diff --git a/docs/ko/SUMMARY.md b/docs/ko/SUMMARY.md
index a91afd6ffe..d4870ef832 100644
--- a/docs/ko/SUMMARY.md
+++ b/docs/ko/SUMMARY.md
@@ -280,6 +280,7 @@
       - [Trimble MB-Two](gps_compass/rtk_gps_trimble_mb_two.md)
       - [CubePilot Here+ (Discontined)](gps_compass/rtk_gps_hex_hereplus.md)
     - [INS (Inertial Navigation/GNSS)](sensor/inertial_navigation_systems.md)
+      - [InertialLabs](sensor/inertiallabs.md)
       - [VectorNav](sensor/vectornav.md)
     - [광류 센서](sensor/optical_flow.md)
       - [ARK Flow](dronecan/ark_flow.md)
diff --git a/docs/ko/modules/modules_controller.md b/docs/ko/modules/modules_controller.md
index 74c1fdc5d9..a7ae17560c 100644
--- a/docs/ko/modules/modules_controller.md
+++ b/docs/ko/modules/modules_controller.md
@@ -186,6 +186,30 @@ mc_att_control <command> [arguments...]
    status        print status info
 ```
 
+## mc_nn_control
+
+Source: [modules/mc_nn_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mc_nn_control)
+
+### 설명
+
+Multicopter Neural Network Control module.
+This module is an end-to-end neural network control system for multicopters.
+It takes in 15 input values and outputs 4 control actions.
+Inputs: [pos_err(3), att(6), vel(3), ang_vel(3)]
+Outputs: [Actuator motors(4)]
+
+### Usage {#mc_nn_control_usage}
+
+```
+mc_nn_control <command> [arguments...]
+ Commands:
+   start
+
+   stop
+
+   status        print status info
+```
+
 ## mc_pos_control
 
 Source: [modules/mc_pos_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mc_pos_control)
diff --git a/docs/ko/modules/modules_driver_ins.md b/docs/ko/modules/modules_driver_ins.md
index 514d508c49..5618a398ac 100644
--- a/docs/ko/modules/modules_driver_ins.md
+++ b/docs/ko/modules/modules_driver_ins.md
@@ -1,5 +1,50 @@
 # Modules Reference: Ins (Driver)
 
+## ilabs
+
+Source: [drivers/ins/ilabs](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/ins/ilabs)
+
+### 설명
+
+Serial bus driver for the ILabs sensors.
+
+Most boards are configured to enable/start the driver on a specified UART using the SENS_ILABS_CFG.
+After that you can use the ILABS_MODE parameter to config outputs:
+
+- Only raw sensor output (the default).
+- Sensor output and INS data such as position and velocity estimates.
+
+Setup/usage information: https://docs.px4.io/main/en/sensor/ilabs.html
+
+### 예
+
+Attempt to start driver on a specified serial device.
+
+```
+ilabs start -d /dev/ttyS1
+```
+
+Stop driver
+
+```
+ilabs stop
+```
+
+### Usage {#ilabs_usage}
+
+```
+ilabs <command> [arguments...]
+ Commands:
+   start         Start driver
+     -d <val>    Serial device
+
+   status        Driver status
+
+   stop          Stop driver
+
+   status        Print driver status
+```
+
 ## vectornav
 
 Source: [drivers/ins/vectornav](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/ins/vectornav)
diff --git a/docs/ko/modules/modules_system.md b/docs/ko/modules/modules_system.md
index b8024b8e5b..a62410de31 100644
--- a/docs/ko/modules/modules_system.md
+++ b/docs/ko/modules/modules_system.md
@@ -146,7 +146,7 @@ commander <command> [arguments...]
 
    pair
 
-   lockdown
+   termination
      on|off      Turn lockdown on or off
 
    set_ekf_origin
diff --git a/docs/ko/peripherals/gripper.md b/docs/ko/peripherals/gripper.md
index c416c152a9..8f2612d328 100644
--- a/docs/ko/peripherals/gripper.md
+++ b/docs/ko/peripherals/gripper.md
@@ -38,7 +38,7 @@ MAVLink applications, such as ground stations, can also control the gripper usin
 
 PX4 gripper support is tied to the package delivery feature, which must be enabled and configured in order to be able to use a gripper.
 
-1. Set [PD_GRIPPER_EN](../advanced_config/parameter_reference.md#PD_GRIPPER_EN) parameter to 1 (reboot required after change).
+1. Ensure your board has the Payload Deliverer module enabled: CONFIG_MODULES_PAYLOAD_DELIVERER.
 2. Set [PD_GRIPPER_TYPE](../advanced_config/parameter_reference.md#PD_GRIPPER_TYPE) to match your gripper.
    For example, set to `Servo` for a [Servo Gripper](gripper_servo.md).
 
diff --git a/docs/ko/sensor/inertial_navigation_systems.md b/docs/ko/sensor/inertial_navigation_systems.md
index 38337c5fc8..4103634ea0 100644
--- a/docs/ko/sensor/inertial_navigation_systems.md
+++ b/docs/ko/sensor/inertial_navigation_systems.md
@@ -6,6 +6,7 @@ However PX4 can also use some INS devices as either sources of raw data, or as a
 
 Systems that can be used in this way include:
 
+- [InertialLabs](../sensor/inertiallabs.md)
 - [VectorNav](../sensor/vectornav.md): IMU/AHRS, GNSS/INS, Dual GNSS/INS systems that can be used as an external INS or as a source of raw sensor data.
 
 ## Glossary
diff --git a/docs/ko/sensor/inertiallabs.md b/docs/ko/sensor/inertiallabs.md
new file mode 100644
index 0000000000..63c9718c3b
--- /dev/null
+++ b/docs/ko/sensor/inertiallabs.md
@@ -0,0 +1,102 @@
+# Inertial Labs INS (All sensors, including INS-U/INS-DU)
+
+Inertial Labs designs and develops [IMU](https://inertiallabs.com/products/imu-inertial-measurement-units/), [AHRS](https://inertiallabs.com/products/ahrs/), [GNSS/INS](https://inertiallabs.com/products/ins-inertial-navigation-systems/) and [other](https://inertiallabs.com/) solutions.
+A universal protocol is used for [all Inertial Labs sensors](https://inertiallabs.com/).
+
+![INS-U](../../assets/hardware/sensors/inertial/ilabs-ins-u.png)
+
+Benefits to PX4 users:
+
+- Higher accuracy heading, pitch, and roll estimates
+- More robust and reliable GNSS positioning
+- Improved positioning and attitude performance in GNSS-contested environments
+- Performance under challenging dynamic conditions (e.g. catapult launches, VTOL operations, high-g or high angular rate operations)
+- Work in different spoofing and jamming conditions
+
+PX4 can use these in a mode that provides only raw sensor output (the default), or as an [external INS](../sensor/inertial_navigation_systems.md) that provides both sensor output and INS data such as position and velocity estimates.
+The mode is configurable using a parameter.
+
+## 구매처
+
+[Get technical support or send requests to sales team](https://inertiallabs.com/inertial-labs-inc/contact-inertial-labs-team/).
+Recommended sensors:
+
+- [INS-U GNSS/INS](https://inertiallabs.com/ins-u-datasheet): Recommended for fixed-wing systems without hovering, where static heading is not necessary.
+- [INS-DU DUAL GNSS/INS](https://inertiallabs.com/ins-du-datasheet): Recommended for multicopter systems where hovering and low dynamics requires the use of static heading.
+
+## 하드웨어 설정
+
+### 배선
+
+Connect the sensor to any unused flight controller serial interface, such as a spare `GPS` or `TELEM`.
+
+### 장착
+
+The Inertial Labs sensors can be mounted in any orientation.
+You can set offsets for coordinate axes in the sensor-configuration software that is provided with your sensor.
+
+## 펌웨어 설정
+
+### PX4 설정
+
+To use the Inertial Labs driver:
+
+1. Build the firmware with the [ilabs](../modules/modules_driver_ins.md#ilabs) module.
+
+   The module is included by default for many boards.
+   You can check by searching for the keys `CONFIG_COMMON_INS` (all INS drivers) and `CONFIG_DRIVERS_INS_ILABS` (ilabs driver) in the [default.px4board](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v6c/default.px4board#L25) configuration file for your target board.
+
+   If it is not present, you can add the key to your `default.px4board` file, or include it using the [kconfig board configuration](../hardware/porting_guide_config.md#px4-board-configuration-kconfig): Drivers -> INS -> ilabs.
+
+2. [Set the parameter](../advanced_config/parameters.md) [SENS_ILABS_CFG](../advanced_config/parameter_reference.md#SENS_ILABS_CFG) to the hardware port connected to the sensor, such as a spare `GPS` or `TELEM`.
+   Make sure that nothing else is configured to use the port (for more information see [Serial Port Configuration](../peripherals/serial_configuration.md)).
+
+3. Restart PX4.
+
+4. Configure driver as either an external INS or to provide raw data:
+   - For external INS, set [ILABS_MODE](../advanced_config/parameter_reference.md#ILABS_MODE) to `INS`.
+   - For raw inertial sensors, set [ILABS_MODE](../advanced_config/parameter_reference.md#ILABS_MODE) to `Sensors Only`.
+
+      You can then prioritize inertial labs sensors using [CAL_GYROn_PRIO](../advanced_config/parameter_reference.md#CAL_GYRO0_PRIO), [CAL_ACCn_PRIO](../advanced_config/parameter_reference.md#CAL_ACC0_PRIO), [CAL_BAROn_PRIO](../advanced_config/parameter_reference.md#CAL_BARO0_PRIO), [CAL_MAGn_PRIO](../advanced_config/parameter_reference.md#CAL_MAG0_PRIO), where `n` is the instance number of the IMU component (0, 1, etc.).
+
+      ::: tip
+      In most cases the external IMU is the highest-numbered.
+      You can get a list of the IMU components available using [`uorb top -1`](../middleware/uorb.md#uorb-top-command), you can differentiate between them using the [`listener`](../modules/modules_command.md#listener) command and looking through the data, or just the rates.
+
+:::
+
+5. Restart PX4.
+
+Once enabled, the module will be detected on boot.
+
+## Inertial Labs Sensor Configuration
+
+Perform sensor configuration according to the Interface Control Document (ICD) that comes with each device.
+The sensor-configuration software allows you to set the baurate and the data format, and you can also adjust the orientation axes if the sensor wasn't oriented in the normal way.
+This process is usually short and takes a few minutes, depending on the sensor and the installation conditions on the vehicle.
+
+## Published Data
+
+These uORB topics are published:
+
+- [sensor_accel](../msg_docs/SensorAccel.md)
+- [sensor_gyro](../msg_docs/SensorGyro.md)
+- [sensor_mag](../msg_docs/SensorMag.md)
+- [sensor_baro](../msg_docs/SensorBaro.md)
+- [sensor_gps](../msg_docs/SensorGps.md)
+
+If enabled as an external INS, publishes:
+
+- [vehicle_local_position](../msg_docs/VehicleLocalPosition.md)
+- [vehicle_global_positon](../msg_docs/VehicleGlobalPosition.md)
+- [vehicle_attitude](../msg_docs/VehicleAttitude.md)
+
+If enabled as external sensor only:
+
+- `external_ins_local_position`
+- `external_ins_global_position`
+- `external_ins_attitude`
+
+:::tip
+Published topics can be viewed using the `listener` command.
+:::
diff --git a/docs/ko/sensor/rangefinders.md b/docs/ko/sensor/rangefinders.md
index edb68138ac..a587ddd6c6 100644
--- a/docs/ko/sensor/rangefinders.md
+++ b/docs/ko/sensor/rangefinders.md
@@ -17,7 +17,7 @@ There may also be other DroneCAN rangefinders than those listed here.
 
 ### ARK Flow & AKR Flow MR
 
-[ARK Flow](../dronecan/ark_flow.md) and [ARK Flow](../dronecan/ark_flow_mr.md) are open-source Time-of-Flight (ToF) and optical flow sensor modules, which are capable of measuring distances from 8cm to 30m and from 8cm to 50m, respectively.
+[ARK Flow](../dronecan/ark_flow.md) and [ARK Flow MR](../dronecan/ark_flow_mr.md) are open-source Time-of-Flight (ToF) and optical flow sensor modules, which are capable of measuring distances from 8cm to 30m and from 8cm to 50m, respectively.
 CAN1 포트를 통해 비행 콘트롤러에 연결할 수 있으므로, CAN2 포트를 통해 추가 센서를 연결할 수 있습니다.
 It supports [DroneCAN](../dronecan/index.md), runs [PX4 DroneCAN Firmware](../dronecan/px4_cannode_fw.md), and is packed into a tiny form factor.