diff --git a/docs/en/dev_log/log_encryption.md b/docs/en/dev_log/log_encryption.md index a2d3122390..bc93913d32 100644 --- a/docs/en/dev_log/log_encryption.md +++ b/docs/en/dev_log/log_encryption.md @@ -12,7 +12,7 @@ To use it you will need to build firmware with this feature enabled and then upl ::: ::: tip -Log encryption was has been improved in PX4 main (v1.16+) to generate a single encrypted log file that contains both encrypted log data, and an encrypted symmetric key that you can use to decrypt it (provided you can decrypt the symmetric key). +Log encryption was has been improved in PX4 v1.16 to generate a single encrypted log file that contains both encrypted log data, and an encrypted symmetric key that you can use to decrypt it (provided you can decrypt the symmetric key). In earlier versions the encrypted symmetric key was stored in a separate file. For more information see the [Log Encryption (PX4 v1.15)](https://docs.px4.io/v1.15/en/dev_log/log_encryption.html). diff --git a/docs/en/flight_controller/kakuteh7-wing.md b/docs/en/flight_controller/kakuteh7-wing.md index 5d9a29cea6..775eca078b 100644 --- a/docs/en/flight_controller/kakuteh7-wing.md +++ b/docs/en/flight_controller/kakuteh7-wing.md @@ -1,4 +1,6 @@ -# Holybro Kakute H7 V2 +# Holybro Kakute H743-Wing + + :::warning PX4 does not manufacture this (or any) autopilot. @@ -33,9 +35,7 @@ The board can be bought from one of the following shops (for example): | Buz-, Buz+ | Piezo buzzer | | | M1 to M14 | Motor signal outputs | | - - -## PX4 Bootloader Update +## PX4 Bootloader Update {#bootloader} 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. @@ -52,7 +52,7 @@ make holybro_kakuteh7-wing_default ## Installing PX4 Firmware ::: info -KakuteH7-wing is supported with PX4 master & PX4 v1.16 or newer.. +KakuteH7-wing is supported in PX4 v1.16 or newer. Prior to that release you will need to manually build and install the firmware. ::: diff --git a/docs/en/flight_modes_rover/ackermann.md b/docs/en/flight_modes_rover/ackermann.md index 4115252e4e..d19f24eb3e 100644 --- a/docs/en/flight_modes_rover/ackermann.md +++ b/docs/en/flight_modes_rover/ackermann.md @@ -135,7 +135,7 @@ The mission is typically created and uploaded with a Ground Control Station (GCS #### Mission commands -The following commands can be used in missions at time of writing (`main`/planned for `PX4 v1.16+`): +The following commands can be used in missions at time of writing (PX4 v1.16): | QGC mission item | Command | Description | | ------------------- | ------------------------------------------------------------ | ------------------------------------------------- | diff --git a/docs/en/flight_modes_rover/differential.md b/docs/en/flight_modes_rover/differential.md index 8917ad3924..78548e54ef 100644 --- a/docs/en/flight_modes_rover/differential.md +++ b/docs/en/flight_modes_rover/differential.md @@ -114,7 +114,7 @@ The mission is typically created and uploaded with a Ground Control Station (GCS #### Mission commands -The following commands can be used in missions at time of writing (`main`/planned for `PX4 v1.16+`): +The following commands can be used in missions at time of writing (PX4 v1.16): | QGC mission item | Command | Description | | ------------------- | ------------------------------------------------------------------------------ | ---------------------------------------------------------------- | diff --git a/docs/en/flight_modes_rover/mecanum.md b/docs/en/flight_modes_rover/mecanum.md index 3286d42328..fc5783f3dc 100644 --- a/docs/en/flight_modes_rover/mecanum.md +++ b/docs/en/flight_modes_rover/mecanum.md @@ -139,7 +139,7 @@ The mission is typically created and uploaded with a Ground Control Station (GCS #### Mission commands -The following commands can be used in missions at time of writing (`main`/planned for `PX4 v1.16+`): +The following commands can be used in missions at time of writing (PX4 v1.16): | QGC mission item | Command | Description | | ------------------- | ------------------------------------------------------------------------------ | ---------------------------------------------------------------- | diff --git a/docs/en/frames_rover/ackermann.md b/docs/en/frames_rover/ackermann.md index f3f4497a60..8ef32c8496 100644 --- a/docs/en/frames_rover/ackermann.md +++ b/docs/en/frames_rover/ackermann.md @@ -1,6 +1,6 @@ # Ackermann Rovers - + An _Ackermann rover_ controls its direction by pointing the front wheels in the direction of travel — the [Ackermann steering geometry](https://en.wikipedia.org/wiki/Ackermann_steering_geometry) compensates for the fact that wheels on the inside and outside of the turn move at different rates. This kind of steering is used on most commercial vehicles, including cars, trucks etc. diff --git a/docs/en/frames_rover/differential.md b/docs/en/frames_rover/differential.md index a74fbd1d50..95ffe04993 100644 --- a/docs/en/frames_rover/differential.md +++ b/docs/en/frames_rover/differential.md @@ -1,6 +1,6 @@ # Differential Rovers - + A differential rover's motion is controlled using a differential drive mechanism, where the left and right wheel speeds are adjusted independently to achieve the desired forward speed and yaw rate. Forward motion is achieved by driving both wheels at the same speed in the same direction. diff --git a/docs/en/frames_rover/mecanum.md b/docs/en/frames_rover/mecanum.md index 7d9a249156..548e7bcf4c 100644 --- a/docs/en/frames_rover/mecanum.md +++ b/docs/en/frames_rover/mecanum.md @@ -1,6 +1,6 @@ # Mecanum Rovers - + A Mecanum rover is a type of mobile robot that uses Mecanum wheels to achieve omnidirectional movement. These wheels are unique because they have rollers mounted at a 45-degree angle around their circumference, allowing the rover to move not only forward and backward but also side-to-side and diagonally without needing to rotate first. Each wheel is driven by its own motor, and by controlling the speed and direction of each motor, the rover can move in any direction or spin in place. diff --git a/docs/en/middleware/uorb.md b/docs/en/middleware/uorb.md index e5f61f2567..a164abadae 100644 --- a/docs/en/middleware/uorb.md +++ b/docs/en/middleware/uorb.md @@ -116,9 +116,9 @@ As there are external tools using uORB messages from log files, such as [Flight ## Message Versioning - + -Optional message versioning was introduced in the `main` branch (planned for PX4 v1.16+) to make it easier to maintain compatibility between PX4 and ROS 2 versions compiled against different message definitions. +Optional message versioning was introduced PX4 v1.16 to make it easier to maintain compatibility between PX4 and ROS 2 versions compiled against different message definitions. Versioned messages are designed to remain more stable over time compared to their non-versioned counterparts, as they are intended to be used across multiple releases of PX4 and external systems, ensuring greater compatibility over longer periods. Versioned messages include an additional field `uint32 MESSAGE_VERSION = x`, where `x` corresponds to the current version of the message. diff --git a/docs/en/ros2/px4_ros2_control_interface.md b/docs/en/ros2/px4_ros2_control_interface.md index 8979861a7d..e7e3151c6c 100644 --- a/docs/en/ros2/px4_ros2_control_interface.md +++ b/docs/en/ros2/px4_ros2_control_interface.md @@ -341,7 +341,7 @@ The used types also define the compatibility with different vehicle types. The following sections provide a list of supported setpoint types: - [GotoSetpointType](#go-to-setpoint-gotosetpointtype): Smooth position and (optionally) heading control -- [FwLateralLongitudinalSetpointType](#fixed-wing-lateral-and-longitudinal-setpoint-fwlaterallongitudinalsetpointtype): Direct control of lateral and longitudinal fixed wing dynamics +- [FwLateralLongitudinalSetpointType](#fixed-wing-lateral-and-longitudinal-setpoint-fwlaterallongitudinalsetpointtype): Direct