sensor/Beacon Setup
-The IR sensor/landing beacon solution requires an [IR-LOCK Sensor](https://irlock.com/products/ir-lock-sensor-precision-landing-kit) and downward facing [distance sensor](../sensor/rangefinders.md) connected to the flight controller, and an IR beacon as a target (e.g. [IR-LOCK MarkOne](https://irlock.com/collections/markone)).
+The IR sensor/landing beacon solution requires an [IR-LOCK Sensor](https://irlock.com/products/ir-lock-sensor-precision-landing-kit) and downward facing [distance sensor](../sensor/rangefinders.md) connected to the flight controller, and an IR beacon as a target (e.g. [IR-LOCK MarkOne](https://irlock.com/collections/ir-markers)).
 This enables landing with a precision of roughly 10 cm (GPS precision, by contrast, may be as large as several meters).
-Install the IR-LOCK sensor by following the [official guide](https://irlock.readme.io/v2.0/docs).
+Install the IR-LOCK sensor by following the [official guide](https://irlock.readme.io/docs/getting-started).
 Ensure that the sensor's x axis is aligned with the vehicle's y axis and the sensor's y axis aligned with the vehicle's -x direction (this is the case if the camera is pitched down 90 degrees from facing forward).
 Install a [range/distance sensor](../sensor/rangefinders.md) (the _LidarLite v3_ has been found to work well).
@@ -9,7 +9,7 @@ Given good signal quality, users can expect a latency between 10 to 15 seconds.
 The following components are needed for the satellite communication link:
- A [RockBlock 9603 Iridium Satellite Modem](https://www.iridium.com/products/rock-seven-rockblock-9603/) module connected to a Pixhawk flashed with the PX4 Autopilot.
+- A [RockBlock 9603 Iridium Satellite Modem](https://www.iridium.com/products/ground-control-rockblock-9603/) module connected to a Pixhawk flashed with the PX4 Autopilot.
 - A message relay server running Ubuntu Linux.
 - A ground station computer running _QGroundControl_ on Ubuntu Linux
@@ -21,7 +21,7 @@ The full system architecture is shown below:
 The setup was tested with the current release of _QGroundControl_ running on Ubuntu 14.04 and 16.04.
 - It may be possible to run the system on other ground stations and operating systems, but this has not been tested (and is not guaranteed to work).
- The [RockBlock MK2](https://www.groundcontrol.com/us/product/rockblock-9602-satellite-modem/) module can also be used.
+- The [RockBlock MK2](https://www.groundcontrol.com/product/rockblock-9602-satellite-modem/) module can also be used.
  The RockBlock 9603 module is recommended because it is smaller and lighter, while providing the same functionality.
 :::
@@ -34,7 +34,7 @@ The UK link running cost consists of a line rental and per message cost:
 - Each message transmitted over the system costs one _credit_ per 50 bytes.
  Bundles of credits can be bought from RockBlock for £0.04-£0.11 per credit, depending on the bundle size.
-Refer to the [RockBlock Documentation](https://docs.rockblock.rock7.com/docs) for a detailed explanation of the modules, running costs and _RockBlock_ in general.
+Refer to the [RockBlock Documentation](https://docs.groundcontrol.com/iot/rockblock) for a detailed explanation of the modules, running costs and _RockBlock_ in general.
 ## Vehicle Setup
@@ -43,15 +43,15 @@ Refer to the [RockBlock Documentation](https://docs.rockblock.rock7.com/docs) fo
 Connect the RockBlock module to a serial port of the Pixhawk.
 Due to the power requirements of the module it can only be powered over a high-power serial port as a maximum of 0.5 A at 5 V are required.
 If none is available/free then another power source which has the same ground level as the Pixhawk and can provide required power has to be setup.
-The details of the [connectors](https://docs.rockblock.rock7.com/docs/connectors) and the [power requirements](https://docs.rockblock.rock7.com/docs/power-supply) can be found in the RockBlock documentation.
+The details of the [connectors](https://docs.groundcontrol.com/iot/rockblock/specification/connectors-wiring) and the [power requirements](https://docs.groundcontrol.com/iot/rockblock/electrical) can be found in the RockBlock documentation.
 ### Module
 The module can either use the internal antenna or an external one connected to the SMA connector.
-To [switch between the two antennas modes](https://docs.rockblock.rock7.com/docs/switching-rockblock-9603-antenna-mode) the position of a small RF link cable needs to changed.
+To [switch between the two antennas modes](https://docs.groundcontrol.com/iot/rockblock/user-manual/9603-atenna-mode) the position of a small RF link cable needs to changed.
 If an external antenna is used always make sure that the antenna is connected to the module before powering it up to avoid damage to the module.
-The default baud rate of the module is 19200. However, the PX4 _iridiumsbd_ driver requires a baud rate of 115200 so it needs to be changed using the [AT commands](https://www.groundcontrol.com/en/wp-content/uploads/2022/02/IRDM_ISU_ATCommandReferenceMAN0009_Rev2.0_ATCOMM_Oct2012.pdf).
+The default baud rate of the module is 19200. However, the PX4 _iridiumsbd_ driver requires a baud rate of 115200 so it needs to be changed using the [AT commands](https://www.groundcontrol.com/wp-content/uploads/2022/02/IRDM_ISU_ATCommandReferenceMAN0009_Rev2.0_ATCOMM_Oct2012.pdf).
 1. Connect to the module with using a 19200/8-N-1 setting and check if the communication is working using the command: `AT`.
   The response should be: `OK`.
@@ -100,7 +100,6 @@ Set up a delivery group for the message relay server and add the module to that
 The relay server should be run on either Ubuntu 16.04 or 14.04 OS.
 1. The server working as a message relay should have a static IP address and two publicly accessible, open, TCP ports:
   - `5672` for the _RabbitMQ_ message broker (can be changed in the _rabbitmq_ settings)
   - `45679` for the HTTP POST interface (can be changed in the **relay.cfg** file)
@@ -123,7 +122,7 @@ The relay server should be run on either Ubuntu 16.04 or 14.04 OS.
   sudo rabbitmqctl set_permissions iridiumsbd ".*" ".*" ".*"
   ```
-1. Clone the [SatComInfrastructure](https://github.com/acfloria/SatComInfrastructure.git) repository:
+1. Clone the [SatComInfrastructure](https://github.com/acfloria/SatComInfrastructure) repository:
   ```sh
   git clone https://github.com/acfloria/SatComInfrastructure.git
@@ -189,7 +188,6 @@ To setup the ground station:
 1. Edit the **udp2rabbit.cfg** configuration file to reflect your settings.
 1. [Install _QGroundControl_](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/getting_started/download_and_install.html) (daily build).
 1. Add a UDP connection in QGC with the parameters:
   - Listening port: 10000
   - Target hosts: 127.0.0.1:10001
   - High Latency: checked
@@ -236,7 +234,6 @@ If in the terminal where the `udp2rabbit.py` script is running within a couple o
 1. The satellite communication system is now ready to use.
   The priority link, which is the link over which commands are send, is determined the following ways:
   - If no link is commanded by the user a regular radio telemetry link is preferred over the high latency link.
   - The autopilot and QGC will fall back from the regular radio telemetry to the high latency link if the vehicle is armed and the radio telemetry link is lost (no MAVLink messages received for a certain time).
     As soon as the radio telemetry link is regained QGC and the autopilot will switch back to it.
@@ -250,7 +247,6 @@ If in the terminal where the `udp2rabbit.py` script is running within a couple o
 - Satellite communication messages from the airplane are received but no commands can be transmitted (the vehicle does not react)
  - Check the settings of the relay server and make sure that they are correct, especially the IMEI.
 - No satellite communication messages from the airplane arrive on the ground station:
  - Check using the system console if the _iridiumsbd_ driver started and if it did that a signal from any satellite is received by the module:
    ```sh
@@ -261,7 +257,6 @@ If in the terminal where the `udp2rabbit.py` script is running within a couple o
  - Check if the link is connected and that its settings are correct.
 - The IridiumSBD driver does not start:
  - Reboot the vehicle.
    If that helps increase the sleep time in the `extras.txt` before the driver is started.
    If that does not help make sure that the Pixhawk and the module have the same ground level. Confirm also that the baudrate of the module is set to 115200.
@@ -54,7 +54,7 @@ The GPS/Compass module should be [mounted on the frame](../assembly/mount_gps_co
 Connect to the flight control GPS interface using a cable.
 ::: info
-If you use the [NEO V2 PRO GNSS (CAN GPS)](http://doc.cuav.net/gps/neo-series-gnss/en/neo-v2-pro.html), please use the cable to connect to the flight control CAN interface.
+If you use the [NEO V2 PRO GNSS (CAN GPS)](https://doc.cuav.net/gps/neo-series-gnss/en/neo-v2-pro.html), please use the cable to connect to the flight control CAN interface.
 :::
 ![V5+ AutoPilot](../../assets/flight_controller/cuav_v5_plus/connection/v5+_quickstart_03.png)
@@ -130,7 +130,7 @@ Download **V5+** pinouts from [here](http://manual.cuav.net/V5-Plus.pdf).
 - [Airframe build-log using CUAV v5+ on a DJI FlameWheel450](../frames_multicopter/dji_f450_cuav_5plus.md)
 - [CUAV V5+ Manual](http://manual.cuav.net/V5-Plus.pdf) (CUAV)
- [CUAV V5+ docs](http://doc.cuav.net/flight-controller/v5-autopilot/en/v5+.html) (CUAV)
+- [CUAV V5+ docs](https://doc.cuav.net/controller/v5-autopilot/en/v5+.html) (CUAV)
 - [FMUv5 reference design pinout](https://docs.google.com/spreadsheets/d/1-n0__BYDedQrc_2NHqBenG1DNepAgnHpSGglke-QQwY/edit#gid=912976165) (CUAV)
 - [CUAV Github](https://github.com/cuav) (CUAV)
 - [Base board design reference](https://github.com/cuav/hardware/tree/master/V5_Autopilot/V5%2B/V5%2BBASE) (CUAV)
@@ -13,7 +13,7 @@ This quick start guide shows how to power the _Cube_<sup>&reg;</sup> flight cont
 :::tip
 The instructions apply to all Cube variants, including [Cube Black](../flight_controller/pixhawk-2.md), [Cube Yellow](../flight_controller/cubepilot_cube_yellow.md) and [Cube Orange](../flight_controller/cubepilot_cube_orange.md).
-Further/updated information may be available in the [Cube User Manual](https://docs.cubepilot.org/user-guides/autopilot/the-cube-user-manual) (Cube Docs).
+Further/updated information may be available in the [Cube User Manual](https://docs.cubepilot.org/user-guides/autopilot/the-cube) (Cube Docs).
 :::
 ## Accessories
@@ -193,7 +193,7 @@ If connecting peripherals to the port labeled `GPS2`, assign the PX4 [serial por
 ## Configuration
-Configuration is performed using [QGroundContro](http://qgroundcontrol.com/).
+Configuration is performed using [QGroundContro](https://qgroundcontrol.com/).
 After downloading, installing and running _QGroundControl_, connect the board to your computer as shown.
@@ -218,6 +218,5 @@ To use this feature de-power the Cube, hold down the safety switch, then power t
 - [Cube Yellow](../flight_controller/cubepilot_cube_yellow.md)
 - [Cube Orange](../flight_controller/cubepilot_cube_orange.md)
 - Cube Docs (Manufacturer):
-  - [Cube Module Overview](https://docs.cubepilot.org/user-guides/autopilot/the-cube-module-overview)
+  - [Cube User Guide](https://docs.cubepilot.org/user-guides/autopilot/the-cube)
  - [Cube User Manual](https://docs.cubepilot.org/user-guides/autopilot/the-cube-user-manual)
  - [Mini Carrier Board](https://docs.cubepilot.org/user-guides/carrier-boards/mini-carrier-board)
@@ -147,7 +147,7 @@ The instructions below show how to connect the different types of receivers to _
  ![Durandal - Back Pinouts (Schematic)](../../assets/flight_controller/durandal/durandal_pinouts_back.jpg)
- PPM and PWM receivers that have an _individual wire for each channel_ must connect to the **PPM RC** port _via a PPM encoder_ [like this one](http://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html) (PPM-Sum receivers use a single signal wire for all channels).
+- PPM and PWM receivers that have an _individual wire for each channel_ must connect to the **PPM RC** port _via a PPM encoder_ [like this one](https://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html) (PPM-Sum receivers use a single signal wire for all channels).
 For more information about selecting a radio system, receiver compatibility, and binding your transmitter/receiver pair, see: [Remote Control Transmitters & Receivers](../getting_started/rc_transmitter_receiver.md).
@@ -213,6 +213,6 @@ QuadPlane specific configuration is covered here: [QuadPlane VTOL Configuration]
 - [Durandal Overview](../flight_controller/durandal.md)
 - [Durandal Technical Data Sheet](https://cdn.shopify.com/s/files/1/0604/5905/7341/files/Durandal_technical_data_sheet_90f8875d-8035-4632-a936-a0d178062077.pdf) (Holybro)
- [Durandal Pinouts](https://holybro.com/collections/autopilot-flight-controllers/products/Durandal-Pinouts) (Holybro)
+- [Durandal Pinouts](https://cdn.shopifycdn.net/s/files/1/0604/5905/7341/files/Durandal_Pinouts_v1.0.pdf?v=1693983344) (Holybro)
- [Durandal_MB_H743sch.pdf](https://github.com/PX4/PX4-user_guide/raw/main/assets/flight_controller/durandal/Durandal_MB_H743sch.pdf) (Durandal Schematics)
+- [Durandal_MB_H743sch.pdf](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/flight_controller/durandal/Durandal_MB_H743sch.pdf) (Durandal Schematics)
- [STM32H743IIK_pinout.pdf](https://github.com/PX4/PX4-user_guide/raw/main/assets/flight_controller/durandal/STM32H743IIK_pinout.pdf) (Durandal Pinmap)
+- [STM32H743IIK_pinout.pdf](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/flight_controller/durandal/STM32H743IIK_pinout.pdf) (Durandal Pinmap)
@@ -123,7 +123,7 @@ The instructions below show how to connect the different types of receivers to _
  ![Pinouts](../../assets/flight_controller/holybro_pix32_v5/pix32_v5_pinouts_back_label.png)
- PPM and PWM receivers that have an _individual wire for each channel_ must connect to the **PPM RC** port _via a PPM encoder_ [like this one](http://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html) (PPM-Sum receivers use a single signal wire for all channels).
+- PPM and PWM receivers that have an _individual wire for each channel_ must connect to the **PPM RC** port _via a PPM encoder_ [like this one](https://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html) (PPM-Sum receivers use a single signal wire for all channels).
 For more information about selecting a radio system, receiver compatibility, and binding your transmitter/receiver pair, see: [Remote Control Transmitters & Receivers](../getting_started/rc_transmitter_receiver.md).
@@ -181,5 +181,5 @@ QuadPlane specific configuration is covered here: [QuadPlane VTOL Configuration]
 - [Pix32 v5 Technical Data Sheet](https://cdn.shopify.com/s/files/1/0604/5905/7341/files/Holybro_PIX32-V5_technical_data_sheet_v1.1.pdf)
 - [Pix32 v5 Pinouts](https://cdn.shopify.com/s/files/1/0604/5905/7341/files/Holybro_Pix32-V5-Base-Mini-Pinouts.pdf)
 - [Pix32 v5 Base Schematic Diagram](https://cdn.shopify.com/s/files/1/0604/5905/7341/files/Holybro_PIX32-V5-BASE-Schematic_diagram.pdf)
- [Pix32 v5 Base Components Layout](https://holybro.com/manual/Holybro_PIX32-V5-BASE-ComponentsLayout.pdf)
+- [Pix32 v5 Base Components Layout](https://cdn.shopify.com/s/files/1/0604/5905/7341/files/Holybro_PIX32-V5-BASE-RC02-ComponentsLayout.pdf)
 - [FMUv5 reference design pinout](https://docs.google.com/spreadsheets/d/1-n0__BYDedQrc_2NHqBenG1DNepAgnHpSGglke-QQwY/edit#gid=912976165).
@@ -83,7 +83,7 @@ The instructions below show how to connect the different types of receivers to P
 - PPM-SUM and S.BUS receivers connect to the **RC** ground, power and signal pins as shown.
  ![Pixhawk - Radio port for PPM/S.BUS receivers](../../assets/flight_controller/pixhawk1/pixhawk_3dr_receiver_ppm_sbus.jpg)
- PPM and PWM receivers that have an _individual wire for each channel_ must connect to the **RC** port _via a PPM encoder_ [like this one](http://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html) (PPM-Sum receivers use a single signal wire for all channels).
+- PPM and PWM receivers that have an _individual wire for each channel_ must connect to the **RC** port _via a PPM encoder_ [like this one](https://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html) (PPM-Sum receivers use a single signal wire for all channels).
 For more information about selecting a radio system, receiver compatibility, and binding your transmitter/receiver pair, see: [Remote Control Transmitters & Receivers](../getting_started/rc_transmitter_receiver.md).
@@ -135,7 +135,7 @@ The instructions below show how to connect the different types of receivers to _
  ![Pixhawk 4 - Radio port for PPM receivers](../../assets/flight_controller/pixhawk4/pixhawk_4_receiver_ppm.png)
- PPM and PWM receivers that have an _individual wire for each channel_ must connect to the **PPM RC** port _via a PPM encoder_ [like this one](http://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html) (PPM-Sum receivers use a single signal wire for all channels).
+- PPM and PWM receivers that have an _individual wire for each channel_ must connect to the **PPM RC** port _via a PPM encoder_ [like this one](https://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html) (PPM-Sum receivers use a single signal wire for all channels).
 For more information about selecting a radio system, receiver compatibility, and binding your transmitter/receiver pair, see: [Remote Control Transmitters & Receivers](../getting_started/rc_transmitter_receiver.md).
@@ -178,7 +178,7 @@ The wiring and configuration of optional/less common components is covered withi
 ## Pinouts
-[Pixhawk 4 Pinouts](https://holybro.com/manual/Pixhawk4-Pinouts.pdf) (Holybro)
+[Pixhawk 4 Pinouts](https://cdn.shopify.com/s/files/1/0604/5905/7341/files/Pixhawk4-Pinouts.pdf) (Holybro)
 ## Configuration
@@ -191,6 +191,6 @@ QuadPlane specific configuration is covered here: [QuadPlane VTOL Configuration]
 ## Further information
 - [Pixhawk 4](../flight_controller/pixhawk4.md) (Overview page)
- [Pixhawk 4 Technical Data Sheet](https://github.com/PX4/PX4-user_guide/raw/main/assets/flight_controller/pixhawk4/pixhawk4_technical_data_sheet.pdf)
+- [Pixhawk 4 Technical Data Sheet](https://github.com/PX4/PX4-Autopilot/blob/main/docs/assets/flight_controller/pixhawk4/pixhawk4_technical_data_sheet.pdf)
- [Pixhawk 4 Pinouts](https://holybro.com/manual/Pixhawk4-Pinouts.pdf) (Holybro)
+- [Pixhawk 4 Pinouts](https://cdn.shopify.com/s/files/1/0604/5905/7341/files/Pixhawk4-Pinouts.pdf) (Holybro)
 - [Pixhawk 4 Quick Start Guide (Holybro)](https://holybro.com/manual/Pixhawk4-quickstartguide.pdf)
@@ -107,7 +107,7 @@ The instructions below show how to connect the different types of receivers to _
  ![Pixhawk 4 Mini - Radio port for PPM receivers](../../assets/flight_controller/pixhawk4mini/pixhawk4mini_rc_ppm.png)
- PPM and PWM receivers that have an _individual wire for each channel_ must connect to the **PPM RC** port _via a PPM encoder_ [like this one](http://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html) (PPM-Sum receivers use a single signal wire for all channels).
+- PPM and PWM receivers that have an _individual wire for each channel_ must connect to the **PPM RC** port _via a PPM encoder_ [like this one](https://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html) (PPM-Sum receivers use a single signal wire for all channels).
 For more information about selecting a radio system, receiver compatibility, and binding your transmitter/receiver pair, see: [Remote Control Transmitters & Receivers](../getting_started/rc_transmitter_receiver.md).
@@ -92,7 +92,7 @@ You will need to [select a compatible transmitter/receiver](../getting_started/r
 - Spektrum/DSM receivers connect to the **DSM/SBUS RC** input.
 - PPM or SBUS receivers connect to the **RC IN** input port.
-PPM and PWM receivers that have an _individual wire for each channel_ must connect to the **RC IN** port _via a PPM encoder_ [like this one](http://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html) (PPM-Sum receivers use a single signal wire for all channels).
+PPM and PWM receivers that have an _individual wire for each channel_ must connect to the **RC IN** port _via a PPM encoder_ [like this one](https://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html) (PPM-Sum receivers use a single signal wire for all channels).
 For more information about selecting a radio system, receiver compatibility, and binding your transmitter/receiver pair, see: [Remote Control Transmitters & Receivers](../getting_started/rc_transmitter_receiver.md).
@@ -81,7 +81,7 @@ You will need to [select a compatible transmitter/receiver](../getting_started/r
 - Spektrum/DSM receivers connect to the **DSM** input.
 - PPM or SBUS receivers connect to the **PPM/SBUS** input port.
-PPM and PWM receivers that have an _individual wire for each channel_ must connect to the *PPM/SBUS\*\* port *via a PPM encoder\* [like this one](http://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html) (PPM-Sum receivers use a single signal wire for all channels).
+PPM and PWM receivers that have an _individual wire for each channel_ must connect to the *PPM/SBUS\*\* port *via a PPM encoder\* [like this one](https://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html) (PPM-Sum receivers use a single signal wire for all channels).
 For more information about selecting a radio system, receiver compatibility, and binding your transmitter/receiver pair, see: [Remote Control Transmitters & Receivers](../getting_started/rc_transmitter_receiver.md).
@@ -105,7 +105,7 @@ You will need to [select a compatible transmitter/receiver](../getting_started/r
 - Spektrum/DSM receivers connect to the **DSM/SBUS RC** input.
 - PPM or SBUS receivers connect to the **RC IN** input port.
-PPM and PWM receivers that have an _individual wire for each channel_ must connect to the **RC IN** port _via a PPM encoder_ [like this one](http://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html) (PPM-Sum receivers use a single signal wire for all channels).
+PPM and PWM receivers that have an _individual wire for each channel_ must connect to the **RC IN** port _via a PPM encoder_ [like this one](https://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html) (PPM-Sum receivers use a single signal wire for all channels).
 For more information about selecting a radio system, receiver compatibility, and binding your transmitter/receiver pair, see: [Remote Control Transmitters & Receivers](../getting_started/rc_transmitter_receiver.md).
@@ -41,7 +41,7 @@ The instructions below show how to connect the different types of receivers:
  ![Radio Connection](../../assets/flight_controller/pixracer/grau_setup_pixracer_radio.jpg)
- PPM and PWM receivers that have an _individual wire for each channel_ must connect to the **RCIN** port _via a PPM encoder_ [like this one](http://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html) (PPM-Sum receivers use a single signal wire for all channels).
+- PPM and PWM receivers that have an _individual wire for each channel_ must connect to the **RCIN** port _via a PPM encoder_ [like this one](https://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html) (PPM-Sum receivers use a single signal wire for all channels).
 ### Power Module (ACSP4)
@@ -1,16 +1,18 @@
 # Intel® RealSense™ Tracking Camera T265 (VIO)
 The [Intel® RealSense™ Tracking Camera T265](https://www.intelrealsense.com/tracking-camera-t265/) provides odometry information that can be used for [VIO](../computer_vision/visual_inertial_odometry.md), augmenting or replacing other positioning systems on PX4.
 :::tip
-This camera is recommended, and is used in the [Visual Inertial Odometry (VIO) > Suggested Setup](../computer_vision/visual_inertial_odometry.md#suggested-setup).
+This camera is discontinued.
 :::
 The _Intel® RealSense™ Tracking Camera T265_ provides odometry information that can be used for [VIO](../computer_vision/visual_inertial_odometry.md), augmenting or replacing other positioning systems on PX4.
 It is used in the [Visual Inertial Odometry (VIO) > Suggested Setup](../computer_vision/visual_inertial_odometry.md#suggested-setup).
 ![Intel® RealSense™ Tracking Camera T265 - Angled Image](../../assets/peripherals/camera_vio/t265_intel_realsense_tracking_camera_photo_angle.jpg)
 ## Where to Buy
-[Intel® RealSense™ Tracking Camera T265](https://www.intelrealsense.com/tracking-camera-t265/) (store.intelrealsense.com)
+No longer available.
 ## Setup Instructions
@@ -113,9 +113,9 @@ If it is your first time enabling the camera trigger app, remember to reboot aft
 The camera trigger driver supports several backends - each for a specific application, controlled by the [TRIG_INTERFACE](../advanced_config/parameter_reference.md#TRIG_INTERFACE) parameter:
 | Number | Description                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                       |
-| ------ | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| ------ | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
 | 1      | Enables the GPIO interface. The AUX outputs are pulsed high or low (depending on the `TRIG_POLARITY` parameter) every [TRIG_INTERVAL](../advanced_config/parameter_reference.md#TRIG_INTERVAL) duration. This can be used to trigger most standard machine vision cameras directly. Note that on PX4FMU series hardware (Pixhawk, Pixracer, etc.), the signal level on the AUX pins is 3.3v.                                                                                                                      |
-| 2      | Enables the Seagull MAP2 interface. This allows the use of the [Seagull MAP2](http://www.seagulluav.com/product/seagull-map2/) to interface to a multitude of supported cameras. Pin/Channel 1 (camera trigger) and Pin/Channel 2 (mode selector) of the MAP2 should be connected to the lower and higher mapped [camera trigger pins](#trigger-output-pin-configuration). Using Seagull MAP2, PX4 also supports automatic power control and keep-alive functionalities of Sony Multiport cameras like the QX-1. |
+| 2      | Enables the Seagull MAP2 interface. This allows the use of the [Seagull MAP2](https://www.seagulluav.com/product/seagull-map2/) to interface to a multitude of supported cameras. Pin/Channel 1 (camera trigger) and Pin/Channel 2 (mode selector) of the MAP2 should be connected to the lower and higher mapped [camera trigger pins](#trigger-output-pin-configuration). Using Seagull MAP2, PX4 also supports automatic power control and keep-alive functionalities of Sony Multiport cameras like the QX-1. |
 | 3      | This mode enables MAVLink cameras that used the legacy [MAVLink interface listed above](#mavlink-command-interface). The messages are automatically emitted on the MAVLink `onboard` channel when found in missions. PX4 emits the `CAMERA_TRIGGER` MAVLink message when a camera is triggered, by default to the `onboard` channel (if this is not used, custom stream will need to be enabled). [Simple MAVLink cameras](../camera/mavlink_v1_camera.md) explains this use case in more detail.                 |
 | 4      | Enables the generic PWM interface. This allows the use of [infrared triggers](https://hobbyking.com/en_us/universal-remote-control-infrared-shutter-ir-rc-1g.html) or servos to trigger your camera.                                                                                                                                                                                                                                                                                                              |
@@ -137,9 +137,9 @@ Generic/extensible camera managers:
 - [MAVLink Camera Manager](https://github.com/mavlink/mavlink-camera-manager) - Extensible cross-platform MAVLink Camera Server built on top of GStreamer and Rust-MAVLink.
 - [Dronecode Camera Manager](https://camera-manager.dronecode.org/en/) - Adds Camera Protocol interface for cameras connected to Linux computer.
-Camera-specfic camera managers:
+Camera-specific camera managers:
- [SIYI A8 mini camera manager](https://github.com/julianoes/siyi-a8-mini-camera-manager) - MAVSDK-plugin based camera manager for the [SIYI A8 mini](https://shop.siyi.biz/products/siyi-a8-mini) (includes tutorial).
+- [SIYI A8 mini camera manager](https://github.com/julianoes/siyi-a8-mini-camera-manager) - MAVSDK-plugin based camera manager for the [SIYI A8 mini](https://shop.siyi.biz/products/siyi-a8-mini-gimbal-camera) (includes tutorial).
  ::: tip
  This is a good example of how MAVSDK can be used to create a MAVLink camera protocol interface for a particular camera.
@@ -149,6 +149,6 @@ When using a camera manager you connect the companion computer to the flight con
 More information about camera manager and companion computer setups can be found in:
- [SIYI A8 mini camera manager](https://github.com/julianoes/siyi-a8-mini-camera-manager) - Tutorial for integrating with the [SIYI A8 mini](https://shop.siyi.biz/products/siyi-a8-mini) using a MAVSDK-based camera manager running on a Raspberry Pi companion computer.
+- [SIYI A8 mini camera manager](https://github.com/julianoes/siyi-a8-mini-camera-manager) - Tutorial for integrating with the [SIYI A8 mini](https://shop.siyi.biz/products/siyi-a8-mini-gimbal-camera) using a MAVSDK-based camera manager running on a Raspberry Pi companion computer.
 - [Using a Companion Computer with Pixhawk Controllers](../companion_computer/pixhawk_companion.md)
 - [Companion Computers > Companion Computer Software](../companion_computer/index.md#companion-computer-software): In particular note [MAVLink-Router](https://github.com/mavlink-router/mavlink-router), which you can setup to route MAVLink traffic between a serial port and an IP link (or other camera manager interface).
@@ -38,7 +38,7 @@ The following diagram shows an example of a CAN bus connecting a flight controll
 The diagram does not show any power wiring.
 Refer to your manufacturer instructions to confirm whether components require separate power or can be powered from the CAN bus itself.
-For more information, see [Cyphal/CAN device interconnection](https://kb.zubax.com/pages/viewpage.action?pageId=2195476) (kb.zubax.com).
+For more information, see [Cyphal/CAN device interconnection](https://wiki.zubax.com/public/cyphal/CyphalCAN-device-interconnection?pageId=2195476) (kb.zubax.com).
 While the article is written with the Cyphal protocol in mind, it applies equally to DroneCAN hardware and any other CAN setup.
 For more advanced scenarios, consult with [On CAN bus topology and termination](https://forum.opencyphal.org/t/on-can-bus-topology-and-termination/1685).
@@ -1,6 +1,6 @@
-# Auterion Skynode
+# Auterion Skynode X
-[Skynode](https://auterion.com/product/skynode/) is a powerful flight computer that combines a mission computer, flight controller, video streaming, networking, and cellular connection, in a single tightly integrated device.
+[Skynode](https://auterion.com/product/skynode-x/) is a powerful flight computer that combines a mission computer, flight controller, video streaming, networking, and cellular connection, in a single tightly integrated device.
 ![Auterion Skynode (Enterprise)](../../assets/companion_computer/auterion_skynode/skynode_small.png)
@@ -12,10 +12,11 @@ Auterion OS and Skynode allow seamless integration with Auterion's other softwar
 For information about Auterion and Skynode:
 - [auterion.com](https://auterion.com/)
- [Skynode](https://auterion.com/product/skynode/) (auterion.com)
+- [Skynode X](https://auterion.com/product/skynode-x/) (auterion.com)
 - Skynode Guides:
-  - [Manufacturer's Guide](https://docs.auterion.com/manufacturers/getting-started/readme)
+  - [Vehicle Operation](https://docs.auterion.com/vehicle-operation/auterion-sign-up)
-  - [App Developer's Guide](https://docs.auterion.com/developers/getting-started/readme)
+  - [App Development](https://docs.auterion.com/app-development/app-development)
  - [Hardware Integration](https://docs.auterion.com/app-development/app-development)
 ## Skynode with Vanilla PX4
@@ -34,7 +35,7 @@ Upstream PX4 will generally work, with the following caveats:
 PX4 `px4_fmu-v5x` binaries for Skynode are built from source using the normal [developer environment](../dev_setup/dev_env.md) and [build commands](../dev_setup/building_px4.md), and are uploaded using either `upload_skynode_usb` or `upload_skynode_wifi` upload targets.
-`upload_skynode_usb` and `upload_skynode_wifi` connect to Skynode via SSH over a network interface using the default (fixed) IP addresses for [USB](https://docs.auterion.com/manufacturers/avionics/skynode/advanced-configuration/connecting-to-skynode) and [WiFi](https://docs.auterion.com/manufacturers/avionics/skynode/advanced-configuration/configuration), and upload a TAR compressed binary to the mission computer.
+`upload_skynode_usb` and `upload_skynode_wifi` connect to Skynode via SSH over a network interface using the default (fixed) IP addresses for USB and WiFi, respectively (see [AuterionOS System Guide > Building and Flashing PX4 Firmware](https://docs.auterion.com/hardware-integration/auterionos-system-guide/flashing-px4-upstream-firmware)), and upload a TAR compressed binary to the mission computer.
 The mission computer then decompresses the binary and installs it to the flight controller.
 ::: info
@@ -30,7 +30,7 @@ A few "turnkey" options are listed below:
 [mro_usb_ftdi_serial_to_jst_gh]: https://store.mrobotics.io/USB-FTDI-Serial-to-JST-GH-p/mro-ftdi-jstgh01-mr.htm
 [sparkfun_ftdi basic_breakout]: https://www.sparkfun.com/products/9873
-You can also use an off-the-shelf FTDI cable [like this one](https://www.sparkfun.com/products/9717) and connect it to flight controller using the appropriate header adaptor
+You can also use an off-the-shelf FTDI cable [like this one](https://www.sparkfun.com/ftdi-cable-5v-vcc-3-3v-i-o.html) and connect it to flight controller using the appropriate header adaptor
 (JST-GH connectors are specified in the Pixhawk standard, but you should confirm the connectors for your flight controller).
 ### Logic Level Shifters
@@ -40,7 +40,7 @@ In order to resolve this, a level shifter can be implemented to safely convert t
 Options include:
- [SparkFun Logic Level Converter - Bi-Directional](https://www.sparkfun.com/products/12009)
+- [SparkFun Logic Level Converter - Bi-Directional](https://www.sparkfun.com/sparkfun-logic-level-converter-bi-directional.html)
 - [4-channel I2C-safe Bi-directional Logic Level Converter - BSS138](https://www.adafruit.com/product/757)
 ## Cameras
@@ -78,7 +78,7 @@ However NAT has no way to know where to direct the traffic from an arbitrary ext
 :::
 A common approach is to set up a virtual private network between the companion and GCS computer (i.e. install a VPN system like [zerotier](https://www.zerotier.com/) on both computers).
-The companion then uses [mavlink-router](https://github.com/intel/mavlink-router) to route traffic between the serial interface (flight controller) and GCS computer on the VPN network.
+The companion then uses [mavlink-router](https://github.com/mavlink-router/mavlink-router) to route traffic between the serial interface (flight controller) and GCS computer on the VPN network.
 This method has the benefit that the GCS computer address can be static within the VPN, so the configuration of the _mavlink router_ does not need to change over time.
 In addition, the communication link is secure because all VPN traffic is encrypted (MAVLink 2 itself does not support encryption).
@@ -90,5 +90,6 @@ This approach means that you do not need to know the IP address of the GCS compu
 Some USB modules that are known to work include:
- [Huawei E8372](https://consumer.huawei.com/en/mobile-broadband/e8372/) and [Huawei E3372](https://consumer.huawei.com/en/mobile-broadband/e3372/)
+- [Huawei E8372](https://consumer.huawei.com/au/support/routers/e8372/) and [Huawei E3372](https://consumer.huawei.com/au/support/routers/e3372/)
-  - The _E8372_ includes WiFi which you can use to configure the SIM while it is plugged into the companion (making the development workflow a little easier). The _E3372_ lacks WiFi, so you have to configure it by plugging the stick into a laptop.
+  - The _E8372_ includes WiFi which you can use to configure the SIM while it is plugged into the companion (making the development workflow a little easier).
    The _E3372_ lacks WiFi, so you have to configure it by plugging the stick into a laptop.
@@ -4,7 +4,7 @@ The [Holybro Pixhawk Jetson Baseboard](https://holybro.com/products/pixhawk-jets
 ![Jetson Carrier with Pixhawk](../../assets/companion_computer/holybro_pixhawk_jetson_baseboard/hero_image.png)
-The board comes with either the [Jetson Orin NX (16GB RAM)](https://holybro.com/products/nvidia-jetson-orin-nx-16g) or [Jetson Orin Nano (4GB RAM)](https://holybro.com/products/nvidia-jetson-orin-nx-16g?variant=44391410598077).
+The board comes with either the _Jetson Orin NX_ (16GB RAM) or _Jetson Orin Nano_ (4GB RAM) (see [NVIDIA Jetson Orin™](https://www.nvidia.com/en-us/autonomous-machines/embedded-systems/jetson-orin/)).
 It can be used with any Pixhawk Autopilot Bus (PAB) specification-compliant Pixhawk flight controller, such as the Pixhawk 6 or Pixhawk 6X.
 This guide walks through the process of setting up the board and connecting to PX4, including:
@@ -44,7 +44,6 @@ This information comes from the [Holybro Pixhawk-Jetson Baseboard Documentation]
 [Dimensions and weight](https://docs.holybro.com/autopilot/pixhawk-baseboards/pixhawk-jetson-baseboard/dimension-and-weight) (Holybro)
 - Dimensions
  - 126 x 80 x 45mm (with Jetson Orin NX + Heatsink/Fan & FC Module)
  - 126 x 80 x 22.9mm (without Jetson and FC Module)
@@ -56,37 +55,30 @@ This information comes from the [Holybro Pixhawk-Jetson Baseboard Documentation]
 ::: tab Jetson connectors
 - 2x Gigabit Ethernet Port
  - Connected to both Jetson & Autopilot via Ethernet switch (RTL8367S)
  - Ethernet Switch powered by the same circuit as the Pixhawk
  - 8-pin JST-GH
  - RJ45
 - 2x MIPI CSI Camera Inputs
  - 4 Lanes each
  - 22-Pin Raspberry Pi Cam FFC
 - 2x USB 3.0 Host Port
  - USB A
  - 5A Current Limit
 - 2x USB 2.0 Host Port
  - 5-Pin JST-GH
  - 0A Current Limit
 - USB 2.0 for Programming/Debugging
  - USB-C
 - 2 Key M 2242/2280 for NVMe SSD
  - PCIEx4
 - 2 Key E 2230 for WiFi/BT
  - PCIEx2
  - USB
  - UART
@@ -95,27 +87,21 @@ This information comes from the [Holybro Pixhawk-Jetson Baseboard Documentation]
 - Mini HDMI Out
 - 4x GPIO
  - 6-pin JST-GH
 - CAN Port
  - Connected to Autopilot's CAN2 (4 Pin JST-GH)
 - SPI Port
  - 7-Pin JST-GH
 - I2C Port
  - 4-Pin JST-GH
 - I2S Port
  - 7-Pin JST-GH
 - 2x UART Port
  - 1 for debug
  - 1 connected to Autopilot's telem2
@@ -128,12 +114,10 @@ This information comes from the [Holybro Pixhawk-Jetson Baseboard Documentation]
 ::: tab Autopilot connectors
 - Pixhawk Autopilot Bus Interface
  - 100 Pin Hirose DF40
  - 50 Pin Hirose DF40
 - Redundant Digital Power Module Inputs
  - I2C Power Monitor Support
  - 2x 6-Pin Molex CLIK-Mate
@@ -142,66 +126,52 @@ This information comes from the [Holybro Pixhawk-Jetson Baseboard Documentation]
 - Overvoltage Protection
 - Voltage Ratings
  - Max input voltage: 6V
  - USB Power Input: 4.75~5.25V
 - Full GPS Plus Safety Switch Port
  - 10-Pin JST-GH
 - Secondary (GPS2) Port
  - 6-Pin JST-GH
 - 2x CAN Ports
  - 4-Pin JST-GH
 - 3x Telemetry Ports with Flow Control
  - 2x 6-Pin JST-GH
  - 1 is connected to Jetson's `UART1` Port
 - 16 PWM Outputs
  - 2x 10-Pin JST-GH
 - UART4 & I2C Port
  - 6-Pin JST-GH
 - 2x Gigabit Ethernet Port
  - Connected to both Jetson & Autopilot via Ethernet switch (RTL8367S)
  - 8-Pin JST-GH
  - RJ45
 - AD & IO
  - 8-Pin JST-GH
 - USB 2.0
  - USB-C
  - 4-Pin JST-GH
 - DSM Input
  - 3-Pin JST-ZH 1.5mm Pitch
 - RC In
  - PPM/SBUS
  - 5-Pin JST-GH
 - SPI Port
  - External Sensor Bus (SPI5)
  - 11-Pin JST-GH
 - 2x Debug Port
  - 1 for FMU
  - 1 for IO
  - 10-Pin JST-SH
@@ -224,7 +194,6 @@ During development using the following wired power supply is recommended:
 - [Power Adapter for Jetson Orin](https://holybro.com/products/power_adapter_for_jetson_orin)
 The complete power supply block diagram is shown below:
 ![Jetson Carrier Power Diagram](../../assets/companion_computer/holybro_pixhawk_jetson_baseboard/peripherals_block_diagram_1.png)
@@ -1079,7 +1048,7 @@ python ~/MAVSDK-Python/examples/telemetry.py
 The output below is expected:
-``` sh
+```sh
 In air: False
 Battery: -1.0
 In air: False
@@ -1184,7 +1153,7 @@ uxrce_dds_client status
 A healthy output should show:
-``` sh
+```sh
 nsh> uxrce_dds_client status
 INFO [uxrce_dds_client] Running, disconnected
 INFO [uxrce_dds_client] Using transport: serial
@@ -1300,7 +1269,7 @@ sudo systemctl status microxrceagent.service
 If the service is running, you should see output like this:
-``` sh
+```sh
 holybro@ubuntu:~$ sudo systemctl status microxrceagent.service
 ● microxrceagent.service - Micro XRCE Agent Service
   Loaded: loaded (/etc/systemd/system/microxrceagent.service; enabled; vendor preset: enabled)
@@ -1331,7 +1300,7 @@ You can now start your ROS2 nodes and continue the development.
 You can test the Client and agent by using the `sensor_combined` example in [Build ROS 2 Workspace](../ros2/user_guide.md#build-ros-2-workspace) (ROS2 User Guide).
 ::: tip
-[VSCode over SSH](https://code.visualstudio.com/learn/develop-cloud/ssh-lab-machines) enables faster development and application of changes to your ROS 2 code!
+[VSCode over SSH](https://code.visualstudio.com/docs/remote/ssh) enables faster development and application of changes to your ROS 2 code!
 :::
 After getting to the point of running the example:
@@ -1342,7 +1311,7 @@ ros2 launch px4_ros_com sensor_combined_listener.launch.py
 You should see high frequency sensor messages as the output:
-``` sh
+```sh
 [sensor_combined_listener-1] RECEIVED SENSOR COMBINED DATA
 [sensor_combined_listener-1] ====================================
 [sensor_combined_listener-1] ts: 1722316316179649
@@ -41,7 +41,8 @@ Larger high power examples:
 - [ModalAI VOXL 2](https://docs.modalai.com/voxl2-external-flight-controller/)
 - [NXP NavQPlus](https://nxp.gitbook.io/navqplus/user-contributed-content/ros2/microdds)
 - [Nvidia Jetson TX2](https://developer.nvidia.com/embedded/jetson-tx2)
-* [Intel NUC](https://www.intel.com/content/www/us/en/products/details/nuc.html)
+
 * [Intel NUC](https://www.asus.com/au/content/nuc-overview/)
 * [Gigabyte Brix](https://www.gigabyte.com/Mini-PcBarebone/BRIX)
 Small/lower power examples:
@@ -77,7 +78,7 @@ You can also write your own custom MAVLink libraries from scratch:
 You will need a router if you need to bridge MAVLink from the vehicle to a ground station or IP network, or if you need multiple connections:
- [MAVLink Router](https://github.com/intel/mavlink-router) (recommended)
+- [MAVLink Router](https://github.com/mavlink-router/mavlink-router) (recommended)
 - [MAVProxy](https://ardupilot.org/mavproxy/)
 ## Ethernet Setup
@@ -20,7 +20,7 @@ The high level benefits of _WFB-ng_ include:
 - Bidirectional telemetry link (MAVLink).
 - TCP/IP tunnel.
 - Automatic TX diversity - use multiple cards on the ground to avoid antenna tracker.
- Full link encryption and authentication (using [libsodium](https://download.libsodium.org/doc/)).
+- Full link encryption and authentication (using [libsodium](https://doc.libsodium.org/)).
 - Aggregation of MAVLink packets (pack small packets into batches before transmitting).
 - Enhanced [OSD](https://github.com/svpcom/wfb-ng-osd) for Raspberry PI or generic linux desktop with gstreamer.
@@ -35,21 +35,19 @@ The vehicle setup consists of:
 - Raspberry PI 3B/3B+/ZeroW
 - A camera.
  These have been tested:
  - [Raspberry Pi camera](https://www.raspberrypi.org/products/camera-module-v2/) connected via CSI.
-  - [Logitech camera C920](https://www.logitech.com/en-us/product/hd-pro-webcam-c920?crid=34) connected via USB
+  - [Logitech camera C920](https://support.logi.com/hc/en-us/articles/360024326953-Getting-started-HD-Pro-Webcam-C920) connected via USB
- WiFi module [ALPHA AWUS036ACH](https://www.alfa.com.tw/products_detail/1.htm) or any other **RTL8812au** card.
+- WiFi module [ALPHA AWUS036ACH](https://www.alfa.com.tw/products/awus036ach_1?variant=40319795789896) or any other **RTL8812au** card.
 ### Ground Station
 - Ground Station Computer.
  These options have been tested:
  - Any Linux computer with a USB port (tested on Ubuntu 18.04 x86-64)
  - A computer with any OS running QGround control and Raspberry PI connected via Ethernet (RPi provides the wifi connection).
- WiFi module [ALPHA AWUS036ACH](https://www.alfa.com.tw/products_detail/1.htm) or any other **RTL8812au** card.
+- WiFi module [ALPHA AWUS036ACH](https://www.alfa.com.tw/products/awus036ach_1?variant=40319795789896) or any other **RTL8812au** card.
  See [WFB-ng wiki > WiFi hardware](https://github.com/svpcom/wfb-ng/wiki/WiFi-hardware) for more information on supported modules.
 ## Hardware Modification
@@ -122,7 +120,7 @@ If you need a higher bandwidth you can use other MCS index (for example 2 or gre
 ## Antennas and Diversity
-For simple cases you can use omnidirectional antennas with linear (that bundled with wifi cards) or circular leaf ([circularly polarized Coverleaf Antenna](http://www.antenna-theory.com/antennas/cloverleaf.php)) polarization.
+For simple cases you can use omnidirectional antennas with linear (that bundled with wifi cards) or circular leaf ([circularly polarized Coverleaf Antenna](https://www.antenna-theory.com/antennas/cloverleaf.php)) polarization.
 If you want to setup long distance link you can use multiple wifi adapters with directional and omnidirectional antennas. TX/RX diversity for multiple adapters supported out of box (just add multiple NICs to `/etc/default/wifibroadcast`).
 If your WiFi adapter has two antennas (like Alfa AWU036ACH) TX diversity is implemented via [STBC](https://en.wikipedia.org/wiki/Space%E2%80%93time_block_code).
 Cards with 4 ports (like Alfa AWUS1900) are currently not supported.
@@ -12,7 +12,7 @@ You can find others on [px4.io](https://px4.io/ecosystem/commercial-systems/) an
 This section contains consumer vehicles that run a _custom_ version of PX4 (supported by their vendors).
 These may or may not be updatable to run "vanilla" PX4.
- [Sentera PXH](https://sentera.com/products/fieldcapture/ag-drones/phx/)
+- [Sentera PXH](https://senterasensors.com/phx/)
 <!--
 ## Drone Development Kits/Reference Platforms
@@ -35,7 +35,6 @@ This section lists vehicles that are sold fully assembled and ready to fly (RTF)
 This section lists vehicles where you can update the software to run PX4.
 -->
 ## See Also
 - [DIY Builds](../frames_plane/diy_builds.md)
@@ -104,7 +104,7 @@ It is pre-installed with PX4 v1.15.4 at time of writing (a more recent version m
 ## Tutorials
- Tutorials [English](https://docs.amovlab.com/f450-v6c-wiki/#/en/)/[Chinese](https://docs.amovlab.com/F450-V6C-wiki/#/src/%E8%A7%84%E6%A0%BC%E5%8F%82%E6%95%B0/%E8%A7%84%E6%A0%BC%E5%8F%82%E6%95%B0) (docs.amovlab.com/)
+- Tutorials [English](https://docs.amovlab.com/f450-v6c-wiki/#/en/)/[Chinese](https://docs.amovlab.com/f450-v6c-wiki/#/) (docs.amovlab.com/)
 ## Upgrading
@@ -51,7 +51,7 @@ After setting up the PX4 development environment, follow these steps to install
 1. Download the source code of the PX4 Bootloader:
   ```sh
-   git clone https://github.com/PX4/Bootloader.git
+   git clone https://github.com/PX4/PX4-Bootloader.git
   ```
 1. Navigate into the top directory of the source code and compile it using:
@@ -65,7 +65,7 @@ After setting up the PX4 development environment, follow these steps to install
 1. Download the source code of the PX4 Bootloader:
   ```sh
-   git clone https://github.com/PX4/Bootloader.git --recurse-submodules
+   git clone https://github.com/PX4/PX4-Bootloader.git --recurse-submodules
   ```
 1. Navigate into the top directory of the source code and compile it using:
@@ -42,7 +42,7 @@ These may or may not be updatable to run "vanilla" PX4.
 - [Yuneec Typhoon H Plus](https://us.yuneec.com/typhoon-h-plus/)
 - [Yuneec Mantis Q](https://px4.io/portfolio/yuneec-mantis-q/)
 - [Yuneec H520](https://px4.io/portfolio/yuneec-h520-hexacopter/)
- [AeroSense Aerobo (AS-MC02-P)](https://px4.io/portfolio/aerosense-aerobo/)
+- [AeroSense Aerobo (AS-MC02-P)](https://px4.io/project/aerosense-aerobo/)
 ## See Also
@@ -3,7 +3,7 @@
 PX4 consists of two main layers: the [flight stack](#flight-stack) is an estimation and flight control system,
 and the [middleware](#middleware) is a general robotics layer that can support any type of autonomous robot, providing internal/external communications and hardware integration.
-All PX4 [airframes](../airframes/index.md) share a single codebase (this includes other robotic systems like boats, rovers, submarines etc.). The complete system design is [reactive](http://www.reactivemanifesto.org), which means that:
+All PX4 [airframes](../airframes/index.md) share a single codebase (this includes other robotic systems like boats, rovers, submarines etc.). The complete system design is [reactive](https://www.reactivemanifesto.org), which means that:
 - All functionality is divided into exchangeable and reusable components
 - Communication is done by asynchronous message passing
@@ -112,7 +112,6 @@ There are 2 different ways that a module can be executed:
 - **Tasks**: The module runs in its own task with its own stack and process priority.
 - **Work queue tasks**: The module runs on a shared work queue, sharing the same stack and work queue thread priority as other modules on the queue.
  - All the tasks must behave co-operatively as they cannot interrupt each other.
  - Multiple _work queue tasks_ can run on a queue, and there can be multiple queues.
  - A _work queue task_ is scheduled by specifying a fixed time in the future, or via uORB topic update callback.
@@ -76,7 +76,6 @@ Explanations and requirements:
  - from that name, a 24 bit event ID is derived using a hash function.
    This means as long as the event name stays the same, so will the ID.
 - **Log Level**:
  - valid log levels are the same as used in the MAVLink [MAV_SEVERITY](https://mavlink.io/en/messages/common.html#MAV_SEVERITY) enum.
    In order of descending importance these are:
@@ -114,7 +113,7 @@ Valid types: `uint8_t`, `int8_t`, `uint16_t`, `int16_t`, `uint32_t`, `int32_t`,
 You can also use enumerations as arguments:
 - PX4-specific/custom enumerations for events should be defined in [src/lib/events/enums.json](https://github.com/PX4/PX4-Autopilot/blob/main/src/lib/events/enums.json), and can then be used as event argument in the form of `events::send<events::px4::enums::my_enum_t>(...)`.
- MAVLink "common" events are defined in [mavlink/libevents/events/common.json](https://github.com/mavlink/libevents/blob/master/events/common.json) and can be used as event argument in the form of `events::send<events::common::enums::my_enum_t>(...)`.
+- MAVLink "common" events are defined in [mavlink/libevents/events/common.json](https://github.com/mavlink/libevents/blob/main/events/common.json) and can be used as event argument in the form of `events::send<events::common::enums::my_enum_t>(...)`.
 #### Text format
@@ -125,7 +124,6 @@ Text format for event message description:
  These have to be escaped: '\\\\', '\\<', '\\{'.
 - supported tags:
  - Profiles: `<profile name="[!]NAME">CONTENT</profile>`
    `CONTENT` will only be shown if the name matches the configured profile.
@@ -137,11 +135,9 @@ Text format for event message description:
  - no nested tags of the same type are allowed
 - arguments: template placeholders that follow python syntax, with 1-based indexing (instead of 0)
  - general form: `{ARG_IDX[:.NUM_DECIMAL_DIGITS][UNIT]}`
    UNIT:
    - m: horizontal distance in meters
    - m_v: vertical distance in meters
    - m^2: area in m^2
@@ -5,7 +5,7 @@ On NuttX they reside in the [ROMFS/px4fmu_common/init.d](https://github.com/PX4/
 The scripts that are only used on Posix are located in [ROMFS/px4fmu_common/init.d-posix](https://github.com/PX4/PX4-Autopilot/tree/main/ROMFS/px4fmu_common/init.d-posix).
 All files starting with a number and underscore (e.g. `10000_airplane`) are predefined airframe configurations.
-They are exported at build-time into an `airframes.xml` file which is parsed by [QGroundControl](http://qgroundcontrol.com) for the airframe selection UI.
+They are exported at build-time into an `airframes.xml` file which is parsed by [QGroundControl](https://qgroundcontrol.com) for the airframe selection UI.
 Adding a new configuration is covered [here](../dev_airframes/adding_a_new_frame.md).
 The remaining files are part of the general startup logic.
@@ -7,7 +7,7 @@ Most other steps can be done out of order, except for [tuning](#tuning), which m
 ## Preconditions
-Before starting you should [Download QGroundControl](http://qgroundcontrol.com/downloads/) and install it on your **desktop** computer.
+Before starting you should [Download QGroundControl](https://qgroundcontrol.com/downloads/) and install it on your **desktop** computer.
 Then open the QGC application menu ("Q" icon in the top-left corner) and choose **Vehicle Setup** in the _Select Tool_ popup:
 ![QGC Main Menu Popup: highlighting Vehicle Setup](../../assets/qgc/setup/menu_setup.png)
@@ -77,7 +77,6 @@ If you need help with the configuration you can ask for help on the [QGroundCont
 - [Flight Controller Peripherals](../peripherals/index.md) - Setup specific sensors, optional sensors, actuators, and so on.
 - [Advanced Configuration](../advanced_config/index.md) - Factory/OEM calibration, configuring advanced features, less-common configuration.
 - Vehicle-Centric Config/Tuning:
  - [Multicopter Config/Tuning](../config_mc/index.md)
  - [Helicopter Config/Tuning](../config_heli/index.md)
  - [Fixed-wing Config/Tuning](../config_fw/index.md)
@@ -58,7 +58,7 @@ Users can select the form that is used by setting the proportional gain for the
 The two forms are described below.
 ::: info
-The derivative term (**D**) is on the feedback path in order to avoid an effect known as the [derivative kick](http://brettbeauregard.com/blog/2011/04/improving-the-beginner%E2%80%99s-pid-derivative-kick/).
+The derivative term (**D**) is on the feedback path in order to avoid an effect known as the [derivative kick](http://brettbeauregard.com/blog/2011/04/improving-the-beginners-pid-derivative-kick/).
 :::
 :::tip
@@ -14,7 +14,7 @@ However, due to the global team and fast moving development we might resort to m
 To contribute new functionality, [sign up for Github](https://docs.github.com/en/get-started/signing-up-for-github/signing-up-for-a-new-github-account), then [fork](https://docs.github.com/en/get-started/quickstart/fork-a-repo) the repository, [create a new branch](https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/proposing-changes-to-your-work-with-pull-requests/creating-and-deleting-branches-within-your-repository), add your [changes as commits](#commits-and-commit-messages), and finally [send a pull request](#pull-requests).
 Changes will be merged when they pass our [continuous integration](https://en.wikipedia.org/wiki/Continuous_integration) tests.
-All code contributions have to be under the permissive [BSD 3-clause license](https://opensource.org/licenses/BSD-3-Clause) and all code must not impose any further constraints on the use.
+All code contributions have to be under the permissive [BSD 3-clause license](https://opensource.org/license/BSD-3-Clause) and all code must not impose any further constraints on the use.
 ## Code Style
@@ -109,7 +109,6 @@ Currently we have two types of source-based documentation:
  Developers should name C++ entities (classes, functions, variables etc.) such that their purpose can be inferred - reducing the need for explicit documentation.
  :::
  - Do not add documentation that can trivially be inferred from C++ entity names.
  - ALWAYS specify units of variables, constants, and input/return parameters where they are defined.
  - Commonly you may want to add information about corner cases and error handling.
@@ -29,11 +29,11 @@ This is a great opportunity to meet the team and contribute to the ongoing devel
 ## What gets discussed?
-We publish a forum post per meeting a week before the call on [PX4 Discuss - weekly-dev-call](https://discuss.px4.io/c/weekly-dev-call) and track the agenda write down the discussion for the day. We welcome any topics that you, as a community member may have questions about / want to discuss!
+We publish a forum post per meeting a week before the call on [PX4 Discuss - weekly-dev-call](https://discuss.px4.io/c/weekly-dev-call/14) and track the agenda write down the discussion for the day. We welcome any topics that you, as a community member may have questions about / want to discuss!
 Please add your topics for discussion to the agenda before the meeting begins, by replying to the meeting note. This will help you formulate your questions more clearly, and allow us to think about them in advance.
 ## Schedule
- TIME: Wednesday 17h00 CET ([subscribe to calendar](https://www.dronecode.org/calendar/))
+- TIME: Wednesday 17h00 CET ([subscribe to calendar](https://dronecode.org/calendar/))
 - **Join the call**: [https://discord.gg/BDYmr6FA6Q](https://discord.gg/BDYmr6FA6Q)
@@ -36,7 +36,7 @@ For these kinds of changes we suggest using the same approach as for _code_:
 1. Use the _git_ toolchain to get the PX4 source code onto your local computer.
 1. Modify the documentation as needed (add, change, delete).
 1. _Test_ that it builds properly using Vitepress.
-1. Create a branch for your changes and create a pull request (PR) to pull it back into the [PX4-Autopilot](https://github.com/PX4/PX4-Autopilot.git) repo.
+1. Create a branch for your changes and create a pull request (PR) to pull it back into the [PX4-Autopilot](https://github.com/PX4/PX4-Autopilot) repo.
 The following explain how to get the source code, build locally (to test), and modify the code.
@@ -55,7 +55,7 @@ To get the library(s) sources onto your local computer you will need to use the
 The instructions below explain how to get git and use it on your local computer.
 1. Download git for your computer from [https://git-scm.com/downloads](https://git-scm.com/downloads)
-1. [Sign up](https://github.com/join) for Github if you haven't already
+1. [Sign up](https://github.com/signup) for Github if you haven't already
 1. Create a copy (Fork) of the [PX4-Autopilot repo](https://github.com/PX4/PX4-Autopilot) on Github ([instructions here](https://docs.github.com/en/get-started/quickstart/fork-a-repo)).
 1. Clone (copy) your forked repository to your local computer:
@@ -127,7 +127,6 @@ Within the repository you created above:
 6. Go to your forked repository on Github in a web browser, e.g.: `https://github.com/<your git name>/PX4-Autopilot.git`.
   There you should see the message that a new branch has been pushed to your forked repository.
 7. Create a pull request (PR):
   - On the right hand side of the "new branch message" (see one step before), you should see a green button saying "Compare & Create Pull Request".
     Press it.
   - A pull request template will be created.
@@ -145,7 +144,6 @@ Within the repository you created above:
 Build the library locally to test that any changes you have made have rendered properly:
 1. Install the [Vitepress prerequisites](https://vitepress.dev/guide/getting-started#prerequisites):
   - [Nodejs 18+](https://nodejs.org/en)
   - [Yarn classic](https://classic.yarnpkg.com/en/docs/install)
@@ -175,7 +173,6 @@ Build the library locally to test that any changes you have made have rendered p
   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:
   - Windows:
     ```sh
@@ -223,7 +220,6 @@ In overview:
 - All pages must be in an appropriately named sub-folder of `/en` (e.g. this page is in folder `en/contribute/`).
  - This makes linking easier because other pages and images are always as the same relative levels
 - The _structure_ of the book is defined in `SUMMARY.md`.
  - If you add a new page to the guide you must also add an entry to this file!
    :::tip
@@ -247,7 +243,6 @@ When you add a new page you must also add it to `en/SUMMARY.md`!
 ## Style Guide
 1. Files/file names
   - Put new markdown files in an appropriate sub-folder of `/en/`, such as `/en/contribute/`.
     Do not further nest folders.
   - Put new image files in an appropriate nested sub-folder of `/assets/`.
@@ -257,14 +252,12 @@ When you add a new page you must also add it to `en/SUMMARY.md`!
   - Use lower case filenames and separate words using underscores (`_`).
 2. Images
   - Use the smallest size and lowest resolution that makes the image still useful (this reduces download cost for users with poor bandwidth).
   - New images should be created in a sub-folder of `/assets/` (so they can be shared between translations).
   - SVG files are preferred for diagrams.
     PNG files are preferred over JPG for screenshots.
 3. Content:
   - Use "style" (**bold**, _emphasis_, etc.) consistently and sparingly (as little as possible).
     - **Bold** for button presses and menu definitions.
     - _Emphasis_ for tool names such as _QGroundControl_ or _prettier_.
@@ -279,7 +272,6 @@ When you add a new page you must also add it to `en/SUMMARY.md`!
   - Format using _prettier_ (_VSCode_ is a has extensions can be used for this).
 4. Videos:
   - Youtube videos can be added using the format `<lite-youtube videoid="<youtube-video-id>" title="your title"/>` (supported via the [https://www.npmjs.com/package/lite-youtube-embed](https://www.npmjs.com/package/lite-youtube-embed) custom element, which has other parameters you can pass).
     - Use instructional videos sparingly as they date badly, and are hard to maintain.
     - Cool videos of airframes in flight are always welcome.
@@ -6,7 +6,7 @@
 Adding a feature to PX4 follows a defined workflow. In order to share your contributions on PX4, you can follow this example.
- [Sign up](https://github.com/join) for github if you haven't already
+- [Sign up](https://github.com/signup) for github if you haven't already
 - Fork the PX4-Autopilot repo (see [here](https://docs.github.com/en/get-started/quickstart/fork-a-repo))
 - Clone your forked repository to your local computer
@@ -45,7 +45,7 @@ Adding a feature to PX4 follows a defined workflow. In order to share your contr
  git add <file name>
  ```
-  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`](http://nuclearsquid.com/writings/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/).
 - Commit the added files with a meaningful message explaining your changes
@@ -285,7 +285,7 @@ If a conflict occurs during a `git rebase`, please refer to [this guide](https:/
 ### Pull merge conflicts
-If a conflict occurs during a `git pull`, please refer to [this guide](https://help.github.com/articles/resolving-a-merge-conflict-using-the-command-line/#competing-line-change-merge-conflicts).
+If a conflict occurs during a `git pull`, please refer to [this guide](https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/addressing-merge-conflicts/resolving-a-merge-conflict-using-the-command-line#competing-line-change-merge-conflicts).
 ### Build error due to git tags out of date
@@ -1,12 +1,12 @@
 # Licenses
 ::: info
-All code contributions must be made under the permissive [BSD 3-clause license](https://opensource.org/licenses/BSD-3-Clause) and must not impose any further constraints on its use.
+All code contributions must be made under the permissive [BSD 3-clause license](https://opensource.org/license/BSD-3-Clause) and must not impose any further constraints on its use.
 :::
 This page documents the licenses of various components in the system.
 - [PX4 Flight Stack](https://github.com/PX4/PX4-Autopilot) &mdash; BSD
 - [PX4 Middleware](https://github.com/PX4/PX4-Autopilot) &mdash; BSD
- [Pixhawk Hardware](https://github.com/PX4/Hardware) &mdash; CC-BY-SA 3.0
+- [Pixhawk Hardware](https://github.com/pixhawk/Hardware) &mdash; CC-BY-SA 3.0
 - [PX4 User Guide](https://github.com/PX4/PX4-user_guide) (Documentation) &mdash; [CC BY 4.0](https://creativecommons.org/licenses/by/4.0/).
@@ -10,7 +10,7 @@ This page explains the main differences and how the console/shell are used.
 The PX4 _System Console_ provides low-level access to the system, debug output and analysis of the system boot process.
-There is just one _System Console_, which runs on one specific UART (the debug port, as configured in NuttX), and is commonly attached to a computer via an FTDI cable (or some other debug adapter like a [Dronecode probe](https://kb.zubax.com/display/MAINKB/Dronecode+Probe+documentation)).
+There is just one _System Console_, which runs on one specific UART (the debug port, as configured in NuttX), and is commonly attached to a computer via an FTDI cable (or some other debug adapter like a [Zubax BugFace BF1](https://github.com/Zubax/bugface_bf1)).
 - Used for _low-level debugging/development_: bootup, NuttX, startup scripts, board bringup, development on central parts of PX4 (e.g. uORB).
 - In particular, is the only place where all boot output (including information about applications auto-started on boot) is printed.
@@ -1,13 +1,13 @@
-# Black Magic Probe (and Dronecode Probe)
+# Black Magic Probe (and Zubax BugFace BF1)
 The [Black Magic Probe](https://black-magic.org) is an easy to use, mostly plug-and-play, JTAG/SWD debugger for embedded microcontrollers.
 Since the Black Magic Probe is a generic debug probe, you will need an adapter to connect to Pixhawk flight controllers, which can be purchased here:
 - [Drone Code Debug Adapter](https://1bitsquared.com/products/drone-code-debug-adapter) (1 BIT SQUARED).
-## Dronecode Probe
+## Zubax BugFace BF1 {#dronecode-probe}
-The [Dronecode Probe](https://kb.zubax.com/display/MAINKB/Dronecode+Probe+documentation) is a specialization of the Black Magic Probe for debugging PX4 autopilots.
+The [Zubax BugFace BF1](https://github.com/Zubax/bugface_bf1) (formerly known as "Dronecode Probe") is a specialization of the Black Magic Probe for debugging PX4 autopilots.
 The probe's USB interface exposes two separate virtual serial port interfaces: one for connecting to the [System Console](system_console.md) (UART) and the other for an embedded GDB server (SWD interface).
@@ -20,17 +20,17 @@ The _6-pos DF13_ connector that comes with the probe cannot be used for SWD debu
 ## Using the Probe
 ::: info
-To debug STM32F7 or later (FMUv5 and newer) the Dronecode probe / Blackmagic probe likely requires a firmware update.
+To debug STM32F7 or later (FMUv5 and newer) the Zubax BugFace BF1 / Blackmagic probe likely requires a firmware update.
 You can find how to update the [blackmagic probe here](https://github.com/blacksphere/blackmagic/wiki/Upgrading-Firmware).
 :::
-To use a Dronecode probe with GDB, start GDB with the exact ELF file that is currently flashed on the autopilot:
+To use a Zubax BugFace BF1 with GDB, start GDB with the exact ELF file that is currently flashed on the autopilot:
 ```sh
 arm-none-eabi-gdb build/px4_fmu-v5_default/px4_fmu-v5_default.elf
 ```
-Then, you have to select the Dronecode probe interface, on Linux this is e.g.:
+Then, you have to select the Zubax BugFace BF1 interface, on Linux this is e.g.:
 ```sh
 target ext /dev/serial/by-id/usb-Black_Sphere_Technologies_Black_Magic_Probe_f9414d5_7DB85DAC-if00
@@ -17,14 +17,14 @@ The folded stacks are then fed into the visualization script, for which purpose
 The profiler relies on GDB to run PX4 on the embedded target.
 So before profiling a target, you must have the hardware you wish to profile, and you must compile and upload the firmware to that hardware.
-You will then need a [debug probe](../debug/swd_debug.md#debug-probes) (such as the DroneCode Probe), to run the GDB server and interact with the board.
+You will then need a [debug probe](../debug/swd_debug.md#debug-probes) (such as the Zubax BugFace BF1), to run the GDB server and interact with the board.
 ### Determine the Debugger Device
-The `poor-mans-profiler.sh` automatically detects and uses the correct USB device if you use it with a [DroneCode Probe](../debug/probe_bmp.md#dronecode-probe).
+The `poor-mans-profiler.sh` automatically detects and uses the correct USB device if you use it with a [Zubax BugFace BF1](../debug/probe_bmp.md#dronecode-probe).
 If you use a different kind of probe you may need to pass in the specific _device_ on which the debugger is located.
 You can use the bash command `ls -alh /dev/serial/by-id/` to enumerate the possible devices on Ubuntu.
-For example the following devices are enumerated with a Pixhawk 4 and DroneCode Probe connected over USB:
+For example the following devices are enumerated with a Pixhawk 4 and Zubax BugFace BF1 connected over USB:
 ```sh
 user@ubuntu:~/PX4-Autopilot$ ls -alh /dev/serial/by-id/
@@ -48,7 +48,7 @@ Then pass in the appropriate device using the `--gdbdev` argument like this:
 ### Running
 Basic usage of the profiler is available through the build system.
-For example, the following command builds and profiles px4_fmu-v4pro target with 10000 samples (fetching _FlameGraph_ and adding it to the path as needed).
+For example, the following command builds and profiles px4*fmu-v4pro target with 10000 samples (fetching \_FlameGraph* and adding it to the path as needed).
 ```sh
 make px4_fmu-v4pro_default profile
@@ -187,7 +187,7 @@ The cable used to connect the M2 and the STLinkv3-MINIE comes with the adaptor.
 Some SWD [debug probes](#debug-probes) come with adapters/cables for connecting to common Pixhawk [debug ports](#debug-ports).
 Probes that are known to come with connectors are listed below:
- [DroneCode Probe](../debug/probe_bmp.md#dronecode-probe): comes with a connector for attaching to the [Pixhawk Debug Mini](#pixhawk-debug-mini)
+- [Zubax BugFace BF1](../debug/probe_bmp.md#dronecode-probe): comes with a connector for attaching to the [Pixhawk Debug Mini](#pixhawk-debug-mini)
 ### Board-specific Adapters
@@ -24,5 +24,5 @@ It explains how to:
 - [Support](../contribute/support.md): Get help using the [discussion boards](https://discuss.px4.io//) and other support channels.
 - [Weekly Dev Call](../contribute/dev_call.md): A great opportunity to meet the PX4 dev team and discuss platform technical details (including pull requests, major issues, general Q&A).
- [Licences](../contribute/licenses.md): What you can do with the code (free to use and modify under terms of the permissive [BSD 3-clause license](https://opensource.org/licenses/BSD-3-Clause)!)
+- [Licences](../contribute/licenses.md): What you can do with the code (free to use and modify under terms of the permissive [BSD 3-clause license](https://opensource.org/license/BSD-3-Clause)!)
 - [Contributing](../contribute/index.md): How to work with our [source code](../contribute/code.md).
@@ -53,7 +53,7 @@ Supported hardware includes (this is not an exhaustive list):
  - [Holybro DroneCAN H-RTK F9P Rover](https://holybro.com/products/dronecan-h-rtk-f9p-rover)
  - [Holybro DroneCAN H-RTK F9P Helical](https://holybro.com/products/dronecan-h-rtk-f9p-helical)
  - [RaccoonLab GNSS Modules](https://docs.raccoonlab.co/guide/gps_mag_baro/)
-  - [Zubax GNSS](https://zubax.com/products/gnss_2)
+  - [Zubax GNSS](https://shop.zubax.com/products/zubax-gnss-2)
 - Power monitors
  - [Pomegranate Systems Power Module](../dronecan/pomegranate_systems_pm.md)
  - [CUAV CAN PMU Power Module](../dronecan/cuav_can_pmu.md)
@@ -65,7 +65,7 @@ Supported hardware includes (this is not an exhaustive list):
  - [ARK Flow](ark_flow.md)
  - [Ark Flow MR](ark_flow_mr.md)
  - [Avionics Anonymous Laser Altimeter UAVCAN Interface](../dronecan/avanon_laser_interface.md)
-  - [RaccoonLab uRangefidner and Rangefinders Adapter](https://docs.raccoonlab.co/guide/rangefinder)
+  - [RaccoonLab uRangefidner and Rangefinders Adapter](https://docs.raccoonlab.co/guide/rangefinder/)
 - Optical Flow
  - [Ark Flow](ark_flow.md)
  - [Ark Flow MR](ark_flow_mr.md)
@@ -320,4 +320,4 @@ If successful, the firmware binary will be removed from the root directory and t
 - [Home Page](https://dronecan.github.io) (dronecan.github.io)
 - [Protocol Specification](https://dronecan.github.io/Specification) (dronecan.github.io)
 - [Implementations](https://dronecan.github.io/Implementations/) (dronecan.github.io)
- [Cyphal/CAN Device Interconnection](https://kb.zubax.com/pages/viewpage.action?pageId=2195476) (kb.zubax.com)
+- [Cyphal/CAN Device Interconnection](https://wiki.zubax.com/public/cyphal/CyphalCAN-device-interconnection?pageId=2195476) (kb.zubax.com)
@@ -77,7 +77,7 @@ The board is based on the [Pixhawk project](https://pixhawk.org/) **FMUv2** open
 - [FMUv2 + IOv2 schematic](https://raw.githubusercontent.com/PX4/Hardware/master/FMUv2/PX4FMUv2.4.5.pdf) -- Schematic and layout
 ::: info
-As a CC-BY-SA 3.0 licensed Open Hardware design, all schematics and design files are [available](https://github.com/PX4/Hardware).
+As a CC-BY-SA 3.0 licensed Open Hardware design, all schematics and design files are [available](https://github.com/pixhawk/Hardware).
 :::
 ## Serial Port Mapping
@@ -1,9 +1,5 @@
 # Discontinued Autopilots/Vehicles
 :::tip
 For more information about PX4 project autopilot board support levels see: [px4.io/autopilots/](https://px4.io/autopilots/).
 :::
 This category is for discontinued autopilots and complete vehicles.
 These are no longer being manufactured, and may not be supported by their manufacturer.
 They are listed because you may be using them in an existing drone, and because they **may** still work with the head revision of PX4.
@@ -13,6 +9,7 @@ They are listed because you may be using them in an existing drone, and because
 - [Drotek DroPix](../flight_controller/dropix.md) (FMUv2)
 - [Omnibus F4 SD](../flight_controller/omnibus_f4_sd.md)
 - [CUAV v5](../flight_controller/cuav_v5.md) (Pixhawk FMUv5)
 - [CUAV Pixhack v3](../flight_controller/pixhack_v3.md) (FMUv3)
 - [Aerotenna OcPoC-Zynq Mini](../flight_controller/ocpoc_zynq.md)
 - [Holybro Pixhawk 4 Mini](../flight_controller/pixhawk4_mini.md) (FMUv5)
 - [Holybro Kakute F7](../flight_controller/kakutef7.md)
@@ -21,7 +21,6 @@ The boards in this category are:
 - [CUAV Nora](../flight_controller/cuav_nora.md)（CUAV X7 variant)
 - [CUAV V5+](../flight_controller/cuav_v5_plus.md) (FMUv5)
 - [CUAV V5 nano](../flight_controller/cuav_v5_nano.md) (FMUv5)
 - [CUAV Pixhack v3](../flight_controller/pixhack_v3.md) (FMUv3)
 - [CubePilot Cube Orange+](../flight_controller/cubepilot_cube_orangeplus.md)
 - [CubePilot Cube Orange](../flight_controller/cubepilot_cube_orange.md)
 - [CubePilot Cube Yellow](../flight_controller/cubepilot_cube_yellow.md)
@@ -9,7 +9,7 @@ Contact the [manufacturer](https://beagleboard.org/blue) for hardware support or
 [BeagleBone Blue](https://beagleboard.org/blue) is an all-in-one Linux-based computer.
 Although it is optimized for robotics, this compact and inexpensive board has all necessary sensors and peripherals needed by a flight controller.
-This topic shows how to set up the board to run PX4 with [librobotcontrol](https://github.com/StrawsonDesign/librobotcontrol) robotics package.
+This topic shows how to set up the board to run PX4 with [librobotcontrol](https://github.com/beagleboard/librobotcontrol) robotics package.
 ![BeagleBone - labelled diagram](../../assets/hardware/BeagleBone_Blue_balloons.jpg)
@@ -77,7 +77,6 @@ echo "PermitRootLogin yes" >>  /etc/ssh/sshd_config && systemctl restart sshd
 1. First set up _rsync_ (this is used to transfer files from the development computer to the target board over a network - WiFi or Ethernet).
   For _rsync_ over SSH with key authentication, follow the steps here (on the development machine):
   1. Generate an SSH key if you have not previously done so:
      ```
@@ -104,9 +103,7 @@ echo "PermitRootLogin yes" >>  /etc/ssh/sshd_config && systemctl restart sshd
   1. Enter root password
 1. Cross Compile Setup
   1. Toolchain download
      1. First install the toolchain into _/opt/bbblue_toolchain/gcc-arm-linux-gnueabihf_.
         Here is an example of using soft link to select which version of the toolchain you want to use:
@@ -208,6 +205,7 @@ Run the following commands on the BeagleBone Blue (i.e. via SSH):
   sudo apt-get update
   sudo apt-get install cmake python3-empy=3.3.4-2
   ```
 1. Clone the PX4 Firmware directly onto the BeagleBone Blue.
 1. Continue with the [standard build system installation](../dev_setup/dev_env_linux.md).
@@ -17,7 +17,7 @@ The V5 nano is similar to the [CUAV V5+](../flight_controller/cuav_v5_plus.md),
 Some of its main features include:
- Full compatibility with the [Pixhawk project](https://pixhawk.org/) **FMUv5** design standard and uses the [Pixhawk Connector Standard](https://pixhawk.org/pixhawk-connector-standard/) for all external interfaces.
+- Full compatibility with the [Pixhawk project](https://pixhawk.org/) **FMUv5** design standard and uses the [Pixhawk Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf) for all external interfaces.
 - More advanced processor, RAM and flash memory than FMU v3, along with more stable and reliable sensors.
 - Firmware-compatible with PX4.
 - Generous 2.6mm spacing for I/O pins, making it easier to use all the interfaces.
@@ -31,7 +31,6 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo
 Main FMU Processor: STM32F765◦32 Bit Arm® Cortex®-M7, 216MHz, 2MB memory, 512KB RAM
 - On-board sensors:
  - Accel/Gyro: ICM-20689
  - Accel/Gyro: ICM-20602
  - Accel/Gyro: BMI055
@@ -39,7 +38,6 @@ Main FMU Processor: STM32F765◦32 Bit Arm® Cortex®-M7, 216MHz, 2MB memory, 51
  - Barometer: MS5611
 - Interfaces: 8 PWM outputs
  - 3 dedicated PWM/Capture inputs on FMU
  - Dedicated R/C input for CPPM
  - Dedicated R/C input for Spektrum / DSM and S.Bus
@@ -184,7 +182,7 @@ CUAV adopts some differentiated designs and is incompatible with some hardware,
 The _Neo v2.0 GPS_ that is recommended for use with _CUAV V5+_ and _CUAV V5 nano_ is not fully compatible with other Pixhawk flight controllers (specifically, the buzzer part is not compatible and there may be issues with the safety switch).
-The UAVCAN [NEO V2 PRO GNSS receiver](http://doc.cuav.net/gps/neo-series-gnss/en/neo-v2-pro.html) can also be used, and is compatible with other flight controllers.
+The UAVCAN [NEO V2 PRO GNSS receiver](https://doc.cuav.net/gps/neo-series-gnss/en/neo-v2-pro.html) can also be used, and is compatible with other flight controllers.
 <a id="compatibility_jtag"></a>
@@ -14,7 +14,7 @@ The autopilot is recommended for commercial systems integration, but is also sui
 Some of its main features include:
- Full compatibility with the [Pixhawk project](https://pixhawk.org/) **FMUv5** design standard and uses the [Pixhawk Connector Standard](https://pixhawk.org/pixhawk-connector-standard/) for all external interfaces.
+- Full compatibility with the [Pixhawk project](https://pixhawk.org/) **FMUv5** design standard and uses the [Pixhawk Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf) for all external interfaces.
 - More advanced processor, RAM and flash memory than FMU v3, along with more stable and reliable sensors.
 - Firmware-compatible with PX4.
 - Modular design allows users to customize their own carrier board.
@@ -32,7 +32,6 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo
 - IO Processor: STM32F100
  - 32 Bit Arm® Cortex®-M3, 24MHz, 8KB SRAM
 - On-board sensors:
  - Accelerometer/Gyroscope: ICM-20689
  - Accelerometer/Gyroscope: BMI055
  - Magnetometer: IST8310
@@ -57,7 +56,6 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo
  - Weight: 90g
  - Dimensions: 85.5\*42\*33mm
 - Other Characteristics:
  - Operating temperature: -20 ~ 80°c（Measured value）
 ## Where to Buy
@@ -201,7 +199,7 @@ CUAV adopts some differentiated designs and is incompatible with some hardware,
 The _Neo v2.0 GPS_ recommended for use with _CUAV V5+_ and _CUAV V5 nano_ is not fully compatible with other Pixhawk flight controllers (specifically, the buzzer part is not compatible and there may be issues with the safety switch).
-The UAVCAN [NEO V2 PRO GNSS receiver](http://doc.cuav.net/gps/neo-series-gnss/en/neo-v2-pro.html) can also be used, and is compatible with other flight controllers.
+The UAVCAN [NEO V2 PRO GNSS receiver](https://doc.cuav.net/gps/neo-series-gnss/en/neo-v2-pro.html) can also be used, and is compatible with other flight controllers.
 <a id="compatibility_jtag"></a>
@@ -235,7 +233,7 @@ Please do not connect other equipment (except RC receiver) on SBUS / DSM / RSSI
 ## Further Information
 - [CUAV V5+ Manual](http://manual.cuav.net/V5-Plus.pdf)
- [CUAV V5+ docs](http://doc.cuav.net/flight-controller/v5-autopilot/en/v5+.html)
+- [CUAV V5+ docs](https://doc.cuav.net/controller/v5-autopilot/en/v5+.html)
 - [FMUv5 reference design pinout](https://docs.google.com/spreadsheets/d/1-n0__BYDedQrc_2NHqBenG1DNepAgnHpSGglke-QQwY/edit#gid=912976165)
 - [CUAV Github](https://github.com/cuav)
 - [Base board design reference](https://github.com/cuav/hardware/tree/master/V5_Autopilot/V5%2B/V5%2BBASE)
@@ -19,7 +19,7 @@ This is automatically configured and enabled in the default PX4 firmware.
 Cube includes vibration isolation on two of the IMU's, with a third fixed IMU as a reference / backup.
 :::tip
-The manufacturer [Cube Docs](https://docs.cubepilot.org/user-guides/autopilot/the-cube-module-overview) contain detailed information, including an overview of the [Differences between Cube Colours](https://docs.cubepilot.org/user-guides/autopilot/the-cube-module-overview#differences-between-cube-colours).
+The manufacturer [Cube User Guide](https://docs.cubepilot.org/user-guides/autopilot/the-cube) contains detailed information, including an overview of the [Differences between Cube Colours](https://docs.cubepilot.org/user-guides/autopilot/the-cube/introduction/specifications).
 :::
 ## Key Features
@@ -242,6 +242,5 @@ Board schematics and other documentation can be found here: [The Cube Project](h
 - [Cube Wiring Quickstart](../assembly/quick_start_cube.md)
 - Cube Docs (Manufacturer):
-  - [Cube Module Overview](https://docs.cubepilot.org/user-guides/autopilot/the-cube-module-overview)
+  - [Cube User Guide](https://docs.cubepilot.org/user-guides/autopilot/the-cube)
  - [Cube User Manual](https://docs.cubepilot.org/user-guides/autopilot/the-cube-user-manual)
  - [Mini Carrier Board](https://docs.cubepilot.org/user-guides/carrier-boards/mini-carrier-board)
@@ -20,7 +20,7 @@ This is automatically configured and enabled in the default PX4 firmware.
 Cube includes vibration isolation on two of the IMU's, with a third fixed IMU as a reference / backup.
 :::tip
-The manufacturer [Cube Docs](https://docs.cubepilot.org/user-guides/autopilot/the-cube-module-overview) contain detailed information, including an overview of the [Differences between Cube Colours](https://docs.cubepilot.org/user-guides/autopilot/the-cube-module-overview#differences-between-cube-colours).
+The manufacturer [Cube User Guide](https://docs.cubepilot.org/user-guides/autopilot/the-cube) contains detailed information, including an overview of the [Differences between Cube Colours](https://docs.cubepilot.org/user-guides/autopilot/the-cube/introduction/specifications).
 :::
 ## Key Features
@@ -247,6 +247,5 @@ Board schematics and other documentation can be found here: [The Cube Project](h
 - [Cube Wiring Quickstart](../assembly/quick_start_cube.md)
 - Cube Docs (Manufacturer):
-  - [Cube Module Overview](https://docs.cubepilot.org/user-guides/autopilot/the-cube-module-overview)
+  - [Cube User Guide](https://docs.cubepilot.org/user-guides/autopilot/the-cube)
  - [Cube User Manual](https://docs.cubepilot.org/user-guides/autopilot/the-cube-user-manual)
  - [Mini Carrier Board](https://docs.cubepilot.org/user-guides/carrier-boards/mini-carrier-board)
@@ -15,7 +15,7 @@ For example, a carrier board for a commercial inspection vehicle might include c
 Cube includes vibration isolation on two of the IMU's, with a third fixed IMU as a reference / backup.
 :::tip
-The manufacturer [Cube Docs](https://docs.cubepilot.org/user-guides/autopilot/the-cube-module-overview) contain detailed information, including an overview of the [Differences between Cube Colours](https://docs.cubepilot.org/user-guides/autopilot/the-cube-module-overview#differences-between-cube-colours).
+The manufacturer [Cube User Guide](https://docs.cubepilot.org/user-guides/autopilot/the-cube) contains detailed information, including an overview of the [Differences between Cube Colours](https://docs.cubepilot.org/user-guides/autopilot/the-cube/introduction/specifications).
 :::
 ## Key Features
@@ -140,6 +140,5 @@ CAN1 and CAN2 silk screen on the Cube are flipped (CAN1 is CAN2 and vice versa).
 - [Cube Wiring Quickstart](../assembly/quick_start_cube.md)
 - Cube Docs (Manufacturer):
-  - [Cube Module Overview](https://docs.cubepilot.org/user-guides/autopilot/the-cube-module-overview)
+  - [Cube User Guide](https://docs.cubepilot.org/user-guides/autopilot/the-cube)
  - [Cube User Manual](https://docs.cubepilot.org/user-guides/autopilot/the-cube-user-manual)
  - [Mini Carrier Board](https://docs.cubepilot.org/user-guides/carrier-boards/mini-carrier-board)
@@ -211,7 +211,7 @@ The complete set of supported configurations can be seen in the [Airframes Refer
 ## Pinouts
 _Durandal_ pinouts are listed below.
-These can also be downloaded from [here](https://holybro.com/collections/autopilot-flight-controllers/products/Durandal-Pinouts).
+These can also be downloaded from [here](https://cdn.shopifycdn.net/s/files/1/0604/5905/7341/files/Durandal_Pinouts_v1.0.pdf?v=1693983344).
 ### Top Pinouts
@@ -422,4 +422,4 @@ These can also be downloaded from [here](https://holybro.com/collections/autopil
 - [Durandal Wiring QuickStart](../assembly/quick_start_durandal.md)
 - [Durandal Technical Data Sheet](https://cdn.shopify.com/s/files/1/0604/5905/7341/files/Durandal_technical_data_sheet_90f8875d-8035-4632-a936-a0d178062077.pdf)
- [Durandal Pinouts](https://holybro.com/collections/autopilot-flight-controllers/products/Durandal-Pinouts) (Holybro)
+- [Durandal Pinouts](https://cdn.shopifycdn.net/s/files/1/0604/5905/7341/files/Durandal_Pinouts_v1.0.pdf?v=1693983344) (Holybro)
@@ -13,7 +13,7 @@ It runs the PX4 flight stack on the [NuttX](https://nuttx.apache.org/) OS.
 ![pix32](../../assets/flight_controller/holybro_pix32/pix32_hero.jpg)
-As a CC-BY-SA 3.0 licensed Open Hardware design, schematics and design files should be [available here](https://github.com/PX4/Hardware).
+As a CC-BY-SA 3.0 licensed Open Hardware design, schematics and design files should be [available here](https://github.com/pixhawk/Hardware).
 :::tip
 The Holybro pix32 is software compatible with the [3DR Pixhawk 1](../flight_controller/pixhawk.md).
@@ -90,7 +90,7 @@ The board is based on the [Pixhawk project](https://pixhawk.org/) **FMUv2** open
 - [FMUv2 + IOv2 schematic](https://raw.githubusercontent.com/PX4/Hardware/master/FMUv2/PX4FMUv2.4.5.pdf) -- Schematic and layout
 ::: info
-As a CC-BY-SA 3.0 licensed Open Hardware design, all schematics and design files are [available](https://github.com/PX4/Hardware).
+As a CC-BY-SA 3.0 licensed Open Hardware design, all schematics and design files are [available](https://github.com/pixhawk/Hardware).
 :::
 ## Serial Port Mapping
@@ -74,7 +74,7 @@ This is the silkscreen for the _Kakute F7_, showing the top of the board:
 The board comes pre-installed with [Betaflight](https://github.com/betaflight/betaflight/wiki).
 Before PX4 firmware can be installed, the _PX4 bootloader_ must be flashed.
-Download the [kakutef7_bl.hex](https://github.com/PX4/PX4-user_guide/raw/main/assets/flight_controller/kakutef7/kakutef7_bl_0b3fbe2da0.hex) bootloader binary and read [this page](../advanced_config/bootloader_update_from_betaflight.md) for flashing instructions.
+Download the [kakutef7_bl.hex](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/flight_controller/kakutef7/kakutef7_bl_0b3fbe2da0.hex) bootloader binary and read [this page](../advanced_config/bootloader_update_from_betaflight.md) for flashing instructions.
 ## Building Firmware
@@ -74,12 +74,11 @@ This is the silkscreen for the _Kakute H7_, showing the top of the board:
 | M5 to M8 | Motor signal outputs (located in plug for use in 4-in-1 ESCs)     |                     |
 | Boot     | Bootloader button                                                 |                     |
 ## PX4 Bootloader Update {#bootloader}
 The board comes pre-installed with [Betaflight](https://github.com/betaflight/betaflight/wiki).
 Before PX4 firmware can be installed, the _PX4 bootloader_ must be flashed.
-Download the [kakuteh7_bl.hex](https://github.com/PX4/PX4-user_guide/raw/main/assets/flight_controller/kakuteh7/holybro_kakuteh7_bootloader.hex) bootloader binary and read [this page](../advanced_config/bootloader_update_from_betaflight.md) for flashing instructions.
+Download the [kakuteh7_bl.hex](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/flight_controller/kakuteh7/holybro_kakuteh7_bootloader.hex) bootloader binary and read [this page](../advanced_config/bootloader_update_from_betaflight.md) for flashing instructions.
 ## Building Firmware
@@ -80,7 +80,7 @@ The board can be bought from one of the following shops (for example):
 The board comes pre-installed with [Betaflight](https://github.com/betaflight/betaflight/wiki).
 Before the PX4 firmware can be installed, the _PX4 bootloader_ must be flashed.
-Download the [holybro_kakuteh7mini_bootloader.hex](https://github.com/PX4/PX4-user_guide/raw/main/assets/flight_controller/kakuteh7mini/holybro_kakuteh7mini_bootloader.hex) bootloader binary and read [this page](../advanced_config/bootloader_update_from_betaflight.md) for flashing instructions.
+Download the [holybro_kakuteh7mini_bootloader.hex](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/flight_controller/kakuteh7mini/holybro_kakuteh7mini_bootloader.hex) bootloader binary and read [this page](../advanced_config/bootloader_update_from_betaflight.md) for flashing instructions.
 ## Building Firmware
@@ -77,7 +77,7 @@ The _Kakute H7v2_ is designed to work with the _Tekko32_ 4-in-1 ESC and they can
 The board comes pre-installed with [Betaflight](https://github.com/betaflight/betaflight/wiki).
 Before the PX4 firmware can be installed, the _PX4 bootloader_ must be flashed.
-Download the [holybro_kakuteh7v2_bootloader.hex](https://github.com/PX4/PX4-user_guide/raw/main/assets/flight_controller/kakuteh7v2/holybro_kakuteh7v2_bootloader.hex) bootloader binary and read [this page](../advanced_config/bootloader_update_from_betaflight.md) for flashing instructions.
+Download the [holybro_kakuteh7v2_bootloader.hex](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/flight_controller/kakuteh7v2/holybro_kakuteh7v2_bootloader.hex) bootloader binary and read [this page](../advanced_config/bootloader_update_from_betaflight.md) for flashing instructions.
 ## Building Firmware
@@ -44,7 +44,6 @@ This autopilot is [supported](../flight_controller/autopilot_pixhawk_standard.md
  - 3.3 and 6.6V ADC inputs
  - External microUSB port
 - Power System:
  - Ideal diode controller with automatic failover
  - Servo rail high-power (7 V) and high-current ready
  - All peripheral outputs over-current protected, all inputs ESD protected
@@ -99,8 +98,8 @@ See [3DR Pixhawk 1 > Pinouts](../flight_controller/pixhawk.md#pinouts)
 The board is based on the [Pixhawk-project](https://pixhawk.org/) **FMUv3** open hardware design.
- [FMUv3 schematic](https://github.com/PX4/Hardware/raw/master/FMUv3_REV_D/Schematic%20Print/Schematic%20Prints.PDF) -- Schematic and layout
+- [FMUv3 schematic](https://github.com/pixhawk/Hardware/raw/master/FMUv3_REV_D/Schematic%20Print/Schematic%20Prints.PDF) -- Schematic and layout
 ::: info
-As a CC-BY-SA 3.0 licensed Open Hardware design, all schematics and design files are [available](https://github.com/PX4/Hardware).
+As a CC-BY-SA 3.0 licensed Open Hardware design, all schematics and design files are [available](https://github.com/pixhawk/Hardware).
 :::
@@ -63,13 +63,13 @@ has a much smaller footprint. Major differences are updated sensors and Rev 3 FM
 By default a mRo X2.1 might come preconfigured for ArduPilot<sup>&reg;</sup> rather than PX4. This
 can be seen during firmware update when the board is recognized as FMUv2 instead of X2.1.
-In this case you must update the BootLoader using [BL_Update_X21.zip](https://github.com/PX4/PX4-user_guide/raw/main/assets/hardware/BL_Update_X21.zip).
+In this case you must update the BootLoader using [BL_Update_X21.zip](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/hardware/BL_Update_X21.zip).
 If this correction is not carried out your compass direction will be wrong and the
 secondary IMU will not be detected.
 The update steps are:
-1. Download and extract [BL_Update_X21.zip](https://github.com/PX4/PX4-user_guide/raw/main/assets/hardware/BL_Update_X21.zip).
+1. Download and extract [BL_Update_X21.zip](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/hardware/BL_Update_X21.zip).
 2. Find the folder _BL_Update_X21_. This contains a **bin** file and a subfolder named **/etc** containing an **rc.txt** file
 3. Copy these files to your micro SD card's root directory and insert it into the mRO x2.1
 4. Power on the mRO x2.1 Wait for it to boot and then reboot 1 time.
@@ -67,13 +67,11 @@ These are the boards tested and known to work:
  :::
  Purchase from:
  - [Hobbywing XRotor F4 Flight Controller w/OSD](https://www.getfpv.com/hobbywing-xrotor-f4-flight-controller-w-osd.html) (getfpv)
 - Original Airbot Omnibus F4 SD
  Purchase from:
  - [Airbot (CN manufacturer)](https://store.myairbot.com/omnibusf4prov3.html)
  - [Ready To Fly Quads (US reseller)](https://quadsrtf.com/product/flip-32-f4-omnibus-rev-2/)
@@ -116,7 +114,6 @@ Some Omnibus F4 boards have a jumper connecting either or both the MCU SBUS and
 ### UARTs
 - UART6: GPS port
  - TX: MCU pin PC6
  - RX: MCU pin PC7
@@ -125,7 +122,6 @@ Some Omnibus F4 boards have a jumper connecting either or both the MCU SBUS and
  ![Omnibus F4 SD UART6](../../assets/flight_controller/omnibus_f4_sd/uart6.jpg)
 - UART4
  - TX: MCU pin PA0
  - RX: MCU pin PA1
  - 57600 baud
@@ -227,7 +223,7 @@ The schematics are provided by [Airbot](https://myairbot.com/): [OmnibusF4-Pro-S
 The board comes pre-installed with [Betaflight](https://github.com/betaflight/betaflight/wiki).
 Before PX4 firmware can be installed, the _PX4 bootloader_ must be flashed.
-Download the [omnibusf4sd_bl.hex](https://github.com/PX4/PX4-user_guide/raw/main/assets/flight_controller/omnibus_f4_sd/omnibusf4sd_bl_d52b70cb39.hex) bootloader binary and read [this page](../advanced_config/bootloader_update_from_betaflight.md) for flashing instructions.
+Download the [omnibusf4sd_bl.hex](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/flight_controller/omnibus_f4_sd/omnibusf4sd_bl_d52b70cb39.hex) bootloader binary and read [this page](../advanced_config/bootloader_update_from_betaflight.md) for flashing instructions.
 ## Building Firmware
@@ -1,4 +1,10 @@
-# Pixhack V3
+# CUAV Pixhack V3 (Discontinued)
 <Badge type="info" text="Discontinued" />
 :::warning
 This flight controller has been [discontinued](../flight_controller/autopilot_experimental.md) and is no longer commercially available.
 :::
 :::warning
 PX4 does not manufacture this (or any) autopilot.
@@ -53,7 +59,6 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo
 The board can be purchased from:
 - [store.cuav.net](http://store.cuav.net/index.php?id_product=8&id_product_attribute=0&rewrite=pixhack-v3-autopilot&controller=product&id_lang=3)
 - [leixun.aliexpress.com/store](https://leixun.aliexpress.com/store)
 ## Building Firmware
@@ -65,13 +70,11 @@ 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-v3_default
 ```
-## Pinouts and Schematics
+<!-- Pinouts and Schematics: section removed as guides no longer published -->
 - [Documentation/wiring guides](http://doc.cuav.net/flight-controller/pixhack/en/pixhack-v3.html)
 ## Serial Port Mapping
@@ -80,6 +83,6 @@ make px4_fmu-v3_default
 | UART1  | /dev/ttyS0 | IO debug              |
 | USART2 | /dev/ttyS1 | TELEM1 (flow control) |
 | USART3 | /dev/ttyS2 | TELEM2 (flow control) |
-| UART4  |            |
+| UART4  |            |                       |
-| UART7  | CONSOLE    |
+| UART7  |            | CONSOLE               |
-| UART8  | SERIAL4    |
+| UART8  |            | SERIAL4               |
@@ -11,7 +11,7 @@ We recommend however to consider products built on industry standards, such as t
 This flight controller is not following the standard and uses a patented connector.
 :::
-The [Hex Cube Black](http://www.proficnc.com/61-system-kits2) flight controller (previously known as Pixhawk 2.1) is a flexible autopilot intended primarily for manufacturers of commercial systems.
+The [Hex Cube Black](https://docs.cubepilot.org/user-guides/autopilot/the-cube) flight controller (previously known as Pixhawk 2.1) is a flexible autopilot intended primarily for manufacturers of commercial systems.
 It is based on the [Pixhawk-project](https://pixhawk.org/) **FMUv3** open hardware design and runs PX4 on the [NuttX](https://nuttx.apache.org/) OS.
 ![Cube Black](../../assets/flight_controller/cube/cube_black_hero.png)
@@ -23,7 +23,7 @@ while a carrier board for a racer could includes ESCs form the frame of the vehi
 Cube includes vibration isolation on two of the IMU's, with a third fixed IMU as a reference / Backup.
 ::: info
-The manufacturer [Cube Docs](https://docs.cubepilot.org/user-guides/autopilot/the-cube-module-overview) contain detailed information, including an overview of the [Differences between Cube Colours](https://docs.cubepilot.org/user-guides/autopilot/the-cube-module-overview#differences-between-cube-colours).
+The manufacturer [Cube User Guide](https://docs.cubepilot.org/user-guides/autopilot/the-cube) contains detailed information, including an overview of the [Differences between Cube Colours](https://docs.cubepilot.org/user-guides/autopilot/the-cube/introduction/specifications).
 :::
 :::tip
@@ -32,7 +32,7 @@ This autopilot is [supported](../flight_controller/autopilot_pixhawk_standard.md
 ## Key Features
- 32bit STM32F427 [Cortex-M4F](http://en.wikipedia.org/wiki/ARM_Cortex-M#Cortex-M4)<sup>&reg;</sup> core with FPU
+- 32bit STM32F427 [Cortex-M4F](https://en.wikipedia.org/wiki/ARM_Cortex-M#Cortex-M4)<sup>&reg;</sup> core with FPU
 - 168 MHz / 252 MIPS
 - 256 KB RAM
 - 2 MB Flash \(fully accessible\)
@@ -61,7 +61,7 @@ This autopilot is [supported](../flight_controller/autopilot_pixhawk_standard.md
 ### Processor
- 32bit STM32F427 [Cortex M4](http://en.wikipedia.org/wiki/ARM_Cortex-M#Cortex-M4) core with FPU
+- 32bit STM32F427 [Cortex M4](https://en.wikipedia.org/wiki/ARM_Cortex-M#Cortex-M4) core with FPU
 - 168 MHz / 252 MIPS
 - 256 KB RAM
 - 2 MB Flash (fully accessible)
@@ -166,6 +166,5 @@ CAN1 and CAN2 silk screen on the Cube Black are flipped (CAN1 is CAN2 and vice v
 - [Cube Wiring Quickstart](../assembly/quick_start_cube.md)
 - Cube Docs (Manufacturer):
-  - [Cube Module Overview](https://docs.cubepilot.org/user-guides/autopilot/the-cube-module-overview)
+  - [Cube User Guide](https://docs.cubepilot.org/user-guides/autopilot/the-cube)
  - [Cube User Manual](https://docs.cubepilot.org/user-guides/autopilot/the-cube-user-manual)
  - [Mini Carrier Board](https://docs.cubepilot.org/user-guides/carrier-boards/mini-carrier-board)
@@ -60,7 +60,7 @@ Order mRo Pixhawk from:
 ### Processor
- 32bit STM32F427 [Cortex-M4F](http://en.wikipedia.org/wiki/ARM_Cortex-M#Cortex-M4) core with FPU
+- 32bit STM32F427 [Cortex-M4F](https://en.wikipedia.org/wiki/ARM_Cortex-M#Cortex-M4) core with FPU
 - 168 MHz
 - 256 KB RAM
 - 2 MB Flash
@@ -119,7 +119,7 @@ Under these conditions the system will not draw any power (will not be operation
 [FMUv2 + IOv2 schematic](https://raw.githubusercontent.com/PX4/Hardware/master/FMUv2/PX4FMUv2.4.5.pdf) -- Schematic and layout
 ::: info
-As a CC-BY-SA 3.0 licensed Open Hardware design, all schematics and design files are [available](https://github.com/PX4/Hardware).
+As a CC-BY-SA 3.0 licensed Open Hardware design, all schematics and design files are [available](https://github.com/pixhawk/Hardware).
 :::
 ## Connections
@@ -263,16 +263,16 @@ Due to space constraints two ports are on one connector.
 The [PX4 System Console](../debug/system_console.md) runs on the port labeled [SERIAL4/5](#serial-4-5-port).
 :::tip
-A convenient way to connect to the console is to use a [Dronecode probe](https://kb.zubax.com/display/MAINKB/Dronecode+Probe+documentation), as it comes with connectors that can be used with several different Pixhawk devices.
+A convenient way to connect to the console is to use a [Zubax BugFace BF1](https://github.com/Zubax/bugface_bf1), as it comes with connectors that can be used with several different Pixhawk devices.
-Simply connect the 6-pos DF13 1:1 cable on the [Dronecode probe](https://kb.zubax.com/display/MAINKB/Dronecode+Probe+documentation) to the Pixhawk `SERIAL4/5` port.
+Simply connect the 6-pos DF13 1:1 cable on the [Zubax BugFace BF1](https://github.com/Zubax/bugface_bf1) to the Pixhawk `SERIAL4/5` port.
-![Dronecode probe](../../assets/flight_controller/pixhawk1/dronecode_probe.jpg)
+![Zubax BugFace BF1](../../assets/flight_controller/pixhawk1/dronecode_probe.jpg)
 :::
 The pinout is standard serial pinout, designed to connect to a [3.3V FTDI](https://www.digikey.com/en/products/detail/TTL-232R-3V3/768-1015-ND/1836393) cable (5V tolerant).
 | 3DR Pixhawk 1 |           | FTDI |
-| ------------- | --------- | ---- |
+| ------------- | --------- | ---- | ---------------- |
 | 1             | +5V (red) |      | N/C              |
 | 2             | S4 Tx     |      | N/C              |
 | 3             | S4 Rx     |      | N/C              |
@@ -327,7 +327,7 @@ make px4_fmu-v2_default
  - JTAG Adapter Option #1: [BlackMagic Probe](https://1bitsquared.com/products/black-magic-probe). Note, may come without cables (check with manufacturer).
    If so, you will need the **Samtec FFSD-05-D-06.00-01-N** cable ([Samtec sample service](https://www.samtec.com/products/ffsd-05-d-06.00-01-n) or [Digi-Key Link: SAM8218-ND](http://www.digikey.com/product-search/en?x=0&y=0&lang=en&site=us&KeyWords=FFSD-05-D-06.00-01-N)) or [Tag Connect Ribbon](http://www.tag-connect.com/CORTEXRIBBON10) and a Mini-USB cable.
  - JTAG Adapter Option #2: [Digi-Key Link: ST-LINK/V2](https://www.digikey.com/product-detail/en/stmicroelectronics/ST-LINK-V2/497-10484-ND) / [ST USER MANUAL](http://www.st.com/internet/com/TECHNICAL_RESOURCES/TECHNICAL_LITERATURE/USER_MANUAL/DM00026748.pdf), needs an ARM Mini JTAG to 20pos adapter: [Digi-Key Link: 726-1193-ND](https://www.digikey.com/en/products/detail/texas-instruments/MDL-ADA2/1986451)
-  - JTAG Adapter Option #3: [SparkFun Link: Olimex ARM-TINY](http://www.sparkfun.com/products/8278) or any other OpenOCD-compatible ARM Cortex JTAG adapter, needs an ARM Mini JTAG to 20pos adapter: [Digi-Key Link: 726-1193-ND](https://www.digikey.com/en/products/detail/texas-instruments/MDL-ADA2/1986451)
+  - JTAG Adapter Option #3: [Olimex ARM-TINY](https://www.olimex.com/wiki/ARM-USB-TINY) or any other OpenOCD-compatible ARM Cortex JTAG adapter, needs an ARM Mini JTAG to 20pos adapter: [Digi-Key Link: 726-1193-ND](https://www.digikey.com/en/products/detail/texas-instruments/MDL-ADA2/1986451)
 - **USARTs**: Hirose DF13 6 pos ([Digi-Key Link: DF13A-6P-1.25H(20)](https://www.digikey.com/products/en?keywords=H3371-ND))
  - Mates: Hirose DF13 6 pos housing ([Digi-Key Link: Hirose DF13-6S-1.25C](https://www.digikey.com/products/en?keywords=H2182-ND))
 - **I2C and CAN**: Hirose DF13 4 pos ([Digi-Key Link: DF13A-4P-1.25H(20)](https://www.digikey.com/en/products/detail/hirose-electric-co-ltd/DF13A-4P-1-25H-20/530666) - discontinued)
@@ -49,7 +49,7 @@ This autopilot is [supported](../flight_controller/autopilot_pixhawk_standard.md
 - Other Characteristics:
  - Operating temperature: -40 ~ 85°c
-Additional information can be found in the [Pixhawk 4 Technical Data Sheet](https://github.com/PX4/PX4-user_guide/raw/main/assets/flight_controller/pixhawk4/pixhawk4_technical_data_sheet.pdf).
+Additional information can be found in the [Pixhawk 4 Technical Data Sheet](https://github.com/PX4/PX4-Autopilot/blob/main/docs/assets/flight_controller/pixhawk4/pixhawk4_technical_data_sheet.pdf).
 ## Where to Buy
@@ -157,7 +157,7 @@ The complete set of supported configurations can be seen in the [Airframes Refer
 ## Further info
- [Pixhawk 4 Technical Data Sheet](https://github.com/PX4/PX4-user_guide/raw/main/assets/flight_controller/pixhawk4/pixhawk4_technical_data_sheet.pdf)
+- [Pixhawk 4 Technical Data Sheet](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/flight_controller/pixhawk4/pixhawk4_technical_data_sheet.pdf)
 - [FMUv5 reference design pinout](https://docs.google.com/spreadsheets/d/1-n0__BYDedQrc_2NHqBenG1DNepAgnHpSGglke-QQwY/edit#gid=912976165).
 - [Pixhawk 4 Wiring QuickStart](../assembly/quick_start_pixhawk4.md)
 - [Pixhawk 4 Pinouts](https://cdn.shopify.com/s/files/1/0604/5905/7341/files/Pixhawk4-Pinouts.pdf) (Holybro)
@@ -50,7 +50,7 @@ This autopilot is [supported](../flight_controller/autopilot_pixhawk_standard.md
 - Other Characteristics:
  - Operating temperature: -40 ~ 85°c
-Additional information can be found in the [_Pixhawk 4 Mini_ Technical Data Sheet](https://github.com/PX4/PX4-user_guide/raw/main/assets/flight_controller/pixhawk4mini/pixhawk4mini_technical_data_sheet.pdf).
+Additional information can be found in the [_Pixhawk 4 Mini_ Technical Data Sheet](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/flight_controller/pixhawk4mini/pixhawk4mini_technical_data_sheet.pdf).
 ## Where to Buy
@@ -66,7 +66,7 @@ The **RC IN** and **PPM** ports are for RC receivers only. These are powered! NE
 ## Pinouts
-Download _Pixhawk 4 Mini_ pinouts from [here](https://github.com/PX4/PX4-user_guide/raw/main/assets/flight_controller/pixhawk4mini/pixhawk4mini_pinouts.pdf).
+Download _Pixhawk 4 Mini_ pinouts from [here](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/flight_controller/pixhawk4mini/pixhawk4mini_pinouts.pdf).
 ## Dimensions
@@ -120,7 +120,8 @@ In order to access these ports, the user must remove the _Pixhawk 4 Mini_ casing
 ![Pixhawk 4 Mini FMU Debug](../../assets/flight_controller/pixhawk4mini/pixhawk4mini_fmu_debug.png)
-The port has a standard serial pinout and can be connected to a standard FTDI cable (3.3V, but it's 5V tolerant) or a [Dronecode probe](https://kb.zubax.com/display/MAINKB/Dronecode+Probe+documentation). The pinout uses the standard [Pixhawk debug connector](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf) pinout. Please refer to the [wiring](../debug/system_console.md) page for details of how to wire up this port.
+The port has a standard serial pinout and can be connected to a standard FTDI cable (3.3V, but it's 5V tolerant) or a [Zubax BugFace BF1](https://github.com/Zubax/bugface_bf1).
 The pinout uses the standard [Pixhawk debug connector](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf) pinout. Please refer to the [wiring](../debug/system_console.md) page for details of how to wire up this port.
 ## Serial Port Mapping
@@ -153,5 +154,5 @@ It can be used for airframes that use AUX for non-essential peripherals (e.g. "f
 ## Further info
- [_Pixhawk 4 Mini_ Technical Data Sheet](https://github.com/PX4/PX4-user_guide/raw/main/assets/flight_controller/pixhawk4mini/pixhawk4mini_technical_data_sheet.pdf)
+- [_Pixhawk 4 Mini_ Technical Data Sheet](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/flight_controller/pixhawk4mini/pixhawk4mini_technical_data_sheet.pdf)
 - [FMUv5 reference design pinout](https://docs.google.com/spreadsheets/d/1-n0__BYDedQrc_2NHqBenG1DNepAgnHpSGglke-QQwY/edit#gid=912976165).
@@ -5,7 +5,7 @@ PX4 does not manufacture this (or any) autopilot.
 Contact the [manufacturer](https://holybro.com/) for hardware support or compliance issues.
 :::
-The Holybro *Pixhawk<sup>&reg;</sup> Mini* autopilot is a next-generation evolution of the Pixhawk.
+The Holybro _Pixhawk<sup>&reg;</sup> Mini_ autopilot is a next-generation evolution of the Pixhawk.
 It is about 1/3rd the size of the original Pixhawk and has more powerful processors and sensors.
 The Pixhawk Mini is based on the PX4 open-hardware project and has been optimized for the PX4 flight stack.
@@ -263,7 +263,7 @@ Pixhawk Mini supports many different radio receiver models:
  <img src="../../assets/flight_controller/pixhawk_mini/pixhawk_mini_port_rcin.png" width="350px" title="Pixhawk Mini - Radio port for PPM receivers" />
- PPM and PWM receivers that have an _individual wire for each channel_ must connect to the **RCIN** port _via a PPM encoder_ [like this one](http://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html) (PPM-Sum receivers use a single signal wire for all channels).
+- PPM and PWM receivers that have an _individual wire for each channel_ must connect to the **RCIN** port _via a PPM encoder_ [like this one](https://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html) (PPM-Sum receivers use a single signal wire for all channels).
 For more information about selecting a radio system, receiver compatibility, and binding your transmitter/receiver pair, see: [Remote Control Transmitters & Receivers](../getting_started/rc_transmitter_receiver.md).
@@ -41,7 +41,7 @@ The [Pixhawk project](https://pixhawk.org/) creates open hardware designs in the
 Manufacturers are encouraged to take the [open designs](https://github.com/pixhawk/Hardware) and create products that are best suited to a particular market or use case (the physical layout/form factor not part of the open specification). Boards based on the same design are binary compatible.
 ::: info
-While a physical connector standard is not mandated, newer products generally follow the [Pixhawk Connector Standard](https://pixhawk.org/pixhawk-connector-standard/).
+While a physical connector standard is not mandated, newer products generally follow the [Pixhawk Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf).
 :::
 The project also creates reference autopilot boards based on the open designs, and shares them under the same [licence](#licensing-and-trademarks).
@@ -85,7 +85,7 @@ For more information see: [Pixracer Wiring Quickstart > External Telemetry](../a
 ## Connectors
-All connectors follow the [Pixhawk connector standard](https://pixhawk.org/pixhawk-connector-standard/).
+All connectors follow the [Pixhawk connector standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf).
 Unless noted otherwise all connectors are JST GH.
 ## Pinouts
@@ -204,8 +204,8 @@ The reference is provided as: [Altium Design Files](https://github.com/AUAV-Open
 The following PDF files are provided for _convenience only_:
- [pixracer-rc12-12-06-2015-1330.pdf](https://github.com/PX4/PX4-user_guide/raw/main/assets/flight_controller/pixracer/pixracer-rc12-12-06-2015-1330.pdf)
+- [pixracer-rc12-12-06-2015-1330.pdf](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/flight_controller/pixracer/pixracer-rc12-12-06-2015-1330.pdf)
- [pixracer-r14.pdf](https://github.com/PX4/PX4-user_guide/raw/main/assets/flight_controller/pixracer/pixracer-r14.pdf) - R14 or RC14 is printed next to the SDCard socket
+- [pixracer-r14.pdf](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/flight_controller/pixracer/pixracer-r14.pdf) - R14 or RC14 is printed next to the SDCard socket
 ## Building Firmware
@@ -1,6 +1,6 @@
 # DJI FlameWheel 450 + CUAV V5 nano Build
-This topic provides full instructions for building the kit and configuring PX4 using *QGroundControl*.
+This topic provides full instructions for building the kit and configuring PX4 using _QGroundControl_.
 Key information
@@ -13,6 +13,7 @@ Key information
 ## Bill of materials
 The components needed for this build are:
 - Flight controller: [CUAV V5 nano](https://store.cuav.net/shop/v5-nano/):
  - GPS: [CUAV NEO V2 GPS](https://store.cuav.net/index.php?id_product=97&id_product_attribute=0&rewrite=cuav-new-ublox-neo-m8n-gps-module-with-shell-stand-holder-for-flight-controller-gps-compass-for-pixhack-v5-plus-rc-parts-px4&controller=product&id_lang=1)
  - Power Module
@@ -24,7 +25,6 @@ The components needed for this build are:
 - Motors: [DJI E305 2312E Motor (960kv,CW)](https://www.amazon.com/DJI-E305-2312E-Motor-960kv/dp/B072MBMCZN)
 - ESC: Hobbywing XRotor 20A APAC Brushless ESC 3-4S For RC Multicopters
 In addition, we used an FrSky Taranis controller.
 You will also need zip ties, double-sided tape, a soldering iron.
@@ -32,65 +32,61 @@ The image below shows both frame and electronic components.
 ![All components used in this build](../../assets/airframes/multicopter/dji_f450_cuav_5nano/all_components.jpg)
 ## Hardware
 ### Frame
 This section lists all hardware for the frame.
-Description | Quantity
+| Description                                       | Quantity |
---|---
+| ------------------------------------------------- | -------- |
-DJI F450 Bottom plate | 1
+| DJI F450 Bottom plate                             | 1        |
-DJI F450 Top plate | 1
+| DJI F450 Top plate                                | 1        |
-DJI F450 legs with landing gear | 4
+| DJI F450 legs with landing gear                   | 4        |
-M3*8 screws | 18
+| M3\*8 screws                                      | 18       |
-M2 5*6 screws | 24
+| M2 5\*6 screws                                    | 24       |
-Velcro Battery Strap | 1
+| Velcro Battery Strap                              | 1        |
-DJI Phantom Built-in Nut Upgrade Propellers 9.4x5 | 1
+| DJI Phantom Built-in Nut Upgrade Propellers 9.4x5 | 1        |
 ![F450 frame components](../../assets/airframes/multicopter/dji_f450_cuav_5nano/f450_frame_components.png)
 ### CUAV v5 nano Package
 This section lists the components in the CUAV v5 nano package.
-Description | Quantity (Default Package) | Quantity (+GPS Package)
+| Description               | Quantity (Default Package) | Quantity (+GPS Package) |
--- | --- | ---
+| ------------------------- | -------------------------- | ----------------------- |
-V5 nano flight controller | 1 | 1
+| V5 nano flight controller | 1                          | 1                       |
-DuPont Cable             | 2 | 2
+| DuPont Cable              | 2                          | 2                       |
-I2C/CAN Cable            | 2 | 2
+| I2C/CAN Cable             | 2                          | 2                       |
-ADC 6.6 Cable            | 2 | 2
+| ADC 6.6 Cable             | 2                          | 2                       |
-SBUS Signal Cable        | 1 | 1
+| SBUS Signal Cable         | 1                          | 1                       |
-IRSSI Cable              | 1 | 1
+| IRSSI Cable               | 1                          | 1                       |
-DSM Signal Cable         | 1 | 1
+| DSM Signal Cable          | 1                          | 1                       |
-ADC 3.3 Cable            | 1 | 1
+| ADC 3.3 Cable             | 1                          | 1                       |
-Debug Cable              | 1 | 1
+| Debug Cable               | 1                          | 1                       |
-Safety Switch Cable      | 1 | 1
+| Safety Switch Cable       | 1                          | 1                       |
-Voltage & Current Cable  | 1 | 1
+| Voltage & Current Cable   | 1                          | 1                       |
-PW-Link Module Cable     | 1 | 1
+| PW-Link Module Cable      | 1                          | 1                       |
-Power Module             | 1 | 1
+| Power Module              | 1                          | 1                       |
-SanDisk 16GB Memory Card | 1 | 1
+| SanDisk 16GB Memory Card  | 1                          | 1                       |
-12C Expansion Board      | 1 | 1
+| 12C Expansion Board       | 1                          | 1                       |
-TTL Plate                | 1 | 1
+| TTL Plate                 | 1                          | 1                       |
-NEO GPS                  | - | 1
+| NEO GPS                   | -                          | 1                       |
-GPS Bracket              | - | 1
+| GPS Bracket               | -                          | 1                       |
 ### Electronics
-Description | Quantity
+| Description                                           | Quantity |
--- | --- 
+| ----------------------------------------------------- | -------- |
-CUAV V5 nano | 1
+| CUAV V5 nano                                          | 1        |
-CUAV NEO V2 GPS | 1
+| CUAV NEO V2 GPS                                       | 1        |
-Holibro Telemetry | 1
+| Holibro Telemetry                                     | 1        |
-FrSky D4R-II 2.4G 4CH ACCST Telemetry Receiver | 1
+| FrSky D4R-II 2.4G 4CH ACCST Telemetry Receiver        | 1        |
-DJI E305 2312E Motor (800kv,CW) | 4
+| DJI E305 2312E Motor (800kv,CW)                       | 4        |
-Hobbywing XRotor 20A APAC Brushless ESC | 4
+| Hobbywing XRotor 20A APAC Brushless ESC               | 4        |
-Power Module(Included in the CUAV V5 nano package) | 1
+| Power Module(Included in the CUAV V5 nano package)    | 1        |
-Turnigy High Capacity 5200mAh 3S 12C Lipo Pack w/XT60 | 1
+| Turnigy High Capacity 5200mAh 3S 12C Lipo Pack w/XT60 | 1        |
 ### Tools needed
@@ -102,7 +98,6 @@ The following tools are used in this assembly:
 - Precision tweezers
 - Soldering iron
 ![Required tools](../../assets/airframes/multicopter/dji_f450_cuav_5nano/required_tools.jpg)
 ## Assembly
@@ -134,7 +129,7 @@ Estimated time to assemble is approximately 90 minutes (about 45 minutes for the
   ![Add top board](../../assets/airframes/multicopter/dji_f450_cuav_5nano/6_add_top_board.jpg)
-1. Add damping foam to the *CUAV V5 nano* flight controller.
+1. Add damping foam to the _CUAV V5 nano_ flight controller.
   ![Damping foam](../../assets/airframes/multicopter/dji_f450_cuav_5nano/7a_attach_cuav5nano.jpg)
   ![Damping foam](../../assets/airframes/multicopter/dji_f450_cuav_5nano/7b_attach_cuav5nano.jpg)
@@ -164,11 +159,10 @@ The final build is shown below:
 ![Finished Setup](../../assets/airframes/multicopter/dji_f450_cuav_5nano/f450_cuav5_nano_complete.jpg)
 ## PX4 Configuration
-*QGroundControl* is used to install the PX4 autopilot and configure/tune it for the frame.
+_QGroundControl_ is used to install the PX4 autopilot and configure/tune it for the frame.
-[Download and install](http://qgroundcontrol.com/downloads/) *QGroundControl* for your platform.
+[Download and install](https://qgroundcontrol.com/downloads/) _QGroundControl_ for your platform.
 :::tip
 Full instructions for installing and configuring PX4 can be found in [Basic Configuration](../config/index.md).
@@ -180,7 +174,7 @@ First update the firmware, airframe, geometry and outputs:
 - [Airframe](../config/airframe.md)
  ::: info
-  You will need to select the *Generic Quadcopter* airframe (**Quadrotor x > Generic Quadcopter**).
+  You will need to select the _Generic Quadcopter_ airframe (**Quadrotor x > Generic Quadcopter**).
  ![QGroundControl - Select Generic Quadcopter](../../assets/airframes/multicopter/dji_f450_cuav_5nano/qgc_airframe_generic_quadx.png)
  :::
@@ -190,7 +184,6 @@ First update the firmware, airframe, geometry and outputs:
  - Assign actuator functions to outputs to match your wiring.
  - Test the configuration using the sliders.
 Then perform the mandatory setup/calibration:
 - [Sensor Orientation](../config/flight_controller_orientation.md)
@@ -201,7 +194,7 @@ Then perform the mandatory setup/calibration:
 - [Flight Modes](../config/flight_mode.md)
  ::: info
-  For this build we set up modes *Stabilized*, *Altitude* and *Position* on a three-way switch on the receiver (mapped to a single channel - 5).
+  For this build we set up modes _Stabilized_, _Altitude_ and _Position_ on a three-way switch on the receiver (mapped to a single channel - 5).
  This is the recommended minimal set of modes for beginners.
  :::
@@ -211,20 +204,17 @@ Ideally you should also do:
 - [Battery Estimation Tuning](../config/battery.md)
 - [Safety](../config/safety.md)
 ## Tuning
-Airframe selection sets *default* autopilot parameters for the frame.
+Airframe selection sets _default_ autopilot parameters for the frame.
 These may be good enough to fly with, but you should tune each frame build.
 For instructions on how, start from [Autotune](../config/autotune_mc.md).
 ## Video
 <lite-youtube videoid="b0bKNdDqVHw" title="CUAV Nano"/>
 ## Acknowledgments
 This build log was provided by the Dronecode Test Flight Team.
@@ -1,6 +1,6 @@
 # DJI FlameWheel 450 + CUAV V5+ Build
-This topic provides full instructions for building the kit and configuring PX4 using *QGroundControl*.
+This topic provides full instructions for building the kit and configuring PX4 using _QGroundControl_.
 Key information
@@ -13,6 +13,7 @@ Key information
 ## Bill of materials
 The components needed for this build are:
 - Flight controller: [CUAV V5+](https://store.cuav.net/index.php?id_product=95&id_product_attribute=0&rewrite=cuav-new-pixhack-v5-autopilot-m8n-gps-for-fpv-rc-drone-quadcopter-helicopter-flight-simulator-free-shipping-whole-sale&controller=product&id_lang=1):
  - GPS: [CUAV NEO V2 GPS](https://store.cuav.net/index.php?id_product=97&id_product_attribute=0&rewrite=cuav-new-ublox-neo-m8n-gps-module-with-shell-stand-holder-for-flight-controller-gps-compass-for-pixhack-v5-plus-rc-parts-px4&controller=product&id_lang=1)
  - Power Module
@@ -24,7 +25,6 @@ The components needed for this build are:
 - Motors: [DJI E305 2312E Motor (960kv,CW)](https://www.amazon.com/DJI-E305-2312E-Motor-960kv/dp/B072MBMCZN)
 - ESC: Hobbywing XRotor 20A APAC Brushless ESC 3-4S For RC Multicopters
 In addition, we used an FrSky Taranis controller.
 You will also need zip ties, double-sided tape, a soldering iron.
@@ -32,67 +32,63 @@ The image below shows both frame and electronic components.
 ![All components used in this build](../../assets/airframes/multicopter/dji_f450_cuav_5plus/all_components.jpg)
 ## Hardware
 ### Frame
 This section lists all hardware for the frame.
-Description | Quantity
+| Description                                       | Quantity |
---|---
+| ------------------------------------------------- | -------- |
-DJI F450 Bottom plate | 1
+| DJI F450 Bottom plate                             | 1        |
-DJI F450 Top plate | 1
+| DJI F450 Top plate                                | 1        |
-DJI F450 legs with landing gear | 4
+| DJI F450 legs with landing gear                   | 4        |
-M3*8 screws | 18
+| M3\*8 screws                                      | 18       |
-M2 5*6 screws | 24
+| M2 5\*6 screws                                    | 24       |
-Velcro Battery Strap | 1
+| Velcro Battery Strap                              | 1        |
-DJI Phantom Built-in Nut Upgrade Propellers 9.4x5 | 1
+| DJI Phantom Built-in Nut Upgrade Propellers 9.4x5 | 1        |
 ![F450 frame components](../../assets/airframes/multicopter/dji_f450_cuav_5plus/f450_frame_components.png)
 ### CUAV V5+ Package
 This section lists the components in the CUAV v5+ package.
-Description | Quantity (Default Package) | Quantity (+GPS Package)
+| Description              | Quantity (Default Package) | Quantity (+GPS Package) |
--- | --- | ---
+| ------------------------ | -------------------------- | ----------------------- |
-V5+ Autopilot            | 1 | 1
+| V5+ Autopilot            | 1                          | 1                       |
-DuPont Cable             | 2 | 2
+| DuPont Cable             | 2                          | 2                       |
-I2C/CAN Cable            | 2 | 2
+| I2C/CAN Cable            | 2                          | 2                       |
-ADC 6.6 Cable            | 2 | 2
+| ADC 6.6 Cable            | 2                          | 2                       |
-SBUS Signal Cable        | 1 | 1
+| SBUS Signal Cable        | 1                          | 1                       |
-IRSSI Cable              | 1 | 1
+| IRSSI Cable              | 1                          | 1                       |
-DSM Signal Cable         | 1 | 1
+| DSM Signal Cable         | 1                          | 1                       |
-ADC 3.3 Cable            | 1 | 1
+| ADC 3.3 Cable            | 1                          | 1                       |
-Debug Cable              | 1 | 1
+| Debug Cable              | 1                          | 1                       |
-Safety Switch Cable      | 1 | 1
+| Safety Switch Cable      | 1                          | 1                       |
-Voltage & Current Cable  | 1 | 1
+| Voltage & Current Cable  | 1                          | 1                       |
-PW-Link Module Cable     | 1 | 1
+| PW-Link Module Cable     | 1                          | 1                       |
-Power Module             | 1 | 1
+| Power Module             | 1                          | 1                       |
-SanDisk 16GB Memory Card | 1 | 1
+| SanDisk 16GB Memory Card | 1                          | 1                       |
-12C Expansion Board      | 1 | 1
+| 12C Expansion Board      | 1                          | 1                       |
-TTL Plate                | 1 | 1
+| TTL Plate                | 1                          | 1                       |
-NEO GPS                  | - | 1
+| NEO GPS                  | -                          | 1                       |
-GPS Bracket              | - | 1
+| GPS Bracket              | -                          | 1                       |
 ![CUAV V5+ components](../../assets/airframes/multicopter/dji_f450_cuav_5plus/cuav5plus_components.png)
 ### Electronics
-Description | Quantity
+| Description                                           | Quantity |
--- | --- 
+| ----------------------------------------------------- | -------- |
-CUAV V5+ | 1
+| CUAV V5+                                              | 1        |
-CUAV NEO V2 GPS | 1
+| CUAV NEO V2 GPS                                       | 1        |
-Holibro Telemetry | 1
+| Holibro Telemetry                                     | 1        |
-FrSky D4R-II 2.4G 4CH ACCST Telemetry Receiver | 1
+| FrSky D4R-II 2.4G 4CH ACCST Telemetry Receiver        | 1        |
-DJI E305 2312E Motor (800kv,CW) | 4
+| DJI E305 2312E Motor (800kv,CW)                       | 4        |
-Hobbywing XRotor 20A APAC Brushless ESC | 4
+| Hobbywing XRotor 20A APAC Brushless ESC               | 4        |
-Power Module(Included in the CUAV V5+ package) | 1
+| Power Module(Included in the CUAV V5+ package)        | 1        |
-Turnigy High Capacity 5200mAh 3S 12C Lipo Pack w/XT60 | 1
+| Turnigy High Capacity 5200mAh 3S 12C Lipo Pack w/XT60 | 1        |
 ### Tools needed
@@ -104,7 +100,6 @@ The following tools are used in this assembly:
 - Precision tweezers
 - Soldering iron
 ![Required tools](../../assets/airframes/multicopter/dji_f450_cuav_5plus/required_tools.jpg)
 ## Assembly
@@ -154,7 +149,6 @@ Estimated time to assemble is approximately 90 minutes (about 45 minutes for the
 1. Plug in Telemetry (`TELEM1`) and GPS module (`GPS/SAFETY`) to the flight controller.
   ![Attach GPS](../../assets/airframes/multicopter/dji_f450_cuav_5plus/11a_gps.jpg)
   ![Attach GPS](../../assets/airframes/multicopter/dji_f450_cuav_5plus/11b_gps.jpg)
 1. Plug in the RC receiver (`RC`), all 4 ESC’s (`M1-M4`), and the power module (`Power1`) into the flight controller.
   ![Attach peripherals to flight controller](../../assets/airframes/multicopter/dji_f450_cuav_5plus/12_fc_attach_periperhals.jpg)
@@ -167,12 +161,11 @@ The final build is shown below:
 ![Finished Setup](../../assets/airframes/multicopter/dji_f450_cuav_5plus/f450_cuav5_plus_complete_2.jpg)
 ## PX4 Configuration
-*QGroundControl* is used to install the PX4 autopilot and configure/tune it for the frame.
+_QGroundControl_ is used to install the PX4 autopilot and configure/tune it for the frame.
-[Download and install](http://qgroundcontrol.com/downloads/) 
+[Download and install](https://qgroundcontrol.com/downloads/)
-*QGroundControl* for your platform.
+_QGroundControl_ for your platform.
 :::tip
 Full instructions for installing and configuring PX4 can be found in [Basic Configuration](../config/index.md).
@@ -183,7 +176,7 @@ First update the firmware, airframe, geometry, and outputs:
 - [Firmware](../config/firmware.md)
 - [Airframe](../config/airframe.md)
  ::: info
-  You will need to select the *Generic Quadcopter* airframe (**Quadrotor x > Generic Quadcopter**).
+  You will need to select the _Generic Quadcopter_ airframe (**Quadrotor x > Generic Quadcopter**).
  ![QGroundControl - Select Generic Quadcopter](../../assets/airframes/multicopter/dji_f450_cuav_5plus/qgc_airframe_generic_quadx.png)
  :::
@@ -203,19 +196,19 @@ Then perform the mandatory setup/calibration:
 - [Flight Modes](../config/flight_mode.md)
  ::: info
-  For this build we set up modes *Stabilized*, *Altitude* and *Position* on a three-way switch on the receiver (mapped to a single channel - 5).
+  For this build we set up modes _Stabilized_, _Altitude_ and _Position_ on a three-way switch on the receiver (mapped to a single channel - 5).
  This is the recommended minimal set of modes for beginners.
  :::
 Ideally you should also do:
 * [ESC Calibration](../advanced_config/esc_calibration.md)
 * [Battery Estimation Tuning](../config/battery.md)
 * [Safety](../config/safety.md)
 - [ESC Calibration](../advanced_config/esc_calibration.md)
 - [Battery Estimation Tuning](../config/battery.md)
 - [Safety](../config/safety.md)
 ## Tuning
-Airframe selection sets *default* autopilot parameters for the frame.
+Airframe selection sets _default_ autopilot parameters for the frame.
 These may be good enough to fly with, but you should tune each frame build.
 For instructions on how, start from [Autotune](../config/autotune_mc.md).
@@ -224,7 +217,6 @@ For instructions on how, start from [Autotune](../config/autotune_mc.md).
 <lite-youtube videoid="r-IkaVpN1Ko" title="CUAV V5+"/>
 ## Acknowledgments
 This build log was provided by the Dronecode Test Flight Team.
@@ -9,7 +9,7 @@ These instructions can therefore still be followed (and might be updated to Pix3
 The complete kits include a carbon-fibre QAV250 racing frame, flight controller and almost all other components needed (except battery and receiver).
 There are variants of the kit both with and without FPV support.
-This topic provides full instructions for building the kit and configuring PX4 using *QGroundControl*.
+This topic provides full instructions for building the kit and configuring PX4 using _QGroundControl_.
 Key information
@@ -21,25 +21,26 @@ Key information
 ## Quickstart Guide
-[Pixhawk 4 Mini QAV250 Kit Quickstart Guide](https://github.com/PX4/PX4-user_guide/raw/main/assets/flight_controller/pixhawk4mini/pixhawk4mini_qav250kit_quickstart_web.pdf)
+[Pixhawk 4 Mini QAV250 Kit Quickstart Guide](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/flight_controller/pixhawk4mini/pixhawk4mini_qav250kit_quickstart_web.pdf)
 ## Bill of materials
 The Holybro [QAV250 Kit](https://holybro.com/products/qav250-kit) kits includes almost all required components:
-* [Holybro Transceiver Telemetry Radio V3](../telemetry/holybro_sik_radio.md)
+
-* Power module holybro
+- [Holybro Transceiver Telemetry Radio V3](../telemetry/holybro_sik_radio.md)
-* Fully assembled Power Management Board with ESCs
+- Power module holybro
-* Motors - DR2205 KV2300
+- Fully assembled Power Management Board with ESCs
-* 5” Plastic Props
+- Motors - DR2205 KV2300
-* Carbon fiber 250 airframe with hardware
+- 5” Plastic Props
-* Foxer camera
+- Carbon fiber 250 airframe with hardware
-* Vtx 5.8ghz
+- Foxer camera
 - Vtx 5.8ghz
 Additionally you will need a battery and receiver (+compatible transmitter).
 This build uses:
 - Receiver: [FrSSKY D4R-II](https://www.frsky-rc.com/product/d4r-ii/)
 - Battery: [4S 1300 mAh](http://www.getfpv.com/lumenier-1300mah-4s-60c-lipo-battery-xt60.html)
 - Receiver: [FrSSKY D4R-II](https://www.frsky-rc.com/product/d4r-ii/)
 - Battery: [4S 1300 mAh](https://www.getfpv.com/lumenier-1300mah-4s-60c-lipo-battery-xt60.html)
 ## Hardware
@@ -47,47 +48,45 @@ This section lists all hardware for the frame and the autopilot installation.
 ### Frame QAV250
-Description | Quantity
+| Description                   | Quantity |
--- | ---
+| ----------------------------- | -------- |
-Unibody frame plate | 1
+| Unibody frame plate           | 1        |
-Flight controller cover plate |  1
+| Flight controller cover plate | 1        |
-PDB                           |  1
+| PDB                           | 1        |
-Camera plate                  |  1
+| Camera plate                  | 1        |
-35mm standoffs                |  6
+| 35mm standoffs                | 6        |
-Vinyl screws and nuts         |  4
+| Vinyl screws and nuts         | 4        |
-15mm steel screws             |  8
+| 15mm steel screws             | 8        |
-Steel nuts                    |  8
+| Steel nuts                    | 8        |
-7mm steel screws              |  12
+| 7mm steel screws              | 12       |
-Velcro battery strap          |  1
+| Velcro battery strap          | 1        |
-Foam for battery              |  1
+| Foam for battery              | 1        |
-Landing pads                  |  4
+| Landing pads                  | 4        |
 ![QAV250 components for frame](../../assets/airframes/multicopter/qav250_holybro_pixhawk4_mini/frame_components.jpg)
 ### Electronics
-Description | Quantity
+| Description                                                                 | Quantity |
--- | ---
+| --------------------------------------------------------------------------- | -------- |
-Motors - DR2205 KV2300 |  4
+| Motors - DR2205 KV2300                                                      | 4        |
-Fully assembled Power Management Board with ESCs |  4
+| Fully assembled Power Management Board with ESCs                            | 4        |
-Holybro power module   |  1
+| Holybro power module                                                        | 1        |
-Fr-sky D4R-II receiver |  1
+| Fr-sky D4R-II receiver                                                      | 1        |
-Pixhawk 4 mini         |  1
+| Pixhawk 4 mini                                                              | 1        |
-Holybro GPS Neo-M8N    |  1
+| Holybro GPS Neo-M8N                                                         | 1        |
-[Holybro Transceiver Telemetry Radio V3](../telemetry/holybro_sik_radio.md) | 1
+| [Holybro Transceiver Telemetry Radio V3](../telemetry/holybro_sik_radio.md) | 1        |
-Battery lumenier 1300 mAh 4S 14.8V |  1
+| Battery lumenier 1300 mAh 4S 14.8V                                          | 1        |
-Vtx 5.8gHz             |  1
+| Vtx 5.8gHz                                                                  | 1        |
-FPV camera (Complete Kit - only) |  1
+| FPV camera (Complete Kit - only)                                            | 1        |
 The image below shows both frame and electronic components.
 ![QAV250 Frame/Pixhawk 4 Mini Electronics before assembly](../../assets/airframes/multicopter/qav250_holybro_pixhawk4_mini/frame_and_electronics_components.jpg)
 ## Assembly
-Estimated time to assemble frame is 2 hours and 1.5 hours installing the autopilot and configuring the airframe in *QGroundControl*.
+Estimated time to assemble frame is 2 hours and 1.5 hours installing the autopilot and configuring the airframe in _QGroundControl_.
 ### Tools needed
@@ -100,15 +99,16 @@ The following tools are used in this assembly:
 ![Tools required for assembling QAV250](../../assets/airframes/multicopter/qav250_holybro_pixhawk4_mini/assembly_tools.jpg)
 ### Frame assembly
 1. Attach arms to the button plate with the 15mm screws as shown:
   ![QAV250 Add arms to button plate](../../assets/airframes/multicopter/qav250_holybro_pixhawk4_mini/1_button_plate_add_arms.jpg)
 1. Put the short plate over the arms
   ![QAV250 Add short plate over arms](../../assets/airframes/multicopter/qav250_holybro_pixhawk4_mini/2_short_plate_over_arms.jpg)
 1. Put the nuts on the 15mm screws (shown next step)
 1. Insert the plastic screws into the indicated holes (note that this part of the frame faces down when the vehicle is complete).
   ![QAV250 Add nuts to 15mm screws and put  plastic nuts in holes](../../assets/airframes/multicopter/qav250_holybro_pixhawk4_mini/3_nuts_screws_holes.jpg)
@@ -120,9 +120,9 @@ The following tools are used in this assembly:
   ![QAV250 Add flight controller plate](../../assets/airframes/multicopter/qav250_holybro_pixhawk4_mini/6_flight_controller_plate.jpg)
 1. Attach the motors. The motors have an arrow indicating the direction of rotation.
   ![QAV250 Add motors](../../assets/airframes/multicopter/qav250_holybro_pixhawk4_mini/7_motors.jpg)
-1. Use double sided tape from kit to attach the *Pixhawk 4 Mini* to the flight controller plate.
+1. Use double sided tape from kit to attach the _Pixhawk 4 Mini_ to the flight controller plate.
   ![QAV250 Add doublesided tape](../../assets/airframes/multicopter/qav250_holybro_pixhawk4_mini/8_double_sided_tape_controller.jpg)
-1. Connect the power module's "power" cable to *Pixhawk 4 mini*.
+1. Connect the power module's "power" cable to _Pixhawk 4 mini_.
   ![QAV250 Power Pixhawk](../../assets/airframes/multicopter/qav250_holybro_pixhawk4_mini/9_power_module_power_pixhawk.jpg)
 1. Attach the aluminium standoffs to the button plate
   ![QAV250 Aluminium standoffs](../../assets/airframes/multicopter/qav250_holybro_pixhawk4_mini/10_aluminium_standoffs.jpg)
@@ -136,19 +136,24 @@ The following tools are used in this assembly:
   :::
   ![QAV250 Connect ESCs to Power](../../assets/airframes/multicopter/qav250_holybro_pixhawk4_mini/11b_escs.jpg)
 1. Connect the signal ESC cables to the PWM outputs of the Pixhawk in the correct order (see previous image)
   ![QAV250 Connect ESCs to Pixhawk PWM](../../assets/airframes/multicopter/qav250_holybro_pixhawk4_mini/12_escs_pixhawk.jpg)
 1. Connect the receiver.
-   * If using a PPM receiver connect to the PPM port.
+   - If using a PPM receiver connect to the PPM port.
     ![QAV250 Connect Receiver PPM](../../assets/airframes/multicopter/qav250_holybro_pixhawk4_mini/13_rc_receiver_ppm.jpg)
-   * If using the SBUS receiver connect to the RC IN port
+
   - If using the SBUS receiver connect to the RC IN port
     ![QAV250 Connect Receiver SBUS](../../assets/airframes/multicopter/qav250_holybro_pixhawk4_mini/13_rc_receiver_sbus.jpg)
 1. Connect the telemetry module. Paste the module with double tape and connect on the port of the telemetry.
   ![QAV250 Telemetry module](../../assets/airframes/multicopter/qav250_holybro_pixhawk4_mini/14_telemetry.jpg)
 1. Connect the GPS module
   ![QAV250 Connect GPS](../../assets/airframes/multicopter/qav250_holybro_pixhawk4_mini/15a_connect_gps.jpg)
@@ -156,16 +161,15 @@ The following tools are used in this assembly:
   Attach the module on the top plate (using provided 3M tape, or paste). Then put the top plate on the standoffs as shown
   ![QAV250 Connect GPS](../../assets/airframes/multicopter/qav250_holybro_pixhawk4_mini/15b_attach_gps.jpg)
 1. The last "mandatory" assembly step is to add the velcro to hold the battery
   ![QAV250 Velcro battery strap](../../assets/airframes/multicopter/qav250_holybro_pixhawk4_mini/16_velcro_strap.jpg)
 The "basic" frame build is now complete (though if you need them, you can find more information about connecting components in the [Pixhawk 4 Wiring Quickstart](../assembly/quick_start_pixhawk4.md)).
 If you have the "basic" version of the kit, you can now jump ahead to instructions on how to [Install/Configure PX4](#px4-configuration).
 ### FPV Assembly
 The "Complete" version of the kit additionally comes with an FPV system, which is mounted on the front of the vehicle as shown.
@@ -195,8 +199,8 @@ If you have to wire the system yourself, the diagram below shows all the connect
 ## PX4 Configuration
-*QGroundControl* is used to install the PX4 autopilot and configure/tune it for the QAV250 frame.
+_QGroundControl_ is used to install the PX4 autopilot and configure/tune it for the QAV250 frame.
-[Download and install](http://qgroundcontrol.com/downloads/) *QGroundControl* for your platform.
+[Download and install](https://qgroundcontrol.com/downloads/) _QGroundControl_ for your platform.
 :::tip
 Full instructions for installing and configuring PX4 can be found in [Basic Configuration](../config/index.md).
@@ -208,7 +212,7 @@ First update the firmware, airframe, and actuator mappings:
 - [Airframe](../config/airframe.md)
  ::: info
-  You will need to select the *HolyBro QAV250* airframe (**Quadrotor x > HolyBro QAV250**).
+  You will need to select the _HolyBro QAV250_ airframe (**Quadrotor x > HolyBro QAV250**).
  ![QGC - Select HolyBro QAV250 airframe](../../assets/airframes/multicopter/qav250_holybro_pixhawk4_mini/qgc_airframe_holybro_qav250.png)
  :::
@@ -235,15 +239,13 @@ Ideally you should also do:
 - [Battery Estimation Tuning](../config/battery.md)
 - [Safety](../config/safety.md)
 ## Tuning
-Airframe selection sets *default* autopilot parameters for the frame.
+Airframe selection sets _default_ autopilot parameters for the frame.
 These may be good enough to fly with, but you should tune each frame build.
 For instructions on how, start from [Autotune](../config/autotune_mc.md).
 ## Acknowledgements
 This build log was provided by the PX4 Test Team.
@@ -1,6 +1,6 @@
 # Holybro S500 V2 + Pixhawk 4 Build
-This topic provides full instructions for building the kit and configuring PX4 using *QGroundControl*.
+This topic provides full instructions for building the kit and configuring PX4 using _QGroundControl_.
 ::: info
 Holybro initially supplied this kit with a [Holybro Pixhawk 4](../flight_controller/pixhawk4.md), but at time of writing this has been upgraded to a more recent Pixhawk (6C).
@@ -19,19 +19,19 @@ This build log is still relevant as the kit assembly is virtually the same, and
 The Holybro [S500 V2 Kit](https://holybro.com/collections/s500/products/s500-v2-development-kit) includes almost all the required components:
-* A recent Pixhawk autopilot
+- A recent Pixhawk autopilot
  - For this log it was Pixhawk 4 but far more recent versions are now included.
-* Power Management PM02（Assembled）
+- Power Management PM02（Assembled）
-* ARM adopts high strength plastics
+- ARM adopts high strength plastics
-* Motors - 2216 KV880（ V2 Update）
+- Motors - 2216 KV880（ V2 Update）
-* Propeller 1045（ V2 Update）
+- Propeller 1045（ V2 Update）
-* Pixhawk4 GPS
+- Pixhawk4 GPS
-* Fully assembled Power Management Board with ESCs
+- Fully assembled Power Management Board with ESCs
-* 433 MHz / 915 MHz [Holybro Telemetry Radio](../telemetry/holybro_sik_radio.md)
+- 433 MHz / 915 MHz [Holybro Telemetry Radio](../telemetry/holybro_sik_radio.md)
-* Power and Radio Cables
+- Power and Radio Cables
-* Battery Straps
+- Battery Straps
-* Dimensions:383*385*240mm
+- Dimensions:383*385*240mm
-* Wheelbase:480mm
+- Wheelbase:480mm
 ::: info
 No LiPo battery is included.
@@ -40,56 +40,58 @@ In addition, we use a FrSky Taranis controller.
 ## Hardware
-Item Description | Quantity
+| Item Description           | Quantity |
---|---
+| -------------------------- | -------- |
-Wheelbase: 480mm              |   1
+| Wheelbase: 480mm           | 1        |
-Arms                         |   4
+| Arms                       | 4        |
-Set of Landing Gear          |   2
+| Set of Landing Gear        | 2        |
-M3*8 screws                  |   18
+| M3\*8 screws               | 18       |
-M2 5*6 screws                |   24
+| M2 5\*6 screws             | 24       |
-Battery Straps               |   1
+| Battery Straps             | 1        |
-Propeller 1045 (V2 Update)   |   1
+| Propeller 1045 (V2 Update) | 1        |
 ![S500 Hardware](../../assets/airframes/multicopter/s500_holybro_pixhawk4/s500_hardware.jpg)
 ## Package
-Items | Package
+
---|---
+| Items                            | Package |
-Pixhawk 4                           |  1
+| -------------------------------- | ------- |
-Pixhawk4 GPS MODULE                 |  1
+| Pixhawk 4                        | 1       |
-I2C splitter Board                  |  2
+| Pixhawk4 GPS MODULE              | 1       |
-6 to 6 pin cable (power)            |  3
+| I2C splitter Board               | 2       |
-4 to 4 pin cable (CAN)              |  2
+| 6 to 6 pin cable (power)         | 3       |
-6 to 4 pin cable (Data)             |  1
+| 4 to 4 pin cable (CAN)           | 2       |
-10 to 10 pin cable (PWM)            |  2
+| 6 to 4 pin cable (Data)          | 1       |
-8 to 8 pin cable(AUX)               |  1
+| 10 to 10 pin cable (PWM)         | 2       |
-7 to 7 pin cable(SPI)               |  1
+| 8 to 8 pin cable(AUX)            | 1       |
-6 to 6 pin cable(Debug)             |  1
+| 7 to 7 pin cable(SPI)            | 1       |
-PPM/SBUS out cable                  |  1
+| 6 to 6 pin cable(Debug)          | 1       |
-XSR receiver cable                  |  1
+| PPM/SBUS out cable               | 1       |
-DSMX receiver cable                 |  1
+| XSR receiver cable               | 1       |
-SBUS receiver cable                 |  1
+| DSMX receiver cable              | 1       |
-USB cable                           |  1
+| SBUS receiver cable              | 1       |
-'X'type folding pedestal mount      |  1
+| USB cable                        | 1       |
-70mm & 140mm carbon rod standoff    |  2
+| 'X'type folding pedestal mount   | 1       |
-6*3 2.54mm pitch Horizontal Pin     |  1
+| 70mm & 140mm carbon rod standoff | 2       |
-8*3 2.54mm pitch Horizontal Pin     |  2
+| 6\*3 2.54mm pitch Horizontal Pin | 1       |
-Foam Set                            |  1
+| 8\*3 2.54mm pitch Horizontal Pin | 2       |
-Pixhawk4 Quick Start Guide          |  1
+| Foam Set                         | 1       |
-Pixhawk4 Pinouts                    |  1
+| Pixhawk4 Quick Start Guide       | 1       |
-GPS Quick Start Guide               |  1
+| Pixhawk4 Pinouts                 | 1       |
 | GPS Quick Start Guide            | 1       |
 ![S500 Package Contents](../../assets/airframes/multicopter/s500_holybro_pixhawk4/s500_package.jpg)
 ### Electronics
-Item Description | Quantity
+
--- | --- 
+| Item Description                                 | Quantity |
-Pixhawk 4 autopilot (PM06 not included)            |  1
+| ------------------------------------------------ | -------- |
-Power Management PM02 (Assembled)                  |  1
+| Pixhawk 4 autopilot (PM06 not included)          | 1        |
-Motors - 2216 KV880 (V2 Update)                    |  4
+| Power Management PM02 (Assembled)                | 1        |
-Pixhawk 4 GPS                                      |  1
+| Motors - 2216 KV880 (V2 Update)                  | 4        |
-Fully assembled Power Management Board with ESCs   |  1
+| Pixhawk 4 GPS                                    | 1        |
-433MHz Telemetry Radio / 915MHz Telemetry Radio    |  1
+| Fully assembled Power Management Board with ESCs | 1        |
 | 433MHz Telemetry Radio / 915MHz Telemetry Radio  | 1        |
 ![S500 Electronics](../../assets/airframes/multicopter/s500_holybro_pixhawk4/s500_electronics.jpg)
@@ -121,13 +123,13 @@ Estimate time to assemble is 90 minutes, about 45 minutes for frame assembly and
 1. Assemble the Power Management Board to the landing gear. Screw the landing gear with a vertical pole to the Fully assembled Power Management Board.
-  The Board has 4 holes (see arrows below).
+The Board has 4 holes (see arrows below).
-  ![Figure 3](../../assets/airframes/multicopter/s500_holybro_pixhawk4/s500_fig3.jpg)
+![Figure 3](../../assets/airframes/multicopter/s500_holybro_pixhawk4/s500_fig3.jpg)
-  Connect with the M3X8 screws, a total of 8 pieces, 4 on each side.
+Connect with the M3X8 screws, a total of 8 pieces, 4 on each side.
-  ![Figure 4](../../assets/airframes/multicopter/s500_holybro_pixhawk4/s500_fig4.jpg)
+![Figure 4](../../assets/airframes/multicopter/s500_holybro_pixhawk4/s500_fig4.jpg)
 1. Assemble the arms to the Power Management Board.
   Attach the arm to the Power Management Board.
@@ -257,18 +259,16 @@ Estimate time to assemble is 90 minutes, about 45 minutes for frame assembly and
   ![Figure 37](../../assets/airframes/multicopter/s500_holybro_pixhawk4/s500_fig37.png)
 Fully assembled, the kit looks as shown below:
 ![Pixhawk Assembled](../../assets/airframes/multicopter/s500_holybro_pixhawk4/s500_pixhawk.jpg)
 ![Fully Assembled](../../assets/airframes/multicopter/s500_holybro_pixhawk4/s500_assembled.jpg)
 ## PX4 Configuration
-*QGroundControl* is used to install the PX4 autopilot and configure/tune it for the QAV250 frame.
+_QGroundControl_ is used to install the PX4 autopilot and configure/tune it for the QAV250 frame.
-[Download and install](http://qgroundcontrol.com/downloads/) *QGroundControl* for your platform.
+[Download and install](https://qgroundcontrol.com/downloads/) _QGroundControl_ for your platform.
 :::tip
 Full instructions for installing and configuring PX4 can be found in [Basic Configuration](../config/index.md).
@@ -276,10 +276,10 @@ Full instructions for installing and configuring PX4 can be found in [Basic Conf
 First update the firmware and airframe:
-* [Firmware](../config/firmware.md)
+- [Firmware](../config/firmware.md)
-* [Airframe](../config/airframe.md)
+- [Airframe](../config/airframe.md)
-  You will need to select the *Holybro S500* airframe (**Quadrotor x > Holybro S500**).
+  You will need to select the _Holybro S500_ airframe (**Quadrotor x > Holybro S500**).
  ![QGroundControl - Select HolyBro X500 airframe](../../assets/airframes/multicopter/s500_holybro_pixhawk4/qgc_airframe_holybro_s500.png)
@@ -292,23 +292,22 @@ Then set the actuator outputs:
 Then perform the mandatory setup/calibration:
-* [Sensor Orientation](../config/flight_controller_orientation.md)
+- [Sensor Orientation](../config/flight_controller_orientation.md)
-* [Compass](../config/compass.md)
+- [Compass](../config/compass.md)
-* [Accelerometer](../config/accelerometer.md)
+- [Accelerometer](../config/accelerometer.md)
-* [Level Horizon Calibration](../config/level_horizon_calibration.md)
+- [Level Horizon Calibration](../config/level_horizon_calibration.md)
-* [Radio Setup](../config/radio.md)
+- [Radio Setup](../config/radio.md)
-* [Flight Modes](../config/flight_mode.md)
+- [Flight Modes](../config/flight_mode.md)
 Ideally you should also do:
-* [ESC Calibration](../advanced_config/esc_calibration.md)
+- [ESC Calibration](../advanced_config/esc_calibration.md)
-* [Battery Estimation Tuning](../config/battery.md)
+- [Battery Estimation Tuning](../config/battery.md)
-* [Safety](../config/safety.md)
+- [Safety](../config/safety.md)
 ## Tuning
-Airframe selection sets *default* autopilot parameters for the frame.
+Airframe selection sets _default_ autopilot parameters for the frame.
 These are good enough to fly with, but it is a good idea to tune the parameters for a specific frame build.
 For instructions on how, start from [Autotune](../config/autotune_mc.md).
@@ -5,7 +5,7 @@ Holybro initially supplied this kit with a [Pixhawk 5X](../flight_controller/pix
 This build log is still relevant as the kit assembly is virtually the same, and likely to remain so as the flight controller is upgraded.
 :::
-This topic provides full instructions for building the [Holybro X500 V2 ARF Kit](https://holybro.com/collections/x500-kits) and configuring PX4 using *QGroundControl*.
+This topic provides full instructions for building the [Holybro X500 V2 ARF Kit](https://holybro.com/collections/x500-kits) and configuring PX4 using _QGroundControl_.
 The ARF ("Almost Ready to Fly") kit provides the shortest and straightforward assembly experience for those who want to jump into drone development and not spend that much time on setting up the hardware.
 It includes the frame, motors, ESCs, propellers and power distribution board.
@@ -25,25 +25,26 @@ The ARF kit can be used with most flight controllers supported by PX4.
 The Holybro [X500 V2 Kit](https://holybro.com/collections/x500-kits) includes almost all the required components:
-* X500V2 Frame Kit
+- X500V2 Frame Kit
-  * Body - Full Carbon Fiber Top & Bottom plate (144 x 144mm, 2mm thick)
+  - Body - Full Carbon Fiber Top & Bottom plate (144 x 144mm, 2mm thick)
-  * Arm - High strength & ultra-lightweight 16mm carbon fiber tubes
+  - Arm - High strength & ultra-lightweight 16mm carbon fiber tubes
-  * Landing gear - 16mm & 10mm diameter carbon fiber tubes
+  - Landing gear - 16mm & 10mm diameter carbon fiber tubes
-  * Platform board - With mounting holes for GPS & popular companion computer
+  - Platform board - With mounting holes for GPS & popular companion computer
-  * Dual 10mm Ø rod x 250 mm long rail mounting system
+  - Dual 10mm Ø rod x 250 mm long rail mounting system
-  * Battery mount with two Battery Straps
+  - Battery mount with two Battery Straps
-  * Hand tools for installation
+  - Hand tools for installation
-* Holybro Motors - 2216 KV880 x6 (superseded - check [spare parts list](https://holybro.com/products/spare-parts-x500-v2-kit) for current version).
+- Holybro Motors - 2216 KV880 x6 (superseded - check [spare parts list](https://holybro.com/products/spare-parts-x500-v2-kit) for current version).
-* Holybro BLHeli S ESC 20A x4 (superseded - check [spare parts list](https://holybro.com/products/spare-parts-x500-v2-kit) for current version).
+- Holybro BLHeli S ESC 20A x4 (superseded - check [spare parts list](https://holybro.com/products/spare-parts-x500-v2-kit) for current version).
-* Propellers - 1045 x4 (superseded - check [spare parts list](https://holybro.com/products/spare-parts-x500-v2-kit) for current version).
+- Propellers - 1045 x4 (superseded - check [spare parts list](https://holybro.com/products/spare-parts-x500-v2-kit) for current version).
-* Power Distribution Board – XT60 plug for battery & XT30 plug for ESCs & peripherals
+- Power Distribution Board – XT60 plug for battery & XT30 plug for ESCs & peripherals
-* Camera mount (optional and the 3D file can be downloaded from [here](https://cdn.shopify.com/s/files/1/0604/5905/7341/files/Holybro_X500_V2_3D_Print.rar?v=1665561017))
+- Camera mount (optional and the 3D file can be downloaded from [here](https://cdn.shopify.com/s/files/1/0604/5905/7341/files/Holybro_X500_V2_3D_Print.rar?v=1665561017))
 Other parts in this build(**Not included in the ARF kit**):
-* [Pixhawk 5X autopilot](../flight_controller/pixhawk5x.md)
+
-* [M8N GPS](https://holybro.com/products/m8n-gps)
+- [Pixhawk 5X autopilot](../flight_controller/pixhawk5x.md)
-* [Power Module - PM02D](../power_module/holybro_pm02d.md)
+- [M8N GPS](https://holybro.com/products/m8n-gps)
-* [433/915 MHz Telemetry Radio](../telemetry/holybro_sik_radio.md)
+- [Power Module - PM02D](../power_module/holybro_pm02d.md)
 - [433/915 MHz Telemetry Radio](../telemetry/holybro_sik_radio.md)
 Additionally you will need a battery (Holybro recommends a 4S 5000mAh) and receiver ([compatible radio system](../getting_started/rc_transmitter_receiver.md)) if you want to control the drone manually.
@@ -51,34 +52,34 @@ Additionally you will need a battery (Holybro recommends a 4S 5000mAh) and recei
 This section lists all hardware for the frame and the autopilot installation.
-Item | Description | Quantity
+| Item                         | Description                                       | Quantity |
---|---|---
+| ---------------------------- | ------------------------------------------------- | -------- |
-Bottom plate                  |  Carbon fiber (2mm thick)                             | 1
+| Bottom plate                 | Carbon fiber (2mm thick)                          | 1        |
-Top plate                     |  Carbon fiber (1.5mm thick)                           | 1
+| Top plate                    | Carbon fiber (1.5mm thick)                        | 1        |
-Arm                           |  Carbon fiber tube (Assembled with motors mounted)    | 4
+| Arm                          | Carbon fiber tube (Assembled with motors mounted) | 4        |
-Landing gear - Vertical pole  |  Carbon fiber tube + engineering plastic              | 2
+| Landing gear - Vertical pole | Carbon fiber tube + engineering plastic           | 2        |
-Landing gear - Cross bar      |  Carbon fiber tube + engineering plastic + foam       | 2
+| Landing gear - Cross bar     | Carbon fiber tube + engineering plastic + foam    | 2        |
-Mounting Rail                 |  Diameter: 10mm length: 250mm                         | 2
+| Mounting Rail                | Diameter: 10mm length: 250mm                      | 2        |
-Battery mounting board        |  Thickness: 2mm                                       | 1
+| Battery mounting board       | Thickness: 2mm                                    | 1        |
-Battery pad                   |  3mm Silicone sheet black                             | 1
+| Battery pad                  | 3mm Silicone sheet black                          | 1        |
-Platform board                |  Thickness: 2mm                                       | 1
+| Platform board               | Thickness: 2mm                                    | 1        |
-Hanger & rubber ring gasket   |  Inner hole diameter: 10mm black                      | 8
+| Hanger & rubber ring gasket  | Inner hole diameter: 10mm black                   | 8        |
- ![X500V2 ARF Kit Full Package Contents](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/x500_v2_whats_inside.png)
+![X500V2 ARF Kit Full Package Contents](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/x500_v2_whats_inside.png)
-   _Figure 1_: X500 V2 ARF Kit what's inside
+_Figure 1_: X500 V2 ARF Kit what's inside
 ### Electronics
-Item Description | Quantity
+| Item Description                                                               | Quantity |
--- | ---
+| ------------------------------------------------------------------------------ | -------- |
-Pixhawk5x & Assorted Cables                                                    | 1
+| Pixhawk5x & Assorted Cables                                                    | 1        |
-M8N GPS Module                                                                 | 1
+| M8N GPS Module                                                                 | 1        |
-Power Module PM02D (with pre-soldered ESC power cables)                        | 1
+| Power Module PM02D (with pre-soldered ESC power cables)                        | 1        |
-Motors 2216 KV880（V2 Update)                                                   | 4
+| Motors 2216 KV880（V2 Update)                                                  | 4        |
-Holybro BLHeli S ESC 20A x4                                                    | 1
+| Holybro BLHeli S ESC 20A x4                                                    | 1        |
-Holybro BLHeli S ESC 20A x4                                                    | 1
+| Holybro BLHeli S ESC 20A x4                                                    | 1        |
-433 MHz / 915 MHz [Holybro Telemetry Radio](../telemetry/holybro_sik_radio.md) | 1
+| 433 MHz / 915 MHz [Holybro Telemetry Radio](../telemetry/holybro_sik_radio.md) | 1        |
 ### Tools needed
@@ -87,7 +88,6 @@ Tools are included to do the assembly, however you may need:
 - Wire cutters
 - Precision tweezers
 ## Assembly
 Estimate time to assemble is 55 min (25 minutes for frame, 30 minutes for autopilot installation/configuration)
@@ -160,7 +160,6 @@ Estimate time to assemble is 55 min (25 minutes for frame, 30 minutes for autopi
   _Figure 12_: Mounted top plate
 1. Next you can mount your pixhawk on the top plate by using the stickers.
   It is recommended to have the direction of your Pixhawk's arrow the same as the one mentioned on the top plate.
@@ -174,7 +173,6 @@ Estimate time to assemble is 55 min (25 minutes for frame, 30 minutes for autopi
   _Figure 14_: Secure GPS mount onto companion plate
 1. Use the tape and stick the GPS to the top of the GPS mast and mount the GPS mast.
   Make sure the arrow on the gps is pointing forward (Figure 15).
@@ -182,7 +180,6 @@ Estimate time to assemble is 55 min (25 minutes for frame, 30 minutes for autopi
   _Figure 15_: GPS and mast
 1. Finally, you can connect the Pixhawk interfaces such as telemetry radio to 'TELEM1' and motors signal cables accordingly.
 Please refer to [Pixhawk 5X Quick Start](../assembly/quick_start_pixhawk5x.md) for more information.
@@ -192,22 +189,21 @@ The fully assembled kit is shown below (Depth camera not included in the kit):
 ![Assembled Kit](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/finalized_x500v2_kit.png)
 ## PX4 Configuration
 :::tip
 Full instructions for installing and configuring PX4 can be found in [Basic Configuration](../config/index.md).
 :::
-*QGroundControl* is used to install the PX4 autopilot and configure/tune it for the X500 frame.
+_QGroundControl_ is used to install the PX4 autopilot and configure/tune it for the X500 frame.
-[Download and install](http://qgroundcontrol.com/downloads/) *QGroundControl* for your platform.
+[Download and install](https://qgroundcontrol.com/downloads/) _QGroundControl_ for your platform.
 First update the firmware, airframe, and actuator mappings:
 - [Firmware](../config/firmware.md)
 - [Airframe](../config/airframe.md)
-  You will need to select the *Holybro X500 V2* airframe (**Quadrotor x > Holybro 500 V2**)
+  You will need to select the _Holybro X500 V2_ airframe (**Quadrotor x > Holybro 500 V2**)
  ![QGroundControl - Select HolyBro 500 airframe](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/x500v2_airframe_qgc.png)
@@ -231,10 +227,9 @@ Ideally you should also do:
 - [Battery Estimation Tuning](../config/battery.md)
 - [Safety](../config/safety.md)
 ## Tuning
-Airframe selection sets *default* autopilot parameters for the frame.
+Airframe selection sets _default_ autopilot parameters for the frame.
 These are good enough to fly with, but it is a good idea to tune the parameters for a specific frame build.
 For instructions on how, start from [Autotune](../config/autotune_mc.md).
@@ -5,7 +5,7 @@ Holybro initially supplied this kit with a [Holybro Pixhawk 4](../flight_control
 This build log is still relevant as the kit assembly is virtually the same, and likely to remain so as the flight controller is upgraded.
 :::
-This topic provides full instructions for building the kit and configuring PX4 using *QGroundControl*.
+This topic provides full instructions for building the kit and configuring PX4 using _QGroundControl_.
 ## Key information
@@ -19,17 +19,17 @@ This topic provides full instructions for building the kit and configuring PX4 u
 The Holybro [X500 Kit](https://holybro.com/products/px4-development-kit-x500-v2) includes almost all the required components:
-* [Pixhawk 4 autopilot](../flight_controller/pixhawk4.md)
+- [Pixhawk 4 autopilot](../flight_controller/pixhawk4.md)
-* [Holybro M8N GPS](https://holybro.com/collections/gps/products/m8n-gps)
+- [Holybro M8N GPS](https://holybro.com/collections/gps/products/m8n-gps)
-* [Power Management - PM07](../power_module/holybro_pm07_pixhawk4_power_module.md)
+- [Power Management - PM07](../power_module/holybro_pm07_pixhawk4_power_module.md)
-* Holybro Motors - 2216 KV880 x4 (superseded - check [spare parts list](https://holybro.com/products/spare-parts-x500-v2-kit) for current version).
+- Holybro Motors - 2216 KV880 x4 (superseded - check [spare parts list](https://holybro.com/products/spare-parts-x500-v2-kit) for current version).
-* Holybro BLHeli S ESC 20A x4 (superseded - check [spare parts list](https://holybro.com/products/spare-parts-x500-v2-kit) for current version).
+- Holybro BLHeli S ESC 20A x4 (superseded - check [spare parts list](https://holybro.com/products/spare-parts-x500-v2-kit) for current version).
-* Propellers - 1045 x4 (superseded - check [spare parts list](https://holybro.com/products/spare-parts-x500-v2-kit) for current version).
+- Propellers - 1045 x4 (superseded - check [spare parts list](https://holybro.com/products/spare-parts-x500-v2-kit) for current version).
-* Battery Strap
+- Battery Strap
-* Power and Radio Cables
+- Power and Radio Cables
-* Wheelbase - 500 mm
+- Wheelbase - 500 mm
-* Dimensions - 410x410x300 mm
+- Dimensions - 410x410x300 mm
-* 433 MHz / 915 MHz [Holybro Telemetry Radio](../telemetry/holybro_sik_radio.md)
+- 433 MHz / 915 MHz [Holybro Telemetry Radio](../telemetry/holybro_sik_radio.md)
 Additionally you will need a battery and receiver ([compatible radio system](../getting_started/rc_transmitter_receiver.md)) if you want to control the drone manually.
@@ -37,32 +37,32 @@ Additionally you will need a battery and receiver ([compatible radio system](../
 This section lists all hardware for the frame and the autopilot installation.
-Item | Description | Quantity
+| Item                         | Description                                      | Quantity |
---|---|---
+| ---------------------------- | ------------------------------------------------ | -------- |
-Bottom plate                  |  Carbon fiber (2mm thick)                             | 1
+| Bottom plate                 | Carbon fiber (2mm thick)                         | 1        |
-Top plate                     |  Carbon fiber (1.5mm thick)                           | 1
+| Top plate                    | Carbon fiber (1.5mm thick)                       | 1        |
-Arm                           |  Carbon fiber tube (Diameter: 16mm length: 200mm)     | 4
+| Arm                          | Carbon fiber tube (Diameter: 16mm length: 200mm) | 4        |
-Landing gear - Vertical pole  |  Carbon fiber tube + engineering plastic              | 2
+| Landing gear - Vertical pole | Carbon fiber tube + engineering plastic          | 2        |
-Landing gear - Cross bar      |  Carbon fiber tube + engineering plastic + foam       | 2
+| Landing gear - Cross bar     | Carbon fiber tube + engineering plastic + foam   | 2        |
-Motor base                    |  Consists of 6 parts and 4 screws 4 nuts              | 4
+| Motor base                   | Consists of 6 parts and 4 screws 4 nuts          | 4        |
-Slide bar                     |  Diameter: 10mm length: 250mm                         | 2
+| Slide bar                    | Diameter: 10mm length: 250mm                     | 2        |
-Battery mounting board        |  Thickness: 2mm                                       | 1
+| Battery mounting board       | Thickness: 2mm                                   | 1        |
-Battery pad                   |  3mm Silicone sheet black                             | 1
+| Battery pad                  | 3mm Silicone sheet black                         | 1        |
-Platform board                |  Thickness: 2mm                                       | 1
+| Platform board               | Thickness: 2mm                                   | 1        |
-Hanger & rubber ring gasket	  | Inner hole diameter: 10mm black	                      | 8
+| Hanger & rubber ring gasket  | Inner hole diameter: 10mm black                  | 8        |
 ![X500 Full Package Contents](../../assets/airframes/multicopter/x500_holybro_pixhawk4/whats_inside_x500_labeled.jpg)
 ### Electronics
-Item Description | Quantity
+| Item Description                                                               | Quantity |
--- | ---
+| ------------------------------------------------------------------------------ | -------- |
-Pixhawk4 & Assorted Cables                                            |  1
+| Pixhawk4 & Assorted Cables                                                     | 1        |
-Pixhawk4 GPS Module	                                                  |  1
+| Pixhawk4 GPS Module                                                            | 1        |
-Power Management PM07 (with pre-soldered ESC power cables)            |  1
+| Power Management PM07 (with pre-soldered ESC power cables)                     | 1        |
-Motors 2216 KV880（V2 Update)                                         |  4
+| Motors 2216 KV880（V2 Update)                                                  | 4        |
-Holybro BLHeli S ESC 20A x4                                           |  1
+| Holybro BLHeli S ESC 20A x4                                                    | 1        |
-433 MHz / 915 MHz [Holybro Telemetry Radio](../telemetry/holybro_sik_radio.md)                       |  1
+| 433 MHz / 915 MHz [Holybro Telemetry Radio](../telemetry/holybro_sik_radio.md) | 1        |
 ### Tools needed
@@ -76,7 +76,6 @@ The following tools are used in this assembly:
 - Wire cutters
 - Precision tweezers
 ## Assembly
 Estimate time to assemble is 3.75 hours (180 minutes for frame, 45 minutes for autopilot installation/configuration)
@@ -187,7 +186,6 @@ Estimate time to assemble is 3.75 hours (180 minutes for frame, 45 minutes for a
   _Figure 15_: Landing Gear
 1. Use the tape and stick the GPS to the top of the GPS mast and mount the GPS mast.
   Make sure the arrow on the gps is pointing forward (Figure 16).
@@ -195,7 +193,6 @@ Estimate time to assemble is 3.75 hours (180 minutes for frame, 45 minutes for a
   _Figure 16_: GPS and mast
 1. Mount the telemetry radio onto the top plate.
   Plug the telemetry cable into `TELEM1` port and GPS module to `GPS MODULE` port on the flight controller.
   Plug the cable from PM07 `FMU-PWM-in` to `I/O-PWM-out`on the FC and PM07 `PWR1` to `POWER1` on the FC, as shown in Figure 17.
@@ -211,22 +208,21 @@ The fully assembled kit is shown below:
 ![Assembled Kit](../../assets/airframes/multicopter/x500_holybro_pixhawk4/X500_assembled_frame.jpg)
 ## PX4 Configuration
 :::tip
 Full instructions for installing and configuring PX4 can be found in [Basic Configuration](../config/index.md).
 :::
-*QGroundControl* is used to install the PX4 autopilot and configure/tune it for the X500 frame.
+_QGroundControl_ is used to install the PX4 autopilot and configure/tune it for the X500 frame.
-[Download and install](http://qgroundcontrol.com/downloads/) *QGroundControl* for your platform.
+[Download and install](https://qgroundcontrol.com/downloads/) _QGroundControl_ for your platform.
 First update the firmware, airframe, and actuator mappings:
 - [Firmware](../config/firmware.md)
 - [Airframe](../config/airframe.md)
-  You will need to select the *Holybro S500* airframe (**Quadrotor x > Holybro S500**).
+  You will need to select the _Holybro S500_ airframe (**Quadrotor x > Holybro S500**).
  ![QGroundControl - Select HolyBro X500 airframe](../../assets/airframes/multicopter/s500_holybro_pixhawk4/qgc_airframe_holybro_s500.png)
@@ -250,10 +246,9 @@ Ideally you should also do:
 - [Battery Estimation Tuning](../config/battery.md)
 - [Safety](../config/safety.md)
 ## Tuning
-Airframe selection sets *default* autopilot parameters for the frame.
+Airframe selection sets _default_ autopilot parameters for the frame.
 These are good enough to fly with, but it is a good idea to tune the parameters for a specific frame build.
 For instructions on how, start from [Autotune](../config/autotune_mc.md).
@@ -4,28 +4,28 @@ This topic provides full instructions for building the [Holybro X500 V2 ARF Kit]
 ![The fully built vehicle with props removed](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk6c/kit_no_props.jpg)
 ## Assembly
 ::: info
 - The images in this document can be selected to see a youtube video of the step.
 - Each section lists any required screws at the top.
-:::
+  :::
 ### Payload and Battery Holder
-**Screw**-  Sunk Screw M2.5*6 12pcs
+**Screw**- Sunk Screw M2.5\*6 12pcs
 1. Insert the hanger rubber ring gasket in each of their respective hangers.
   Do not use sharp objects to press the rubbers inside.
   [![Assembly1](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk6c/assembly1.png)](https://www.youtube.com/watch?v=4Tid-FCP_aI)
-1. Take the battery mounting board and screw it with the slide bar clip using the Sunk Screw M2.5*6.
+1. Take the battery mounting board and screw it with the slide bar clip using the Sunk Screw M2.5\*6.
   [![Assembly2](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk6c/assembly2.png)](https://youtu.be/9E-rld6tPWQ)
-1. Screw 4 hangers to the Platform Board using Sunk Screw M2.5*6.
+1. Screw 4 hangers to the Platform Board using Sunk Screw M2.5\*6.
   [![Assembly3](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk6c/assembly3.png)](https://youtu.be/4qIBABc9KsY))
@@ -35,14 +35,13 @@ This topic provides full instructions for building the [Holybro X500 V2 ARF Kit]
 1. Now insert the battery holder and payload holders assembled in step 2 & 3
 ### Power Module
-**Screw**- Socket Cap Screw M2.5*6 8pcs | Locknut M3 4pcs |Nylon Standoff M3*5 4pcs | Screw M3*14 4pcs
+**Screw**- Socket Cap Screw M2.5*6 8pcs | Locknut M3 4pcs |Nylon Standoff M3*5 4pcs | Screw M3\*14 4pcs
-   [![Assembly5](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk6c/assembly5.png)](https://youtu.be/0knU3Q_opEo))
+[![Assembly5](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk6c/assembly5.png)](https://youtu.be/0knU3Q_opEo))
-1. Take the bottom plate and insert 4 M3*14 screws and fasten the nylon standoffs on the same.
+1. Take the bottom plate and insert 4 M3\*14 screws and fasten the nylon standoffs on the same.
   [![Assembly6](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk6c/assembly6.png)](https://youtu.be/IfsMXTr3Uy4)
@@ -50,7 +49,7 @@ This topic provides full instructions for building the [Holybro X500 V2 ARF Kit]
   [![Assembly7](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk6c/assembly7.png)](https://youtu.be/Qjs6pqarRIY)
-1. Use Socket Cap Screws M2.5*6 and screw the bottom plate on the 4 hangers (that we inserted in the 2 bars on the 3rd step of the payload holder assembly)
+1. Use Socket Cap Screws M2.5\*6 and screw the bottom plate on the 4 hangers (that we inserted in the 2 bars on the 3rd step of the payload holder assembly)
 ### Landing Gear
@@ -60,13 +59,12 @@ This topic provides full instructions for building the [Holybro X500 V2 ARF Kit]
   [![Assembly9](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk6c/assembly9.png)](https://youtu.be/7REaF3YAqLg)
-1. Use the Socket Cap Screw M3*8 to screw the landing gears to the bottom plate
+1. Use the Socket Cap Screw M3\*8 to screw the landing gears to the bottom plate
   [![Assembly11](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk6c/assembly11.png)](https://youtu.be/iDxzWeyCN54)
   [![Assembly12](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk6c/assembly12.png)](https://youtu.be/3fNJQraCJx0)
 Because it’s cumbersome to insert the wires once the top plate is assembled, do the wiring beforehand.
 Although the design is well built such that you can do this later as well.
@@ -85,10 +83,9 @@ Note that the ESC connectors are color-coded and must be inserted in the PWM out
 ![esc_connector_pixhawk6c](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk6c/esc_connector.jpg)
 ### Arms
-**Screw-** Socket Cap Screw M3*38 16pcs | Flange Locknut M3 16pcs
+**Screw-** Socket Cap Screw M3\*38 16pcs | Flange Locknut M3 16pcs
 [![Assembly14](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk6c/assembly14.png)](https://youtu.be/66Hfy6ysOpg)
@@ -105,7 +102,7 @@ Note that the ESC connectors are color-coded and must be inserted in the PWM out
   [![Assembly16](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk6c/assembly16.png)](https://youtu.be/GOTqmjq9_3s)
-1. While inserting the top plate on top of this the 3 piece assembly (bottom plate, top plate & arms) have to screwed using Socket Cap Screw M3*38 and Flange Locknut M3.
+1. While inserting the top plate on top of this the 3 piece assembly (bottom plate, top plate & arms) have to screwed using Socket Cap Screw M3\*38 and Flange Locknut M3.
 1. Hold one side using the mini cross wrench provided in the developer kit.
   [![Assembly17](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk6c/assembly17.png)](https://youtu.be/2rcNVekJQd0)
@@ -127,15 +124,15 @@ The following parts can be placed as per usual.
 ### GPS
-**Screw-** Locknut M3 4 pcs | Screw M3*10 4pcs
+**Screw-** Locknut M3 4 pcs | Screw M3\*10 4pcs
 1. Assemble the GPS by following the video.
   [![Assembly20](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk6c/assembly20.png)](https://youtu.be/aiFxVJFjlos)
   This guide uses the GPS mount location suggested in Holybro’s guide.
-1. Screw the GPS mount’s bottom end on the payload holder side using Locknut M3 & Screw M3*10
+
 1. Screw the GPS mount’s bottom end on the payload holder side using Locknut M3 & Screw M3\*10
   [![Assembly21](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk6c/assembly21.png)](https://youtu.be/uG5UKy3FrIc)
@@ -152,7 +149,8 @@ The following parts can be placed as per usual.
 **Screw-** Socket Cap Screw M2.5*12 4pcs | Nylon Standoff M2.5*5 4pcs Locknut M2.5 4pcs
 The X500 kit is provides space for a companion computer, such as Raspberry Pi or Jetson nano can be placed here [TBD].
- Insert 4 Socket Cap Screw M2.5*12 and put the standoffs on the same.
+
 - Insert 4 Socket Cap Screw M2.5\*12 and put the standoffs on the same.
 - Now place the companion computer and assemble it using Locknut M2.5
 ### Camera
@@ -162,22 +160,21 @@ The X500 kit is provides space for a companion computer, such as Raspberry Pi or
 ![payloads_x500v2](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk6c/payloads_x500v2.png)
 ## Install/Configure PX4
 :::tip
 Full instructions for installing and configuring PX4 can be found in [Basic Configuration](../config/index.md).
 :::
-*QGroundControl* is used to install the PX4 autopilot and configure/tune it for the X500 frame.
+_QGroundControl_ is used to install the PX4 autopilot and configure/tune it for the X500 frame.
-[Download and install](http://qgroundcontrol.com/downloads/) *QGroundControl* for your platform.
+[Download and install](https://qgroundcontrol.com/downloads/) _QGroundControl_ for your platform.
 First update the firmware, airframe, and actuator mappings:
 - [Firmware](../config/firmware.md)
 - [Airframe](../config/airframe.md)
-  You will need to select the *Holybro X500 V2* airframe (**Quadrotor x > Holybro 500 V2**)
+  You will need to select the _Holybro X500 V2_ airframe (**Quadrotor x > Holybro 500 V2**)
  ![QGroundControl - Select HolyBro 500 airframe](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/x500v2_airframe_qgc.png)
@@ -202,15 +199,13 @@ Ideally you should also do:
 - [Battery Estimation Tuning](../config/battery.md)
 - [Safety](../config/safety.md)
 ## Tuning
-Airframe selection sets *default* autopilot parameters for the frame.
+Airframe selection sets _default_ autopilot parameters for the frame.
 These are good enough to fly with, but it is a good idea to tune the parameters for a specific frame build.
 For instructions on how, start from [Auto-tune](../config/autotune_mc.md).
 ## Acknowledgements
 This build log was contributed by Akshata and Hamish Willee with many thanks to Holybro and Dronecode for Hardware and technical support.
@@ -58,17 +58,19 @@ The components needed for this build are:
 - Test that it all works by connecting the frame pieces together:
  ![Frame](../../assets/airframes/multicopter/omnicopter/frame_only.jpg)
 - Place the motors as far out as possible, without the propellers touching the rods.
 ### Electronics
 Solder the peripherals to the flight controller. We used the following assignments:
 - ESCs: the 2 ESCs can be connected directly to the two connectors of the KakuteH7.
  To avoid conflicts we removed the power pin (right-most pin) from one of the connectors.
 - Telemetry to UART1
 - GPS to UART4
 - RC to UART6
-![FC closeup](../../assets/airframes/multicopter/omnicopter/fc_closeup.jpg)
+  ![FC closeup](../../assets/airframes/multicopter/omnicopter/fc_closeup.jpg)
 Remarks:
@@ -78,7 +80,6 @@ Remarks:
 - We did not glue the frame.
  It is certainly advisible to do so after initial test flights, but it might work without.
 ## Software Configuration
 ### ESC
@@ -93,6 +94,7 @@ These are the settings:
 ![ESC settings](../../assets/airframes/multicopter/omnicopter/esc_settings.png)
 In particular:
 - set the Motor Direction to **Bidirectional Soft**
 - increase the Rampup Power to **100%** (this is conservative and might reduce efficiency)
@@ -113,7 +115,7 @@ Make sure the motors do not overheat with the changed settings.
 - Parameters:
  - Change the desaturation logic for better attitude tracking: set [CA_METHOD](../advanced_config/parameter_reference.md#CA_METHOD) to 0.
  - Disable failure detection: set [FD_FAIL_P](../advanced_config/parameter_reference.md#FD_FAIL_P) and [FD_FAIL_R](../advanced_config/parameter_reference.md#FD_FAIL_R) to 0.
- [This file](https://github.com/PX4/PX4-user_guide/raw/main/assets/airframes/multicopter/omnicopter/omnicopter.params) contains all the relevant parameters.
+- [This file](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/airframes/multicopter/omnicopter/omnicopter.params) contains all the relevant parameters.
 ## Video
@@ -126,6 +128,7 @@ There is an omnicopter simulation target in Gazebo Classic:
 ```sh
 make px4_sitl gazebo-classic_omnicopter
 ```
 ![Gazebo Sim](../../assets/airframes/multicopter/omnicopter/gazebo.png)
 ## Remarks
@@ -1,12 +1,12 @@
 # Lumenier QAV-R 5" Racer (Pixracer)
 The Lumenier QAV-R 5" FPV Racing Quadcopter is a rigid, light, and fast FPV racer with removable arms.
-This topic provides full build and configuration instructions for using the frame with the *Pixracer* flight controller and *KISS 24A Race Edition* ESCs.
+This topic provides full build and configuration instructions for using the frame with the _Pixracer_ flight controller and _KISS 24A Race Edition_ ESCs.
 It also provides information on the (optional) FPV setup.
 Key information:
- **Frame:** [Lumenier QAV-R 5"](http://www.getfpv.com/qav-r-fpv-racing-quadcopter-5.html)
+- **Frame:** [Lumenier QAV-R 5"](https://www.getfpv.com/qav-r-fpv-racing-quadcopter-5.html)
 - **Flight controller:** [Pixracer](../flight_controller/pixracer.md)
 <lite-youtube videoid="wMYgqvsNEwQ" title="QAV-R 5 PX4 FPV Racequad"/>
@@ -14,29 +14,28 @@ Key information:
 ![QAV Racer complete](../../assets/airframes/multicopter/qav_r_5_kiss_esc_racer/preview.jpg)
 ![QAV Racer complete 2](../../assets/airframes/multicopter/qav_r_5_kiss_esc_racer/preview2.jpg)
 ## Parts List
 ### Vehicle (needed for flying)
-* Autopilot: [Pixracer](../flight_controller/pixracer.md) from [AUAV](https://store.mrobotics.io/mRo-PixRacer-R14-Official-p/auav-pxrcr-r14-mr.htm) including ESP8266  WiFi- and [ACSP5](https://store.mrobotics.io/product-p/auav-acsp5-mr.htm)  power-module
+- Autopilot: [Pixracer](../flight_controller/pixracer.md) from [AUAV](https://store.mrobotics.io/mRo-PixRacer-R14-Official-p/auav-pxrcr-r14-mr.htm) including ESP8266 WiFi- and [ACSP5](https://store.mrobotics.io/product-p/auav-acsp5-mr.htm) power-module
-* Frame:  [Lumenier QAV-R 5"](http://www.getfpv.com/qav-r-fpv-racing-quadcopter-5.html)
+- Frame: [Lumenier QAV-R 5"](https://www.getfpv.com/qav-r-fpv-racing-quadcopter-5.html)
-* Motors:  [Lumenier RX2206-11 2350KV](http://www.getfpv.com/lumenier-rx2206-11-2350kv-motor.html)
+- Motors: [Lumenier RX2206-11 2350KV](https://www.getfpv.com/lumenier-rx2206-11-2350kv-motor.html)
-* ESCs:  [KISS 24A Race Edition](http://www.getfpv.com/kiss-24a-esc-race-edition-32bit-brushless-motor-ctrl.html)
+- ESCs: [KISS 24A Race Edition](https://www.getfpv.com/kiss-24a-esc-race-edition-32bit-brushless-motor-ctrl.html)
-* Props: HQProp 5x4.5x3 [CW](http://www.getfpv.com/hqprop-5x4-5x3rg-cw-propeller-3-blade-2-pack-green-nylon-glass-fiber.html) [CCW](http://www.getfpv.com/hqprop-5x4-5x3g-ccw-propeller-3-blade-2-pack-green-nylon-glass-fiber.html)
+- Props: HQProp 5x4.5x3 [CW](https://www.getfpv.com/hqprop-5x4-5x3rg-cw-propeller-3-blade-2-pack-green-nylon-glass-fiber.html) [CCW](https://www.getfpv.com/hqprop-5x4-5x3g-ccw-propeller-3-blade-2-pack-green-nylon-glass-fiber.html)
-* GPS / Ext. Mag.: M8N taken from a [Pixhawk Mini (Discontinued)](../flight_controller/pixhawk_mini.md) set and rewired
+- GPS / Ext. Mag.: M8N taken from a [Pixhawk Mini (Discontinued)](../flight_controller/pixhawk_mini.md) set and rewired
-* Battery: [TATTU 1800mAh 4s 75c Lipo](http://www.getfpv.com/tattu-1800mah-4s-75c-lipo-battery.html)
+- Battery: [TATTU 1800mAh 4s 75c Lipo](https://www.getfpv.com/tattu-1800mah-4s-75c-lipo-battery.html)
-* RC Receiver: [FrSky X4R-SB](http://www.getfpv.com/frsky-x4r-sb-3-16-channel-receiver-w-sbus.html)
+- RC Receiver: [FrSky X4R-SB](https://www.getfpv.com/frsky-x4r-sb-3-16-channel-receiver-w-sbus.html)
-* RC Transmitter: [FrSky Taranis](http://www.getfpv.com/frsky-taranis-x9d-plus-2-4ghz-accst-radio-w-soft-case-mode-2.html)
+- RC Transmitter: [FrSky Taranis](https://www.getfpv.com/frsky-taranis-x9d-plus-2-4ghz-accst-radio-w-soft-case-mode-2.html)
-* FC dampening: [O-Rings](http://www.getfpv.com/multipurpose-o-ring-set-of-8.html)
+- FC dampening: [O-Rings](https://www.getfpv.com/multipurpose-o-ring-set-of-8.html)
-* GPS Mount: [GPS mast](http://www.getfpv.com/folding-aluminum-gps-mast-for-dji.html)
+- GPS Mount: [GPS mast](https://www.getfpv.com/folding-aluminum-gps-mast-for-dji.html)
 ### FPV (optional)
-* Camera: [RunCam Swift RR Edition](https://www.getfpv.com/runcam-swift-rotor-riot-special-edition-ir-block-black.html) **includes must-have high quality wide angle lens from GoPro!**
+- Camera: [RunCam Swift RR Edition](https://www.getfpv.com/runcam-swift-rotor-riot-special-edition-ir-block-black.html) **includes must-have high quality wide angle lens from GoPro!**
-* Video Tx: [ImmersionRC Tramp HV 5.8GHz 600mW](https://www.getfpv.com/immersionrc-tramp-hv-5-8ghz-video-tx-us-version.html) (Discontinued).
+- Video Tx: [ImmersionRC Tramp HV 5.8GHz 600mW](https://www.getfpv.com/immersionrc-tramp-hv-5-8ghz-video-tx-us-version.html) (Discontinued).
-* Video Antennas: [TBS Triumph 5.8GHz CP](http://www.getfpv.com/fpv/antennas/tbs-triumph-5-8ghz-cp-fpv-antenna-3275.html) (SMA port fits ImmercionRC Tx)
+- Video Antennas: [TBS Triumph 5.8GHz CP](https://www.getfpv.com/fpv/antennas/tbs-triumph-5-8ghz-cp-fpv-antenna-3275.html) (SMA port fits ImmercionRC Tx)
-* FPV voltage source plug: [Male JST Battery Pigtail](http://www.getfpv.com/male-jst-battery-pigtail-10cm-10pcs-bag.html)
+- FPV voltage source plug: [Male JST Battery Pigtail](https://www.getfpv.com/male-jst-battery-pigtail-10cm-10pcs-bag.html)
 ::: info
 These parts cover the sending side for standard FPV 5.8GHz analog FM video. You need to have a compatible receiver and display device to actually consume the live video stream.
@@ -85,7 +84,7 @@ Choosing this cable order resulted in all the motors spinning counter-clockwise
 ### Power Module
-First I soldered the XT60 connector which comes with the frame to the labeled battery side of the *ACSP5 power module* that was shipped with the Pixracer and added the elco capacitor delivered with the power module with the correct polarity to the same side.
+First I soldered the XT60 connector which comes with the frame to the labeled battery side of the _ACSP5 power module_ that was shipped with the Pixracer and added the elco capacitor delivered with the power module with the correct polarity to the same side.
 ![ACSP5 power module](../../assets/airframes/multicopter/qav_r_5_kiss_esc_racer/acsp5_power_module.jpg)
@@ -175,7 +174,7 @@ Sadly the pin assignment was completely wrong and I rewired the connector again
 #### Pixracer GPS/I2C Port
 | Pin | Assignment |
-| ---- | ---------- |
+| --- | ---------- |
 | 1   | GND        |
 | 2   | SDA        |
 | 3   | SCL        |
@@ -225,8 +224,8 @@ I mounted it like you can see in the next picture. The two screws and nuts to lo
 ## PX4 Configuration
-*QGroundControl* is used to install the PX4 autopilot and configure/tune it for the frame.
+_QGroundControl_ is used to install the PX4 autopilot and configure/tune it for the frame.
-[Download and install](http://qgroundcontrol.com/downloads/) *QGroundControl* for your platform.
+[Download and install](https://qgroundcontrol.com/downloads/) _QGroundControl_ for your platform.
 :::tip
 Full instructions for installing and configuring PX4 can be found in [Basic Configuration](../config/index.md).
@@ -237,13 +236,12 @@ Always make sure to have either battery or propellers physically removed from yo
 Better safe than sorry!
 :::
 First update the firmware, airframe, and actuator mappings:
 - [Firmware](../config/firmware.md)
 - [Airframe](../config/airframe.md)
-  You will need to select the *Generic 250 Racer* airframe (**Quadrotor x > Generic 250 Racer**).
+  You will need to select the _Generic 250 Racer_ airframe (**Quadrotor x > Generic 250 Racer**).
  ![QGC airframe selection of generic 250 racer](../../assets/airframes/multicopter/qav_r_5_kiss_esc_racer/qgc_airframe_generic_250_racer.png)
@@ -254,12 +252,12 @@ First update the firmware, airframe, and actuator mappings:
 Then perform the mandatory setup/calibration:
-* [Sensor Orientation](../config/flight_controller_orientation.md)
+- [Sensor Orientation](../config/flight_controller_orientation.md)
-* [Compass](../config/compass.md)
+- [Compass](../config/compass.md)
-* [Accelerometer](../config/accelerometer.md)
+- [Accelerometer](../config/accelerometer.md)
-* [Level Horizon Calibration](../config/level_horizon_calibration.md)
+- [Level Horizon Calibration](../config/level_horizon_calibration.md)
-* [Radio Setup](../config/radio.md)
+- [Radio Setup](../config/radio.md)
-* [Flight Modes](../config/flight_mode.md)
+- [Flight Modes](../config/flight_mode.md)
 Ideally you should also do:
@@ -268,10 +266,9 @@ Ideally you should also do:
  - 4S (4 cell LiPo) with charged cell voltage 4.15V and empty cell voltage 3.5V (or appropriate values for your battery).
 - [Safety](../config/safety.md)
 ### Tuning
-Airframe selection sets *default* autopilot parameters for the frame.
+Airframe selection sets _default_ autopilot parameters for the frame.
 These are good enough to fly with, but it is a good idea to tune the parameters for a specific frame build.
 For instructions on how, start from [Autotune](../config/autotune_mc.md).
@@ -1,6 +1,6 @@
 # Reptile Dragon 2 (RD2) Build
-The Reptile Dragon 2 is a twin motor RC airplane specifically designed for efficient FPV [(first person view)](https://en.wikipedia.org/wiki/First-person_view_(radio_control)) flying.
+The Reptile Dragon 2 is a twin motor RC airplane specifically designed for efficient FPV [(first person view)](<https://en.wikipedia.org/wiki/First-person_view_(radio_control)>) flying.
 Being specific for FPV, the RD2 is optimized for easy mounting of cameras, sensors, logic electronics, large batteries, antennas, and other payload components which would be found on a typical FPV airplane.
 This emphasis on payload makes this airplane an ideal candidate for a PX4 installation.
@@ -8,7 +8,6 @@ This emphasis on payload makes this airplane an ideal candidate for a PX4 instal
 ![Finished Reptile Dragon 2 airframe rear](../../assets/airframes/fw/reptile_dragon_2/airframe_rear.jpg)
 ## Overview
 The goal of this build was to create an efficient, long endurance FPV platform to be used for general PX4 testing and development.
@@ -56,12 +55,12 @@ Key build features
 - [ExpressLRS Matek Diversity RX](http://www.mateksys.com/?portfolio=elrs-r24)
 - [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)
- [Custom designed 3D printed parts](https://github.com/PX4/PX4-user_guide/raw/main/assets/airframes/fw/reptile_dragon_2/rd2_3d_printed_parts.zip)
+- [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)
  - ARK6X carrier mount
  - Holybro Pixhawk 5x carrier mount
  - FPV pod and camera mount
  - Pitot static probe "plug" adapter
- [Custom designed power distribution PCB](https://github.com/PX4/PX4-user_guide/raw/main/assets/airframes/fw/reptile_dragon_2/xt30_power_distro_pcb.zip)
+- [Custom designed power distribution PCB](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/airframes/fw/reptile_dragon_2/xt30_power_distro_pcb.zip)
 - Misc hardware: M3 hardware (standoffs, washers, O-rings, bolts), M2.5 nylon standoffs and screws, XT30 connectors, hot glue, heatshrink, Molex Microfit connectors
 - Silicone wiring (14awg for high current, 16awg for low current, 22awg for low power and signals)
@@ -143,7 +142,6 @@ Then use the nylon M3 hardware to attach it to the rear electronics shelf.
 Two of the three required holes are already coincidentally located in the electronics tray, so I used a marker and a drill to mark and drill the third hole.
 ## FPV Pod
 ### FPV Pod Assembly
@@ -205,7 +203,6 @@ Finally, the ARK6X was installed on top of the mount.
 ![ARK6X carrier installed](../../assets/airframes/fw/reptile_dragon_2/ark_carrier_installed.jpg)
 ### Holybro 5X Carrier (Optional)
 An alternative carrier board is the Holybro Pixhawk 5X carrier.
@@ -232,7 +229,6 @@ The images above show the fully completed and connected Holybro 5X carrier insta
 ![Flight computer mount](../../assets/airframes/fw/reptile_dragon_2/holybro_electronics_0.jpg)
 ![Flight computer mount](../../assets/airframes/fw/reptile_dragon_2/holybro_electronics_1.jpg)
 ## Electrical
 ### Battery Power Distribution
@@ -248,7 +244,6 @@ The servo power BEC is also shown in this image.
 ![Alternative power distribution harness](../../assets/airframes/fw/reptile_dragon_2/alt_harness.jpg)
 ### Servo Power
 Because the Holybro carrier does not include an onboard servo power supply, an external ["BEC"](https://en.wikipedia.org/wiki/Battery_eliminator_circuit) is used to provide power to the servos.
@@ -318,7 +313,7 @@ You can't use prebuilt PX4 release (or main) firmware for this vehicle, as it de
 These require some custom configuration to enable.
-First, follow [this guide to setup a development environment](../dev_setup/dev_env.md ) and [this guide to get the PX4 source code](../dev_setup/building_px4.md).
+First, follow [this guide to setup a development environment](../dev_setup/dev_env.md) and [this guide to get the PX4 source code](../dev_setup/building_px4.md).
 Once a build environment has been setup, open a terminal and `cd` into the `PX4-Autopilot` directory.
 To launch the [PX4 board config tool (`menuconfig`)](../hardware/porting_guide_config.md#px4-menuconfig-setup) run:
@@ -366,8 +361,7 @@ make ark_fmu-v6x_default upload
 This param file contains the custom PX4 parameter configuration for this build, including radio setup, tuning and sensor config.
 Load the file via QGC using the instructions at [Parameters> Tools](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/setup_view/parameters.html#tools) (QGC User Guide).
- [Snapshot of PX4 airframe params](https://github.com/PX4/PX4-user_guide/raw/main/assets/airframes/fw/reptile_dragon_2/reptile_dragon_2_params.params)
+- [Snapshot of PX4 airframe params](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/airframes/fw/reptile_dragon_2/reptile_dragon_2_params.params)
 You may need to modify some parameters for your build
 In particular you should check:
@@ -421,18 +415,17 @@ I recommend checking the following items:
  - Airspeed calibration
  - Level horizon calibration
 - Check control surface deflection
- - Right stick -> Right aileron goes up, left aileron goes down
+- Right stick -> Right aileron goes up, left aileron goes down
- - Left stick -> Left aileron goes up, right aileron goes down
+- Left stick -> Left aileron goes up, right aileron goes down
- - Stick back -> elevator goes up
+- Stick back -> elevator goes up
  -Stick forward -> elevator goes down
- - Left rudder -> Rudder goes left
+- Left rudder -> Rudder goes left
- - Right rudder -> Rudder goes right
+- Right rudder -> Rudder goes right
 - Check Px4 inputs (in `stabilized mode`)
- - Roll right -> Right Aileron goes down
+- Roll right -> Right Aileron goes down
- - Roll left -> Left aileron goes down
+- Roll left -> Left aileron goes down
- - Pitch up -> Elevator goes down
+- Pitch up -> Elevator goes down
- - Pitch down -> Elevator goes up
+- Pitch down -> Elevator goes up
 ## First Flight
@@ -28,12 +28,12 @@ Key airframe features:
 Key Build Features:
-* Easy overall build with minimal airframe setup
+- Easy overall build with minimal airframe setup
-* Easy access to Pixhawk USB and debug connector
+- Easy access to Pixhawk USB and debug connector
-* [First Person View (FPV)](https://en.wikipedia.org/wiki/First-person_view_(radio_control)) with camera pan mount
+- [First Person View (FPV)](<https://en.wikipedia.org/wiki/First-person_view_(radio_control)>) with camera pan mount
-* Air data provided by wing slung pitot static pod
+- Air data provided by wing slung pitot static pod
-* Long flight times (with Liion battery option > 24 minutes)
+- Long flight times (with Liion battery option > 24 minutes)
 ## Parts List
@@ -47,7 +47,7 @@ Key Build Features:
 - [Caddx Vista FPV air unit](https://caddxfpv.com/products/caddx-vista-kit)
 - [DJI FPV Goggles](https://www.dji.com/fpv)
 - [ExpressLRS Matek Diversity RX](http://www.mateksys.com/?portfolio=elrs-r24)
- [Custom designed 3D printed parts](https://github.com/PX4/PX4-user_guide/raw/main/assets/airframes/fw/turbo_timber_evolution/3d_printed_parts.zip)
+- [Custom designed 3D printed parts](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/airframes/fw/turbo_timber_evolution/3d_printed_parts.zip)
  - Pixhawk 4 Mini mount and top GPS mount
  - FPV pod and camera mount
  - Pitot static pod and wing hardpoint hanger
@@ -105,7 +105,7 @@ After the first flight, the lid was hot glued in place.
 ## Flight Computer Installation
-A custom mount for the PX4 Mini was designed and 3d printed (see [3D printed parts](https://github.com/PX4/PX4-user_guide/raw/main/assets/airframes/fw/turbo_timber_evolution/3d_printed_parts.zip) for all parts).
+A custom mount for the PX4 Mini was designed and 3d printed (see [3D printed parts](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/airframes/fw/turbo_timber_evolution/3d_printed_parts.zip) for all parts).
 This mount was carefully designed to use internal foam mold features of the stock TTE airframe to be securely attached and well aligned.
 The mount consists of two parts in a double-decker configuration, bolted together with M3 threaded standoffs.
 The bottom mount carries the Pixhawk and attaches to the airframe while the top mount carries the GPS and ExpressLRS RX.
@@ -203,7 +203,6 @@ I use full flaps on landing to slow the otherwise slippery airframe.
 ![Turbo Timber Evolution field setup](../../assets/airframes/fw/turbo_timber_evolution/field_setup.jpg)
 ### Performance
 - Stall speed (no flaps): 14MPH indicated
@@ -227,7 +226,7 @@ I use full flaps on landing to slow the otherwise slippery airframe.
 ### Parameter File
-[Snapshot of PX4 airframe params](https://github.com/PX4/PX4-user_guide/raw/main/assets/airframes/fw/turbo_timber_evolution/tteparams.params)
+[Snapshot of PX4 airframe params](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/airframes/fw/turbo_timber_evolution/tteparams.params)
 This param file contains the custom PX4 parameter config for this build, including radio setup, tuning and sensor config.
 The param file can be loaded via QGC using the instructions at [Parameters> Tools ](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/setup_view/parameters.html#tools) (QGC User Guide).
@@ -133,7 +133,7 @@ Tests showed that a better vibration insulation should be used, especially for t
 For this particular mounting we chose to use the clip supplied with the rover to attach the upper plate.
 For this, two supports were 3D printed.
-The CAD files are provided [here](https://github.com/PX4/PX4-user_guide/raw/main/assets/airframes/rover/traxxas_stampede_vxl/plane_holders.zip).
+The CAD files are provided [here](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/airframes/rover/traxxas_stampede_vxl/plane_holders.zip).
 ::: warning
 It is **HIGHLY RECOMMENDED** to set the ESC in training mode (see Traxxas Stampede Manual), which reduces power to 50%.
@@ -4,7 +4,7 @@
 The Falcon Venturi FPV Wing frame on which this vehicle is based is no longer available.
 :::
-The *Falcon Vertigo Hybrid VTOL* is a quadplane VTOL aircraft that has been designed to work with PX4 and the Dropix (Pixhawk compatible) flight controller. It can carry a small GoPro camera. 
+The _Falcon Vertigo Hybrid VTOL_ is a quadplane VTOL aircraft that has been designed to work with PX4 and the Dropix (Pixhawk compatible) flight controller. It can carry a small GoPro camera.
 The RTF kit contains everything needed for a full system except an RC receiver and telemetry module.
 The components can also be purchased separately.
@@ -17,27 +17,26 @@ Key information:
 ![Falcon Vertigo Hybrid VTOL RTF](../../assets/airframes/vtol/falcon_vertigo/falcon_vertigo_complete.jpg)
 ## Bill of Materials
 Almost everything you need is provided in the RTF kit (the links next to components below are provided in case you wished to purchase any component separately):
-* Pre laminated EPP wings
+- Pre laminated EPP wings
-* Wingtips and full hardware
+- Wingtips and full hardware
-* Dropix flight controller (discontinued) with
+- Dropix flight controller (discontinued) with
-  * GPS u-blox M8N
+  - GPS u-blox M8N
-  * Power Sensor  
+  - Power Sensor
-  * [Airspeed Sensor](https://store-drotek.com/793-digital-differential-airspeed-sensor-kit-.html)
+  - [Airspeed Sensor](https://store-drotek.com/793-digital-differential-airspeed-sensor-kit-.html)
-* Quad power set  [Tiger Motor MT-2216-11 900kv V2](https://www.getfpv.com/tiger-motor-mt-2216-11-900kv-v2.html) (discontinued)
+- Quad power set [Tiger Motor MT-2216-11 900kv V2](https://www.getfpv.com/tiger-motor-mt-2216-11-900kv-v2.html) (discontinued)
-* 4 x propeller 10”x 5” (quad motors)
+- 4 x propeller 10”x 5” (quad motors)
-* 4 x [ESC 25A](http://www.getfpv.com/tiger-motor-flame-25a-esc.html)
+- 4 x [ESC 25A](https://www.getfpv.com/tiger-motor-flame-25a-esc.html)
-* 1 x propeller 10” x 5” (pusher motor)
+- 1 x propeller 10” x 5” (pusher motor)
-* 1 x ESC 30A
+- 1 x ESC 30A
-* Pusher motor power system
+- Pusher motor power system
-* Carbon fiber tubes and mounts
+- Carbon fiber tubes and mounts
-* G10 motor mounts
+- G10 motor mounts
-* 1 x [3700mah 4S 30C Lipo battery](https://www.overlander.co.uk/batteries/lipo-batteries/power-packs/3700mah-4s-14-8v-25c-lipo-battery-overlander-sport.html)
+- 1 x [3700mah 4S 30C Lipo battery](https://www.overlander.co.uk/batteries/lipo-batteries/power-packs/3700mah-4s-14-8v-25c-lipo-battery-overlander-sport.html)
-* Dropix power distribution board and cable
+- Dropix power distribution board and cable
 The kit does not come with a radio receiver or (optional) telemetry modules.
 For this build we used the following components:
@@ -45,22 +44,20 @@ For this build we used the following components:
 - Receiver: [FrSSKY D4R-II](https://www.frsky-rc.com/product/d4r-ii/)
 - Telemetry: [Holybro 100mW 915MHz modules](https://www.getfpv.com/holybro-100mw-fpv-transceiver-telemetry-radio-set-915mhz.html) (Discontinued)
 ## Tools needed
 The following tools were used to assemble the airframe:
-* Philips screwdriver
+- Philips screwdriver
-* 5.5 mm Hex Socket Screwdriver
+- 5.5 mm Hex Socket Screwdriver
-* Wire cutters
+- Wire cutters
-* Soldering iron and solder
+- Soldering iron and solder
-* Hobby stainless steel tweezer
+- Hobby stainless steel tweezer
-* Gorilla glue
+- Gorilla glue
-* Fiberglass reinforced tape
+- Fiberglass reinforced tape
 ![Build tools](../../assets/airframes/vtol/falcon_vertigo/falcon_vertigo_build_tools.jpg)
 ## Assembly steps
 The RTF kit requires the following assembly.
@@ -84,8 +81,6 @@ The RTF kit requires the following assembly.
   ![quad motor frame rod alignment from bottom](../../assets/airframes/vtol/falcon_vertigo/falcon_vertigo_9_bottom_view_rod_alignment.jpg)
   ![quad motor frame rod alignment schematic](../../assets/airframes/vtol/falcon_vertigo/falcon_vertigo_11_rod_alignment_schamatic.jpg)
 ### Step 2: Attach the wings
 1. Insert both carbon tubes into the fuselage.
@@ -132,7 +127,6 @@ General information about connecting Dropix can be found in [Dropix Flight Contr
   <img src="../../assets/airframes/vtol/falcon_vertigo/falcon_vertigo_27_gps_esc_servo_connections.jpg" width="500px" title="GPS, ESC, Servo connections" />
 #### Motor Wiring
 Motor and servo wiring is nearly entirely up to you, but should match the [Generic Standard VTOL](../airframes/airframe_reference.md#vtol_standard_vtol_generic_standard_vtol) configuration, as shown in the airframe reference.
@@ -140,18 +134,17 @@ The geometry and output assignment can be configured in the [Actuators Configura
 For example, you might wire it up like this example (orientation as if "sitting in the plane"):
-Port | Connection
+| Port   | Connection             |
--- | ---
+| ------ | ---------------------- |
-MAIN 1   | Front right motor, CCW
+| MAIN 1 | Front right motor, CCW |
-MAIN 2   | Back left motor, CCW
+| MAIN 2 | Back left motor, CCW   |
-MAIN 3   | Front left motor, CW
+| MAIN 3 | Front left motor, CW   |
-MAIN 4   | Back right motor, CW
+| MAIN 4 | Back right motor, CW   |
-AUX  1   | Left aileron
+| AUX 1  | Left aileron           |
-AUX  2   | Right aileron 
+| AUX 2  | Right aileron          |
-AUX  3   | Elevator
+| AUX 3  | Elevator               |
-AUX  4   | Rudder
+| AUX 4  | Rudder                 |
-AUX  5   | Throttle
+| AUX 5  | Throttle               |
 <a id="dropix_back"></a>
@@ -171,7 +164,6 @@ The image below shows back of the dropix flight controller, highlighting the out
 1. Connect the receiver (RC IN).
 <a id="dropix_front"></a>
 #### Flight Controller Connections: Telemetry, Airspeed Sensor, GPS, Buzzer and Safety Switch
@@ -184,7 +176,6 @@ The sensor inputs, telemetry, buzzer and safety switch are located in the front
   <img src="../../assets/airframes/vtol/falcon_vertigo/falcon_vertigo_39_connect_sensors.jpg" width="500px" title="Connect sensors" />
 #### Flight Controller: Connect power module and external USB
 The inputs for the USB port, power module and external USB are located on the right side of the flight controller.
@@ -218,20 +209,18 @@ It is important that nothing obstructs airflow to the Pitot tube. This is critic
   <img src="../../assets/airframes/vtol/falcon_vertigo/falcon_vertigo_47_connect_airspeed_sensor_tubing.jpg" width="500px" title="Connect airspeed sensor and tubing" />
 #### Install/connect receiver and telemetry module
 1. Paste the receiver and telemetry module to the outside of the vehicle frame.
   <img src="../../assets/airframes/vtol/falcon_vertigo/falcon_vertigo_49_receiver_mounting.jpg" width="500px" title="Paste receiver" />
-1. Connect the receiver to the RC IN port on the *back* of the dropix, as shown above (also see the [flight controller instructions](#dropix_back)).
+1. Connect the receiver to the RC IN port on the _back_ of the dropix, as shown above (also see the [flight controller instructions](#dropix_back)).
-1. Connect the telemetry module to the *front* of the flight controller as shown below (see the [flight controller instructions](#dropix_front) for more detail on the pins).
+1. Connect the telemetry module to the _front_ of the flight controller as shown below (see the [flight controller instructions](#dropix_front) for more detail on the pins).
   <img src="../../assets/airframes/vtol/falcon_vertigo/falcon_vertigo_51_telemetry_module_mounting.jpg" width="500px" title="Paste telemetry module" />
 <a id="compass_gps"></a>
 #### GPS/Compass module
@@ -240,7 +229,6 @@ The GPS/Compass module is already mounted on the wing, in the default orientatio
 <img src="../../assets/airframes/vtol/falcon_vertigo/falcon_vertigo_gps_compass.jpg" width="500px" title="GPS/Compass" />
 <a id="flight_controller_orientation"></a>
 #### Mount and orient the flight controller
@@ -251,7 +239,6 @@ The GPS/Compass module is already mounted on the wing, in the default orientatio
 1. Secure the controller in place using vibration damping foam.
 ### Step 4: Final Assembly Checks
 The final assembly step is to check the vehicle is stable and that the motors have been set up correctly.
@@ -265,23 +252,21 @@ The final assembly step is to check the vehicle is stable and that the motors ha
   :::
 1. Check the vehicle is balanced around the expected centre of gravity
-
+   - Hold the vehicle with your fingers at the center of gravity and check that the vehicle remains stable.
   * Hold the vehicle with your fingers at the center of gravity and check that the vehicle remains stable. 
     ![Level Centre of Gravity](../../assets/airframes/vtol/falcon_vertigo/falcon_vertigo_57_level_centre_of_gravity.jpg)
-   * If the vehicle leans forward or backwards, move the motors to balance it.
+   - If the vehicle leans forward or backwards, move the motors to balance it.
     ![Level Motors](../../assets/airframes/vtol/falcon_vertigo/falcon_vertigo_55_level_motors.jpg)
 ## Configuration
 Perform the normal [Basic Configuration](../config/index.md).
 Notes:
-1. For [Airframe](../config/airframe.md) select the vehicle group/type as *Standard VTOL* and the specific vehicle as [Generic Standard VTOL](../airframes/airframe_reference.md#vtol_standard_vtol_generic_standard_vtol) as shown below.
+1. For [Airframe](../config/airframe.md) select the vehicle group/type as _Standard VTOL_ and the specific vehicle as [Generic Standard VTOL](../airframes/airframe_reference.md#vtol_standard_vtol_generic_standard_vtol) as shown below.
   ![QCG - Select Generic Standard VTOL](../../assets/qgc/setup/airframe/px4_frame_generic_standard_vtol.png)
@@ -51,7 +51,7 @@ The following options have been tested:
 - [Groundstation and Radio link](https://holybro.com/collections/rc-radio-transmitter-receiver/products/skydroid-h12?variant=42940989931709)
 - [USB-C extension cable](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)
 - [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-p2840)
- [3D-Printed mounts](https://github.com/PX4/PX4-user_guide/raw/main/assets/airframes/vtol/foxtech_loong_2160/loong-3d-prints.zip)
+- [3D-Printed mounts](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/airframes/vtol/foxtech_loong_2160/loong-3d-prints.zip)
  - 1x Baseplate
  - 1x Stack-fixture
  - 1x Fan-Mount
@@ -287,12 +287,12 @@ If you wish connect the actuators to different outputs you will need to modify t
 ### Load Parameters File
-Next we load a [parameter file](https://github.com/PX4/PX4-user_guide/raw/main/assets/airframes/vtol/foxtech_loong_2160/loong.params) that contains parameters that define the frame geometry, output mappings, and tuning values — so you don't have to!
+Next we load a [parameter file](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/airframes/vtol/foxtech_loong_2160/loong.params) that contains parameters that define the frame geometry, output mappings, and tuning values — so you don't have to!
 If you have followed the wiring instructions for the motors you probably won't need to do much further configuration other than sensor calibration and fixing the trims.
 To load the file:
-1. Download the [parameter file](https://github.com/PX4/PX4-user_guide/raw/main/assets/airframes/vtol/foxtech_loong_2160/loong.params).
+1. Download the [parameter file](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/airframes/vtol/foxtech_loong_2160/loong.params).
 1. Select the [Parameters](../advanced_config/parameters.md#finding-updating-parameters) tab and then click on **Tools** in the top right corner.
 1. Select **Load from file** and then choose the `loong.params` file you just downloaded.
 1. Reboot the vehicle.
@@ -1,10 +1,10 @@
 # TBS Caipiroshka
-The Caipiroshka VTOL is a slightly modified *TBS Caipirinha*.
+The Caipiroshka VTOL is a slightly modified _TBS Caipirinha_.
 ::: info
-The *TBS Caipirinha* has been superseded and is no longer available. 
+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://team-blacksheep.com/products/prod:tbs_caipi2_pnp).
 A number of other components have been updated in the parts list too.
 :::
@@ -12,22 +12,21 @@ A number of other components have been updated in the parts list too.
 ## Parts List
-* 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://team-blacksheep.com/products/prod:tbs_caipi2_pnp))
-* Left and right 3D-printed motor mount (<a href="https://github.com/PX4/PX4-user_guide/raw/main/assets/airframes/vtol/caipiroshka/motor_mounts.zip" target="_blank">design files</a>)
+- Left and right 3D-printed motor mount (<a href="https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/airframes/vtol/caipiroshka/motor_mounts.zip" target="_blank">design files</a>)
-* CW 8045 propeller ([Eflight store](https://www.banggood.com/GEMFAN-Carbon-Nylon-8045-CWCCW-Propeller-For-Quadcopters-1-Pair-p-950874.html))
+- 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))
+- CCW 8045 propeller ([Eflight store](https://www.banggood.com/GEMFAN-Carbon-Nylon-8045-CWCCW-Propeller-For-Quadcopters-1-Pair-p-950874.html))
-* 2x 1800 kV 120-180W motors
+- 2x 1800 kV 120-180W motors
-  * [ePower 2208](https://www.galaxus.ch/en/s5/product/epower-22081400-fuer-2-3-lipo-imax-rc-motors-8355913)
+  - [ePower 2208](https://www.galaxus.ch/en/s5/product/epower-22081400-fuer-2-3-lipo-imax-rc-motors-8355913)
-  * [Armattan 2208 1800kV Multirotor Motor](https://www.amazon.com/Armattan-2208-1800kV-Multirotor-Motor/dp/B00UWLW0C8)
+  - [Armattan 2208 1800kV Multirotor Motor](https://www.amazon.com/Armattan-2208-1800kV-Multirotor-Motor/dp/B00UWLW0C8)
    <!-- equivalent replacement must match: kV (1800), motor size (2208) and number of LiPo cells (3S). -->
-* 2x 20-30S ESC
+- 2x 20-30S ESC
-  * [GetFPV](https://www.getfpv.com/lumenier-30a-blheli-s-esc-opto-2-4s.html)
+  - [GetFPV](https://www.getfpv.com/lumenier-30a-blheli-s-esc-opto-2-4s.html)
-* BEC (3A, 5-5.3V) (only needed if you are using ESCs which cannot act as a 5V power supply for the output rail)
+- BEC (3A, 5-5.3V) (only needed if you are using ESCs which cannot act as a 5V power supply for the output rail)
-* 3S 2200 mA LiPo battery
+- 3S 2200 mA LiPo battery
-  * 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/modellbau-elektronik/akku/team-orion-lipo-2200-3s-11-1v-50c-xt60-ori60163.html))
-* [Pixracer autopilot board + power module](../flight_controller/pixracer.md)
+- [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)
+- [Digital airspeed sensor](https://hobbyking.com/en_us/hkpilot-32-digital-air-speed-sensor-and-pitot-tube-set.html)
 ## Assembly
@@ -92,20 +91,19 @@ Depending on the additional components you want to have onboard (e.g. GoPro in f
 ## Airframe configuration
 Switch to the configuration section in [QGroundControl](../config/airframe.md) and select the airframe tab.
-Scroll down the list to find the *VTOL Duo Tailsitter* icon. Select the *Caipiroshka Duo Tailsitter* from the drop-down list.
+Scroll down the list to find the _VTOL Duo Tailsitter_ icon. Select the _Caipiroshka Duo Tailsitter_ from the drop-down list.
 ![caipiroshka](../../assets/airframes/vtol/caipiroshka/airframe_px4_vtol_caipiroshka_duo_tailsitter.jpg)
 ## Servo Connections
 The descriptions in the table below are referring to the user facing the front of the vehicle when it lies flat on its belly on a table.
-Output | Rate | Actuator
+| Output | Rate   | Actuator                           |
--- | --- | ---
+| ------ | ------ | ---------------------------------- |
-MAIN1 | 400 Hz | Right (starboard) motor controller
+| MAIN1  | 400 Hz | Right (starboard) motor controller |
-MAIN2 | 400 Hz | Left (port) motor controller
+| MAIN2  | 400 Hz | Left (port) motor controller       |
-MAIN3 | 400 Hz | Empty
+| MAIN3  | 400 Hz | Empty                              |
-MAIN4 | 400 Hz | Empty
+| MAIN4  | 400 Hz | Empty                              |
-MAIN5 | 50 Hz | Right (starboard) aileron servo
+| MAIN5  | 50 Hz  | Right (starboard) aileron servo    |
-MAIN6 | 50 Hz | Left (port) aileron servo
+| MAIN6  | 50 Hz  | Left (port) aileron servo          |
@@ -52,7 +52,7 @@ The approximate maximum size of the FC is: 50x110x22mm
 - [Servo cable extension cable male 30cm 10 pcs](https://www.getfpv.com/male-to-male-servo-extension-cable-twisted-22awg-jr-style-5-pcs.html)
 - [USB-C extension cable](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)
 - [3M VHB tape](https://www.amazon.in/3M-VHB-Tape-4910-Length/dp/B00GTABM3Y)
- [3D-Printed mounts](https://github.com/PX4/PX4-user_guide/raw/main/assets/airframes/vtol/omp_hobby_zmo_fpv/omp_hobby_zmo_3d_prints.zip)
+- [3D-Printed mounts](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/airframes/vtol/omp_hobby_zmo_fpv/omp_hobby_zmo_3d_prints.zip)
  - 2x wing connector mount
  - 1x Airspeed sensor mount
  - 1x GPS-Mount
@@ -155,7 +155,6 @@ The connector glued into the fuselage. Make sure to properly align the connector
   If you own a crimp tool, then you can also directly add the connectors without soldering.
 1. Plug the servo cables into the adapter IO board in the following order:
   - 1 - Aileron left
   - 2 - Aileron right
   - 3 - V-Tail left
@@ -164,7 +163,6 @@ The connector glued into the fuselage. Make sure to properly align the connector
   - 6 - Tilt right
 1. Plug in the motor signal cables into the FMU adapter board in the following order:
   - 1 - Front left
   - 2 - Front right
   - 3 - Rear
@@ -276,12 +274,12 @@ An inexpensive example would be a [SiK Telemetry Radio](../telemetry/sik_radio.m
 ### Load Parameters File
-Next we load a [parameter file](https://github.com/PX4/PX4-user_guide/raw/main/assets/airframes/vtol/omp_hobby_zmo_fpv/omp_hobby_zmo.params) that contains parameters that define the frame geometry, output mappings, and tuning values — so you don't have to!
+Next we load a [parameter file](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/airframes/vtol/omp_hobby_zmo_fpv/omp_hobby_zmo.params) that contains parameters that define the frame geometry, output mappings, and tuning values — so you don't have to!
 If you have followed the wiring instructions for the motors you probably won't need to do much further configuration other than sensor calibration and fixing the trims.
 To load the file:
-1. Download the [parameter file](https://github.com/PX4/PX4-user_guide/raw/main/assets/airframes/vtol/omp_hobby_zmo_fpv/omp_hobby_zmo.params).
+1. Download the [parameter file](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/airframes/vtol/omp_hobby_zmo_fpv/omp_hobby_zmo.params).
 1. Select the [Parameters](../advanced_config/parameters.md#finding-updating-parameters) tab and then click on **Tools** in the top right corner.
 1. Select **Load from file** and then choose the `omp_hobby_zmo.params` file you just downloaded.
 1. Reboot the vehicle.
@@ -9,7 +9,7 @@ Keeping flight logs is a legal requirement in some jurisdictions.
 ## Downloading Logs from the Flight Controller
-Logs can be downloaded using [QGroundControl](http://qgroundcontrol.com/): **[Analyze View > Log Download](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/analyze_view/log_download.html)**.
+Logs can be downloaded using [QGroundControl](https://qgroundcontrol.com/): **[Analyze View > Log Download](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/analyze_view/log_download.html)**.
 ![Flight Log Download](../../assets/qgc/analyze/log_download.jpg)
@@ -74,9 +74,9 @@ A subset of the products that are known to work with PX4 are listed below.
 ### QGroundControl {#qgc}
-The Dronecode GCS software is called [QGroundControl](http://qgroundcontrol.com/) ("QGC").
+The Dronecode GCS software is called [QGroundControl](https://qgroundcontrol.com/) ("QGC").
 It runs on Windows, Android, MacOS or Linux hardware, and supports a wide range of screen form factors.
-You can download it (for free) from [here](http://qgroundcontrol.com/downloads/).
+You can download it (for free) from [here](https://qgroundcontrol.com/downloads/).
 ![QGC Main Screen](../../assets/concepts/qgc_fly_view.png)
@@ -97,11 +97,11 @@ _PX4_ and _Pixhawk_ have been validated with:
 - PPM sum receivers
 - S.BUS and S.BUS2 receivers from:
  - Futaba
  - FrSky S.BUS and PPM models
  - TBS Crossfire with SBUS as output protocol
  - Herelink
 - TBS Crossfire with ([CRSF protocol](../telemetry/crsf_telemetry.md))
 - Express LRS with ([CRSF protocol](../telemetry/crsf_telemetry.md))
@@ -111,13 +111,11 @@ _PX4_ and _Pixhawk_ have been validated with:
 Receivers from other vendors that use a supported protocol are likely to work but have not been tested.
 ::: info
 Historically there were differences and incompatibilities between receiver models, largely due to a lack of detailed specification of protocols.
 The receivers we have tested all now appear to be compatible, but it is possible that others may not be.
 :::
 ## Connecting Receivers
 As general guidance, receivers connect to the flight controller using the port appropriate to their supported protocol:
@@ -127,7 +125,7 @@ As general guidance, receivers connect to the flight controller using the port a
 - Graupner HoTT receivers: SUMD output must connect to a **SPKT/DSM** input (as above).
 - PPM-Sum and S.BUS receivers must connect directly to the **RC** ground, power and signal pins.
  This is typically labeled: `RC IN`, `RCIN` or `RC`, but has in some FCs has been labeled `PPM RC` or `PPM`.
- PPM receivers that have an individual wire for each channel must connect to the RCIN channel _via_ a PPM encoder [like this one](http://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html) (PPM-Sum receivers use a single signal wire for all channels).
+- PPM receivers that have an individual wire for each channel must connect to the RCIN channel _via_ a PPM encoder [like this one](https://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html) (PPM-Sum receivers use a single signal wire for all channels).
 - TBS Crossfire/Express LRS Receivers using [CRSF Telemetry](../telemetry/crsf_telemetry.md) connect via a spare UART.
 Flight controllers usually include appropriate cables for connecting common receiver types.
@@ -47,7 +47,7 @@ These have been tested by the PX4 dev team, or which are popular within the PX4
 | [mRo GPS u-blox Neo-M8N Dual Compass][mro_neo8mn_dual_mag]   |     M8N     |     LIS3MDL, IST8308      |                             |           ✘           |                             |
 | [RaccoonLab L1 GNSS NEO-M8N][RccnLabGNSS250]                 |   NEO-M8N   |          RM3100           |              ✓              |          ✘✘✓          | + Baro                      |
 | [Sky-Drones SmartAP GPS](../gps_compass/gps_smartap.md)      |     M8N     | HMC5983, IST8310, LIS3MDL |                             |           ✓           | + Baro                      |
-| [Zubax GNSS 2](https://zubax.com/products/gnss_2)            |   MAX-M8Q   |          LIS3MDL          |                             |           ✘           | + Baro                      |
+| [Zubax GNSS 2](https://shop.zubax.com/products/zubax-gnss-2) |   MAX-M8Q   |          LIS3MDL          |                             |           ✘           | + Baro                      |
 <!-- links to improve layout of table for editing -->
@@ -145,7 +145,6 @@ To ensure the port is set up correctly perform a [Serial Port Configuration](../
 The following steps show how to configure a secondary GPS on the `GPS 2` port in _QGroundControl_:
 1. [Find and set](../advanced_config/parameters.md) the parameter [GPS_2_CONFIG](../advanced_config/parameter_reference.md#GPS_2_CONFIG) to **GPS 2**.
   - Open _QGroundControl_ and navigate to the **Vehicle Setup > Parameters** section.
   - Select the **GPS** tab, then open the [GPS_2_CONFIG](../advanced_config/parameter_reference.md#GPS_2_CONFIG) parameter and select `GPS 2` from the dropdown list.
@@ -14,47 +14,47 @@ Some RTK GNSS setups can provide yaw/heading information, as an alternative to t
 ## Supported Devices
-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://www.trimble.com/Precision-GNSS/MB-Two-Board.aspx) GPS, and products that incorporate them.
+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.
 The RTK compatible devices below that are expected to work with PX4 (it omits discontined devices).
 The table indicates devices that also output yaw, and that can provide yaw when two on-vehicle units are used.
 It also highlights devices that connect via the CAN bus, and those which support PPK (Post-Processing Kinematic).
-Device | GPS | Compass | [DroneCAN](../dronecan/index.md) | [GPS Yaw](#configuring-gps-as-yaw-heading-source) | PPK
+| Device                                                                                                    |                             GPS                             | Compass  | [DroneCAN](../dronecan/index.md) | [GPS Yaw](#configuring-gps-as-yaw-heading-source) | PPK |
-:--- | :---: | :---:  | :---:  | :---:  | :---:
+| :-------------------------------------------------------------------------------------------------------- | :---------------------------------------------------------: | :------: | :------------------------------: | :-----------------------------------------------: | :-: |
-[ARK RTK GPS](../dronecan/ark_rtk_gps.md) | F9P  | BMM150 | ✓ | [Dual F9P][DualF9P] |
+| [ARK RTK GPS](../dronecan/ark_rtk_gps.md)                                                                 |                             F9P                             |  BMM150  |                ✓                 |                [Dual F9P][DualF9P]                |
-[ARK MOSAIC-X5 RTK GPS](../dronecan/ark_mosaic__rtk_gps.md) | Mosaic-X5  | IIS2MDC | ✓ | [Septentrio Dual Antenna][SeptDualAnt] |
+| [ARK MOSAIC-X5 RTK GPS](../dronecan/ark_mosaic__rtk_gps.md)                                               |                          Mosaic-X5                          | IIS2MDC  |                ✓                 |      [Septentrio Dual Antenna][SeptDualAnt]       |
-[CUAV C-RTK GPS](../gps_compass/rtk_gps_cuav_c-rtk.md) | M8P/M8N | ✓ | | |
+| [CUAV C-RTK GPS](../gps_compass/rtk_gps_cuav_c-rtk.md)                                                    |                           M8P/M8N                           |    ✓     |                                  |                                                   |
-[CUAV C-RTK2](../gps_compass/rtk_gps_cuav_c-rtk2.md) | F9P |  ✓ | | [Dual F9P][DualF9P] |
+| [CUAV C-RTK2](../gps_compass/rtk_gps_cuav_c-rtk2.md)                                                      |                             F9P                             |    ✓     |                                  |                [Dual F9P][DualF9P]                |
-[CUAV C-RTK 9Ps GPS](../gps_compass/rtk_gps_cuav_c-rtk-9ps.md) | F9P | RM3100 | | [Dual F9P][DualF9P] |
+| [CUAV C-RTK 9Ps GPS](../gps_compass/rtk_gps_cuav_c-rtk-9ps.md)                                            |                             F9P                             |  RM3100  |                                  |                [Dual F9P][DualF9P]                |
-[CUAV C-RTK2 PPK/RTK GNSS](../gps_compass/rtk_gps_cuav_c-rtk.md) | F9P | RM3100 | | | ✓
+| [CUAV C-RTK2 PPK/RTK GNSS](../gps_compass/rtk_gps_cuav_c-rtk.md)                                          |                             F9P                             |  RM3100  |                                  |                                                   |  ✓  |
-[CubePilot Here+ RTK GPS](../gps_compass/rtk_gps_hex_hereplus.md) | M8P | HMC5983 | | |
+| [CubePilot Here+ RTK GPS](../gps_compass/rtk_gps_hex_hereplus.md)                                         |                             M8P                             | HMC5983  |                                  |                                                   |
-[CubePilot Here3 CAN GNSS GPS (M8N)](https://www.cubepilot.org/#/here/here3) | M8P | ICM20948 | ✓ | |
+| [CubePilot Here3 CAN GNSS GPS (M8N)](https://www.cubepilot.org/#/here/here3)                              |                             M8P                             | ICM20948 |                ✓                 |                                                   |
-[Drotek SIRIUS RTK GNSS ROVER (F9P)](https://store-drotek.com/911-sirius-rtk-gnss-rover-f9p.html) | F9P | RM3100 | | [Dual F9P][DualF9P] |
+| [Drotek SIRIUS RTK GNSS ROVER (F9P)](https://store-drotek.com/911-sirius-rtk-gnss-rover-f9p.html)         |                             F9P                             |  RM3100  |                                  |                [Dual F9P][DualF9P]                |
-[DATAGNSS NANO HRTK Receiver](../gps_compass/rtk_gps_datagnss_nano_hrtk.md) | [D10P](https://docs.datagnss.com/gnss/gnss_module/D10P_RTK) | IST8310 | | ✘ |
+| [DATAGNSS NANO HRTK Receiver](../gps_compass/rtk_gps_datagnss_nano_hrtk.md)                               | [D10P](https://docs.datagnss.com/gnss/gnss_module/D10P_RTK) | IST8310  |                                  |                         ✘                         |
-[DATAGNSS GEM1305 RTK Receiver](../gps_compass/rtk_gps_gem1305.md) | TAU951M | IST8310 | | ✘ |
+| [DATAGNSS GEM1305 RTK Receiver](../gps_compass/rtk_gps_gem1305.md)                                        |                           TAU951M                           | IST8310  |                                  |                         ✘                         |
-[Femtones MINI2 Receiver](../gps_compass/rtk_gps_fem_mini2.md) | FB672, FB6A0 | ✓ | | |
+| [Femtones MINI2 Receiver](../gps_compass/rtk_gps_fem_mini2.md)                                            |                        FB672, FB6A0                         |    ✓     |                                  |                                                   |
-[Freefly RTK GPS](../gps_compass/rtk_gps_freefly.md) | F9P | IST8310 | | |
+| [Freefly RTK GPS](../gps_compass/rtk_gps_freefly.md)                                                      |                             F9P                             | IST8310  |                                  |                                                   |
-[Holybro H-RTK ZED-F9P RTK Rover (DroneCAN variant)](../dronecan/holybro_h_rtk_zed_f9p_gps.md) | F9P | RM3100 | ✓ | [Dual F9P][DualF9P] |
+| [Holybro H-RTK ZED-F9P RTK Rover (DroneCAN variant)](../dronecan/holybro_h_rtk_zed_f9p_gps.md)            |                             F9P                             |  RM3100  |                ✓                 |                [Dual F9P][DualF9P]                |
-[Holybro H-RTK ZED-F9P RTK Rover](https://holybro.com/collections/h-rtk-gps/products/h-rtk-zed-f9p-rover) | F9P | RM3100 | | [Dual F9P][DualF9P] |
+| [Holybro H-RTK ZED-F9P RTK Rover](https://holybro.com/collections/h-rtk-gps/products/h-rtk-zed-f9p-rover) |                             F9P                             |  RM3100  |                                  |                [Dual F9P][DualF9P]                |
-[Holybro H-RTK F9P Ultralight](https://holybro.com/products/h-rtk-f9p-ultralight) | F9P | IST8310 | | [Dual F9P][DualF9P]|
+| [Holybro H-RTK F9P Ultralight](https://holybro.com/products/h-rtk-f9p-ultralight)                         |                             F9P                             | IST8310  |                                  |                [Dual F9P][DualF9P]                |
-[Holybro H-RTK F9P Helical or Base](../gps_compass/rtk_gps_holybro_h-rtk-f9p.md) | F9P | IST8310 | | [Dual F9P][DualF9P]|
+| [Holybro H-RTK F9P Helical or Base](../gps_compass/rtk_gps_holybro_h-rtk-f9p.md)                          |                             F9P                             | IST8310  |                                  |                [Dual F9P][DualF9P]                |
-[Holybro DroneCAN H-RTK F9P Helical](https://holybro.com/products/dronecan-h-rtk-f9p-helical) | F9P | BMM150 | ✓ | [Dual F9P][DualF9P] |
+| [Holybro DroneCAN H-RTK F9P Helical](https://holybro.com/products/dronecan-h-rtk-f9p-helical)             |                             F9P                             |  BMM150  |                ✓                 |                [Dual F9P][DualF9P]                |
-[Holybro H-RTK F9P Rover Lite](../gps_compass/rtk_gps_holybro_h-rtk-f9p.md) | F9P | IST8310 | | | |
+| [Holybro H-RTK F9P Rover Lite](../gps_compass/rtk_gps_holybro_h-rtk-f9p.md)                               |                             F9P                             | IST8310  |                                  |                                                   |     |
-[Holybro DroneCAN H-RTK F9P Rover](https://holybro.com/products/dronecan-h-rtk-f9p-rover) | F9P | BMM150 | | [Dual F9P][DualF9P] |
+| [Holybro DroneCAN H-RTK F9P Rover](https://holybro.com/products/dronecan-h-rtk-f9p-rover)                 |                             F9P                             |  BMM150  |                                  |                [Dual F9P][DualF9P]                |
-[Holybro H-RTK M8P GNSS](../gps_compass/rtk_gps_holybro_h-rtk-m8p.md) | M8P | IST8310 | |
+| [Holybro H-RTK M8P GNSS](../gps_compass/rtk_gps_holybro_h-rtk-m8p.md)                                     |                             M8P                             | IST8310  |                                  |
-[Holybro H-RTK Unicore UM982 GPS](../gps_compass/rtk_gps_holybro_unicore_um982.md) | UM982 | IST8310 | | [Unicore Dual Antenna][UnicoreDualAnt] |
+| [Holybro H-RTK Unicore UM982 GPS](../gps_compass/rtk_gps_holybro_unicore_um982.md)                        |                            UM982                            | IST8310  |                                  |      [Unicore Dual Antenna][UnicoreDualAnt]       |
-[LOCOSYS Hawk R1](../gps_compass/rtk_gps_locosys_r1.md) | MC-1612-V2b | | | |
+| [LOCOSYS Hawk R1](../gps_compass/rtk_gps_locosys_r1.md)                                                   |                         MC-1612-V2b                         |          |                                  |                                                   |
-[LOCOSYS Hawk R2](../gps_compass/rtk_gps_locosys_r2.md) | MC-1612-V2b | IST8310 | | |
+| [LOCOSYS Hawk R2](../gps_compass/rtk_gps_locosys_r2.md)                                                   |                         MC-1612-V2b                         | IST8310  |                                  |                                                   |
-[mRo u-blox ZED-F9 RTK L1/L2 GPS](https://store.mrobotics.io/product-p/m10020d.htm) | F9P | ✓ | | [Dual F9P][DualF9P] |
+| [mRo u-blox ZED-F9 RTK L1/L2 GPS](https://store.mrobotics.io/product-p/m10020d.htm)                       |                             F9P                             |    ✓     |                                  |                [Dual F9P][DualF9P]                |
-[Navisys L1/L2 ZED-F9P RTK - Base only](https://www.navisys.com.tw/productdetail?name=GR901&class=RTK) | F9P | | | |
+| [Navisys L1/L2 ZED-F9P RTK - Base only](https://www.navisys.com.tw/productdetail?name=GR901&class=RTK)    |                             F9P                             |          |                                  |                                                   |
-[RaccoonLab L1/L2 ZED-F9P][RaccoonLab L1/L2 ZED-F9P] | F9P |  RM3100 | ✓ | | |
+| [RaccoonLab L1/L2 ZED-F9P][RaccoonLab L1/L2 ZED-F9P]                                                      |                             F9P                             |  RM3100  |                ✓                 |                                                   |     |
-[RaccoonLab L1/L2 ZED-F9P with external antenna][RaccnLabL1L2ZED-F9P ext_ant] | F9P |  RM3100 | ✓ | |
+| [RaccoonLab L1/L2 ZED-F9P with external antenna][RaccnLabL1L2ZED-F9P ext_ant]                             |                             F9P                             |  RM3100  |                ✓                 |                                                   |
-[Septentrio AsteRx-m3 Pro](../gps_compass/septentrio_asterx-rib.md) | AsteRx | ✓ | | [Septentrio Dual Antenna][SeptDualAnt] | ✓ |
+| [Septentrio AsteRx-m3 Pro](../gps_compass/septentrio_asterx-rib.md)                                       |                           AsteRx                            |    ✓     |                                  |      [Septentrio Dual Antenna][SeptDualAnt]       |  ✓  |
-[Septentrio mosaic-go](../gps_compass/septentrio_mosaic-go.md)   | mosaic X5 / mosaic H | ✓ | | [Septentrio Dual Antenna][SeptDualAnt]  | ✓ |
+| [Septentrio mosaic-go](../gps_compass/septentrio_mosaic-go.md)                                            |                    mosaic X5 / mosaic H                     |    ✓     |                                  |      [Septentrio Dual Antenna][SeptDualAnt]       |  ✓  |
-[SIRIUS RTK GNSS ROVER (F9P)](https://store-drotek.com/911-sirius-rtk-gnss-rover-f9p.html) | F9P |  ✓ | | [Dual F9P][DualF9P] |
+| [SIRIUS RTK GNSS ROVER (F9P)](https://store-drotek.com/911-sirius-rtk-gnss-rover-f9p.html)                |                             F9P                             |    ✓     |                                  |                [Dual F9P][DualF9P]                |
-[SparkFun GPS-RTK2 Board - ZED-F9P](https://www.sparkfun.com/products/15136) | F9P |  ✓ | | [Dual F9P][DualF9P] |
+| [SparkFun GPS-RTK2 Board - ZED-F9P](https://www.sparkfun.com/products/15136)                              |                             F9P                             |    ✓     |                                  |                [Dual F9P][DualF9P]                |
-[Trimble MB-Two](../gps_compass/rtk_gps_trimble_mb_two.md) | F9P | ✓ | | ✓ | |
+| [Trimble MB-Two](../gps_compass/rtk_gps_trimble_mb_two.md)                                                |                             F9P                             |    ✓     |                                  |                         ✓                         |     |
 <!-- links used in above table -->
@@ -141,7 +141,6 @@ The RTK GPS connection is essentially plug and play:
   ![survey-in](../../assets/qgc/setup/rtk/qgc_rtk_survey-in.png)
 1. Once Survey-in completes:
   - The RTK GPS icon changes to white and _QGroundControl_ starts to stream position data to the vehicle:
     ![RTK streaming](../../assets/qgc/setup/rtk/qgc_rtk_streaming.png)
@@ -1,6 +1,6 @@
 # Trimble MB-Two
-The [Trimble MB-Two RTK GPS receiver](https://www.trimble.com/Precision-GNSS/MB-Two-Board.aspx) is a high-end, dual-frequency [RTK GPS module](../gps_compass/rtk_gps.md) that can be configured as either base or rover.
+The [Trimble MB-Two RTK GPS receiver](https://oemgnss.trimble.com/en/products/receiver-modules/mb-two) is a high-end, dual-frequency [RTK GPS module](../gps_compass/rtk_gps.md) that can be configured as either base or rover.
 In addition to providing precise position information, the MB-Two can estimate heading angle (it has dual-antenna support). This is useful for situations where a compass cannot provide reliable heading information, for example when flying close to metal constructs.
@@ -53,7 +53,7 @@ First you will need a bootloader, which depends on the hardware target:
 - STM32H7: the bootloader is based on NuttX, and is included in the PX4 Firmware.
  See [here](https://github.com/PX4/PX4-Autopilot/tree/main/boards/holybro/durandal-v1/nuttx-config/bootloader) for an example.
- For all other targets, https://github.com/PX4/Bootloader is used. See [here](https://github.com/PX4/Bootloader/pull/155/files) for an example how to add a new target.
+- For all other targets, https://github.com/PX4/PX4-Bootloader is used. See [here](https://github.com/PX4/PX4-Bootloader/pull/155/files) for an example how to add a new target.
  Then checkout the [building and flashing instructions](../software_update/stm32_bootloader.md).
 ### Firmware Porting Steps
@@ -12,9 +12,9 @@ FMU generations 1-3 were designed as open hardware, while FMU generations 4 and
 ## Reference Design Generations
- FMUv1: Development board \(STM32F407, 128 KB RAM, 1MB flash, [schematics](https://github.com/PX4/Hardware/tree/master/FMUv1)\) (no longer supported by PX4)
+- FMUv1: Development board \(STM32F407, 128 KB RAM, 1MB flash, [schematics](https://github.com/pixhawk/Hardware/tree/master/FMUv1)\) (no longer supported by PX4)
- FMUv2: Pixhawk \(STM32F427, 168 MHz, 192 KB RAM, 1MB flash, [schematics](https://github.com/PX4/Hardware/tree/master/FMUv2)\)
+- FMUv2: Pixhawk \(STM32F427, 168 MHz, 192 KB RAM, 1MB flash, [schematics](https://github.com/pixhawk/Hardware/tree/master/FMUv2)\)
- FMUv3: Pixhawk variants with 2MB flash \(3DR Pixhawk 2 \(Solo\), Hex Pixhawk 2.1, Holybro Pixfalcon, 3DR Pixhawk Mini, STM32F427, 168 MHz, 256 KB RAM, 2 MB flash, [schematics](https://github.com/PX4/Hardware/tree/master/FMUv3_REV_D)\)
+- FMUv3: Pixhawk variants with 2MB flash \(3DR Pixhawk 2 \(Solo\), Hex Pixhawk 2.1, Holybro Pixfalcon, 3DR Pixhawk Mini, STM32F427, 168 MHz, 256 KB RAM, 2 MB flash, [schematics](https://github.com/pixhawk/Hardware/tree/master/FMUv3_REV_D)\)
 - FMUv4: Pixracer \(STM32F427, 168 MHz, 256 KB RAM, 2 MB flash, [pinout](https://docs.google.com/spreadsheets/d/1raRRouNsveQz8cj-EneWG6iW0dqGfRAifI91I2Sr5E0/edit#gid=1585075739)\)
 - FMUv4 PRO: Drotek Pixhawk 3 PRO \(STM32F469, 180 MHz, 384 KB RAM, 2 MB flash, [pinout](https://docs.google.com/spreadsheets/d/1raRRouNsveQz8cj-EneWG6iW0dqGfRAifI91I2Sr5E0/edit#gid=1585075739)\)
 - FMUv5: Holybro Pixhawk 4 \(STM32F765, 216 MHz, 512 KB RAM, 2 MB flash, [pinout](https://docs.google.com/spreadsheets/d/1-n0__BYDedQrc_2NHqBenG1DNepAgnHpSGglke-QQwY/edit#gid=912976165)\)
--- a/Show More
+++ b/Show More