control of lateral and longitudinal fixed wing dynamics - [DirectActuatorsSetpointType](#direct-actuator-control-setpoint-directactuatorssetpointtype): Direct control of motors and flight surface servo setpoints :::tip @@ -403,7 +403,7 @@ _goto_setpoint->update( #### Fixed-Wing Lateral and Longitudinal Setpoint (FwLateralLongitudinalSetpointType) - + ::: info This setpoint type is supported for fixed-wing vehicles and for VTOLs in fixed-wing mode. @@ -545,7 +545,7 @@ If you want to control an actuator that does not control the vehicle's motion, b ### Controlling a VTOL - + To control a VTOL in an external flight mode, ensure you're returning the correct setpoint type based on the current flight configuration: diff --git a/docs/en/ros2/px4_ros2_msg_translation_node.md b/docs/en/ros2/px4_ros2_msg_translation_node.md index a221d3fcb4..f9dab8a42a 100644 --- a/docs/en/ros2/px4_ros2_msg_translation_node.md +++ b/docs/en/ros2/px4_ros2_msg_translation_node.md @@ -1,6 +1,6 @@ # PX4 ROS 2 Message Translation Node - + The message translation node allows ROS 2 applications that were compiled against different versions of the PX4 messages to interwork with newer versions of PX4, and vice versa, without having to change either the application or the PX4 side. @@ -207,7 +207,7 @@ Message translations can be either _direct_ or _generic_. ### File Structure -Starting from PX4 v1.16 (main), the PX4-Autopilot `msg/` and `srv/` directories are structured as follows: +Starting from PX4 v1.16, the PX4-Autopilot `msg/` and `srv/` directories are structured as follows: ``` PX4-Autopilot diff --git a/docs/en/ros2/user_guide.md b/docs/en/ros2/user_guide.md index 04694a26ae..b13ba10b02 100644 --- a/docs/en/ros2/user_guide.md +++ b/docs/en/ros2/user_guide.md @@ -34,7 +34,7 @@ The generator uses the uORB message definitions in the source tree: [PX4-Autopil ROS 2 applications need to be built in a workspace that has the _same_ message definitions that were used to create the uXRCE-DDS client module in the PX4 Firmware. You can include these by cloning the interface package [PX4/px4_msgs](https://github.com/PX4/px4_msgs) into your ROS 2 workspace (branches in the repo correspond to the messages for different PX4 releases). -Starting from PX4 v1.16 (main) in which [message versioning](../middleware/uorb.md#message-versioning) was introduced, ROS2 applications may use a different version of message definitions than those used to build PX4. +Starting from PX4 v1.16, in which [message versioning](../middleware/uorb.md#message-versioning) was introduced, ROS2 applications may use a different version of message definitions than those used to build PX4. This requires the [ROS 2 Message Translation Node](../ros2/px4_ros2_msg_translation_node.md) to be running to ensure that messages can be converted and exchanged correctly. Note that the micro XRCE-DDS _agent_ itself has no dependency on client-side code. @@ -367,7 +367,7 @@ accelerometer_integral_dt: 4739 #### (Optional) Starting the Translation Node - + This example is built with PX4 and ROS2 versions that use the same message definitions. If you were to use incompatible [message versions](../middleware/uorb.md#message-versioning) you would need to install and run the [Message Translation Node](./px4_ros2_msg_translation_node.md) as well, before running the example: diff --git a/docs/en/sim_gazebo_gz/worlds.md b/docs/en/sim_gazebo_gz/worlds.md index ef2d4206d0..7f0c4821c4 100644 --- a/docs/en/sim_gazebo_gz/worlds.md +++ b/docs/en/sim_gazebo_gz/worlds.md @@ -75,7 +75,7 @@ World with walls that is designed for testing [collision prevention](../computer ## Moving Platform - + [Empty world](#default) with the addition of a flat moving platform, to simulate drone operations from moving vehicles like ships or trucks. The platform is controlled by a plugin which is included in the world. The platform is at a height of 2m, so place the vehicle on it with: