New Crowdin translations - zh-CN (#26488)

Co-authored-by: Crowdin Bot <support+bot@crowdin.com>
2026-10-03 07:28:54 +08:00 · 2026-02-18 16:44:34 +11:00
parent 7ef57f6262
commit 47d5971f42
314 changed files with 11960 additions and 1374 deletions
@@ -179,6 +179,7 @@
      - [CubePilot Cube Orange (CubePilot)](flight_controller/cubepilot_cube_orange.md)
      - [CubePilot Cube Yellow (CubePilot)](flight_controller/cubepilot_cube_yellow.md)
        - [Cube Wiring Quickstart](assembly/quick_start_cube.md)
+      - [Gear Up AirBrainH743](flight_controller/gearup_airbrainh743.md)
      - [Holybro Kakute H7v2](flight_controller/kakuteh7v2.md)
      - [Holybro Kakute H7mini](flight_controller/kakuteh7mini.md)
      - [Holybro Kakute H7](flight_controller/kakuteh7.md)
@@ -255,7 +256,7 @@
      - [北醒 TFmini 激光雷达](sensor/tfmini.md)
      - [LeddarOne 激光雷达](sensor/leddar_one.md)
      - [Lidar-Lite](sensor/lidar_lite.md)
-      - [Lightware Lidars (SF/LW)](sensor/sfxx_lidar.md)
+      - [Lightware Lidars (SF/LW/GRF)](sensor/sfxx_lidar.md)
        - [Lightware SF45 Rotary Lidar](sensor/sf45_rotating_lidar.md)
      - [TeraRanger](sensor/teraranger.md)
      - [✘ Lanbao PSK-CM8JL65-CC5](sensor/cm8jl65_ir_distance_sensor.md)
@@ -932,6 +933,7 @@
  - [许可证](contribute/licenses.md)

 - [版本发布](releases/index.md)
+  - [Release Process](releases/release_process.md)
  - [main (alpha)](releases/main.md)
  - [1.17 (alpha)](releases/1.17.md)
  - [1.16 (stable)](releases/1.16.md)
@@ -12,19 +12,16 @@ The [ARK Jetson Pixhawk Autopilot Bus (PAB) Carrier](https://arkelectron.gitbook
 ## 产品规格

 - **Power Requirements**
-
  - 5V
  - 4A minimum (dependent on usage and peripherals)

 - **Additional Features**
-
  - Pixhawk Autopilot Bus (PAB) Form Factor ([PAB Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-010%20Pixhawk%20Autopilot%20Bus%20Standard.pdf))
  - MicroSD Slot
  - USA-built, NDAA compliant
  - Integrated 1W heater for sensor stability in extreme conditions

 - **Physical Details**
-
  - Weight:
    - Without Jetson and Flight Controller – 80g
    - With Jetson, no heatsink or Flight Controller – 108g
@@ -170,7 +170,6 @@ To enable this MAVLink instance on the FC:
   ![Image of baseboard showing FC USB-C connector](../../assets/companion_computer/holybro_pixhawk_rpi_cm4_baseboard/baseboard_fc_usb_c.jpg)

 2. [Set the parameters](../advanced_config/parameters.md):
-
   - `MAV_1_CONFIG` = `102`
   - `MAV_1_MODE = 2`
   - `SER_TEL2_BAUD` = `921600`
@@ -184,7 +183,6 @@ On the RPi side:
 1. Connect to the RPi (using WiFi, a router, or a WiFi Dongle).

 2. Enable the RPi serial port by running `RPi-config`
-
   - Go to `3 Interface Options`, then `I6 Serial Port`.
     Then choose:
     - `login shell accessible over serial → No`
@@ -145,7 +145,6 @@ Enter the following commands (in sequence) a terminal to configure Ubuntu for RP
   ```

 3. Go to the **Interface Option** and then click **Serial Port**.
-
   - Select **No** to disable serial login shell.
   - Select **Yes** to enable the serial interface.
   - Click **Finish** and restart the RPi.
@@ -164,7 +163,6 @@ Enter the following commands (in sequence) a terminal to configure Ubuntu for RP
   ```

 6. Then save the file and restart the RPi.
-
   - In `nano` you can save the file using the following sequence of keyboard shortcuts: **ctrl+x**, **ctrl+y**, **Enter**.

 7. Check that the serial port is available.
@@ -214,7 +214,6 @@ The Lua script works by extracting the `obstacle_distance_fused` data at each ti

 3. Open PlotJuggler and navigate to the **Tools > Reactive Script Editor** section.
   In the **Script Editor** tab, add following scripts in the appropriate sections:
-
   - **Global code, executed once:**

     ```lua
@@ -33,7 +33,6 @@ The instructions below might be used to create a task named _MyTask_:
   - FlightTaskMyTask.cpp

 3. Update **CMakeLists.txt** for the new task
-
   - Copy the contents of the **CMakeLists.txt** for another task - e.g. [Orbit/CMakeLists.txt](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/flight_mode_manager/tasks/Orbit/CMakeLists.txt)

   - Update the copyright to the current year
@@ -84,16 +84,9 @@ The test steps are:
   If an [Enable/Disable Autotune Switch](#enable-disable-autotune-switch) is configured you can just toggle the switch to the "enabled" position.

   </div></div>
-
   1. In QGroundControl, open the menu **Vehicle setup > PID Tuning**:

-      ![Tuning Setup > Autotune Enabled](../../assets/qgc/setup/autotune/autotune.png)
-
-   2. Select either the _Rate Controller_ or _Attitude Controller_ tabs.
-
-   3. Ensure that the **Autotune enabled** button is enabled (this will display the **Autotune** button and remove the manual tuning selectors).
-
-   4. Read the warning popup and click on **OK** to start tuning.
+   ![Tuning Setup > Autotune Enabled](../../assets/qgc/setup/autotune/autotune.png) 2. Select either the _Rate Controller_ or _Attitude Controller_ tabs. 3. Ensure that the **Autotune enabled** button is enabled (this will display the **Autotune** button and remove the manual tuning selectors). 4. Read the warning popup and click on **OK** to start tuning.

 <div style="display: inline;" v-if="$frontmatter.frame === 'Multicopter'">

@@ -22,7 +22,6 @@ To level the horizon:
 :::

 4. Place the vehicle in its level flight orientation on a level surface:
-
   - For planes this is the position during level flight (planes tend to have their wings slightly pitched up!)
   - For copters this is the hover position.

@@ -77,7 +77,6 @@ To setup and configure a helicopter:
 3. Remove the rotor blades and propellers

 4. Assign motors and servos to outputs and test (also in [Actuator configuration](../config/actuators.md)):
-
   1. Assign the [motors and servos to the outputs](../config/actuators.md#actuator-outputs).
   2. Power the vehicle with a battery and use the [actuator testing sliders](../config/actuators.md#actuator-testing) to validate correct servo and motor assignment and direction.

@@ -140,7 +140,6 @@ The tuning procedure is:
 13. Repeat the tuning process for the attitude controller on all the axes.

 14. Repeat the tuning process for the velocity and positions controllers (on all the axes).
-
    - Use Position mode when tuning these controllers
    - Select the **Simple position control** option in the _Position control mode ..._ selector (this allows direct control for the generation of step inputs)

@@ -18,28 +18,37 @@ A drive mode will only work properly if all the configuration for the preceding

 ## Flashing the Rover Build

-Rovers use a custom build that must be flashed onto your flight controller instead of the default PX4 build:
+Rover is built as a [firmware variant](../dev_setup/building_px4.md#px4-make-build-targets), and must be installed as "Custom Firmware" in QGC (other vehicles are present in the default variant).

-1. First build the rover firmware for your flight controller from the `main` branch (there is no release build, so you can't just select this build from QGroundControl).
+The release versions of Rover firmware for different boards are attached to the associated GitHub release tag.
+For example, you can find `px4_fmu-v5x_rover.px4` on [PX4-Autopilot/releases/tag/v1.16.1](https://github.com/PX4/PX4-Autopilot/releases/tag/v1.16.1).
+For the `main` branch version of Rover you will need to [build the firmware](#building-rover).

-   To build for rover with the `make` command, replace the `_default` suffix with `_rover`.
-   For example, to build rover for px4_fmu-v6x boards, you would use the command:
+Load the firmware onto your flight controller as "Custom Firmware" (see [Loading Firmware > Installing PX4 Main, Beta or Custom Firmware](../config/firmware.md#installing-px4-main-beta-or-custom-firmware)).

-   ```sh
-   make px4_fmu-v6x_rover
-   ```
+## Building Rover

-   ::: info
-   You can also enable the modules in default builds by adding these lines to your [board configuration](../hardware/porting_guide_config.md) (e.g. for fmu-v6x you might add them to [`main/boards/px4/fmu-v6x/default.px4board`](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v6x/default.px4board)):
+Rover is built as the `rover` [firmware variant](../dev_setup/building_px4.md#px4-make-build-targets).
+What this means is that when building the firmware with the `make` command, you replace the `_default` suffix in the configuration target with `_rover`.

-   ```sh
-   CONFIG_MODULES_ROVER_ACKERMANN=y
-   CONFIG_MODULES_ROVER_DIFFERENTIAL=y
-   CONFIG_MODULES_ROVER_MECANUM=y
-   ```
+For example, to build rover for `px4_fmu-v6x` boards, you would use the following command:

-   Note that adding the rover modules may lead to flash overflow, in which case you will need to disable modules that you do not plan to use (such as those related to multicopter or fixed wing).
+```sh
+make px4_fmu-v6x_rover
+```

+Note that configuration targets are constructed with the format "VENDOR_MODEL_VARIANT".
+
+The built firmware can be installed as custom firmware, as shown above in in [Flashing the Rover Build](#flashing-the-rover-build).
+
+:::info
+You can also enable the modules in default builds by adding these lines to your [board configuration](../hardware/porting_guide_config.md) (e.g. for fmu-v6x you might add them to [`main/boards/px4/fmu-v6x/default.px4board`](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v6x/default.px4board)):
+
+```sh
+CONFIG_MODULES_ROVER_ACKERMANN=y
+CONFIG_MODULES_ROVER_DIFFERENTIAL=y
+CONFIG_MODULES_ROVER_MECANUM=y
+```
+
+Adding the rover modules may lead to flash overflow, in which case you will need to disable modules that you do not plan to use (such as those related to multicopter or fixed wing).
 :::
-
-2. Load the **custom firmware** that you just built onto your flight controller (see [Loading Firmware > Installing PX4 Main, Beta or Custom Firmware](../config/firmware.md#installing-px4-main-beta-or-custom-firmware)).
@@ -307,7 +307,6 @@ If the airframe is for a **new group** you additionally need to:
   ```

 3. Update _QGroundControl_:
-
   - Add the svg image for the group into: [src/AutopilotPlugins/Common/images](https://github.com/mavlink/qgroundcontrol/tree/master/src/AutoPilotPlugins/Common/Images)
   - Add reference to the svg image into [qgcimages.qrc](https://github.com/mavlink/qgroundcontrol/blob/master/qgcimages.qrc), following the pattern below:

@@ -39,16 +39,6 @@ git clone https://github.com/PX4/PX4-Autopilot.git --recursive
 make px4_sitl gz_x500
 ```

-:::details
-如果您安装的是 Gazebo Classic
-使用以下命令启动 [Gazebo SITL](../sim_gazebo_classic/index.md)：
-
-```sh
-make px4_sitl gazebo-classic
-```
-
-:::
-
 这将显示 PX4 控制台：

 ![PX4 控制台](../../assets/toolchain/console_gazebo.png)
@@ -89,6 +79,16 @@ cd PX4-Autopilot
 make px4_fmu-v5_default
 ```

+:::tip
+You can also build using the [px4-dev Docker container](../test_and_ci/docker.md) without installing the toolchain locally.
+From the PX4-Autopilot directory:
+
+```sh
+./Tools/docker_run.sh 'make px4_fmu-v5_default'
+```
+
+:::
+
 运行成功后将输出类似结果：

 ```sh
@@ -145,7 +145,8 @@ make px4_fmu-v5_default
 - [Pixhawk 1 (FMUv2)](../flight_controller/pixhawk.md): `make px4_fmu-v2_default`

  :::warning
-  您**必须**使用受支持的GCC版本来构建此开发板（例如与[CI/docker](../test_and_ci/docker.md)中使用的相同版本），否则需从构建中移除相关模块。 使用不受支持的GCC进行构建可能会失败，因为PX4接近板载1MB闪存的容量限制。
+  You **must** use a supported version of GCC to build this board (e.g. the `gcc-arm-none-eabi` package from the current Ubuntu LTS, which is the same toolchain used by CI) or remove modules from the build.
+  使用不受支持的GCC进行构建可能会失败，因为PX4接近板载1MB闪存的容量限制。

 :::

@@ -211,7 +212,7 @@ make distclean
 这对于`make px4_fmu-v2_default` 构建是常见的，它的 flash 大小被限制在 1MB。

 如果您正在构建_vanilla_master 分支，最可能的原因是使用不支持的 GCC版本。
-在这种情况下，安装[开发者工具链](../dev_setup/dev_env.md)说明中指定的版本。
+In this case, install the `gcc-arm-none-eabi` package from the current Ubuntu LTS as described in the [Developer Toolchain](../dev_setup/dev_env.md) instructions.

 如果在构建自己的分支，您可能已将固件大小增加到超过1MB的限制。
 在这种情况下，您需要从构建中删除您不需要的任何驱动程序/模块。
@@ -224,7 +225,7 @@ PX4构建系统打开大量文件，因此您可能会超出此数量。
 构建工具链为很多文件报 `Too many open files`，如下所示：

 ```sh
-/usr/local/Cellar/gcc-arm-none-eabi/20171218/bin/../lib/gcc/arm-none-eabi/7.2.1/../../../../arm-none-eabi/bin/ld: cannot find NuttX/nuttx/fs/libfs.a: Too many open files
+arm-none-eabi-ld: cannot find NuttX/nuttx/fs/libfs.a: Too many open files
 ```

 解决方案是增加允许打开文件的最大数量（例如增加到300）。
@@ -247,34 +248,9 @@ xcode-select --install
 sudo ln -s /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/* /usr/local/include/
 ```

-### Ubuntu 18.04：涉及arm_none_eabi_gcc的编译错误
-
-与 arm_none_eabi_gcc 相关的构建问题可能是由于损坏的g++工具链安装引起的。
-您可以通过检查缺少的依赖项来验证这一点：
-
-```sh
-arm-none-eabi-gcc --version
-arm-none-eabi-g++ --version
-arm-none-eabi-gdb --version
-arm-none-eabi-size --version
-```
-
-缺少依赖项的 bash 输出示例：
-
-```sh
-arm-none-eabi-gdb --version
-arm-none-eabi-gdb: command not found
-```
-
-这个问题可以通过删除和[重新安装编译器](https://askubuntu.com/questions/1243252/how-to-install-arm-none-eabi-gdb-on-ubuntu-20-04-lts-focal-fossa)来解决。
-
-### Ubuntu 18.04：Visual Studio Code 无法监视此大型工作区中的文件更改
-
-请参阅[Visual Studio 代码 IDE (VSCode) > 疑难解答](../dev_setup/vscode.md#troubleshooting)。
-
 ### 导入Python软件包失败

-在运行 `make px4_sitl jmavsim` 命令时，“导入失败”错误表示某些Python 软件包未安装(如预期般安装)。
+"Failed to import" errors when running the `make px4_sitl gz_x500` command indicates that some Python packages are not installed (where expected).

 ```sh
 Failed to import jinja2: No module named 'jinja2'
@@ -282,12 +258,12 @@ Failed to import jinja2: No module named 'jinja2'
    pip3 install --user jinja2
 ```

-如果您已经安装了这些依赖关系，这可能是因为计算机上存在多个 Python 版本（例如 Python 2.7.16 和 Python 3.8.3），并且该模块不存在于构建工具链使用的版本中。
+If you have already installed these dependencies this may be because there is more than one Python version on the computer (e.g. Python 2.7.16 and Python 3.8.3), and the module is not present in the version used by the build toolchain.

-您应该能够按照所示明确安装依赖项来解决此问题。
+You should be able to fix this by installing the dependencies from the repository's requirements file:

 ```sh
-pip3 install --user pyserial empty toml numpy pandas jinja2 pyyaml pyros-genmsg packaging
+pip3 install --user -r Tools/setup/requirements.txt
 ```

 ## PX4 创建生成目标
@@ -23,7 +23,7 @@ A Taranis RC and a mid-range Android tablet make a very inexpensive field kit.

  - Lenovo Thinkpad with i5-core running Windows 11
  - MacBook Pro (early 2015 and later) with macOS 10.15 or later
-  - Lenovo Thinkpad i5 with Ubuntu Linux 20.04 or later
+  - Lenovo Thinkpad i5 with Ubuntu Linux 22.04 or later

 - **Ground control station** (computer or tablet):
  - iPad (may require Wifi telemetry adapter)
@@ -2,7 +2,7 @@

 The _supported platforms_ for PX4 development are:

- [Ubuntu Linux (24.04/22.04)](../dev_setup/dev_env_linux_ubuntu.md) — Recommended
+- [Ubuntu Linux (24.04/22.04)](../dev_setup/dev_env_linux_ubuntu.md)
 - [Windows (10/11)](../dev_setup/dev_env_windows_wsl.md) — via WSL2
 - [macOS](../dev_setup/dev_env_mac.md)

@@ -15,9 +15,9 @@ The _supported platforms_ for PX4 development are:
 | **NuttX based hardware:** [Pixhawk Series](../flight_controller/pixhawk_series.md), [Crazyflie](../complete_vehicles_mc/crazyflie2.md) |    &check;    | &check; | &check; |
 | **Linux-based hardware:** [Raspberry Pi 2/3](../flight_controller/raspberry_pi_navio2.md)                                              |    &check;    |                             |                             |
 | **Simulation:** [Gazebo SITL](../sim_gazebo_gz/index.md)                                                                               |    &check;    | &check; | &check; |
-| **Simulation:** [Gazebo Classic SITL](../sim_gazebo_classic/index.md)                                                                  |    &check;    | &check; | &check; |
-| **Simulation:** [ROS with Gazebo Classic](../simulation/ros_interface.md)                                                              |    &check;    |                             | &check; |
 | **Simulation:** ROS 2 with Gazebo                                                                                                      |    &check;    |                             | &check; |
+| **Simulation:** [Gazebo Classic SITL](../sim_gazebo_classic/index.md)                                                                  |                                   | &check; | &check; |
+| **Simulation:** [ROS with Gazebo Classic](../simulation/ros_interface.md)                                                              |                                   |                             | &check; |

 Experienced Docker users can also build with the containers used by our continuous integration system: [Docker Containers](../test_and_ci/docker.md)

@@ -39,8 +39,9 @@ You may want to also install `python-pip` and `screen`.
 Execute the script below to install GCC 7-2017-q4:

 :::warning
-This version of GCC is out of date.
-At time of writing the current version on Ubuntu is `9-2020-q2-update` (see [focal nuttx docker file](https://github.com/PX4/PX4-containers/blob/master/docker/Dockerfile_nuttx-focal#L28))
+This version of GCC is very outdated.
+PX4 now uses the `gcc-arm-none-eabi` package from the current Ubuntu LTS (GCC 13.2.1 on Ubuntu 24.04).
+This CentOS guide is community-maintained and may not produce working builds.
 :::

 ```sh
@@ -4,21 +4,14 @@ The following instructions use a bash script to set up the PX4 development envir

 The environment includes:

- [Gazebo Simulator](../sim_gazebo_gz/index.md) ("Harmonic")
- [Build toolchain for Pixhawk (and other NuttX-based hardware)](../dev_setup/building_px4.md#nuttx-pixhawk-based-boards).
-
-On Ubuntu 22.04:
-
- [Gazebo Classic Simulator](../sim_gazebo_classic/index.md) can be used instead of Gazebo.
-  Gazebo is nearing feature-parity with Gazebo-Classic on PX4, and will soon replace it for all use cases.
+- [Gazebo Simulator](../sim_gazebo_gz/index.md) (Gazebo Harmonic)
+- [Build toolchain for Pixhawk (and other NuttX-based hardware)](../dev_setup/building_px4.md#nuttx-pixhawk-based-boards) using the `gcc-arm-none-eabi` compiler from the Ubuntu package manager.

 The build toolchain for other flight controllers, simulators, and working with ROS are discussed in the [Other Targets](#other-targets) section below.

-:::details
-Can I use an older version of Ubuntu?
-PX4 supports the current and last Ubuntu LTS release where possible.
-Older releases are not supported (so you can't raise defects against them), but may still work.
-For example, Gazebo Classic setup is included in our standard build instructions for macOS, Ubuntu 18.04 and 20.04, and Windows on WSL2 for the same hosts.
+:::info
+PX4 targets the **current Ubuntu LTS** (24.04) for CI and release builds, with the **previous LTS** (22.04) also supported.
+Older Ubuntu versions are not supported and may not work.
 :::

 ## Simulation and NuttX (Pixhawk) Targets
@@ -52,9 +45,7 @@ To install the toolchain:
   - 在安装过程中确认并通过所有的提示。
   - You can use the `--no-nuttx` and `--no-sim-tools` options to omit the NuttX and/or simulation tools.

-3. If you need Gazebo Classic (Ubuntu 22.04 only) then you can manually remove Gazebo and install it by following the instructions in [Gazebo Classic > Installation](../sim_gazebo_classic/index.md#installation).
-
-4. 完成后重新启动计算机。
+3. 完成后重新启动计算机。

 :::details
 Additional notes
@@ -63,10 +54,11 @@ These notes are provided "for information only":
 - This setup is supported by the PX4 Dev Team.
  The instructions may also work on other Debian Linux based systems.

- You can verify the NuttX installation by confirming the `gcc` version as shown:
+- You can verify the NuttX installation by confirming `gcc` is available.
+  The version depends on your Ubuntu release (e.g. GCC 13.2.1 on Ubuntu 24.04):

  ```sh
-  $arm-none-eabi-gcc --version
+  $ arm-none-eabi-gcc --version

  arm-none-eabi-gcc (15:13.2.rel1-2) 13.2.1 20231009
  Copyright (C) 2023 Free Software Foundation, Inc.
@@ -61,20 +61,20 @@ To install WSL2 with Ubuntu on a new installation of Windows 10 or 11:
     wsl --install
     ```

-   - Ubuntu 20.04 ([Gazebo-Classic Simulation](../sim_gazebo_classic/index.md))
-
-     ```sh
-     wsl --install -d Ubuntu-20.04
-     ```
-
   - Ubuntu 22.04 ([Gazebo Simulation](../sim_gazebo_gz/index.md))

     ```sh
     wsl --install -d Ubuntu-22.04
     ```

+   - Ubuntu 24.04 ([Gazebo Simulation](../sim_gazebo_gz/index.md))
+
+     ```sh
+     wsl --install -d Ubuntu-24.04
+     ```
+
   ::: info
-   You can also install[Ubuntu 20.04](https://www.microsoft.com/store/productId/9MTTCL66CPXJ) and [Ubuntu 22.04](https://www.microsoft.com/store/productId/9PN20MSR04DW) from the store, which allows you to delete the application using the normal Windows Add/Remove settings:
+   You can also [Ubuntu 24.04](https://www.microsoft.com/store/productId/9nz3klhxdjp5) or [Ubuntu 22.04](https://www.microsoft.com/store/productId/9PN20MSR04DW) from Microsoft Store, which allows you to delete the application using the normal Windows Add/Remove settings.

 :::

@@ -110,7 +110,7 @@ To open a WSL shell using a command prompt:
   ```

   ```sh
-   wsl -d Ubuntu-20.04
+   wsl -d Ubuntu-24.04
   ```

   If you only have one version of Ubuntu, you can just use `wsl`.
@@ -61,7 +61,6 @@ You must already have installed the command line [PX4 developer environment](../
 To build:

 1. Select your build target ("cmake build config"):
-
   - The current _cmake build target_ is shown on the blue _config_ bar at the bottom (if this is already your desired target, skip to next step).
     ![Select Cmake build target](../../assets/toolchain/vscode/cmake_build_config.jpg)

@@ -133,10 +132,10 @@ Once that is done you don't need to do anything else; the toolchain will automat

 This section includes guidance on setup and build errors.

-### Ubuntu 18.04: "Visual Studio Code is unable to watch for file changes in this large workspace"
+### "Visual Studio Code is unable to watch for file changes in this large workspace"

 This error surfaces on startup.
-On some systems, there is an upper-limit of 8192 file handles imposed on applications, which means that VSCode might not be able to detect file modifications in `/PX4-Autopilot`.
+On some systems, there is an upper-limit on file handles imposed on applications, which means that VSCode might not be able to detect file modifications in `/PX4-Autopilot`.

 You can increase this limit to avoid the error, at the expense of memory consumption.
 Follow the [instructions here](https://code.visualstudio.com/docs/setup/linux#_visual-studio-code-is-unable-to-watch-for-file-changes-in-this-large-workspace-error-enospc).
@@ -100,7 +100,6 @@ In order to use dual ZED-F9P GPS heading in PX4, follow these steps:
 3. Components should be visible on the left panel.
   Click on the first `_Component_<ID#>` that maps to the ZED-F9P DroneCAN node (below shown as _Component 124_).
 4. Click on the _GPS_ subsection and configure the parameters listed below:
-
   - `GPS_TYPE`: Either set to `17` for moving baseline _base_, or set to `18` to be the moving baseline _rover_.
     One F9P MUST be _rover_, and the other MUST be _base_.
   - `GPS_AUTO_CONFIG`: set to 1 for both the rover and base
@@ -39,12 +39,10 @@ Order this module from:
 - 10 Pin JST-SH Debug

 - Motor & Battery Connectors (with-connector version)
-
  - MR30 Connector Limit Per Motor: 30A Continuous, 40A Burst
  - Four MR30 Motor Connectors

 - Dimensions (with connectors)
-
  - Size: 77.00mm x 42.00mm x 9.43mm
  - Mounting Pattern: 30.5mm
  - Weight: 24g
@@ -26,7 +26,6 @@ AIRLink has two computers and integrated LTE Module:
 ## 产品规格

 - **Sensors**
-
  - 3x Accelerometers, 3x Gyroscopes, 3x Magnetometers, 3x Pressure sensorss
  - GNSS, Rangefinders, Lidars, Optical Flow, Cameras
  - 3x-redundant IMU
@@ -34,7 +33,6 @@ AIRLink has two computers and integrated LTE Module:
  - Temperature stabilization

 - **Flight Controller**
-
  - STM32F7, ARM Cortex M7 with FPU, 216 MHz, 2MB Flash, 512 kB RAM
  - STM32F1, I/O co-processor
  - Ethernet, 10/100 Mbps
@@ -51,7 +49,6 @@ AIRLink has two computers and integrated LTE Module:
  - Safety switch / LED option

 - **AI Mission Computer**
-
  - 6-Core CPU: Dual-Core Cortex-A72 + Quad-Core Cortex-A53
  - GPU Mali-T864, OpenGL ES1.1/2.0/3.0/3.1
  - VPU with 4K VP8/9, 4K 10bits H265/H264 60fps Decoding
@@ -65,7 +62,6 @@ AIRLink has two computers and integrated LTE Module:
  - 2x Video: 4-Lane MIPI CSI (FPV Camera) and 4-Lane MIPI CSI with HMDI Input (Payload Camera)

 - **LTE/5G Connectivity Module**
-
  - Up to 600 Mbps bandwidth
  - 5G sub-6 and mmWave, SA and NSA operations
  - 4G Cat 20, up to 7xCA, 256-QAM DL/UL, 2xCA UL
@@ -142,7 +138,6 @@ SmartAP AIRLink's Core edition is intended for medium to high volume production
 ![Left side](../../assets/flight_controller/airlink/airlink-interfaces-left.jpg)

 - **Left side interfaces:**
-
  - Power input with voltage & current monitoring
  - AI Mission Computer micro SD card
  - Flight Controller micro SD card
@@ -170,13 +165,13 @@ SmartAP AIRLink's Core edition is intended for medium to high volume production

 - **RC Connector - JST GH SM06B-GHS-TB**

-  | Pin number | Pin name                      | 方向  | Voltage               | 功能          |   |     |        |
-  | ---------- | ----------------------------- | --- | --------------------- | ----------- | - | --- | ------ |
-  | 1          | 5V                            | OUT | +5V                   | 5V output   |   |     |        |
-  | 2          | PPM_IN   | IN  | +3.3V | PPM 输入      |   |     |        |
-  | 3          | RSSI_IN  | IN  | +3.3V | RSSI 输入     |   |     |        |
-  | 4          | FAN_OUT  | OUT | +5V                   | Fan output  |   |     |        |
-  | 5          | SBUS_OUT | OUT | +3.3V | SBUS output | 6 | GND | Ground |
+  \| Pin number | Pin name | Direction | Voltage | Function    |
+  \| ---------- | -------- | --------- | ------- | ----------- | --- | --- | ------ |
+  \| 1          | 5V       | OUT       | +5V     | 5V output   |
+  \| 2          | PPM_IN   | IN        | +3.3V   | PPM input   |
+  \| 3          | RSSI_IN  | IN        | +3.3V   | RSSI input  |
+  \| 4          | FAN_OUT  | OUT       | +5V     | Fan output  |
+  \| 5          | SBUS_OUT | OUT       | +3.3V   | SBUS output | 6   | GND | Ground |

 * **FMU SD card - microSD**

@@ -185,7 +180,6 @@ SmartAP AIRLink's Core edition is intended for medium to high volume production
 ![Right side](../../assets/flight_controller/airlink/airlink-interfaces-right.jpg)

 - **Right side interfaces:**
-
  - Ethernet port with power output
  - Telemetry port
  - Second GPS port
@@ -251,7 +245,6 @@ SmartAP AIRLink's Core edition is intended for medium to high volume production
 ![Front side](../../assets/flight_controller/airlink/airlink-interfaces-front.jpg)

 - **Front side interfaces:**
-
  - Main GNSS and compass port
  - Main telemetry port
  - CSI camera input
@@ -309,7 +302,6 @@ SmartAP AIRLink's Core edition is intended for medium to high volume production
 ![Back side](../../assets/flight_controller/airlink/airlink-interfaces-back.jpg)

 - **Rear side interfaces:**
-
  - SBUS input
  - 16 PWM output channels
  - 2x LTE antenna sockets (MIMO)
@@ -25,6 +25,7 @@ The boards in this category are:
 - [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)
+- [Gear Up AirBrainH743](../flight_controller/gearup_airbrainh743.md)
 - [Holybro Kakute H7v2](../flight_controller/kakuteh7v2.md)
 - [Holybro Kakute H7mini](../flight_controller/kakuteh7mini.md)
 - [Holybro Kakute H7](../flight_controller/kakuteh7.md)
@@ -0,0 +1,96 @@
+# Gear Up AirBrainH743
+
+:::warning
+PX4 does not manufacture this (or any) autopilot.
+Contact the [manufacturer](https://takeyourgear.com/) for hardware support.
+:::
+
+:::info
+This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
+:::
+
+Purchase from [takeyourgear.com](https://takeyourgear.com/pages/products/airbrain).
+
+For more information and pinout, check the [GitHub documentation](https://github.com/GearUp-Company/AirBrainH743).
+
+## 主要特性
+
+- MCU: STM32H743 32-bit processor running at 480 MHz
+- IMU: ICM42688P
+- Barometer: DPS310
+- Magnetometer: LIS2MDL (internal)
+- 128MB NAND Flash for logging (W25N)
+- 7x UARTs
+- I2C, SPI
+- 9x PWM Outputs (8 Motor outputs, 1 LED strip)
+- Battery input voltage: 3S-10S
+- Battery voltage/current monitoring
+- 5V@2A and 10V@2.5A BEC outputs
+- USB Type-C (IP68)
+- EMC and ESD protection
+
+## Connectors and Pins
+
+:::warning
+The pin order is different from the Pixhawk standard (compatible to the Betaflight standard).
+:::
+
+### UARTs
+
+Current UART configuration:
+
+| UART   | 设备         | 功能                                      |
+| ------ | ---------- | --------------------------------------- |
+| USART1 | /dev/ttyS0 | Console/Debug                           |
+| USART2 | /dev/ttyS1 | RC Input                                |
+| USART3 | /dev/ttyS2 | TEL4 (DJI/MSP)       |
+| UART4  | /dev/ttyS3 | TEL1                                    |
+| UART5  | /dev/ttyS4 | TEL2                                    |
+| UART7  | /dev/ttyS5 | TEL3 (ESC Telemetry) |
+| UART8  | /dev/ttyS6 | GPS1                                    |
+
+### Motor/Servo Outputs
+
+| Connector | 针脚 | 功能                           |
+| --------- | -- | ---------------------------- |
+| ESC       | M1 | Motor 1                      |
+| ESC       | M2 | Motor 2                      |
+| ESC       | M3 | Motor 3                      |
+| ESC       | M4 | Motor 4                      |
+| PWM       | M5 | Motor 5                      |
+| PWM       | M6 | Motor 6                      |
+| PWM       | M7 | Motor 7                      |
+| PWM       | M8 | Motor 8                      |
+| AUX       | M9 | LED/PWM/etc. |
+
+<a id="bootloader"></a>
+
+## PX4 Bootloader Update
+
+Before PX4 firmware can be installed, the _PX4 bootloader_ must be flashed.
+Download the [gearup_airbrainh743_bootloader.bin](https://github.com/PX4/PX4-Autopilot/blob/main/boards/gearup/airbrainh743/extras/gearup_airbrainh743_bootloader.bin) bootloader binary and read [this page](../advanced_config/bootloader_update_from_betaflight.md) for flashing instructions.
+
+## 编译固件
+
+To [build PX4](../dev_setup/building_px4.md) for this target:
+
+```
+make gearup_airbrainh743_default
+```
+
+## Installing PX4 Firmware
+
+Firmware can be installed in any of the normal ways:
+
+- Build and upload the source:
+
+  ```
+  make gearup_airbrainh743_default upload
+  ```
+
+- [Load the firmware](../config/firmware.md) using _QGroundControl_.
+  You can use either pre-built firmware or your own custom firmware.
+
+### 系统控制台
+
+UART1 (ttyS0) is configured for use as the [System Console](../debug/system_console.md).
@@ -231,7 +231,7 @@ Ackermann rovers do not support the yaw setpoint.

    - Position setpoint **and** velocity setpoint (the velocity setpoint is used as feedforward; it is added to the output of the position controller and the result is used as the input to the velocity controller).

-  - PX4 supports the following `coordinate_frame` values (only): [MAV_FRAME_GLOBAL](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL).
+  - PX4 supports the following `coordinate_frame` values (only): [MAV_FRAME_GLOBAL_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_INT), [MAV_FRAME_GLOBAL_RELATIVE_ALT_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_RELATIVE_ALT_INT), [MAV_FRAME_GLOBAL_TERRAIN_ALT_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_TERRAIN_ALT_INT).

 - [SET_ATTITUDE_TARGET](https://mavlink.io/en/messages/common.html#SET_ATTITUDE_TARGET)
  - 支持以下输入组合：
@@ -278,7 +278,7 @@ Ackermann rovers do not support the yaw setpoint.
        - 12288：悬停设定值（以设定值为中心绕圈飞行）。
        - 16384：空闲设定值（油门为0， 横滚 / 俯仰为0）。

-  - PX4 supports the following `coordinate_frame` values (only): [MAV_FRAME_GLOBAL](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL).
+  - PX4 supports the following `coordinate_frame` values (only): [MAV_FRAME_GLOBAL_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_INT), [MAV_FRAME_GLOBAL_RELATIVE_ALT_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_RELATIVE_ALT_INT), [MAV_FRAME_GLOBAL_TERRAIN_ALT_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_TERRAIN_ALT_INT).

 - [SET_ATTITUDE_TARGET](https://mavlink.io/en/messages/common.html#SET_ATTITUDE_TARGET)
  - 支持以下输入组合：
@@ -287,7 +287,29 @@ Ackermann rovers do not support the yaw setpoint.

 ### 无人车

-Rover does not support a MAVLink offboard API (ROS2 is supported).
+Rover supports offboard control using the generic MAVLink position/velocity setpoint messages listed below.
+These are converted into a [TrajectorySetpoint](../msg_docs/TrajectorySetpoint.md) internally, and then into rover setpoints by the rover offboard modes.
+For rover-specific control setpoints and better behaviour we recommend using the [Rover Setpoints](#rover-setpoints) via ROS 2.
+
+:::info
+Rover MAVLink setpoints are gated by the MAVLink parameter [MAV_FWDEXTSP](../advanced_config/parameter_reference.md#MAV_FWDEXTSP) (Forward external setpoint messages).
+:::
+
+- [SET_POSITION_TARGET_LOCAL_NED](https://mavlink.io/en/messages/common.html#SET_POSITION_TARGET_LOCAL_NED)
+  - Position setpoint: `x`, `y` in [MAV_FRAME_LOCAL_NED](https://mavlink.io/en/messages/common.html#MAV_FRAME_LOCAL_NED) (`z` is ignored by rover modules).
+  - Velocity setpoint: `vx`, `vy` in [MAV_FRAME_LOCAL_NED](https://mavlink.io/en/messages/common.html#MAV_FRAME_LOCAL_NED) or [MAV_FRAME_BODY_NED](https://mavlink.io/en/messages/common.html#MAV_FRAME_BODY_NED).
+  - `yaw`/`yaw_rate`:
+    - Ackermann/Differential: ignored (in velocity control the yaw setpoint is derived from the velocity direction).
+    - Mecanum: can be controlled independently (decoupled) using `yaw`/`yaw_rate`.
+  - Acceleration setpoints (`afx`, `afy`, `afz`) are ignored by rover modules.
+
+- [SET_POSITION_TARGET_GLOBAL_INT](https://mavlink.io/en/messages/common.html#SET_POSITION_TARGET_GLOBAL_INT)
+  - Position setpoint: `lat_int`, `lon_int`, `alt` (converted into local NED internally; rover modules only use the horizontal components).
+  - Velocity setpoint: `vx`, `vy`, `vz` (rover modules use only the horizontal components).
+  - PX4 supports the following `coordinate_frame` values (only): [MAV_FRAME_GLOBAL_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_INT), [MAV_FRAME_GLOBAL_RELATIVE_ALT_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_RELATIVE_ALT_INT), [MAV_FRAME_GLOBAL_TERRAIN_ALT_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_TERRAIN_ALT_INT).
+
+- [SET_ATTITUDE_TARGET](https://mavlink.io/en/messages/common.html#SET_ATTITUDE_TARGET)
+  - Not supported for rover offboard control.

 ## Offboard参数

@@ -28,7 +28,6 @@ Missions are uploaded onto a SD card that needs to be inserted **before** bootin
 At high level all vehicle types behave in the same way when MISSION mode is engaged:

 1. If no mission is stored, or if PX4 has finished executing all mission commands, or if the [mission is not feasible](#mission-feasibility-checks):
-
   - If flying the vehicle will loiter.
   - If landed the vehicle will "wait".

@@ -115,7 +115,6 @@ The altitude control mode determine whether the vehicle altitude is relative to
  The relative distance to the drone to the target will change as you ascend and descend (use with care in hilly terrain).

 - `2D + Terrain` makes the drone follow at a fixed height relative to the terrain underneath it, using information from a distance sensor.
-
  - If the vehicle does not have a distance sensor following will be identical to `2D tracking`.
  - Distance sensors aren't always accurate and vehicles may be "jumpy" when flying in this mode.
  - Note that that height is relative to the ground underneath the vehicle, not the follow target.
@@ -30,7 +30,6 @@ Missions are uploaded onto a SD card that needs to be inserted **before** bootin
 At high level all vehicle types behave in the same way when MISSION mode is engaged:

 1. If no mission is stored, or if PX4 has finished executing all mission commands, or if the [mission is not feasible](#mission-feasibility-checks):
-
   - If flying the vehicle will hold.
   - If landed the vehicle will "wait".

@@ -49,7 +49,6 @@ If returning as a fixed-wing, the vehicle:
  A mission landing pattern for a VTOL vehicle consists of a [MAV_CMD_DO_LAND_START](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_LAND_START), one or more position waypoints, and a [MAV_CMD_NAV_VTOL_LAND](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_VTOL_LAND).

 - If the destination is a rally point or home it will:
-
  - Loiter/spiral down to [RTL_DESCEND_ALT](#RTL_DESCEND_ALT).
  - Circle for a short time, as defined by [RTL_LAND_DELAY](#RTL_LAND_DELAY).
  - Yaw towards the destination (centre of loiter).
@@ -30,7 +30,7 @@ The diagrams use the standard [PX4 notation](../contribute/notation.md) (and eac

  ::: info
  The IMU pipeline is:
-  gyro data > apply calibration parameters > remove estimated bias > notch filter (`IMU_GYRO_NF0_BW` and `IMU_GYRO_NF0_FRQ`) > low-pass filter (`IMU_GYRO_CUTOFF`) > vehicle_angular_velocity (_filtered angular rate used by the P and I controllers_) > derivative -> low-pass filter (`IMU_DGYRO_CUTOFF`) > vehicle_angular_acceleration (_filtered angular acceleration used by the D controller_)
+  gyro data > apply calibration parameters > remove estimated bias > notch filter (`IMU_GYRO_NF0_BW` and `IMU_GYRO_NF0_FRQ`) > low-pass filter (`IMU_GYRO_CUTOFF`) > vehicle_angular_velocity (\_filtered angular rate used by the P and I controllers_) > derivative -> low-pass filter (`IMU_DGYRO_CUTOFF`) > vehicle_angular_acceleration (\_filtered angular acceleration used by the D controller_)

  ![IMU pipeline](../../assets/diagrams/px4_imu_pipeline.png)

@@ -177,7 +177,7 @@ The angular position of the control effectors (ailerons, elevators, rudders, ...
 此外，由于控制面在高速时更有效，而在低速时效率较低，因此根据巡航速度调整的控制器使用空速测量值进行缩放（如果使用这样的传感器）。

 :::info
-If no airspeed sensor is used then gain scheduling for the FW attitude controller is  disabled (it's open loop); no correction is/can be made in TECS using airspeed feedback.
+If no airspeed sensor is used then gain scheduling for the FW attitude controller is disabled (it's open loop); no correction is/can be made in TECS using airspeed feedback.
 :::

 前馈增益用于补偿空气动力阻尼。
@@ -187,7 +187,7 @@ If no airspeed sensor is used then gain scheduling for the FW attitude controlle
 ### Turn coordination

 滚转和俯仰控制器具有相同的结构，并且假设纵向和横向动力学足够解耦，可以独立工作。
-但是，为了将飞机侧滑产生的侧向加速度最小化，偏航控制器利用转向协调约束产生偏航速率设定值。  The turn coordination algorithm is based solely on coordinated turn geometry calculation.
+但是，为了将飞机侧滑产生的侧向加速度最小化，偏航控制器利用转向协调约束产生偏航速率设定值。 The turn coordination algorithm is based solely on coordinated turn geometry calculation.

 $$\dot{\Psi}_{sp} = \frac{g}{V_T} \tan{\phi_{sp}} \cos{\theta_{sp}}$$

@@ -33,7 +33,6 @@ To create a package delivery mission (with a Gripper):
 1. Create a normal mission with a `Takeoff` mission item, and additional waypoints for your required flight path.

 2. Add a waypoint on the map for where you'd like to release the package.
-
   - To drop the package while flying set an appropriate altitude for the waypoint (and ensure the waypoint is at a safe location to drop the package).

   - If you'd like to land the vehicle to make the delivery you will need to change the `Waypoint` to a `Land` mission item.
@@ -7,6 +7,12 @@ Support for rover is [experimental](../airframes/index.md#experimental-vehicles)
 Maintainer volunteers, [contribution](../contribute/index.md) of new features, new frame configurations, or other improvements would all be very welcome!
 :::

+:::tip
+Rover is not in the default PX4 firmware downloaded from QGC.
+Unlike for other vehicle types you will need to install it as custom firmware.
+For more information see [Flashing the Rover Build](../config_rover/index.md#flashing-the-rover-build).
+:::
+
 ![Rovers](../../assets/airframes/rover/rovers.png)

 PX4 provides support for the three most common types of rovers:
@@ -20,7 +20,7 @@ It is possible to have a GPS lock (Green LED) and still not be able to arm the v
 :::

 :::tip
-In the event of an error (blinking red), or if the vehicle can't achieve GPS lock (change from blue to green),   check for more detailed status information in _QGroundControl_ including calibration status, and errors messages reported by the [Preflight Checks (Internal)](../flying/pre_flight_checks.md).
+In the event of an error (blinking red), or if the vehicle can't achieve GPS lock (change from blue to green), check for more detailed status information in _QGroundControl_ including calibration status, and errors messages reported by the [Preflight Checks (Internal)](../flying/pre_flight_checks.md).
 还要检查GPS模块是否正确连接，Pixhawk是否正确读取GPS信息，GPS是否发送正确的GPS位置。
 :::

@@ -47,7 +47,8 @@ In the event of an error (blinking red), or if the vehicle can't achieve GPS loc
  在故障保护模式时，飞行器将试图返回起飞位置，或者降落在当前位置。

 - **[Solid Amber] Low Battery Warning:** Indicates your vehicle's battery is running dangerously low.
-  在某一点之后，飞行器将进入故障保护模式。 但是，此模式警告此次飞行应该结束。
+  在某一点之后，飞行器将进入故障保护模式。 However, this mode should signal caution that it's time to end
+  this flight.

 - **[Blinking Red] Error / Setup Required:** Indicates that your autopilot needs to be configured or calibrated before flying.
  将飞行器连接到地面站以找出问题所在。
@@ -77,11 +78,11 @@ The LED labels shown above are commonly used, but might differ on some boards.

 下面给出了LED更详细的信息(“x”表示任意状态)

-| 红色/琥珀色 | 蓝色 | 绿色    | 含义                                                                                                                                                                                   |
-| ------ | -- | ----- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
-| 10Hz   | x  | x     | Overload CPU load > 80%, or RAM usage > 98%                                                                                                                                          |
-| 关闭     | x  | x     | Overload CPU load <= 80%, or RAM usage <= 98%                                                                                      |
-| 不可用    | 关闭 | 4 赫兹  | actuator_armed->armed && failsafe                                                                                       |
-| 不可用    | 打开 | 4 赫兹  | actuator_armed->armed && !failsafe                                                                                      |
-| 不可用    | 关闭 | 1 赫兹  | !actuator_armed-> armed && actuator_armed->ready_to_arm  |
-| 不可用    | 关闭 | 10 赫兹 | !actuator_armed->armed  && !actuator_armed->ready_to_arm |
+| 红色/琥珀色 | 蓝色 | 绿色    | 含义                                                                                                                                                                                  |
+| ------ | -- | ----- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| 10Hz   | x  | x     | Overload CPU load > 80%, or RAM usage > 98%                                                                                                                                         |
+| 关闭     | x  | x     | Overload CPU load <= 80%, or RAM usage <= 98%                                                                                     |
+| 不可用    | 关闭 | 4 赫兹  | actuator_armed->armed && failsafe                                                                                      |
+| 不可用    | 打开 | 4 赫兹  | actuator_armed->armed && !failsafe                                                                                     |
+| 不可用    | 关闭 | 1 赫兹  | !actuator_armed-> armed && actuator_armed->ready_to_arm |
+| 不可用    | 关闭 | 10 赫兹 | !actuator_armed->armed && !actuator_armed->ready_to_arm |
@@ -13,7 +13,7 @@ You can search for tune use using the string `TUNE_ID_name`(e.g. \`TUNE_ID_PARAC

 These tunes are played during the boot sequence.

-<!-- https://github.com/PX4/PX4-Autopilot/blob/main/ROMFS/px4fmu_common/init.d/rcS --> 
+<!-- https://github.com/PX4/PX4-Autopilot/blob/main/ROMFS/px4fmu_common/init.d/rcS -->

 #### 启动声音

@@ -152,7 +152,6 @@ The RTK GPS connection is essentially plug and play:
   ![survey-in](../../assets/qgc/setup/rtk/qgc_rtk_survey-in.png)

 4. 测量完成：
-
   - 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)
@@ -3,19 +3,11 @@ import { useData } from 'vitepress'
 const { site } = useData();
 </script>

-<div style="float:right; padding:10px; margin-right:20px;"><a href="https://px4.io/"><img src="../assets/site/logo_pro_small.png" title="PX4 Logo" width="180px" /></a></div>
-
 # PX4 自动驾驶仪用户指南

 [![Releases](https://img.shields.io/badge/release-main-blue.svg)](https://github.com/PX4/PX4-Autopilot/releases) [![Discuss](https://img.shields.io/badge/discuss-px4-ff69b4.svg)](https://discuss.px4.io//) [![Discord](https://discordapp.com/api/guilds/1022170275984457759/widget.png?style=shield)](https://discord.gg/dronecode)

-_PX4_ 是一款专业级飞控。
-它由来自业界和学术界的世界级开发商开发，并得到活跃的全球社区的支持，为从竞速和物流无人机到地面车辆和潜水艇的各种载具提供动力。
-
-:::tip
-这份指南包含组装、配置、安全使用 PX4 的设备的各种只是。
-对贡献感兴趣吗 查看 [Development](development/development.md) 部分。
-:::
+PX4 is an open-source autopilot for drones and autonomous vehicles. It runs on multirotors, fixed-wing, VTOL, helicopters, rovers, and more. This guide covers everything from assembly and configuration to flight operations and development.

 <div v-if="site.title == 'PX4 Guide (main)'">

@@ -29,83 +21,43 @@ _PX4_ 是一款专业级飞控。

 </div>

-## 如何开始？
+## For Developers

-所有用户都应该先阅读[基本概念](getting_started/px4_basic_concepts.md) ！
-它概述了PX4，包括由飞行堆栈提供的功能（飞行模式和安全特征）和支持的硬件（飞行控制器、载具类型、数传系统、遥控控制系统）。
+:::tip
+Building on PX4 or extending the platform? Start here: [Development Guide](development/development.md). Set up your [dev environment](dev_setup/config_initial.md), [build from source](dev_setup/building_px4.md), run [SITL simulation](simulation/index.md), or integrate via [ROS 2](ros2/index.md) and [MAVSDK](https://mavsdk.mavlink.io/).
+:::

-根据您想要实现的目标，以下提示将帮助您浏览本指南：
+## 入门指南

-### 我想要一个能与PX4配合使用的载具
+Start with [Basic Concepts](getting_started/px4_basic_concepts.md) for an overview of the flight stack, flight modes, safety features, and supported hardware.

-在 [多旋翼](frames_multicopter/index.md), [VTOL](frames_vtol/index.md), 和 [飞机(固定翼)](frames_plane/index.md)部分你会找到如下主题（这些链接针对多旋翼飞行器）：
+## Build a Vehicle

- [完整的载具](complete_vehicles_mc/index.md)列出了到手飞(RTF)的硬件
- [套件(frames_multicopter/kits.md) 列出了需要你利用一组预先选定的部件自行组装的无人机。
- [DIY 组装](frames_multicopter/diy_builds.md) 展示了一些使用单独采购的零部件组装而成的无人机示例。
+Pick your frame type: [Multicopter](frames_multicopter/index.md), [Fixed-Wing](frames_plane/index.md), [VTOL](frames_vtol/index.md), [Helicopter](frames_helicopter/index.md), or [Rover](frames_rover/index.md). Each section covers complete vehicles, kits, and DIY builds. For assembly instructions see [Assembling a Multicopter](assembly/assembly_mc.md) or the equivalent for your frame.

-无论是套件还是成品飞行器，通常都包含你所需的一切，除了电池和遥控系统。
-套装通常不难建造，可以很好地介绍无人机如何合在一起，而且费用相对较低。
-我们提供了一般的组装指示，例如[组装一个多旋翼机](assembly/assembly_mc.md)，大多数套装也附有具体的指示。
+## Configure and Tune

-如果套件和成品无人机不太符合你的需求，那么你可以从零开始打造一架飞行器，但这需要更多专业知识。
-[机身构建](airframes/index.md) 列出了受支持的机身起点，让你了解哪些方案是可行的。
+Once assembled, follow the configuration guide for your vehicle type (e.g. [Multicopter Configuration](config_mc/index.md)). This covers sensor calibration, flight mode setup, and tuning.

-一旦你拥有支持PX4的载具，你将需要配置它并校准传感器。
-每种飞行器类型都有其专属的配置章节，阐述主要步骤，比如[多旋翼飞行器配置 / 调校](config_mc/index.md))。
+## 硬件

-### 我想添加一个有效载荷/相机
+The [Hardware Selection & Setup](hardware/drone_parts.md) section covers flight controllers, sensors, telemetry, RC systems, and payloads. See [Payloads](payloads/index.md) for camera and delivery integrations.

-[有效载荷](payloads/index.md)部分描述了如何添加相机，以及如何配置 PX4 以实现交付包裹。
+## Fly

-### 我正在修改一个支持的载具
+Read [Operations](config/operations.md) to understand safety features and failsafe behavior before your first flight. Then see [Basic Flying (Multicopter)](flying/basic_flying_mc.md) or the equivalent for your frame type.

-[硬件选择和设置](hardware/drone_parts.md)部分提供了关于您可能使用 PX4 的硬件及其配置的高层次和特定产品信息。
-如果你想改装无人机并添加新组件，这里是你首先应该查看的地方。
+## 技术支持

-### 我想飞行
-
-在飞行之前，您应该阅读 [Operations](config/operations.md)来了解如何设置您的载具的安全性能和所有机型的常见特性。
-完成后，你可以准备飞行。
-
-每种飞行器类型的基本飞行说明在各自对应部分给出，例如[基本飞行（多旋翼飞行器）](flying/basic_flying_mc.md)。
-
-### 我想在一个新的飞行控制器上运行 PX4并扩展平台
-
-[开发](development/development.md)部分解释了如何支持新的机体和车辆类型，修改飞行算法添加新模式，整合新的硬件，与飞行控制器外的 PX4 进行沟通，并为PX4 作出贡献。
-
-## 获取帮助
-
-[支持](contribute/support.md)页解释了如何从核心开发团队和更广泛的社区获得帮助。
-
-除此以外，它还包括了：
-
- [您可以获得帮助的论坛](contribute/support.md#forums-and-chat)
- [诊断问题](contribute/support.md#diagnosing-problems)
- [如何报告bug](contribute/support.md#issue-bug-reporting)
- [每周开发会议](contribute/support.md#weekly-dev-call)
-
-## 报告错误和问题
-
-如果您在使用 PX4 首次发布时遇到任何问题，请在[支持论坛](contribute/support.md#forums-and-chat) 上(因为它们可能是由载具配置引起)。
-
-如果开发团队指示，代码问题可以在 [Github](https://github.com/PX4/PX4-Autopilot/issues) 上提出。
-尽可能提供 [飞行日志](getting_started/flight_reporting.md) 和问题模板中要求的其他信息。
+Get help on the [discussion forums](https://discuss.px4.io/) or [Discord](https://discord.gg/dronecode). See the [Support](contribute/support.md) page for diagnosing problems, reporting bugs, and joining the [weekly dev call](contribute/dev_call.md).

 ## 参与贡献

-如何贡献代码和文档的信息可以在 [贡献](contribute/index.md部分中找到：
-
- [代码](contribute/index.md)
- [Documentation](contribute/docs.md)
- [Translation](contribute/translation.md)
+See the [Contributing](contribute/index.md) section for code, [documentation](contribute/docs.md), and [translation](contribute/translation.md) guidelines.

 ## 翻译

-本指南有多种 [译文](contribute/translation.md)。
-您可以从语言菜单中访问到它们 （右上角）：
-
-![语言选择器](../assets/vuepress/language_selector.png)
+本指南有多种 [译文](contribute/translation.md)。 Use the language selector in the top navigation.

 <!--@include: _contributors.md-->

@@ -141,9 +93,9 @@ _Dronecode 日历_ 展示了面向平台用户和开发者的重要社区活动

 ## 治理

-PX4 飞行控制架构由[Dronecode Project](https://dronecode.org/)负责管理。
+The PX4 Autopilot project is hosted by the [Dronecode Foundation](https://www.dronecode.org/), a [Linux Foundation](https://www.linuxfoundation.org/) Collaborative Project. Dronecode holds all PX4 trademarks and serves as the project's legal guardian, ensuring vendor-neutral stewardship. No single company owns the name or controls the roadmap. The source code is licensed under the [BSD 3-Clause](https://opensource.org/license/BSD-3-Clause) license, so you are free to use, modify, and distribute it in your own projects.

-<a href="https://dronecode.org/" style="padding:20px" ><img src="../assets/site/logo_dronecode.png" alt="Dronecode Logo" width="110px"/></a> <a href="https://www.linuxfoundation.org/projects" style="padding:20px;"><img src="../assets/site/logo_linux_foundation.png" alt="Linux Foundation Logo" width="80px" /></a>
+<a href="https://www.dronecode.org/" style="padding:20px"><img src="../assets/site/dronecode_logo.svg" alt="Dronecode Logo" width="140px"/></a> <a href="https://www.linuxfoundation.org/projects" style="padding:20px;"><img src="../assets/site/logo_linux_foundation.png" alt="Linux Foundation Logo" width="80px" /></a>

 <div style="padding:10px">&nbsp;</div>

@@ -95,192 +95,200 @@ They are not build into the module, and hence are neither published or subscribe
 :::details
 See messages

- [BatteryInfo](../msg_docs/BatteryInfo.md)
- [TakeoffStatus](../msg_docs/TakeoffStatus.md)
- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md)
- [Airspeed](../msg_docs/Airspeed.md)
- [PpsCapture](../msg_docs/PpsCapture.md)
- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md)
- [CameraCapture](../msg_docs/CameraCapture.md)
- [Px4ioStatus](../msg_docs/Px4ioStatus.md)
- [FuelTankStatus](../msg_docs/FuelTankStatus.md)
- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md)
- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md)
- [AirspeedWind](../msg_docs/AirspeedWind.md)
- [OrbTest](../msg_docs/OrbTest.md)
- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md)
- [GpioOut](../msg_docs/GpioOut.md)
- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md)
- [Gripper](../msg_docs/Gripper.md)
- [VehicleAirData](../msg_docs/VehicleAirData.md)
- [TuneControl](../msg_docs/TuneControl.md)
- [DebugVect](../msg_docs/DebugVect.md)
- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md)
- [HomePositionV0](../msg_docs/HomePositionV0.md)
- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md)
- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md)
- [EstimatorBias](../msg_docs/EstimatorBias.md)
- [GpioConfig](../msg_docs/GpioConfig.md)
- [SystemPower](../msg_docs/SystemPower.md)
- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md)
- [MissionResult](../msg_docs/MissionResult.md)
- [PowerButtonState](../msg_docs/PowerButtonState.md)
- [EscStatus](../msg_docs/EscStatus.md)
- [HealthReport](../msg_docs/HealthReport.md)
- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md)
- [SensorGyro](../msg_docs/SensorGyro.md)
- [GpioRequest](../msg_docs/GpioRequest.md)
- [DebugKeyValue](../msg_docs/DebugKeyValue.md)
- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md)
- [ParameterUpdate](../msg_docs/ParameterUpdate.md)
- [SensorAirflow](../msg_docs/SensorAirflow.md)
- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md)
- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md)
- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md)
- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md)
- [ActionRequest](../msg_docs/ActionRequest.md)
- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md)
- [PwmInput](../msg_docs/PwmInput.md)
- [PowerMonitor](../msg_docs/PowerMonitor.md)
- [Mission](../msg_docs/Mission.md)
- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md)
- [FigureEightStatus](../msg_docs/FigureEightStatus.md)
- [RadioStatus](../msg_docs/RadioStatus.md)
- [VehicleRoi](../msg_docs/VehicleRoi.md)
- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md)
- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md)
- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md)
- [Rpm](../msg_docs/Rpm.md)
- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md)
- [Ping](../msg_docs/Ping.md)
- [QshellReq](../msg_docs/QshellReq.md)
- [SensorMag](../msg_docs/SensorMag.md)
- [EstimatorStates](../msg_docs/EstimatorStates.md)
- [SensorUwb](../msg_docs/SensorUwb.md)
- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md)
- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md)
- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md)
- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md)
- [SensorHygrometer](../msg_docs/SensorHygrometer.md)
- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md)
- [AdcReport](../msg_docs/AdcReport.md)
- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md)
- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md)
- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md)
- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md)
- [SensorCorrection](../msg_docs/SensorCorrection.md)
- [UlogStream](../msg_docs/UlogStream.md)
- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md)
- [GpsInjectData](../msg_docs/GpsInjectData.md)
- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md)
- [LoggerStatus](../msg_docs/LoggerStatus.md)
- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md)
- [SensorBaro](../msg_docs/SensorBaro.md)
- [OrbTestMedium](../msg_docs/OrbTestMedium.md)
- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md)
- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md)
- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md)
- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md)
- [UlogStreamAck](../msg_docs/UlogStreamAck.md)
- [DatamanRequest](../msg_docs/DatamanRequest.md)
- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md)
- [PositionSetpoint](../msg_docs/PositionSetpoint.md)
- [DatamanResponse](../msg_docs/DatamanResponse.md)
- [LedControl](../msg_docs/LedControl.md)
- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md)
- [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md)
- [Event](../msg_docs/Event.md)
- [ActuatorArmed](../msg_docs/ActuatorArmed.md)
 - [GpioIn](../msg_docs/GpioIn.md)
- [SensorGyroFft](../msg_docs/SensorGyroFft.md)
- [SensorAccel](../msg_docs/SensorAccel.md)
- [SensorsStatus](../msg_docs/SensorsStatus.md)
- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md)
- [GeneratorStatus](../msg_docs/GeneratorStatus.md)
- [DifferentialPressure](../msg_docs/DifferentialPressure.md)
- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md)
- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md)
- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md)
- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md)
- [RoverRateStatus](../msg_docs/RoverRateStatus.md)
- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md)
- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md)
- [VelocityLimits](../msg_docs/VelocityLimits.md)
- [MagWorkerData](../msg_docs/MagWorkerData.md)
- [Cpuload](../msg_docs/Cpuload.md)
- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md)
- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md)
- [MavlinkLog](../msg_docs/MavlinkLog.md)
- [SensorTemp](../msg_docs/SensorTemp.md)
- [LandingGearWheel](../msg_docs/LandingGearWheel.md)
- [OrbTestLarge](../msg_docs/OrbTestLarge.md)
- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md)
- [CellularStatus](../msg_docs/CellularStatus.md)
- [QshellRetval](../msg_docs/QshellRetval.md)
- [OrbitStatus](../msg_docs/OrbitStatus.md)
- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md)
- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md)
- [LogMessage](../msg_docs/LogMessage.md)
- [SatelliteInfo](../msg_docs/SatelliteInfo.md)
- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md)
- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md)
- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md)
- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md)
- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md)
- [EstimatorStatus](../msg_docs/EstimatorStatus.md)
- [NeuralControl](../msg_docs/NeuralControl.md)
- [TaskStackInfo](../msg_docs/TaskStackInfo.md)
- [RcParameterMap](../msg_docs/RcParameterMap.md)
- [SensorSelection](../msg_docs/SensorSelection.md)
- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md)
- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md)
- [ActuatorTest](../msg_docs/ActuatorTest.md)
- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md)
- [MountOrientation](../msg_docs/MountOrientation.md)
- [CameraStatus](../msg_docs/CameraStatus.md)
- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md)
- [FollowTarget](../msg_docs/FollowTarget.md)
- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md)
- [ButtonEvent](../msg_docs/ButtonEvent.md)
- [DebugArray](../msg_docs/DebugArray.md)
- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md)
- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md)
- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md)
- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md)
- [VehicleImu](../msg_docs/VehicleImu.md)
- [GpsDump](../msg_docs/GpsDump.md)
- [WheelEncoders](../msg_docs/WheelEncoders.md)
- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md)
- [DebugValue](../msg_docs/DebugValue.md)
+- [SystemPower](../msg_docs/SystemPower.md)
+- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md)
+- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md)
 - [LandingTargetPose](../msg_docs/LandingTargetPose.md)
- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md)
- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md)
- [RtlStatus](../msg_docs/RtlStatus.md)
- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md)
- [GimbalControls](../msg_docs/GimbalControls.md)
- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md)
- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md)
- [HeaterStatus](../msg_docs/HeaterStatus.md)
- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md)
- [RcChannels](../msg_docs/RcChannels.md)
- [TecsStatus](../msg_docs/TecsStatus.md)
- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md)
- [InputRc](../msg_docs/InputRc.md)
- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md)
- [GeofenceResult](../msg_docs/GeofenceResult.md)
- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md)
- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md)
- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md)
- [NavigatorStatus](../msg_docs/NavigatorStatus.md)
- [CameraTrigger](../msg_docs/CameraTrigger.md)
- [EscReport](../msg_docs/EscReport.md)
- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md)
- [GeofenceStatus](../msg_docs/GeofenceStatus.md)
- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md)
- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md)
- [EventV0](../msg_docs/EventV0.md)
- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md)
+- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md)
+- [EstimatorBias](../msg_docs/EstimatorBias.md)
+- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md)
+- [LogMessage](../msg_docs/LogMessage.md)
+- [PowerMonitor](../msg_docs/PowerMonitor.md)
 - [VehicleConstraints](../msg_docs/VehicleConstraints.md)
+- [SensorAirflow](../msg_docs/SensorAirflow.md)
+- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md)
+- [ActuatorArmed](../msg_docs/ActuatorArmed.md)
+- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md)
+- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md)
+- [DifferentialPressure](../msg_docs/DifferentialPressure.md)
+- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md)
+- [PwmInput](../msg_docs/PwmInput.md)
+- [OrbTestMedium](../msg_docs/OrbTestMedium.md)
+- [QshellReq](../msg_docs/QshellReq.md)
+- [GeofenceStatus](../msg_docs/GeofenceStatus.md)
+- [RcChannels](../msg_docs/RcChannels.md)
+- [Cpuload](../msg_docs/Cpuload.md)
+- [DebugArray](../msg_docs/DebugArray.md)
+- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md)
+- [Mission](../msg_docs/Mission.md)
+- [Airspeed](../msg_docs/Airspeed.md)
+- [LedControl](../msg_docs/LedControl.md)
+- [HealthReport](../msg_docs/HealthReport.md)
+- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md)
+- [FigureEightStatus](../msg_docs/FigureEightStatus.md)
+- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md)
+- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md)
+- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md)
+- [InputRc](../msg_docs/InputRc.md)
+- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md)
+- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md)
+- [SensorCorrection](../msg_docs/SensorCorrection.md)
+- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md)
+- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md)
+- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md)
+- [SensorSelection](../msg_docs/SensorSelection.md)
+- [DeviceInformation](../msg_docs/DeviceInformation.md)
+- [CameraTrigger](../msg_docs/CameraTrigger.md)
+- [SensorAccel](../msg_docs/SensorAccel.md)
+- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md)
+- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md)
+- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md)
+- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md)
+- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md)
+- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md)
+- [VehicleImu](../msg_docs/VehicleImu.md)
+- [MissionResult](../msg_docs/MissionResult.md)
+- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md)
+- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md)
+- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md)
+- [OrbTest](../msg_docs/OrbTest.md)
+- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md)
+- [FuelTankStatus](../msg_docs/FuelTankStatus.md)
+- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md)
+- [OrbitStatus](../msg_docs/OrbitStatus.md)
+- [Px4ioStatus](../msg_docs/Px4ioStatus.md)
+- [RtlStatus](../msg_docs/RtlStatus.md)
+- [ButtonEvent](../msg_docs/ButtonEvent.md)
+- [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md)
+- [DebugValue](../msg_docs/DebugValue.md)
+- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md)
+- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md)
+- [SensorHygrometer](../msg_docs/SensorHygrometer.md)
+- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md)
+- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md)
+- [GpioOut](../msg_docs/GpioOut.md)
+- [ActuatorTest](../msg_docs/ActuatorTest.md)
+- [SensorBaro](../msg_docs/SensorBaro.md)
+- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md)
+- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md)
+- [RoverRateStatus](../msg_docs/RoverRateStatus.md)
+- [TecsStatus](../msg_docs/TecsStatus.md)
+- [PpsCapture](../msg_docs/PpsCapture.md)
+- [RaptorStatus](../msg_docs/RaptorStatus.md)
+- [EventV0](../msg_docs/EventV0.md)
+- [GpioRequest](../msg_docs/GpioRequest.md)
+- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md)
+- [MagWorkerData](../msg_docs/MagWorkerData.md)
+- [FollowTarget](../msg_docs/FollowTarget.md)
+- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md)
+- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md)
+- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md)
+- [ActionRequest](../msg_docs/ActionRequest.md)
+- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md)
+- [GpsInjectData](../msg_docs/GpsInjectData.md)
+- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md)
+- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md)
+- [UlogStream](../msg_docs/UlogStream.md)
+- [DebugKeyValue](../msg_docs/DebugKeyValue.md)
+- [NavigatorStatus](../msg_docs/NavigatorStatus.md)
+- [MountOrientation](../msg_docs/MountOrientation.md)
+- [RcParameterMap](../msg_docs/RcParameterMap.md)
+- [AdcReport](../msg_docs/AdcReport.md)
+- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md)
+- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md)
+- [MavlinkLog](../msg_docs/MavlinkLog.md)
+- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md)
+- [GpioConfig](../msg_docs/GpioConfig.md)
+- [GainCompression](../msg_docs/GainCompression.md)
+- [DebugVect](../msg_docs/DebugVect.md)
+- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md)
+- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md)
+- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md)
+- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md)
+- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md)
+- [SensorUwb](../msg_docs/SensorUwb.md)
+- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md)
+- [VelocityLimits](../msg_docs/VelocityLimits.md)
+- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md)
+- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md)
+- [EscStatus](../msg_docs/EscStatus.md)
+- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md)
+- [HeaterStatus](../msg_docs/HeaterStatus.md)
+- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md)
+- [GeofenceResult](../msg_docs/GeofenceResult.md)
+- [PowerButtonState](../msg_docs/PowerButtonState.md)
+- [Rpm](../msg_docs/Rpm.md)
+- [WheelEncoders](../msg_docs/WheelEncoders.md)
+- [LoggerStatus](../msg_docs/LoggerStatus.md)
+- [CellularStatus](../msg_docs/CellularStatus.md)
+- [TuneControl](../msg_docs/TuneControl.md)
+- [ConfigOverridesV0](../msg_docs/ConfigOverridesV0.md)
+- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md)
+- [OrbTestLarge](../msg_docs/OrbTestLarge.md)
+- [BatteryInfo](../msg_docs/BatteryInfo.md)
+- [CameraStatus](../msg_docs/CameraStatus.md)
+- [QshellRetval](../msg_docs/QshellRetval.md)
+- [SensorMag](../msg_docs/SensorMag.md)
+- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md)
+- [TaskStackInfo](../msg_docs/TaskStackInfo.md)
+- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md)
+- [AirspeedWind](../msg_docs/AirspeedWind.md)
+- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md)
+- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md)
+- [GpsDump](../msg_docs/GpsDump.md)
+- [SensorTemp](../msg_docs/SensorTemp.md)
+- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md)
+- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md)
+- [SensorsStatus](../msg_docs/SensorsStatus.md)
+- [EstimatorStatus](../msg_docs/EstimatorStatus.md)
+- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md)
+- [VehicleAirData](../msg_docs/VehicleAirData.md)
+- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md)
+- [TakeoffStatus](../msg_docs/TakeoffStatus.md)
+- [GeneratorStatus](../msg_docs/GeneratorStatus.md)
+- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md)
+- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md)
+- [LandingGearWheel](../msg_docs/LandingGearWheel.md)
+- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md)
+- [RegisterExtComponentReplyV0](../msg_docs/RegisterExtComponentReplyV0.md)
+- [RaptorInput](../msg_docs/RaptorInput.md)
+- [SensorGyro](../msg_docs/SensorGyro.md)
+- [ParameterUpdate](../msg_docs/ParameterUpdate.md)
+- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md)
+- [PositionSetpoint](../msg_docs/PositionSetpoint.md)
+- [EstimatorStates](../msg_docs/EstimatorStates.md)
+- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md)
+- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md)
+- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md)
+- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md)
+- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md)
+- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md)
+- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md)
+- [HomePositionV0](../msg_docs/HomePositionV0.md)
+- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md)
+- [SatelliteInfo](../msg_docs/SatelliteInfo.md)
 - [IrlockReport](../msg_docs/IrlockReport.md)
+- [Ping](../msg_docs/Ping.md)
+- [CameraCapture](../msg_docs/CameraCapture.md)
+- [Vtx](../msg_docs/Vtx.md)
+- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md)
+- [RegisterExtComponentRequestV0](../msg_docs/RegisterExtComponentRequestV0.md)
+- [EscReport](../msg_docs/EscReport.md)
+- [Gripper](../msg_docs/Gripper.md)
+- [UlogStreamAck](../msg_docs/UlogStreamAck.md)
+- [SensorGyroFft](../msg_docs/SensorGyroFft.md)
+- [VehicleRoi](../msg_docs/VehicleRoi.md)
+- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md)
+- [NeuralControl](../msg_docs/NeuralControl.md)
+- [DatamanResponse](../msg_docs/DatamanResponse.md)
+- [GimbalControls](../msg_docs/GimbalControls.md)
+- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md)
+- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md)
+- [DatamanRequest](../msg_docs/DatamanRequest.md)
+- [Event](../msg_docs/Event.md)
+- [RadioStatus](../msg_docs/RadioStatus.md)
+- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md)
+- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md)

 :::
@@ -35,8 +35,8 @@ PX4-Autopilot contains a template for writing a new application (module) that ru

   ```cpp
   WorkItemExample::WorkItemExample() :
-       ModuleParams(nullptr),
-       ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::test1)
+      ModuleParams(nullptr),
+      ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::test1)
   {
   }
   ```
@@ -45,6 +45,26 @@ atxxxx <command> [arguments...]
   status        print status info
 ```

+## auterion_autostarter
+
+Source: [drivers/auterion_autostarter](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/auterion_autostarter)
+
+### 描述
+
+Driver for starting and auto-detecting different power monitors.
+
+### Usage {#auterion_autostarter_usage}
+
+```
+auterion_autostarter <command> [arguments...]
+ Commands:
+   start
+
+   stop
+
+   status        print status info
+```
+
 ## batmon

 Source: [drivers/smart_battery/batmon](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/smart_battery/batmon)
@@ -925,26 +945,6 @@ pca9685_pwm_out <command> [arguments...]
   status        print status info
 ```

-## pm_selector_auterion
-
-Source: [drivers/power_monitor/pm_selector_auterion](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/power_monitor/pm_selector_auterion)
-
-### 描述
-
-Driver for starting and auto-detecting different power monitors.
-
-### Usage {#pm_selector_auterion_usage}
-
-```
-pm_selector_auterion <command> [arguments...]
- Commands:
-   start
-
-   stop
-
-   status        print status info
-```
-
 ## pmw3901

 Source: [drivers/optical_flow/pmw3901](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/optical_flow/pmw3901)
@@ -1109,7 +1109,7 @@ px4io <command> [arguments...]

 ## rgbled

-Source: [drivers/lights/rgbled_ncp5623c](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/lights/rgbled_ncp5623c)
+Source: [drivers/lights/rgbled](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/lights/rgbled)

 ### Usage {#rgbled_usage}

@@ -1124,9 +1124,7 @@ rgbled <command> [arguments...]
     [-f <val>]  bus frequency in kHz
     [-q]        quiet startup (no message if no device found)
     [-a <val>]  I2C address
-                 default: 57
-     [-o <val>]  RGB PWM Assignment
-                 default: 123
+                 default: 85

   stop

@@ -1438,6 +1436,30 @@ tap_esc <command> [arguments...]
                 default: 4
 ```

+## tmp102
+
+Source: [drivers/temperature_sensor/tmp102](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/temperature_sensor/tmp102)
+
+### Usage {#tmp102_usage}
+
+```
+tmp102 <command> [arguments...]
+ Commands:
+   start
+     [-I]        Internal I2C bus(es)
+     [-X]        External I2C bus(es)
+     [-b <val>]  board-specific bus (default=all) (external SPI: n-th bus
+                 (default=1))
+     [-f <val>]  bus frequency in kHz
+     [-q]        quiet startup (no message if no device found)
+     [-a <val>]  I2C address
+                 default: 72
+
+   stop
+
+   status        print status info
+```
+
 ## tone_alarm

 Source: [drivers/tone_alarm](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/tone_alarm)
@@ -1627,6 +1649,76 @@ voxlpm [arguments...]
   status        print status info
 ```

+## vtx
+
+Source: [drivers/vtx](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/vtx)
+
+### 描述
+
+This module communicates with a VTX camera via serial port. It can be used to
+configure the camera settings and to control the camera's video transmission.
+Supported protocols are:
+
+- SmartAudio v1, v2.0, v2.1
+- Tramp
+
+### Usage {#vtx_usage}
+
+```
+vtx <command> [arguments...]
+ Commands:
+   start
+     -d <val>    VTX device
+                 values: <file:dev>
+
+   <int>         Sets an entry in the mapping table: <index> <aux channel>
+                 <band> <channel> <power level> <start range> <end range>
+
+   stop
+
+   status        print status info
+```
+
+## vtxtable
+
+Source: [drivers/vtxtable](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/vtxtable)
+
+### 描述
+
+Manages the VTX frequency, power level and RC mapping table for VTX configuration.
+
+### Usage {#vtxtable_usage}
+
+```
+vtxtable <command> [arguments...]
+ Commands:
+   status        Shows the current VTX table configuration.
+
+   name          Sets the VTX table name: <string>
+
+   bands         Sets the number of bands: <int>
+
+   band          Sets the band frequencies: <1-index> <name> <letter>
+                 <attribute> <frequencies...>
+
+   channels      Sets the number of channels: <int>
+
+   powerlevels   Sets number of power levels: <int>
+
+   powervalues   Sets the power level values: <int...>
+
+   powerlabels   Sets the power level labels: <3 chars...>
+
+   <int>         Sets an entry in the mapping table: <0-index> <aux channel>
+                 <band> <channel> <power level> <start range> <end range>
+
+   clear         Clears the VTX table configuration.
+
+   save          Saves the VTX config to a file: <file>
+
+   load          Loads the VTX config from a file: <file>
+```
+
 ## zenoh

 Source: [modules/zenoh](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/zenoh)
@@ -1,5 +1,36 @@
 # 模块参考: 模板

+## mc_raptor
+
+Source: [modules/mc_raptor](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mc_raptor)
+
+### 描述
+
+RAPTOR Policy Flight Mode
+
+### Usage {#mc_raptor_usage}
+
+```
+mc_raptor <command> [arguments...]
+ Commands:
+   start
+
+   intref        Modify internal reference
+     lissajous   Set Lissajous trajectory parameters
+     <A>         Amplitude X [m]
+     <B>         Amplitude Y [m]
+     <C>         Amplitude Z [m]
+     <fa>        Frequency a
+     <fb>        Frequency b
+     <fc>        Frequency c
+     <duration>  Total duration [s]
+     <ramp>      Ramp duration [s]
+
+   stop
+
+   status        print status info
+```
+
 ## 模块

 Source: [templates/template_module](https://github.com/PX4/PX4-Autopilot/tree/main/src/templates/template_module)
@@ -1,12 +1,57 @@
+---
+pageClass: is-wide-page
+---
+
 # ActionRequest (UORB message)

-Action request for the vehicle's main state
+Action request for the vehicle's main state.

 Message represents actions requested by a PX4 internal component towards the main state machine such as a request to arm or switch mode.
 It allows mapping triggers from various external interfaces like RC channels or MAVLink to cause an action.
 Request are published by `manual_control` and subscribed by the `commander` and `vtol_att_control` modules.

-[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActionRequest.msg)
+**TOPICS:** action_request
+
+## Fields
+
+| 参数名       | 类型       | Unit [Frame] | Range/Enum        | 描述                                                                                                                                                                                                               |
+| --------- | -------- | ---------------------------------------------------------------- | ----------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| timestamp | `uint64` | us                                                               |                   | Time since system start                                                                                                                                                                                          |
+| action    | `uint8`  |                                                                  | [ACTION](#ACTION) | Requested action                                                                                                                                                                                                 |
+| source    | `uint8`  |                                                                  | [SOURCE](#SOURCE) | Request trigger type, such as a switch, button or gesture                                                                                                                                                        |
+| mode      | `uint8`  |                                                                  |                   | Requested mode. Only applies when `action` is `ACTION_SWITCH_MODE`. Values for this field are defined by the `vehicle_status_s::NAVIGATION_STATE_*` enumeration. |
+
+## Enums
+
+### ACTION {#ACTION}
+
+| 参数名                                                                                                                                                                             | 类型      | 值 | 描述                                                                                       |
+| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | - | ---------------------------------------------------------------------------------------- |
+| <a href="#ACTION_DISARM"></a> ACTION_DISARM                                                                                                                | `uint8` | 0 | Disarm vehicle                                                                           |
+| <a href="#ACTION_ARM"></a> ACTION_ARM                                                                                                                      | `uint8` | 1 | Arm vehicle                                                                              |
+| <a href="#ACTION_TOGGLE_ARMING"></a> ACTION_TOGGLE_ARMING                                                                             | `uint8` | 2 | Toggle arming                                                                            |
+| <a href="#ACTION_UNKILL"></a> ACTION_UNKILL                                                                                                                | `uint8` | 3 | Revert a kill action                                                                     |
+| <a href="#ACTION_KILL"></a> ACTION_KILL                                                                                                                    | `uint8` | 4 | Kill vehicle (instantly stop the motors)                              |
+| <a href="#ACTION_SWITCH_MODE"></a> ACTION_SWITCH_MODE                                                                                 | `uint8` | 5 | Switch mode. The target mode is set in the `mode` field. |
+| <a href="#ACTION_VTOL_TRANSITION_TO_MULTICOPTER"></a> ACTION_VTOL_TRANSITION_TO_MULTICOPTER | `uint8` | 6 | Transition to hover flight                                                               |
+| <a href="#ACTION_VTOL_TRANSITION_TO_FIXEDWING"></a> ACTION_VTOL_TRANSITION_TO_FIXEDWING     | `uint8` | 7 | Transition to fast forward flight                                                        |
+| <a href="#ACTION_TERMINATION"></a> ACTION_TERMINATION                                                                                                      | `uint8` | 8 | Irreversibly output failsafe values on all outputs, trigger parachute                    |
+
+### SOURCE {#SOURCE}
+
+| 参数名                                                                                                                    | 类型      | 值 | 描述                                                              |
+| ---------------------------------------------------------------------------------------------------------------------- | ------- | - | --------------------------------------------------------------- |
+| <a href="#SOURCE_STICK_GESTURE"></a> SOURCE_STICK_GESTURE                    | `uint8` | 0 | Triggered by holding the sticks in a certain position           |
+| <a href="#SOURCE_RC_SWITCH"></a> SOURCE_RC_SWITCH                            | `uint8` | 1 | Triggered by an RC switch moving into a certain position        |
+| <a href="#SOURCE_RC_BUTTON"></a> SOURCE_RC_BUTTON                            | `uint8` | 2 | Triggered by a momentary button on the RC being pressed or held |
+| <a href="#SOURCE_RC_MODE_SLOT"></a> SOURCE_RC_MODE_SLOT | `uint8` | 3 | Mode change through the RC mode selection mechanism             |
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActionRequest.msg)
+
+:::details
+Click here to see original file

 ```c
 # Action request for the vehicle's main state
@@ -35,5 +80,6 @@ uint8 SOURCE_RC_BUTTON = 2      # Triggered by a momentary button on the RC bein
 uint8 SOURCE_RC_MODE_SLOT = 3   # Mode change through the RC mode selection mechanism

 uint8 mode  # Requested mode. Only applies when `action` is `ACTION_SWITCH_MODE`. Values for this field are defined by the `vehicle_status_s::NAVIGATION_STATE_*` enumeration.
-
 ```
+
+:::
@@ -1,6 +1,30 @@
+---
+pageClass: is-wide-page
+---
+
 # ActuatorArmed (UORB message)

-[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActuatorArmed.msg)
+**TOPICS:** actuator_armed
+
+## Fields
+
+| 参数名                                                                                    | 类型       | Unit [Frame] | Range/Enum | 描述                                                                                                 |
+| -------------------------------------------------------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | -------------------------------------------------------------------------------------------------- |
+| timestamp                                                                              | `uint64` |                                                                  |            | time since system start (microseconds)                                          |
+| armed                                                                                  | `bool`   |                                                                  |            | Set to true if system is armed                                                                     |
+| prearmed                                                                               | `bool`   |                                                                  |            | Set to true if the actuator safety is disabled but motors are not armed                            |
+| ready_to_arm                                 | `bool`   |                                                                  |            | Set to true if system is ready to be armed                                                         |
+| lockdown                                                                               | `bool`   |                                                                  |            | Set to true if actuators are forced to being disabled (due to emergency or HIL) |
+| kill                                                                                   | `bool`   |                                                                  |            | Set to true if manual throttle kill switch is engaged                                              |
+| termination                                                                            | `bool`   |                                                                  |            | Send out failsafe (by default same as disarmed) output                          |
+| in_esc_calibration_mode | `bool`   |                                                                  |            | IO/FMU should ignore messages from the actuator controls topics                                    |
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActuatorArmed.msg)
+
+:::details
+Click here to see original file

 ```c
 uint64 timestamp	# time since system start (microseconds)
@@ -12,5 +36,6 @@ bool lockdown		# Set to true if actuators are forced to being disabled (due to e
 bool kill               # Set to true if manual throttle kill switch is engaged
 bool termination        # Send out failsafe (by default same as disarmed) output
 bool in_esc_calibration_mode # IO/FMU should ignore messages from the actuator controls topics
-
 ```
+
+:::
@@ -1,6 +1,24 @@
+---
+pageClass: is-wide-page
+---
+
 # ActuatorControlsStatus (UORB message)

-[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActuatorControlsStatus.msg)
+**TOPICS:** actuator_controls_status_0 actuator_controls_status_1
+
+## Fields
+
+| 参数名                                | 类型           | Unit [Frame] | Range/Enum | 描述                                                        |
+| ---------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- |
+| timestamp                          | `uint64`     |                                                                  |            | time since system start (microseconds) |
+| control_power | `float32[3]` |                                                                  |            |                                                           |
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActuatorControlsStatus.msg)
+
+:::details
+Click here to see original file

 ```c
 uint64 timestamp			# time since system start (microseconds)
@@ -8,5 +26,6 @@ uint64 timestamp			# time since system start (microseconds)
 float32[3] control_power

 # TOPICS actuator_controls_status_0 actuator_controls_status_1
-
 ```
+
+:::
@@ -1,11 +1,39 @@
+---
+pageClass: is-wide-page
+---
+
 # ActuatorMotors (UORB message)

-Motor control message
+Motor control message.

 Normalised thrust setpoint for up to 12 motors.
 Published by the vehicle's allocation and consumed by the ESC protocol drivers e.g. PWM, DSHOT, UAVCAN.

-[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ActuatorMotors.msg)
+**TOPICS:** actuator_motors
+
+## Fields
+
+| 参数名                                   | 类型            | Unit [Frame] | Range/Enum                                                                   | 描述                                                                                                                                                                                                                                                                    |
+| ------------------------------------- | ------------- | ---------------------------------------------------------------- | ---------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| timestamp                             | `uint64`      | us                                                               |                                                                              | Time since system start                                                                                                                                                                                                                                               |
+| timestamp_sample | `uint64`      | us                                                               |                                                                              | Sampling timestamp of the data this control response is based on                                                                                                                                                                                                      |
+| reversible_flags | `uint16`      |                                                                  |                                                                              | Bitset indicating which motors are configured to be reversible                                                                                                                                                                                                        |
+| control                               | `float32[12]` |                                                                  | [-1 : 1] | Normalized thrust. where 1 means maximum positive thrust, -1 maximum negative (if not supported by the output, <0 maps to NaN). NaN maps to disarmed (stop the motors) |
+
+## Constants
+
+| 参数名                                                                                                         | 类型       | 值   | 描述 |
+| ----------------------------------------------------------------------------------------------------------- | -------- | --- | -- |
+| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION                                        | `uint32` | 0   |    |
+| <a href="#ACTUATOR_FUNCTION_MOTOR1"></a> ACTUATOR_FUNCTION_MOTOR1 | `uint8`  | 101 |    |
+| <a href="#NUM_CONTROLS"></a> NUM_CONTROLS                                              | `uint8`  | 12  |    |
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ActuatorMotors.msg)
+
+:::details
+Click here to see original file

 ```c
 # Motor control message
@@ -24,5 +52,6 @@ uint8 ACTUATOR_FUNCTION_MOTOR1 = 101 #

 uint8 NUM_CONTROLS = 12  #
 float32[12] control      # [@range -1, 1] Normalized thrust. where 1 means maximum positive thrust, -1 maximum negative (if not supported by the output, <0 maps to NaN). NaN maps to disarmed (stop the motors)
-
 ```
+
+:::
@@ -1,6 +1,32 @@
+---
+pageClass: is-wide-page
+---
+
 # ActuatorOutputs (UORB message)

-[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActuatorOutputs.msg)
+**TOPICS:** actuator_outputs actuator_outputs_sim actuator_outputs_debug
+
+## Fields
+
+| 参数名       | 类型            | Unit [Frame] | Range/Enum | 描述                                                        |
+| --------- | ------------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- |
+| timestamp | `uint64`      |                                                                  |            | time since system start (microseconds) |
+| noutputs  | `uint32`      |                                                                  |            | valid outputs                                             |
+| output    | `float32[16]` |                                                                  |            | output data, in natural output units                      |
+
+## Constants
+
+| 参数名                                                                                                                                   | 类型      | 值  | 描述                  |
+| ------------------------------------------------------------------------------------------------------------------------------------- | ------- | -- | ------------------- |
+| <a href="#NUM_ACTUATOR_OUTPUTS"></a> NUM_ACTUATOR_OUTPUTS                                   | `uint8` | 16 |                     |
+| <a href="#NUM_ACTUATOR_OUTPUT_GROUPS	"></a> NUM_ACTUATOR_OUTPUT_GROUPS | `uint8` | 4  | for sanity checking |
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActuatorOutputs.msg)
+
+:::details
+Click here to see original file

 ```c
 uint64 timestamp				# time since system start (microseconds)
@@ -11,5 +37,6 @@ float32[16] output				# output data, in natural output units

 # actuator_outputs_sim is used for SITL, HITL & SIH (with an output range of [-1, 1])
 # TOPICS actuator_outputs actuator_outputs_sim actuator_outputs_debug
-
 ```
+
+:::
@@ -1,11 +1,37 @@
+---
+pageClass: is-wide-page
+---
+
 # ActuatorServos (UORB message)

-Servo control message
+Servo control message.

 Normalised output setpoint for up to 8 servos.
 Published by the vehicle's allocation and consumed by the actuator output drivers.

-[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ActuatorServos.msg)
+**TOPICS:** actuator_servos
+
+## Fields
+
+| 参数名                                   | 类型           | Unit [Frame] | Range/Enum                                                                   | 描述                                                                                                                                                                                                                                                                     |
+| ------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| timestamp                             | `uint64`     | us                                                               |                                                                              | Time since system start                                                                                                                                                                                                                                                |
+| timestamp_sample | `uint64`     | us                                                               |                                                                              | Sampling timestamp of the data this control response is based on                                                                                                                                                                                                       |
+| control                               | `float32[8]` |                                                                  | [-1 : 1] | Normalized output. 1 means maximum positive position. -1 maximum negative position (if not supported by the output, <0 maps to NaN). NaN maps to disarmed. |
+
+## Constants
+
+| 参数名                                                                  | 类型       | 值 | 描述 |
+| -------------------------------------------------------------------- | -------- | - | -- |
+| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 |    |
+| <a href="#NUM_CONTROLS"></a> NUM_CONTROLS       | `uint8`  | 8 |    |
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ActuatorServos.msg)
+
+:::details
+Click here to see original file

 ```c
 # Servo control message
@@ -20,5 +46,6 @@ uint64 timestamp_sample  # [us] Sampling timestamp of the data this control resp

 uint8 NUM_CONTROLS = 8  #
 float32[8] control      # [-] [@range -1, 1] Normalized output. 1 means maximum positive position. -1 maximum negative position (if not supported by the output, <0 maps to NaN). NaN maps to disarmed.
-
 ```
+
+:::
@@ -1,8 +1,32 @@
+---
+pageClass: is-wide-page
+---
+
 # ActuatorServosTrim (UORB message)

-Servo trims, added as offset to servo outputs
+Servo trims, added as offset to servo outputs.

-[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActuatorServosTrim.msg)
+**TOPICS:** actuator_servostrim
+
+## Fields
+
+| 参数名       | 类型           | Unit [Frame] | Range/Enum | 描述                                                                                 |
+| --------- | ------------ | ---------------------------------------------------------------- | ---------- | ---------------------------------------------------------------------------------- |
+| timestamp | `uint64`     |                                                                  |            | time since system start (microseconds)                          |
+| trim      | `float32[8]` |                                                                  |            | range: [-1, 1] |
+
+## Constants
+
+| 参数名                                                            | 类型      | 值 | 描述 |
+| -------------------------------------------------------------- | ------- | - | -- |
+| <a href="#NUM_CONTROLS"></a> NUM_CONTROLS | `uint8` | 8 |    |
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActuatorServosTrim.msg)
+
+:::details
+Click here to see original file

 ```c
 # Servo trims, added as offset to servo outputs
@@ -10,5 +34,6 @@ uint64 timestamp			# time since system start (microseconds)

 uint8 NUM_CONTROLS = 8
 float32[8] trim    # range: [-1, 1]
-
 ```
+
+:::
@@ -1,6 +1,39 @@
+---
+pageClass: is-wide-page
+---
+
 # ActuatorTest (UORB message)

-[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActuatorTest.msg)
+**TOPICS:** actuator_test
+
+## Fields
+
+| 参数名                             | 类型        | Unit [Frame] | Range/Enum | 描述                                                                                                                         |
+| ------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | -------------------------------------------------------------------------------------------------------------------------- |
+| timestamp                       | `uint64`  |                                                                  |            | time since system start (microseconds)                                                                  |
+| action                          | `uint8`   |                                                                  |            | one of ACTION\_\*                                                                                    |
+| function                        | `uint16`  |                                                                  |            | actuator output function                                                                                                   |
+| value                           | `float32` |                                                                  |            | range: [-1, 1], where 1 means maximum positive output, |
+| timeout_ms | `uint32`  |                                                                  |            | timeout in ms after which to exit test mode (if 0, do not time out)                                     |
+
+## Constants
+
+| 参数名                                                                                                     | 类型      | 值   | 描述                                                                                                                   |
+| ------------------------------------------------------------------------------------------------------- | ------- | --- | -------------------------------------------------------------------------------------------------------------------- |
+| <a href="#ACTION_RELEASE_CONTROL"></a> ACTION_RELEASE_CONTROL | `uint8` | 0   | exit test mode for the given function                                                                                |
+| <a href="#ACTION_DO_CONTROL"></a> ACTION_DO_CONTROL           | `uint8` | 1   | enable actuator test mode                                                                                            |
+| <a href="#FUNCTION_MOTOR1"></a> FUNCTION_MOTOR1                                    | `uint8` | 101 |                                                                                                                      |
+| <a href="#MAX_NUM_MOTORS"></a> MAX_NUM_MOTORS                 | `uint8` | 12  |                                                                                                                      |
+| <a href="#FUNCTION_SERVO1"></a> FUNCTION_SERVO1                                    | `uint8` | 201 |                                                                                                                      |
+| <a href="#MAX_NUM_SERVOS"></a> MAX_NUM_SERVOS                 | `uint8` | 8   |                                                                                                                      |
+| <a href="#ORB_QUEUE_LENGTH"></a> ORB_QUEUE_LENGTH             | `uint8` | 16  | > = MAX_NUM_MOTORS to support code in esc_calibration |
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActuatorTest.msg)
+
+:::details
+Click here to see original file

 ```c
 uint64 timestamp				# time since system start (microseconds)
@@ -24,5 +57,6 @@ float32 value					# range: [-1, 1], where 1 means maximum positive output,
 uint32 timeout_ms				# timeout in ms after which to exit test mode (if 0, do not time out)

 uint8 ORB_QUEUE_LENGTH = 16                     # >= MAX_NUM_MOTORS to support code in esc_calibration
-
 ```
+
+:::
@@ -1,10 +1,32 @@
+---
+pageClass: is-wide-page
+---
+
 # AdcReport (UORB message)

 ADC raw data.

 Communicates raw data from an analog-to-digital converter (ADC) to other modules, such as battery status.

-[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/AdcReport.msg)
+**TOPICS:** adc_report
+
+## Fields
+
+| 参数名                             | 类型          | Unit [Frame] | Range/Enum | 描述                                                                                                   |
+| ------------------------------- | ----------- | ---------------------------------------------------------------- | ---------- | ---------------------------------------------------------------------------------------------------- |
+| timestamp                       | `uint64`    | us                                                               |            | Time since system start                                                                              |
+| device_id  | `uint32`    |                                                                  |            | unique device ID for the sensor that does not change between power cycles                            |
+| channel_id | `int16[16]` |                                                                  |            | ADC channel IDs, negative for non-existent, TODO: should be kept same as array index |
+| raw_data   | `int32[16]` |                                                                  |            | ADC channel raw value, accept negative value, valid if channel ID is positive                        |
+| resolution                      | `uint32`    |                                                                  |            | ADC channel resolution                                                                               |
+| v_ref      | `float32`   | V                                                                |            | ADC channel voltage reference, use to calculate LSB voltage(lsb=scale/resolution) |
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/AdcReport.msg)
+
+:::details
+Click here to see original file

 ```c
 # ADC raw data.
@@ -17,5 +39,6 @@ int16[16] channel_id  # [-] ADC channel IDs, negative for non-existent, TODO: sh
 int32[16] raw_data    # [-] ADC channel raw value, accept negative value, valid if channel ID is positive
 uint32 resolution     # [-] ADC channel resolution
 float32 v_ref         # [V] ADC channel voltage reference, use to calculate LSB voltage(lsb=scale/resolution)
-
 ```
+
+:::
@@ -1,11 +1,32 @@
+---
+pageClass: is-wide-page
+---
+
 # Airspeed (UORB message)

-Airspeed data from sensors
+Airspeed data from sensors.

 This is published by airspeed sensor drivers, CAN airspeed sensors, simulators.
 It is subscribed by the airspeed selector module, which validates the data from multiple sensors and passes on a single estimation to the EKF, controllers and telemetry providers.

-[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/Airspeed.msg)
+**TOPICS:** airspeed
+
+## Fields
+
+| 参数名                                                                                   | 类型        | Unit [Frame] | Range/Enum                                                                  | 描述                               |
+| ------------------------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | --------------------------------------------------------------------------- | -------------------------------- |
+| timestamp                                                                             | `uint64`  | us                                                               |                                                                             | Time since system start          |
+| timestamp_sample                                                 | `uint64`  | us                                                               |                                                                             | Timestamp of the raw data        |
+| indicated_airspeed_m_s | `float32` | 米/秒                                                              |                                                                             | Indicated airspeed               |
+| true_airspeed_m_s      | `float32` | 米/秒                                                              |                                                                             | True airspeed                    |
+| confidence                                                                            | `float32` |                                                                  | [0 : 1] | Confidence value for this sensor |
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/Airspeed.msg)
+
+:::details
+Click here to see original file

 ```c
 # Airspeed data from sensors
@@ -18,5 +39,6 @@ uint64 timestamp_sample          # [us] Timestamp of the raw data
 float32 indicated_airspeed_m_s   # [m/s] Indicated airspeed
 float32 true_airspeed_m_s        # [m/s] True airspeed
 float32 confidence               # [@range 0,1] Confidence value for this sensor
-
 ```
+
+:::
@@ -1,11 +1,56 @@
+---
+pageClass: is-wide-page
+---
+
 # AirspeedValidated (UORB message)

-Validated airspeed
+Validated airspeed.

 Provides information about airspeed (indicated, true, calibrated) and the source of the data.
 Used by controllers, estimators and for airspeed reporting to operator.

-[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/AirspeedValidated.msg)
+**TOPICS:** airspeed_validated
+
+## Fields
+
+| 参数名                                                                                                                                       | 类型        | Unit [Frame] | Range/Enum        | 描述                                                                                                                                                              |
+| ----------------------------------------------------------------------------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ----------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| timestamp                                                                                                                                 | `uint64`  | us                                                               |                   | Time since system start                                                                                                                                         |
+| indicated_airspeed_m_s                                                     | `float32` | 米/秒                                                              |                   | Indicated airspeed (IAS) (Invalid: NaN)                                                                   |
+| calibrated_airspeed_m_s                                                    | `float32` | 米/秒                                                              |                   | Calibrated airspeed (CAS) (Invalid: NaN)                                                                  |
+| true_airspeed_m_s                                                          | `float32` | 米/秒                                                              |                   | True airspeed (TAS) (Invalid: NaN)                                                                        |
+| airspeed_source                                                                                                      | `int8`    |                                                                  | [SOURCE](#SOURCE) | Source of currently published airspeed values                                                                                                                   |
+| calibrated_ground_minus_wind_m_s | `float32` | 米/秒                                                              |                   | CAS calculated from groundspeed - windspeed, where windspeed is estimated based on a zero-sideslip assumption (Invalid: NaN) |
+| calibraded_airspeed_synth_m_s                         | `float32` | 米/秒                                                              |                   | Synthetic airspeed (Invalid: NaN)                                                                                            |
+| airspeed_derivative_filtered                                                                    | `float32` | m/s^2                                                            |                   | Filtered indicated airspeed derivative                                                                                                                          |
+| throttle_filtered                                                                                                    | `float32` |                                                                  |                   | Filtered fixed-wing throttle                                                                                                                                    |
+| pitch_filtered                                                                                                       | `float32` | rad                                                              |                   | Filtered pitch                                                                                                                                                  |
+
+## Enums
+
+### SOURCE {#SOURCE}
+
+| 参数名                                                                                                                              | 类型     | 值  | 描述                      |
+| -------------------------------------------------------------------------------------------------------------------------------- | ------ | -- | ----------------------- |
+| <a href="#SOURCE_DISABLED"></a> SOURCE_DISABLED                                                             | `int8` | -1 | Disabled                |
+| <a href="#SOURCE_GROUND_MINUS_WIND"></a> SOURCE_GROUND_MINUS_WIND | `int8` | 0  | Ground speed minus wind |
+| <a href="#SOURCE_SENSOR_1"></a> SOURCE_SENSOR_1                                        | `int8` | 1  | Sensor 1                |
+| <a href="#SOURCE_SENSOR_2"></a> SOURCE_SENSOR_2                                        | `int8` | 2  | Sensor 2                |
+| <a href="#SOURCE_SENSOR_3"></a> SOURCE_SENSOR_3                                        | `int8` | 3  | Sensor 3                |
+| <a href="#SOURCE_SYNTHETIC"></a> SOURCE_SYNTHETIC                                                           | `int8` | 4  | Synthetic airspeed      |
+
+## Constants
+
+| 参数名                                                                  | 类型       | 值 | 描述 |
+| -------------------------------------------------------------------- | -------- | - | -- |
+| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 1 |    |
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/AirspeedValidated.msg)
+
+:::details
+Click here to see original file

 ```c
 # Validated airspeed
@@ -35,5 +80,6 @@ float32 calibraded_airspeed_synth_m_s     # [m/s] [@invalid NaN] Synthetic airsp
 float32 airspeed_derivative_filtered      # [m/s^2] Filtered indicated airspeed derivative
 float32 throttle_filtered                 # [-] Filtered fixed-wing throttle
 float32 pitch_filtered                    # [rad] Filtered pitch
-
 ```
+
+:::
@@ -1,6 +1,39 @@
+---
+pageClass: is-wide-page
+---
+
 # AirspeedValidatedV0 (UORB message)

-[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/AirspeedValidatedV0.msg)
+**TOPICS:** airspeed_validatedv0
+
+## Fields
+
+| 参数名                                                                                                                                       | 类型        | Unit [Frame] | Range/Enum | 描述                                                                                                                                   |
+| ----------------------------------------------------------------------------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------------------------------------ |
+| timestamp                                                                                                                                 | `uint64`  |                                                                  |            | time since system start (microseconds)                                                                            |
+| indicated_airspeed_m_s                                                     | `float32` |                                                                  |            | indicated airspeed in m/s (IAS), set to NAN if invalid                                                            |
+| calibrated_airspeed_m_s                                                    | `float32` |                                                                  |            | calibrated airspeed in m/s (CAS, accounts for instrumentation errors), set to NAN if invalid                      |
+| true_airspeed_m_s                                                          | `float32` |                                                                  |            | true filtered airspeed in m/s (TAS), set to NAN if invalid                                                        |
+| calibrated_ground_minus_wind_m_s | `float32` |                                                                  |            | CAS calculated from groundspeed - windspeed, where windspeed is estimated based on a zero-sideslip assumption, set to NAN if invalid |
+| true_ground_minus_wind_m_s       | `float32` |                                                                  |            | TAS calculated from groundspeed - windspeed, where windspeed is estimated based on a zero-sideslip assumption, set to NAN if invalid |
+| airspeed_sensor_measurement_valid                                          | `bool`    |                                                                  |            | True if data from at least one airspeed sensor is declared valid.                                                    |
+| selected_airspeed_index                                                                         | `int8`    |                                                                  |            | 1-3: airspeed sensor index, 0: groundspeed-windspeed, -1: airspeed invalid           |
+| airspeed_derivative_filtered                                                                    | `float32` |                                                                  |            | filtered indicated airspeed derivative [m/s/s]                                   |
+| throttle_filtered                                                                                                    | `float32` |                                                                  |            | filtered fixed-wing throttle [-]                                                 |
+| pitch_filtered                                                                                                       | `float32` |                                                                  |            | filtered pitch [rad]                                                             |
+
+## Constants
+
+| 参数名                                                                  | 类型       | 值 | 描述 |
+| -------------------------------------------------------------------- | -------- | - | -- |
+| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 |    |
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/AirspeedValidatedV0.msg)
+
+:::details
+Click here to see original file

 ```c
 uint32 MESSAGE_VERSION = 0
@@ -21,5 +54,6 @@ int8 selected_airspeed_index 			# 1-3: airspeed sensor index, 0: groundspeed-win
 float32 airspeed_derivative_filtered		# filtered indicated airspeed derivative [m/s/s]
 float32 throttle_filtered			# filtered fixed-wing throttle [-]
 float32 pitch_filtered				# filtered pitch [rad]
-
 ```
+
+:::
@@ -1,6 +1,10 @@
+---
+pageClass: is-wide-page
+---
+
 # AirspeedWind (UORB message)

-Wind estimate (from airspeed_selector)
+Wind estimate (from airspeed_selector).

 Contains wind estimation and airspeed innovation information estimated by the WindEstimator
 in the airspeed selector module.
@@ -8,7 +12,42 @@ in the airspeed selector module.
 This message is published by the airspeed selector for debugging purposes, and is not
 subscribed to by any other modules.

-[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/AirspeedWind.msg)
+**TOPICS:** airspeed_wind
+
+## Fields
+
+| 参数名                                                                              | 类型        | Unit [Frame] | Range/Enum | 描述                                                                                                                   |
+| -------------------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | -------------------------------------------------------------------------------------------------------------------- |
+| timestamp                                                                        | `uint64`  | us                                                               |            | Time since system start                                                                                              |
+| timestamp_sample                                            | `uint64`  | us                                                               |            | Timestamp of the raw data                                                                                            |
+| windspeed_north                                             | `float32` | 米/秒                                                              |            | Wind component in north / X direction                                                                                |
+| windspeed_east                                              | `float32` | 米/秒                                                              |            | Wind component in east / Y direction                                                                                 |
+| variance_north                                              | `float32` | (m/s)^2                                       |            | Wind estimate error variance in north / X direction (Invalid: 0 if not estimated) |
+| variance_east                                               | `float32` | (m/s)^2                                       |            | Wind estimate error variance in east / Y direction (Invalid: 0 if not estimated)  |
+| tas_innov                                                   | `float32` | 米/秒                                                              |            | True airspeed innovation                                                                                             |
+| tas_innov_var                          | `float32` | 米/秒                                                              |            | True airspeed innovation variance                                                                                    |
+| tas_scale_raw                          | `float32` |                                                                  |            | Estimated true airspeed scale factor (not validated)                                              |
+| tas_scale_raw_var | `float32` |                                                                  |            | True airspeed scale factor variance                                                                                  |
+| tas_scale_validated                    | `float32` |                                                                  |            | Estimated true airspeed scale factor after validation                                                                |
+| beta_innov                                                  | `float32` | rad                                                              |            | Sideslip measurement innovation                                                                                      |
+| beta_innov_var                         | `float32` | rad^2                                                            |            | Sideslip measurement innovation variance                                                                             |
+| source                                                                           | `uint8`   |                                                                  |            | source of wind estimate                                                                                              |
+
+## Constants
+
+| 参数名                                                                                                                    | 类型      | 值 | 描述                                                                                                    |
+| ---------------------------------------------------------------------------------------------------------------------- | ------- | - | ----------------------------------------------------------------------------------------------------- |
+| <a href="#SOURCE_AS_BETA_ONLY"></a> SOURCE_AS_BETA_ONLY | `uint8` | 0 | Wind estimate only based on synthetic sideslip fusion                                                 |
+| <a href="#SOURCE_AS_SENSOR_1"></a> SOURCE_AS_SENSOR_1   | `uint8` | 1 | Combined synthetic sideslip and airspeed fusion (data from first airspeed sensor)  |
+| <a href="#SOURCE_AS_SENSOR_2"></a> SOURCE_AS_SENSOR_2   | `uint8` | 2 | Combined synthetic sideslip and airspeed fusion (data from second airspeed sensor) |
+| <a href="#SOURCE_AS_SENSOR_3"></a> SOURCE_AS_SENSOR_3   | `uint8` | 3 | Combined synthetic sideslip and airspeed fusion (data from third airspeed sensor)  |
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/AirspeedWind.msg)
+
+:::details
+Click here to see original file

 ```c
 # Wind estimate (from airspeed_selector)
@@ -45,5 +84,6 @@ uint8 SOURCE_AS_BETA_ONLY = 0 # Wind estimate only based on synthetic sideslip f
 uint8 SOURCE_AS_SENSOR_1 = 1 # Combined synthetic sideslip and airspeed fusion (data from first airspeed sensor)
 uint8 SOURCE_AS_SENSOR_2 = 2 # Combined synthetic sideslip and airspeed fusion (data from second airspeed sensor)
 uint8 SOURCE_AS_SENSOR_3 = 3 # Combined synthetic sideslip and airspeed fusion (data from third airspeed sensor)
-
 ```
+
+:::
@@ -1,6 +1,10 @@
+---
+pageClass: is-wide-page
+---
+
 # ArmingCheckReply (UORB message)

-Arming check reply
+Arming check reply.

 This is a response to an ArmingCheckRequest message sent by the FMU to an external component, such as a ROS 2 navigation mode.
 The response contains the current set of external mode requirements, and a queue of events indicating recent failures to set the mode (which the FMU may then forward to a ground station).
@@ -9,7 +13,55 @@ The request is sent regularly to all registered ROS modes, even while armed, so
 Note that the external component is identified by its registration_id, which is allocated to the component during registration (arming_check_id in RegisterExtComponentReply).
 The message is not used by internal/FMU components, as their mode requirements are known at compile time.

-[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ArmingCheckReply.msg)
+**TOPICS:** arming_checkreply
+
+## Fields
+
+| 参数名                                                                                                                  | 类型         | Unit [Frame] | Range/Enum                                                                                  | 描述                                                                                                                                                                                     |
+| -------------------------------------------------------------------------------------------------------------------- | ---------- | ---------------------------------------------------------------- | ------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| timestamp                                                                                                            | `uint64`   | us                                                               |                                                                                             | Time since system start.                                                                                                                                               |
+| request_id                                                                                      | `uint8`    |                                                                  |                                                                                             | Id of ArmingCheckRequest for which this is a response                                                                                                                                  |
+| registration_id                                                                                 | `uint8`    |                                                                  |                                                                                             | Id of external component emitting this response                                                                                                                                        |
+| health_component_index                                                     | `uint8`    |                                                                  | [HEALTH_COMPONENT_INDEX](#HEALTH_COMPONENT_INDEX) |                                                                                                                                                                                        |
+| health_component_is_present                           | `bool`     |                                                                  |                                                                                             | Unused. Intended for use with health events interface (health_component_t in events.json) |
+| health_component_warning                                                   | `bool`     |                                                                  |                                                                                             | Unused. Intended for use with health events interface (health_component_t in events.json) |
+| health_component_error                                                     | `bool`     |                                                                  |                                                                                             | Unused. Intended for use with health events interface (health_component_t in events.json) |
+| can_arm_and_run                                       | `bool`     |                                                                  |                                                                                             | True if the component can arm. For navigation mode components, true if the component can arm in the mode or switch to the mode when already armed                      |
+| num_events                                                                                      | `uint8`    |                                                                  |                                                                                             | Number of queued failure messages (Event) in the events field                                                                                                       |
+| events                                                                                                               | `Event[5]` |                                                                  |                                                                                             | Arming failure reasons (Queue of events to report to GCS)                                                                                                           |
+| mode_req_angular_velocity                             | `bool`     |                                                                  |                                                                                             | Requires angular velocity estimate (e.g. from gyroscope)                                                                            |
+| mode_req_attitude                                                          | `bool`     |                                                                  |                                                                                             | Requires an attitude estimate                                                                                                                                                          |
+| mode_req_local_alt                                    | `bool`     |                                                                  |                                                                                             | Requires a local altitude estimate                                                                                                                                                     |
+| mode_req_local_position                               | `bool`     |                                                                  |                                                                                             | Requires a local position estimate                                                                                                                                                     |
+| mode_req_local_position_relaxed  | `bool`     |                                                                  |                                                                                             | Requires a more relaxed global position estimate                                                                                                                                       |
+| mode_req_global_position                              | `bool`     |                                                                  |                                                                                             | Requires a global position estimate                                                                                                                                                    |
+| mode_req_global_position_relaxed | `bool`     |                                                                  |                                                                                             | Requires a relaxed global position estimate                                                                                                                                            |
+| mode_req_mission                                                           | `bool`     |                                                                  |                                                                                             | Requires an uploaded mission                                                                                                                                                           |
+| mode_req_home_position                                | `bool`     |                                                                  |                                                                                             | Requires a home position (such as RTL/Return mode)                                                                                                                  |
+| mode_req_prevent_arming                               | `bool`     |                                                                  |                                                                                             | Prevent arming (such as in Land mode)                                                                                                                               |
+| mode_req_manual_control                               | `bool`     |                                                                  |                                                                                             | Requires a manual controller                                                                                                                                                           |
+
+## Enums
+
+### HEALTH_COMPONENT_INDEX {#HEALTH_COMPONENT_INDEX}
+
+| 参数名                                                                                                                                    | 类型      | 值 | 描述                                                        |
+| -------------------------------------------------------------------------------------------------------------------------------------- | ------- | - | --------------------------------------------------------- |
+| <a href="#HEALTH_COMPONENT_INDEX_NONE"></a> HEALTH_COMPONENT_INDEX_NONE | `uint8` | 0 | Index of health component for which this response applies |
+
+## Constants
+
+| 参数名                                                                                         | 类型       | 值 | 描述 |
+| ------------------------------------------------------------------------------------------- | -------- | - | -- |
+| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION                        | `uint32` | 1 |    |
+| <a href="#ORB_QUEUE_LENGTH"></a> ORB_QUEUE_LENGTH | `uint8`  | 4 |    |
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ArmingCheckReply.msg)
+
+:::details
+Click here to see original file

 ```c
 # Arming check reply
@@ -55,5 +107,6 @@ bool mode_req_prevent_arming           # Prevent arming (such as in Land mode)
 bool mode_req_manual_control           # Requires a manual controller

 uint8 ORB_QUEUE_LENGTH  = 4
-
 ```
+
+:::
@@ -1,6 +1,50 @@
+---
+pageClass: is-wide-page
+---
+
 # ArmingCheckReplyV0 (UORB message)

-[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/ArmingCheckReplyV0.msg)
+**TOPICS:** arming_checkreplyv0
+
+## Fields
+
+| 参数名                                                                                                                 | 类型           | Unit [Frame] | Range/Enum | 描述                                                                       |
+| ------------------------------------------------------------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------ |
+| timestamp                                                                                                           | `uint64`     |                                                                  |            | time since system start (microseconds)                |
+| request_id                                                                                     | `uint8`      |                                                                  |            |                                                                          |
+| registration_id                                                                                | `uint8`      |                                                                  |            |                                                                          |
+| health_component_index                                                    | `uint8`      |                                                                  |            | HEALTH_COMPONENT_INDEX_\*                           |
+| health_component_is_present                          | `bool`       |                                                                  |            |                                                                          |
+| health_component_warning                                                  | `bool`       |                                                                  |            |                                                                          |
+| health_component_error                                                    | `bool`       |                                                                  |            |                                                                          |
+| can_arm_and_run                                      | `bool`       |                                                                  |            | whether arming is possible, and if it's a navigation mode, if it can run |
+| num_events                                                                                     | `uint8`      |                                                                  |            |                                                                          |
+| events                                                                                                              | `EventV0[5]` |                                                                  |            |                                                                          |
+| mode_req_angular_velocity                            | `bool`       |                                                                  |            |                                                                          |
+| mode_req_attitude                                                         | `bool`       |                                                                  |            |                                                                          |
+| mode_req_local_alt                                   | `bool`       |                                                                  |            |                                                                          |
+| mode_req_local_position                              | `bool`       |                                                                  |            |                                                                          |
+| mode_req_local_position_relaxed | `bool`       |                                                                  |            |                                                                          |
+| mode_req_global_position                             | `bool`       |                                                                  |            |                                                                          |
+| mode_req_mission                                                          | `bool`       |                                                                  |            |                                                                          |
+| mode_req_home_position                               | `bool`       |                                                                  |            |                                                                          |
+| mode_req_prevent_arming                              | `bool`       |                                                                  |            |                                                                          |
+| mode_req_manual_control                              | `bool`       |                                                                  |            |                                                                          |
+
+## Constants
+
+| 参数名                                                                                                                                    | 类型       | 值 | 描述 |
+| -------------------------------------------------------------------------------------------------------------------------------------- | -------- | - | -- |
+| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION                                                                   | `uint32` | 0 |    |
+| <a href="#HEALTH_COMPONENT_INDEX_NONE"></a> HEALTH_COMPONENT_INDEX_NONE | `uint8`  | 0 |    |
+| <a href="#ORB_QUEUE_LENGTH"></a> ORB_QUEUE_LENGTH                                            | `uint8`  | 4 |    |
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/ArmingCheckReplyV0.msg)
+
+:::details
+Click here to see original file

 ```c
 uint32 MESSAGE_VERSION = 0
@@ -37,5 +81,6 @@ bool mode_req_manual_control


 uint8 ORB_QUEUE_LENGTH = 4
-
 ```
+
+:::
@@ -1,6 +1,10 @@
+---
+pageClass: is-wide-page
+---
+
 # ArmingCheckRequest (UORB message)

-Arming check request
+Arming check request.

 Broadcast message to request arming checks be reported by all registered components, such as external ROS 2 navigation modes.
 All registered components should respond with an ArmingCheckReply message that indicates their current mode requirements, and any arming failure information.
@@ -9,7 +13,28 @@ The request is sent regularly, even while armed, so that the FMU always knows th
 The reply will include the published request_id, allowing correlation of all arming check information for a particular request.
 The reply will also include the registration_id for each external component, provided to it during the registration process (RegisterExtComponentReply).

-[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ArmingCheckRequest.msg)
+**TOPICS:** arming_checkrequest
+
+## Fields
+
+| 参数名                                                                | 类型       | Unit [Frame] | Range/Enum | 描述                                                                                                                |
+| ------------------------------------------------------------------ | -------- | ---------------------------------------------------------------- | ---------- | ----------------------------------------------------------------------------------------------------------------- |
+| timestamp                                                          | `uint64` | us                                                               |            | Time since system start                                                                                           |
+| request_id                                    | `uint8`  |                                                                  |            | Id of this request. Allows correlation with associated ArmingCheckReply messages. |
+| valid_registrations_mask | `uint32` |                                                                  |            | Bitmask of valid registration ID's (the bit is also cleared if flagged as unresponsive)        |
+
+## Constants
+
+| 参数名                                                                  | 类型       | 值 | 描述 |
+| -------------------------------------------------------------------- | -------- | - | -- |
+| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 1 |    |
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ArmingCheckRequest.msg)
+
+:::details
+Click here to see original file

 ```c
 # Arming check request
@@ -28,5 +53,6 @@ uint64 timestamp  # [us] Time since system start
 uint8 request_id  # [-] Id of this request. Allows correlation with associated ArmingCheckReply messages.

 uint32 valid_registrations_mask # [-] Bitmask of valid registration ID's (the bit is also cleared if flagged as unresponsive)
-
 ```
+
+:::
@@ -1,3 +1,7 @@
+---
+pageClass: is-wide-page
+---
+
 # ArmingCheckRequestV0 (UORB message)

 Arming check request.
@@ -9,7 +13,27 @@ The request is sent regularly, even while armed, so that the FMU always knows th
 The reply will include the published request_id, allowing correlation of all arming check information for a particular request.
 The reply will also include the registration_id for each external component, provided to it during the registration process (RegisterExtComponentReply).

-[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/ArmingCheckRequestV0.msg)
+**TOPICS:** arming_checkrequestv0
+
+## Fields
+
+| 参数名                             | 类型       | Unit [Frame] | Range/Enum | 描述                                                                                                                |
+| ------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | ----------------------------------------------------------------------------------------------------------------- |
+| timestamp                       | `uint64` | us                                                               |            | Time since system start.                                                                          |
+| request_id | `uint8`  |                                                                  |            | Id of this request. Allows correlation with associated ArmingCheckReply messages. |
+
+## Constants
+
+| 参数名                                                                  | 类型       | 值 | 描述 |
+| -------------------------------------------------------------------- | -------- | - | -- |
+| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 |    |
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/ArmingCheckRequestV0.msg)
+
+:::details
+Click here to see original file

 ```c
 # Arming check request.
@@ -26,5 +50,6 @@ uint32 MESSAGE_VERSION = 0
 uint64 timestamp  # [us] Time since system start.

 uint8 request_id  # Id of this request. Allows correlation with associated ArmingCheckReply messages.
-
 ```
+
+:::
@@ -1,13 +1,68 @@
+---
+pageClass: is-wide-page
+---
+
 # AutotuneAttitudeControlStatus (UORB message)

-Autotune attitude control status
+Autotune attitude control status.

 This message is published by the fw_autotune_attitude_control and mc_autotune_attitude_control modules when the user engages autotune,
 and is subscribed to by the respective attitude controllers to command rate setpoints.

 The rate_sp field is consumed by the controllers, while the remaining fields (model coefficients, gains, filters, and autotune state) are used for logging and debugging.

-[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/AutotuneAttitudeControlStatus.msg)
+**TOPICS:** autotune_attitudecontrol_status
+
+## Fields
+
+| 参数名                            | 类型           | Unit [Frame] | Range/Enum      | 描述                                                                                                                   |
+| ------------------------------ | ------------ | ---------------------------------------------------------------- | --------------- | -------------------------------------------------------------------------------------------------------------------- |
+| timestamp                      | `uint64`     | us                                                               |                 | Time since system start                                                                                              |
+| coeff                          | `float32[5]` |                                                                  |                 | Coefficients of the identified discrete-time model                                                                   |
+| coeff_var | `float32[5]` |                                                                  |                 | Coefficients' variance of the identified discrete-time model                                                         |
+| fitness                        | `float32`    |                                                                  |                 | Fitness of the parameter estimate                                                                                    |
+| innov                          | `float32`    | rad/s                                                            |                 | Innovation (residual error between model and measured output)                                     |
+| dt_model  | `float32`    | s                                                                |                 | Model sample time used for identification                                                                            |
+| kc                             | `float32`    |                                                                  |                 | Proportional rate-loop gain (ideal form)                                                          |
+| ki                             | `float32`    |                                                                  |                 | Integral rate-loop gain (ideal form)                                                              |
+| kd                             | `float32`    |                                                                  |                 | Derivative rate-loop gain (ideal form)                                                            |
+| kff                            | `float32`    |                                                                  |                 | Feedforward rate-loop gain                                                                                           |
+| att_p     | `float32`    |                                                                  |                 | Proportional attitude gain                                                                                           |
+| rate_sp   | `float32[3]` | rad/s                                                            |                 | Rate setpoint commanded to the attitude controller.                                                  |
+| u_filt    | `float32`    |                                                                  |                 | Filtered input signal (normalized torque setpoint) used in system identification. |
+| y_filt    | `float32`    | rad/s                                                            |                 | Filtered output signal (angular velocity) used in system identification.          |
+| state                          | `uint8`      |                                                                  | [STATE](#STATE) | Current state of the autotune procedure.                                                             |
+
+## Enums
+
+### STATE {#STATE}
+
+| 参数名                                                                                                                                            | 类型      | 值  | 描述                                                                                          |
+| ---------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -- | ------------------------------------------------------------------------------------------- |
+| <a href="#STATE_IDLE"></a> STATE_IDLE                                                                                     | `uint8` | 0  | Idle (not running)                                                       |
+| <a href="#STATE_INIT"></a> STATE_INIT                                                                                     | `uint8` | 1  | Initialize filters and setup                                                                |
+| <a href="#STATE_ROLL_AMPLITUDE_DETECTION"></a> STATE_ROLL_AMPLITUDE_DETECTION   | `uint8` | 2  | FW only: determine required excitation amplitude (roll)  |
+| <a href="#STATE_ROLL"></a> STATE_ROLL                                                                                     | `uint8` | 3  | Roll-axis excitation and model identification                                               |
+| <a href="#STATE_ROLL_PAUSE"></a> STATE_ROLL_PAUSE                                                    | `uint8` | 4  | Pause to return to level flight                                                             |
+| <a href="#STATE_PITCH_AMPLITUDE_DETECTION"></a> STATE_PITCH_AMPLITUDE_DETECTION | `uint8` | 5  | FW only: determine required excitation amplitude (pitch) |
+| <a href="#STATE_PITCH"></a> STATE_PITCH                                                                                   | `uint8` | 6  | Pitch-axis excitation and model identification                                              |
+| <a href="#STATE_PITCH_PAUSE"></a> STATE_PITCH_PAUSE                                                  | `uint8` | 7  | Pause to return to level flight                                                             |
+| <a href="#STATE_YAW_AMPLITUDE_DETECTION"></a> STATE_YAW_AMPLITUDE_DETECTION     | `uint8` | 8  | FW only: determine required excitation amplitude (yaw)   |
+| <a href="#STATE_YAW"></a> STATE_YAW                                                                                       | `uint8` | 9  | Yaw-axis excitation and model identification                                                |
+| <a href="#STATE_YAW_PAUSE"></a> STATE_YAW_PAUSE                                                      | `uint8` | 10 | Pause to return to level flight                                                             |
+| <a href="#STATE_VERIFICATION"></a> STATE_VERIFICATION                                                                     | `uint8` | 11 | Verify model and candidate gains                                                            |
+| <a href="#STATE_APPLY"></a> STATE_APPLY                                                                                   | `uint8` | 12 | Apply gains                                                                                 |
+| <a href="#STATE_TEST"></a> STATE_TEST                                                                                     | `uint8` | 13 | Test gains in closed-loop                                                                   |
+| <a href="#STATE_COMPLETE"></a> STATE_COMPLETE                                                                             | `uint8` | 14 | Tuning completed successfully                                                               |
+| <a href="#STATE_FAIL"></a> STATE_FAIL                                                                                     | `uint8` | 15 | Tuning failed (model invalid or controller unstable)                     |
+| <a href="#STATE_WAIT_FOR_DISARM"></a> STATE_WAIT_FOR_DISARM                     | `uint8` | 16 | Waiting for disarm before finalizing                                                        |
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/AutotuneAttitudeControlStatus.msg)
+
+:::details
+Click here to see original file

 ```c
 # Autotune attitude control status
@@ -55,5 +110,6 @@ uint8 STATE_TEST = 13                     # Test gains in closed-loop
 uint8 STATE_COMPLETE = 14                 # Tuning completed successfully
 uint8 STATE_FAIL = 15                     # Tuning failed (model invalid or controller unstable)
 uint8 STATE_WAIT_FOR_DISARM = 16          # Waiting for disarm before finalizing
-
 ```
+
+:::
@@ -1,11 +1,30 @@
+---
+pageClass: is-wide-page
+---
+
 # BatteryInfo (UORB message)

-Battery information
+Battery information.

 Static or near-invariant battery information.
 Should be streamed at low rate.

-[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/BatteryInfo.msg)
+**TOPICS:** battery_info
+
+## Fields
+
+| 参数名                                | 类型         | Unit [Frame] | Range/Enum | 描述                                                                                                                            |
+| ---------------------------------- | ---------- | ---------------------------------------------------------------- | ---------- | ----------------------------------------------------------------------------------------------------------------------------- |
+| timestamp                          | `uint64`   | us                                                               |            | Time since system start                                                                                                       |
+| id                                 | `uint8`    |                                                                  |            | Must match the id in the battery_status message for the same battery                                     |
+| serial_number | `char[32]` |                                                                  |            | Serial number of the battery pack in ASCII characters, 0 terminated (Invalid: 0 All bytes) |
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/BatteryInfo.msg)
+
+:::details
+Click here to see original file

 ```c
 # Battery information
@@ -17,5 +36,6 @@ uint64 timestamp # [us] Time since system start

 uint8 id # Must match the id in the battery_status message for the same battery
 char[32] serial_number # [@invalid 0 All bytes] Serial number of the battery pack in ASCII characters, 0 terminated
-
 ```
+
+:::
@@ -1,12 +1,117 @@
+---
+pageClass: is-wide-page
+---
+
 # BatteryStatus (UORB message)

-Battery status
+Battery status.

 Battery status information for up to 3 battery instances.
 These are populated from power module and smart battery device drivers, and one battery updated from MAVLink.
 Battery instance information is also logged and streamed in MAVLink telemetry.

-[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/BatteryStatus.msg)
+**TOPICS:** battery_status
+
+## Fields
+
+| 参数名                                                                                    | 类型            | Unit [Frame] | Range/Enum                                                                    | 描述                                                                                                                                                             |
+| -------------------------------------------------------------------------------------- | ------------- | ---------------------------------------------------------------- | ----------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| timestamp                                                                              | `uint64`      | us                                                               |                                                                               | Time since system start                                                                                                                                        |
+| connected                                                                              | `bool`        |                                                                  |                                                                               | Whether or not a battery is connected. For power modules this is based on a voltage threshold.                                 |
+| voltage_v                                                         | `float32`     | V                                                                |                                                                               | Battery voltage (Invalid: 0)                                                                                                |
+| current_a                                                         | `float32`     | A                                                                |                                                                               | Battery current (Invalid: -1)                                                                                               |
+| current_average_a                            | `float32`     | A                                                                |                                                                               | Battery current average (for FW average in level flight) (Invalid: -1)                                   |
+| discharged_mah                                                    | `float32`     | mAh                                                              |                                                                               | Discharged amount (Invalid: -1)                                                                                             |
+| remaining                                                                              | `float32`     |                                                                  | [0 : 1]   | Remaining capacity (Invalid: -1)                                                                                            |
+| scale                                                                                  | `float32`     |                                                                  | [1 : -]   | Scaling factor to compensate for lower actuation power caused by voltage sag (Invalid: -1)                                  |
+| time_remaining_s                             | `float32`     | s                                                                |                                                                               | Predicted time remaining until battery is empty under previous averaged load (Invalid: NaN)                                 |
+| temperature                                                                            | `float32`     | °C                                                               |                                                                               | Temperature of the battery (Invalid: NaN)                                                                                   |
+| cell_count                                                        | `uint8`       |                                                                  |                                                                               | Number of cells (Invalid: 0)                                                                                                |
+| source                                                                                 | `uint8`       |                                                                  | [SOURCE](#SOURCE)                                                             | Battery source                                                                                                                                                 |
+| priority                                                                               | `uint8`       |                                                                  |                                                                               | Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1                                              |
+| capacity                                                                               | `uint16`      | mAh                                                              |                                                                               | Capacity of the battery when fully charged                                                                                                                     |
+| cycle_count                                                       | `uint16`      |                                                                  |                                                                               | Number of discharge cycles the battery has experienced                                                                                                         |
+| average_time_to_empty   | `uint16`      | minutes                                                          |                                                                               | Predicted remaining battery capacity based on the average rate of discharge                                                                                    |
+| manufacture_date                                                  | `uint16`      |                                                                  |                                                                               | Manufacture date, part of serial number of the battery pack. Formatted as: Day + Month×32 + (Year–1980)×512 |
+| state_of_health                              | `uint16`      | %                                                                | [0 : 100] | State of health. FullChargeCapacity/DesignCapacity                                                                                             |
+| max_error                                                         | `uint16`      | %                                                                | [1 : 100] | Max error, expected margin of error in the state-of-charge calculation                                                                                         |
+| id                                                                                     | `uint8`       |                                                                  |                                                                               | ID number of a battery. Should be unique and consistent for the lifetime of a vehicle. 1-indexed                               |
+| interface_error                                                   | `uint16`      |                                                                  |                                                                               | Interface error counter                                                                                                                                        |
+| voltage_cell_v                               | `float32[14]` | V                                                                |                                                                               | Battery individual cell voltages (Invalid: 0)                                                                               |
+| max_cell_voltage_delta  | `float32`     | V                                                                |                                                                               | Max difference between individual cell voltages                                                                                                                |
+| is_powering_off                              | `bool`        |                                                                  |                                                                               | Power off event imminent indication, false if unknown                                                                                                          |
+| is_required                                                       | `bool`        |                                                                  |                                                                               | Set if the battery is explicitly required before arming                                                                                                        |
+| warning                                                                                | `uint8`       |                                                                  | [WARNING](#WARNING)[STATE](#STATE)                                            | Current battery warning                                                                                                                                        |
+| faults                                                                                 | `uint16`      |                                                                  | [FAULT](#FAULT)                                                               | Smart battery supply status/fault flags (bitmask) for health indication                                                                     |
+| full_charge_capacity_wh | `float32`     | Wh                                                               |                                                                               | Compensated battery capacity                                                                                                                                   |
+| remaining_capacity_wh                        | `float32`     | Wh                                                               |                                                                               | Compensated battery capacity remaining                                                                                                                         |
+| over_discharge_count                         | `uint16`      |                                                                  |                                                                               | Number of battery overdischarge                                                                                                                                |
+| nominal_voltage                                                   | `float32`     | V                                                                |                                                                               | Nominal voltage of the battery pack                                                                                                                            |
+| internal_resistance_estimate                 | `float32`     | Ohm                                                              |                                                                               | Internal resistance per cell estimate                                                                                                                          |
+| ocv_estimate                                                      | `float32`     | V                                                                |                                                                               | Open circuit voltage estimate                                                                                                                                  |
+| ocv_estimate_filtered                        | `float32`     | V                                                                |                                                                               | Filtered open circuit voltage estimate                                                                                                                         |
+| volt_based_soc_estimate | `float32`     |                                                                  | [0 : 1]   | Normalized volt based state of charge estimate                                                                                                                 |
+| voltage_prediction                                                | `float32`     | V                                                                |                                                                               | Predicted voltage                                                                                                                                              |
+| prediction_error                                                  | `float32`     | V                                                                |                                                                               | Prediction error                                                                                                                                               |
+| estimation_covariance_norm                   | `float32`     |                                                                  |                                                                               | Norm of the covariance matrix                                                                                                                                  |
+
+## Enums
+
+### SOURCE {#SOURCE}
+
+| 参数名                                                                                               | 类型      | 值 | 描述                                                                |
+| ------------------------------------------------------------------------------------------------- | ------- | - | ----------------------------------------------------------------- |
+| <a href="#SOURCE_POWER_MODULE"></a> SOURCE_POWER_MODULE | `uint8` | 0 | Power module (analog ADC or I2C power monitor) |
+| <a href="#SOURCE_EXTERNAL"></a> SOURCE_EXTERNAL                              | `uint8` | 1 | External (MAVLink, CAN, or external driver)    |
+| <a href="#SOURCE_ESCS"></a> SOURCE_ESCS                                      | `uint8` | 2 | ESCs (via ESC telemetry)                       |
+
+### WARNING {#WARNING}
+
+| 参数名                                                                      | 类型      | 值 | 描述                                           |
+| ------------------------------------------------------------------------ | ------- | - | -------------------------------------------- |
+| <a href="#WARNING_NONE"></a> WARNING_NONE           | `uint8` | 0 | No battery low voltage warning active        |
+| <a href="#WARNING_LOW"></a> WARNING_LOW             | `uint8` | 1 | Low voltage warning                          |
+| <a href="#WARNING_CRITICAL"></a> WARNING_CRITICAL   | `uint8` | 2 | Critical voltage, return / abort immediately |
+| <a href="#WARNING_EMERGENCY"></a> WARNING_EMERGENCY | `uint8` | 3 | Immediate landing required                   |
+| <a href="#WARNING_FAILED"></a> WARNING_FAILED       | `uint8` | 4 | Battery has failed completely                |
+
+### STATE {#STATE}
+
+| 参数名                                                                  | 类型      | 值 | 描述                                                                                                                                                                                   |
+| -------------------------------------------------------------------- | ------- | - | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
+| <a href="#STATE_UNHEALTHY"></a> STATE_UNHEALTHY | `uint8` | 6 | Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in faults field |
+| <a href="#STATE_CHARGING"></a> STATE_CHARGING   | `uint8` | 7 | Battery is charging                                                                                                                                                                  |
+
+### FAULT {#FAULT}
+
+| 参数名                                                                                                                    | 类型      | 值  | 描述                                                                                                                                |
+| ---------------------------------------------------------------------------------------------------------------------- | ------- | -- | --------------------------------------------------------------------------------------------------------------------------------- |
+| <a href="#FAULT_DEEP_DISCHARGE"></a> FAULT_DEEP_DISCHARGE                    | `uint8` | 0  | Battery has deep discharged                                                                                                       |
+| <a href="#FAULT_SPIKES"></a> FAULT_SPIKES                                                         | `uint8` | 1  | Voltage spikes                                                                                                                    |
+| <a href="#FAULT_CELL_FAIL"></a> FAULT_CELL_FAIL                              | `uint8` | 2  | One or more cells have failed                                                                                                     |
+| <a href="#FAULT_OVER_CURRENT"></a> FAULT_OVER_CURRENT                        | `uint8` | 3  | Over-current                                                                                                                      |
+| <a href="#FAULT_OVER_TEMPERATURE"></a> FAULT_OVER_TEMPERATURE                | `uint8` | 4  | Over-temperature                                                                                                                  |
+| <a href="#FAULT_UNDER_TEMPERATURE"></a> FAULT_UNDER_TEMPERATURE              | `uint8` | 5  | Under-temperature fault                                                                                                           |
+| <a href="#FAULT_INCOMPATIBLE_VOLTAGE"></a> FAULT_INCOMPATIBLE_VOLTAGE        | `uint8` | 6  | Vehicle voltage is not compatible with this battery (batteries on same power rail should have similar voltage) |
+| <a href="#FAULT_INCOMPATIBLE_FIRMWARE"></a> FAULT_INCOMPATIBLE_FIRMWARE      | `uint8` | 7  | Battery firmware is not compatible with current autopilot firmware                                                                |
+| <a href="#FAULT_INCOMPATIBLE_MODEL"></a> FAULT_INCOMPATIBLE_MODEL            | `uint8` | 8  | Battery model is not supported by the system                                                                                      |
+| <a href="#FAULT_HARDWARE_FAILURE"></a> FAULT_HARDWARE_FAILURE                | `uint8` | 9  | Hardware problem                                                                                                                  |
+| <a href="#FAULT_FAILED_TO_ARM"></a> FAULT_FAILED_TO_ARM | `uint8` | 10 | Battery had a problem while arming                                                                                                |
+| <a href="#FAULT_COUNT"></a> FAULT_COUNT                                                           | `uint8` | 11 | Counter. Keep this as last element                                                                                |
+
+## Constants
+
+| 参数名                                                                  | 类型       | 值 | 描述 |
+| -------------------------------------------------------------------- | -------- | - | -- |
+| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 1 |    |
+| <a href="#MAX_INSTANCES"></a> MAX_INSTANCES     | `uint8`  | 3 |    |
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/BatteryStatus.msg)
+
+:::details
+Click here to see original file

 ```c
 # Battery status
@@ -88,5 +193,6 @@ float32 volt_based_soc_estimate       # [-] [@range 0, 1] Normalized volt based
 float32 voltage_prediction            # [V] Predicted voltage
 float32 prediction_error              # [V] Prediction error
 float32 estimation_covariance_norm    # [-] Norm of the covariance matrix
-
 ```
+
+:::
@@ -1,12 +1,118 @@
+---
+pageClass: is-wide-page
+---
+
 # BatteryStatusV0 (UORB message)

-Battery status
+Battery status.

 Battery status information for up to 4 battery instances.
 These are populated from power module and smart battery device drivers, and one battery updated from MAVLink.
 Battery instance information is also logged and streamed in MAVLink telemetry.

-[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/BatteryStatusV0.msg)
+**TOPICS:** battery_statusv0
+
+## Fields
+
+| 参数名                                                                                    | 类型            | Unit [Frame] | Range/Enum                                                                    | 描述                                                                                                                                                             |
+| -------------------------------------------------------------------------------------- | ------------- | ---------------------------------------------------------------- | ----------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| timestamp                                                                              | `uint64`      | us                                                               |                                                                               | Time since system start                                                                                                                                        |
+| connected                                                                              | `bool`        |                                                                  |                                                                               | Whether or not a battery is connected. For power modules this is based on a voltage threshold.                                 |
+| voltage_v                                                         | `float32`     | V                                                                |                                                                               | Battery voltage (Invalid: 0)                                                                                                |
+| current_a                                                         | `float32`     | A                                                                |                                                                               | Battery current (Invalid: -1)                                                                                               |
+| current_average_a                            | `float32`     | A                                                                |                                                                               | Battery current average (for FW average in level flight) (Invalid: -1)                                   |
+| discharged_mah                                                    | `float32`     | mAh                                                              |                                                                               | Discharged amount (Invalid: -1)                                                                                             |
+| remaining                                                                              | `float32`     |                                                                  | [0 : 1]   | Remaining capacity (Invalid: -1)                                                                                            |
+| scale                                                                                  | `float32`     |                                                                  | [1 : -]   | Scaling factor to compensate for lower actuation power caused by voltage sag (Invalid: -1)                                  |
+| time_remaining_s                             | `float32`     | s                                                                |                                                                               | Predicted time remaining until battery is empty under previous averaged load (Invalid: NaN)                                 |
+| temperature                                                                            | `float32`     | °C                                                               |                                                                               | Temperature of the battery (Invalid: NaN)                                                                                   |
+| cell_count                                                        | `uint8`       |                                                                  |                                                                               | Number of cells (Invalid: 0)                                                                                                |
+| source                                                                                 | `uint8`       |                                                                  | [SOURCE](#SOURCE)                                                             | Battery source                                                                                                                                                 |
+| priority                                                                               | `uint8`       |                                                                  |                                                                               | Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1                                              |
+| capacity                                                                               | `uint16`      | mAh                                                              |                                                                               | Capacity of the battery when fully charged                                                                                                                     |
+| cycle_count                                                       | `uint16`      |                                                                  |                                                                               | Number of discharge cycles the battery has experienced                                                                                                         |
+| average_time_to_empty   | `uint16`      | minutes                                                          |                                                                               | Predicted remaining battery capacity based on the average rate of discharge                                                                                    |
+| serial_number                                                     | `uint16`      |                                                                  |                                                                               | Serial number of the battery pack                                                                                                                              |
+| manufacture_date                                                  | `uint16`      |                                                                  |                                                                               | Manufacture date, part of serial number of the battery pack. Formatted as: Day + Month×32 + (Year–1980)×512 |
+| state_of_health                              | `uint16`      | %                                                                | [0 : 100] | State of health. FullChargeCapacity/DesignCapacity                                                                                             |
+| max_error                                                         | `uint16`      | %                                                                | [1 : 100] | Max error, expected margin of error in the state-of-charge calculation                                                                                         |
+| id                                                                                     | `uint8`       |                                                                  |                                                                               | ID number of a battery. Should be unique and consistent for the lifetime of a vehicle. 1-indexed                               |
+| interface_error                                                   | `uint16`      |                                                                  |                                                                               | Interface error counter                                                                                                                                        |
+| voltage_cell_v                               | `float32[14]` | V                                                                |                                                                               | Battery individual cell voltages (Invalid: 0)                                                                               |
+| max_cell_voltage_delta  | `float32`     |                                                                  |                                                                               | Max difference between individual cell voltages                                                                                                                |
+| is_powering_off                              | `bool`        |                                                                  |                                                                               | Power off event imminent indication, false if unknown                                                                                                          |
+| is_required                                                       | `bool`        |                                                                  |                                                                               | Set if the battery is explicitly required before arming                                                                                                        |
+| warning                                                                                | `uint8`       |                                                                  | [WARNING](#WARNING)[STATE](#STATE)                                            | Current battery warning                                                                                                                                        |
+| faults                                                                                 | `uint16`      |                                                                  | [FAULT](#FAULT)                                                               | Smart battery supply status/fault flags (bitmask) for health indication                                                                     |
+| full_charge_capacity_wh | `float32`     | Wh                                                               |                                                                               | Compensated battery capacity                                                                                                                                   |
+| remaining_capacity_wh                        | `float32`     | Wh                                                               |                                                                               | Compensated battery capacity remaining                                                                                                                         |
+| over_discharge_count                         | `uint16`      |                                                                  |                                                                               | Number of battery overdischarge                                                                                                                                |
+| nominal_voltage                                                   | `float32`     | V                                                                |                                                                               | Nominal voltage of the battery pack                                                                                                                            |
+| internal_resistance_estimate                 | `float32`     | Ohm                                                              |                                                                               | Internal resistance per cell estimate                                                                                                                          |
+| ocv_estimate                                                      | `float32`     | V                                                                |                                                                               | Open circuit voltage estimate                                                                                                                                  |
+| ocv_estimate_filtered                        | `float32`     | V                                                                |                                                                               | Filtered open circuit voltage estimate                                                                                                                         |
+| volt_based_soc_estimate | `float32`     |                                                                  | [0 : 1]   | Normalized volt based state of charge estimate                                                                                                                 |
+| voltage_prediction                                                | `float32`     | V                                                                |                                                                               | Predicted voltage                                                                                                                                              |
+| prediction_error                                                  | `float32`     | V                                                                |                                                                               | Prediction error                                                                                                                                               |
+| estimation_covariance_norm                   | `float32`     |                                                                  |                                                                               | Norm of the covariance matrix                                                                                                                                  |
+
+## Enums
+
+### SOURCE {#SOURCE}
+
+| 参数名                                                                                               | 类型      | 值 | 描述                                                                |
+| ------------------------------------------------------------------------------------------------- | ------- | - | ----------------------------------------------------------------- |
+| <a href="#SOURCE_POWER_MODULE"></a> SOURCE_POWER_MODULE | `uint8` | 0 | Power module (analog ADC or I2C power monitor) |
+| <a href="#SOURCE_EXTERNAL"></a> SOURCE_EXTERNAL                              | `uint8` | 1 | External (MAVLink, CAN, or external driver)    |
+| <a href="#SOURCE_ESCS"></a> SOURCE_ESCS                                      | `uint8` | 2 | ESCs (via ESC telemetry)                       |
+
+### WARNING {#WARNING}
+
+| 参数名                                                                      | 类型      | 值 | 描述                                           |
+| ------------------------------------------------------------------------ | ------- | - | -------------------------------------------- |
+| <a href="#WARNING_NONE"></a> WARNING_NONE           | `uint8` | 0 | No battery low voltage warning active        |
+| <a href="#WARNING_LOW"></a> WARNING_LOW             | `uint8` | 1 | Low voltage warning                          |
+| <a href="#WARNING_CRITICAL"></a> WARNING_CRITICAL   | `uint8` | 2 | Critical voltage, return / abort immediately |
+| <a href="#WARNING_EMERGENCY"></a> WARNING_EMERGENCY | `uint8` | 3 | Immediate landing required                   |
+| <a href="#WARNING_FAILED"></a> WARNING_FAILED       | `uint8` | 4 | Battery has failed completely                |
+
+### STATE {#STATE}
+
+| 参数名                                                                  | 类型      | 值 | 描述                                                                                                                                                                                   |
+| -------------------------------------------------------------------- | ------- | - | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
+| <a href="#STATE_UNHEALTHY"></a> STATE_UNHEALTHY | `uint8` | 6 | Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in faults field |
+| <a href="#STATE_CHARGING"></a> STATE_CHARGING   | `uint8` | 7 | Battery is charging                                                                                                                                                                  |
+
+### FAULT {#FAULT}
+
+| 参数名                                                                                                                    | 类型      | 值  | 描述                                                                                                                                |
+| ---------------------------------------------------------------------------------------------------------------------- | ------- | -- | --------------------------------------------------------------------------------------------------------------------------------- |
+| <a href="#FAULT_DEEP_DISCHARGE"></a> FAULT_DEEP_DISCHARGE                    | `uint8` | 0  | Battery has deep discharged                                                                                                       |
+| <a href="#FAULT_SPIKES"></a> FAULT_SPIKES                                                         | `uint8` | 1  | Voltage spikes                                                                                                                    |
+| <a href="#FAULT_CELL_FAIL"></a> FAULT_CELL_FAIL                              | `uint8` | 2  | One or more cells have failed                                                                                                     |
+| <a href="#FAULT_OVER_CURRENT"></a> FAULT_OVER_CURRENT                        | `uint8` | 3  | Over-current                                                                                                                      |
+| <a href="#FAULT_OVER_TEMPERATURE"></a> FAULT_OVER_TEMPERATURE                | `uint8` | 4  | Over-temperature                                                                                                                  |
+| <a href="#FAULT_UNDER_TEMPERATURE"></a> FAULT_UNDER_TEMPERATURE              | `uint8` | 5  | Under-temperature fault                                                                                                           |
+| <a href="#FAULT_INCOMPATIBLE_VOLTAGE"></a> FAULT_INCOMPATIBLE_VOLTAGE        | `uint8` | 6  | Vehicle voltage is not compatible with this battery (batteries on same power rail should have similar voltage) |
+| <a href="#FAULT_INCOMPATIBLE_FIRMWARE"></a> FAULT_INCOMPATIBLE_FIRMWARE      | `uint8` | 7  | Battery firmware is not compatible with current autopilot firmware                                                                |
+| <a href="#FAULT_INCOMPATIBLE_MODEL"></a> FAULT_INCOMPATIBLE_MODEL            | `uint8` | 8  | Battery model is not supported by the system                                                                                      |
+| <a href="#FAULT_HARDWARE_FAILURE"></a> FAULT_HARDWARE_FAILURE                | `uint8` | 9  | Hardware problem                                                                                                                  |
+| <a href="#FAULT_FAILED_TO_ARM"></a> FAULT_FAILED_TO_ARM | `uint8` | 10 | Battery had a problem while arming                                                                                                |
+| <a href="#FAULT_COUNT"></a> FAULT_COUNT                                                           | `uint8` | 11 | Counter. Keep this as last element                                                                                |
+
+## Constants
+
+| 参数名                                                                  | 类型       | 值 | 描述 |
+| -------------------------------------------------------------------- | -------- | - | -- |
+| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 |    |
+| <a href="#MAX_INSTANCES"></a> MAX_INSTANCES     | `uint8`  | 4 |    |
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/BatteryStatusV0.msg)
+
+:::details
+Click here to see original file

 ```c
 # Battery status
@@ -88,5 +194,6 @@ float32 volt_based_soc_estimate # [@range 0, 1] Normalized volt based state of c
 float32 voltage_prediction # [V] Predicted voltage
 float32 prediction_error # [V] Prediction error
 float32 estimation_covariance_norm # Norm of the covariance matrix
-
 ```
+
+:::
@@ -1,6 +1,30 @@
+---
+pageClass: is-wide-page
+---
+
 # ButtonEvent (UORB message)

-[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ButtonEvent.msg)
+**TOPICS:** button_event safety_button
+
+## Fields
+
+| 参数名       | 类型       | Unit [Frame] | Range/Enum | 描述                                                        |
+| --------- | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- |
+| timestamp | `uint64` |                                                                  |            | time since system start (microseconds) |
+| triggered | `bool`   |                                                                  |            | Set to true if the event is triggered                     |
+
+## Constants
+
+| 参数名                                                                                         | 类型      | 值 | 描述 |
+| ------------------------------------------------------------------------------------------- | ------- | - | -- |
+| <a href="#ORB_QUEUE_LENGTH"></a> ORB_QUEUE_LENGTH | `uint8` | 2 |    |
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ButtonEvent.msg)
+
+:::details
+Click here to see original file

 ```c
 uint64 timestamp			# time since system start (microseconds)
@@ -9,5 +33,6 @@ bool triggered				# Set to true if the event is triggered
 # TOPICS button_event safety_button

 uint8 ORB_QUEUE_LENGTH = 2
-
 ```
+
+:::
@@ -1,6 +1,31 @@
+---
+pageClass: is-wide-page
+---
+
 # CameraCapture (UORB message)

-[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/CameraCapture.msg)
+**TOPICS:** camera_capture
+
+## Fields
+
+| 参数名                                  | 类型           | Unit [Frame] | Range/Enum | 描述                                                                                                       |
+| ------------------------------------ | ------------ | ---------------------------------------------------------------- | ---------- | -------------------------------------------------------------------------------------------------------- |
+| timestamp                            | `uint64`     |                                                                  |            | time since system start (microseconds)                                                |
+| timestamp_utc   | `uint64`     |                                                                  |            | Capture time in UTC / GPS time                                                                           |
+| seq                                  | `uint32`     |                                                                  |            | Image sequence number                                                                                    |
+| lat                                  | `float64`    |                                                                  |            | Latitude in degrees (WGS84)                                                           |
+| lon                                  | `float64`    |                                                                  |            | Longitude in degrees (WGS84)                                                          |
+| alt                                  | `float32`    |                                                                  |            | Altitude (AMSL)                                                                       |
+| ground_distance | `float32`    |                                                                  |            | Altitude above ground (meters)                                                        |
+| q                                    | `float32[4]` |                                                                  |            | Attitude of the camera relative to NED earth-fixed frame when using a gimbal, otherwise vehicle attitude |
+| result                               | `int8`       |                                                                  |            | 1 for success, 0 for failure, -1 if camera does not provide feedback                                     |
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/CameraCapture.msg)
+
+:::details
+Click here to see original file

 ```c
 uint64 timestamp		# time since system start (microseconds)
@@ -12,5 +37,6 @@ float32 alt					# Altitude (AMSL)
 float32 ground_distance			# Altitude above ground (meters)
 float32[4] q					# Attitude of the camera relative to NED earth-fixed frame when using a gimbal, otherwise vehicle attitude
 int8 result					# 1 for success, 0 for failure, -1 if camera does not provide feedback
-
 ```
+
+:::
@@ -1,11 +1,31 @@
+---
+pageClass: is-wide-page
+---
+
 # CameraStatus (UORB message)

-[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/CameraStatus.msg)
+**TOPICS:** camera_status
+
+## Fields
+
+| 参数名                                                      | 类型       | Unit [Frame] | Range/Enum | 描述                                                        |
+| -------------------------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- |
+| timestamp                                                | `uint64` |                                                                  |            | time since system start (microseconds) |
+| active_sys_id  | `uint8`  |                                                                  |            | mavlink system id of the currently active camera          |
+| active_comp_id | `uint8`  |                                                                  |            | mavlink component id of currently active camera           |
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/CameraStatus.msg)
+
+:::details
+Click here to see original file

 ```c
 uint64 timestamp		# time since system start (microseconds)

 uint8 active_sys_id		# mavlink system id of the currently active camera
 uint8 active_comp_id 	# mavlink component id of currently active camera
-
 ```
+
+:::
@@ -1,6 +1,32 @@
+---
+pageClass: is-wide-page
+---
+
 # CameraTrigger (UORB message)

-[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/CameraTrigger.msg)
+**TOPICS:** camera_trigger
+
+## Fields
+
+| 参数名                                | 类型       | Unit [Frame] | Range/Enum | 描述                                                        |
+| ---------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- |
+| timestamp                          | `uint64` |                                                                  |            | time since system start (microseconds) |
+| timestamp_utc | `uint64` |                                                                  |            | UTC timestamp                                             |
+| seq                                | `uint32` |                                                                  |            | Image sequence number                                     |
+| feedback                           | `bool`   |                                                                  |            | Trigger feedback from camera                              |
+
+## Constants
+
+| 参数名                                                                                         | 类型       | 值 | 描述 |
+| ------------------------------------------------------------------------------------------- | -------- | - | -- |
+| <a href="#ORB_QUEUE_LENGTH"></a> ORB_QUEUE_LENGTH | `uint32` | 2 |    |
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/CameraTrigger.msg)
+
+:::details
+Click here to see original file

 ```c
 uint64 timestamp	# time since system start (microseconds)
@@ -10,5 +36,6 @@ uint32 seq		# Image sequence number
 bool feedback	# Trigger feedback from camera

 uint32 ORB_QUEUE_LENGTH = 2
-
 ```
+
+:::
@@ -1,6 +1,27 @@
+---
+pageClass: is-wide-page
+---
+
 # CanInterfaceStatus (UORB message)

-[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/CanInterfaceStatus.msg)
+**TOPICS:** can_interfacestatus
+
+## Fields
+
+| 参数名                            | 类型       | Unit [Frame] | Range/Enum | 描述                                                        |
+| ------------------------------ | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- |
+| timestamp                      | `uint64` |                                                                  |            | time since system start (microseconds) |
+| interface                      | `uint8`  |                                                                  |            |                                                           |
+| io_errors | `uint64` |                                                                  |            |                                                           |
+| frames_tx | `uint64` |                                                                  |            |                                                           |
+| frames_rx | `uint64` |                                                                  |            |                                                           |
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/CanInterfaceStatus.msg)
+
+:::details
+Click here to see original file

 ```c
 uint64 timestamp		# time since system start (microseconds)
@@ -9,5 +30,6 @@ uint8 interface
 uint64 io_errors
 uint64 frames_tx
 uint64 frames_rx
-
 ```
+
+:::
@@ -1,10 +1,73 @@
+---
+pageClass: is-wide-page
+---
+
 # CellularStatus (UORB message)

-Cellular status
+Cellular status.

 This is currently used only for logging cell status from MAVLink.

-[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/CellularStatus.msg)
+**TOPICS:** cellular_status
+
+## Fields
+
+| 参数名                                 | 类型       | Unit [Frame] | Range/Enum                                                                                                                 | 描述                                                                                                |
+| ----------------------------------- | -------- | ---------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------- |
+| timestamp                           | `uint64` | us                                                               |                                                                                                                            | Time since system start                                                                           |
+| status                              | `uint16` |                                                                  | [STATUS_FLAG](#STATUS_FLAG)                                                                           | Status bitmap                                                                                     |
+| failure_reason | `uint8`  |                                                                  | [FAILURE_REASON](#FAILURE_REASON)                                                                     | Failure reason                                                                                    |
+| type                                | `uint8`  |                                                                  | [CELLULAR_NETWORK_RADIO_TYPE](#CELLULAR_NETWORK_RADIO_TYPE) | Cellular network radio type                                                                       |
+| quality                             | `uint8`  | dBm                                                              |                                                                                                                            | Cellular network RSSI/RSRP, absolute value                                                        |
+| mcc                                 | `uint16` |                                                                  |                                                                                                                            | Mobile country code (Invalid: UINT16_MAX) |
+| mnc                                 | `uint16` |                                                                  |                                                                                                                            | Mobile network code (Invalid: UINT16_MAX) |
+| lac                                 | `uint16` |                                                                  |                                                                                                                            | Location area code (Invalid: 0)                                |
+
+## Enums
+
+### STATUS_FLAG {#STATUS_FLAG}
+
+| 参数名                                                                                                           | 类型       | 值    | 描述                                                                                                                                                                                                                    |
+| ------------------------------------------------------------------------------------------------------------- | -------- | ---- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| <a href="#STATUS_FLAG_UNKNOWN"></a> STATUS_FLAG_UNKNOWN             | `uint16` | 1    | State unknown or not reportable                                                                                                                                                                                       |
+| <a href="#STATUS_FLAG_FAILED"></a> STATUS_FLAG_FAILED               | `uint16` | 2    | Modem is unusable                                                                                                                                                                                                     |
+| <a href="#STATUS_FLAG_INITIALIZING"></a> STATUS_FLAG_INITIALIZING   | `uint16` | 4    | Modem is being initialized                                                                                                                                                                                            |
+| <a href="#STATUS_FLAG_LOCKED"></a> STATUS_FLAG_LOCKED               | `uint16` | 8    | Modem is locked                                                                                                                                                                                                       |
+| <a href="#STATUS_FLAG_DISABLED"></a> STATUS_FLAG_DISABLED           | `uint16` | 16   | Modem is not enabled and is powered down                                                                                                                                                                              |
+| <a href="#STATUS_FLAG_DISABLING"></a> STATUS_FLAG_DISABLING         | `uint16` | 32   | Modem is currently transitioning to the STATUS_FLAG_DISABLED state                                                                                                          |
+| <a href="#STATUS_FLAG_ENABLING"></a> STATUS_FLAG_ENABLING           | `uint16` | 64   | Modem is currently transitioning to the STATUS_FLAG_ENABLED state                                                                                                           |
+| <a href="#STATUS_FLAG_ENABLED"></a> STATUS_FLAG_ENABLED             | `uint16` | 128  | Modem is enabled and powered on but not registered with a network provider and not available for data connections                                                                                                     |
+| <a href="#STATUS_FLAG_SEARCHING"></a> STATUS_FLAG_SEARCHING         | `uint16` | 256  | Modem is searching for a network provider to register                                                                                                                                                                 |
+| <a href="#STATUS_FLAG_REGISTERED"></a> STATUS_FLAG_REGISTERED       | `uint16` | 512  | Modem is registered with a network provider, and data connections and messaging may be available for use                                                                                                              |
+| <a href="#STATUS_FLAG_DISCONNECTING"></a> STATUS_FLAG_DISCONNECTING | `uint16` | 1024 | Modem is disconnecting and deactivating the last active packet data bearer. This state will not be entered if more than one packet data bearer is active and one of the active bearers is deactivated |
+| <a href="#STATUS_FLAG_CONNECTING"></a> STATUS_FLAG_CONNECTING       | `uint16` | 2048 | Modem is activating and connecting the first packet data bearer. Subsequent bearer activations when another bearer is already active do not cause this state to be entered                            |
+| <a href="#STATUS_FLAG_CONNECTED"></a> STATUS_FLAG_CONNECTED         | `uint16` | 4096 | One or more packet data bearers is active and connected                                                                                                                                                               |
+
+### FAILURE_REASON {#FAILURE_REASON}
+
+| 参数名                                                                                                                                  | 类型      | 值 | 描述                                              |
+| ------------------------------------------------------------------------------------------------------------------------------------ | ------- | - | ----------------------------------------------- |
+| <a href="#FAILURE_REASON_NONE"></a> FAILURE_REASON_NONE                                    | `uint8` | 0 | No error                                        |
+| <a href="#FAILURE_REASON_UNKNOWN"></a> FAILURE_REASON_UNKNOWN                              | `uint8` | 1 | Error state is unknown                          |
+| <a href="#FAILURE_REASON_SIM_MISSING"></a> FAILURE_REASON_SIM_MISSING | `uint8` | 2 | SIM is required for the modem but missing       |
+| <a href="#FAILURE_REASON_SIM_ERROR"></a> FAILURE_REASON_SIM_ERROR     | `uint8` | 3 | SIM is available, but not usable for connection |
+
+### CELLULAR_NETWORK_RADIO_TYPE {#CELLULAR_NETWORK_RADIO_TYPE}
+
+| 参数名                                                                                                                                                                     | 类型      | 值 | 描述    |
+| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | - | ----- |
+| <a href="#CELLULAR_NETWORK_RADIO_TYPE_NONE"></a> CELLULAR_NETWORK_RADIO_TYPE_NONE   | `uint8` | 0 | None  |
+| <a href="#CELLULAR_NETWORK_RADIO_TYPE_GSM"></a> CELLULAR_NETWORK_RADIO_TYPE_GSM     | `uint8` | 1 | GSM   |
+| <a href="#CELLULAR_NETWORK_RADIO_TYPE_CDMA"></a> CELLULAR_NETWORK_RADIO_TYPE_CDMA   | `uint8` | 2 | CDMA  |
+| <a href="#CELLULAR_NETWORK_RADIO_TYPE_WCDMA"></a> CELLULAR_NETWORK_RADIO_TYPE_WCDMA | `uint8` | 3 | WCDMA |
+| <a href="#CELLULAR_NETWORK_RADIO_TYPE_LTE"></a> CELLULAR_NETWORK_RADIO_TYPE_LTE     | `uint8` | 4 | LTE   |
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/CellularStatus.msg)
+
+:::details
+Click here to see original file

 ```c
 # Cellular status
@@ -45,5 +108,6 @@ uint8 quality  # [dBm] Cellular network RSSI/RSRP, absolute value
 uint16 mcc     # [@invalid UINT16_MAX] Mobile country code
 uint16 mnc     # [@invalid UINT16_MAX] Mobile network code
 uint16 lac     # [@invalid 0] Location area code
-
 ```
+
+:::
@@ -1,9 +1,27 @@
+---
+pageClass: is-wide-page
+---
+
 # CollisionConstraints (UORB message)

-Local setpoint constraints in NED frame
-setting something to NaN means that no limit is provided
+Local setpoint constraints in NED frame. setting something to NaN means that no limit is provided.

-[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/CollisionConstraints.msg)
+**TOPICS:** collision_constraints
+
+## Fields
+
+| 参数名                                    | 类型           | Unit [Frame] | Range/Enum | 描述                                                        |
+| -------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- |
+| timestamp                              | `uint64`     |                                                                  |            | time since system start (microseconds) |
+| original_setpoint | `float32[2]` |                                                                  |            | velocities demanded                                       |
+| adapted_setpoint  | `float32[2]` |                                                                  |            | velocities allowed                                        |
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/CollisionConstraints.msg)
+
+:::details
+Click here to see original file

 ```c
 # Local setpoint constraints in NED frame
@@ -13,5 +31,6 @@ uint64 timestamp	# time since system start (microseconds)

 float32[2] original_setpoint   # velocities demanded
 float32[2] adapted_setpoint    # velocities allowed
-
 ```
+
+:::
@@ -1,8 +1,40 @@
+---
+pageClass: is-wide-page
+---
+
 # ConfigOverrides (UORB message)

-Configurable overrides by (external) modes or mode executors
+Configurable overrides by (external) modes or mode executors.

-[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ConfigOverrides.msg)
+**TOPICS:** config_overrides config_overrides_request
+
+## Fields
+
+| 参数名                                                                                      | 类型       | Unit [Frame] | Range/Enum | 描述                                                                                              |
+| ---------------------------------------------------------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | ----------------------------------------------------------------------------------------------- |
+| timestamp                                                                                | `uint64` |                                                                  |            | time since system start (microseconds)                                       |
+| disable_auto_disarm                            | `bool`   |                                                                  |            | Prevent the drone from automatically disarming after landing (if configured) |
+| defer_failsafes                                                     | `bool`   |                                                                  |            | Defer all failsafes that can be deferred (until the flag is cleared)         |
+| defer_failsafes_timeout_s | `int16`  |                                                                  |            | Maximum time a failsafe can be deferred. 0 = system default, -1 = no timeout    |
+| disable_auto_set_home     | `bool`   |                                                                  |            | Prevent the drone from automatically setting the home position on arm or takeoff                |
+| source_type                                                         | `int8`   |                                                                  |            |                                                                                                 |
+| source_id                                                           | `uint8`  |                                                                  |            | ID depending on source_type                                                |
+
+## Constants
+
+| 参数名                                                                                                                                | 类型       | 值 | 描述 |
+| ---------------------------------------------------------------------------------------------------------------------------------- | -------- | - | -- |
+| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION                                                               | `uint32` | 1 |    |
+| <a href="#SOURCE_TYPE_MODE"></a> SOURCE_TYPE_MODE                                        | `int8`   | 0 |    |
+| <a href="#SOURCE_TYPE_MODE_EXECUTOR"></a> SOURCE_TYPE_MODE_EXECUTOR | `int8`   | 1 |    |
+| <a href="#ORB_QUEUE_LENGTH"></a> ORB_QUEUE_LENGTH                                        | `uint8`  | 4 |    |
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ConfigOverrides.msg)
+
+:::details
+Click here to see original file

 ```c
 # Configurable overrides by (external) modes or mode executors
@@ -26,5 +58,6 @@ uint8 source_id                  # ID depending on source_type
 uint8 ORB_QUEUE_LENGTH = 4

 # TOPICS config_overrides config_overrides_request
-
 ```
+
+:::
@@ -1,8 +1,39 @@
+---
+pageClass: is-wide-page
+---
+
 # ConfigOverridesV0 (UORB message)

-Configurable overrides by (external) modes or mode executors
+Configurable overrides by (external) modes or mode executors.

-[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/ConfigOverridesV0.msg)
+**TOPICS:** config_overrides config_overrides_request
+
+## Fields
+
+| 参数名                                                                                      | 类型       | Unit [Frame] | Range/Enum | 描述                                                                                              |
+| ---------------------------------------------------------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | ----------------------------------------------------------------------------------------------- |
+| timestamp                                                                                | `uint64` |                                                                  |            | time since system start (microseconds)                                       |
+| disable_auto_disarm                            | `bool`   |                                                                  |            | Prevent the drone from automatically disarming after landing (if configured) |
+| defer_failsafes                                                     | `bool`   |                                                                  |            | Defer all failsafes that can be deferred (until the flag is cleared)         |
+| defer_failsafes_timeout_s | `int16`  |                                                                  |            | Maximum time a failsafe can be deferred. 0 = system default, -1 = no timeout    |
+| source_type                                                         | `int8`   |                                                                  |            |                                                                                                 |
+| source_id                                                           | `uint8`  |                                                                  |            | ID depending on source_type                                                |
+
+## Constants
+
+| 参数名                                                                                                                                | 类型       | 值 | 描述 |
+| ---------------------------------------------------------------------------------------------------------------------------------- | -------- | - | -- |
+| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION                                                               | `uint32` | 0 |    |
+| <a href="#SOURCE_TYPE_MODE"></a> SOURCE_TYPE_MODE                                        | `int8`   | 0 |    |
+| <a href="#SOURCE_TYPE_MODE_EXECUTOR"></a> SOURCE_TYPE_MODE_EXECUTOR | `int8`   | 1 |    |
+| <a href="#ORB_QUEUE_LENGTH"></a> ORB_QUEUE_LENGTH                                        | `uint8`  | 4 |    |
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/ConfigOverridesV0.msg)
+
+:::details
+Click here to see original file

 ```c
 # Configurable overrides by (external) modes or mode executors
@@ -26,5 +57,6 @@ uint8 source_id                  # ID depending on source_type
 uint8 ORB_QUEUE_LENGTH = 4

 # TOPICS config_overrides config_overrides_request
-
 ```
+
+:::
@@ -1,6 +1,40 @@
+---
+pageClass: is-wide-page
+---
+
 # ControlAllocatorStatus (UORB message)

-[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ControlAllocatorStatus.msg)
+**TOPICS:** control_allocatorstatus
+
+## Fields
+
+| 参数名                                                                                       | 类型           | Unit [Frame] | Range/Enum | 描述                                                                                                                                                                  |
+| ----------------------------------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| timestamp                                                                                 | `uint64`     |                                                                  |            | time since system start (microseconds)                                                                                                           |
+| torque_setpoint_achieved                        | `bool`       |                                                                  |            | Boolean indicating whether the 3D torque setpoint was correctly allocated to actuators. 0 if not achieved, 1 if achieved.           |
+| unallocated_torque                                                   | `float32[3]` |                                                                  |            | Unallocated torque. Equal to 0 if the setpoint was achieved.                                                                        |
+| thrust_setpoint_achieved                        | `bool`       |                                                                  |            | Boolean indicating whether the 3D thrust setpoint was correctly allocated to actuators. 0 if not achieved, 1 if achieved.           |
+| unallocated_thrust                                                   | `float32[3]` |                                                                  |            | Unallocated thrust. Equal to 0 if the setpoint was achieved.                                                                        |
+| actuator_saturation                                                  | `int8[16]`   |                                                                  |            | Indicates actuator saturation status.                                                                                                               |
+| handled_motor_failure_mask | `uint16`     |                                                                  |            | Bitmask of failed motors that were removed from the allocation / effectiveness matrix. Not necessarily identical to the report from FailureDetector |
+| motor_stop_mask                                 | `uint16`     |                                                                  |            | Bitmaks of motors stopped by failure injection                                                                                                                      |
+
+## Constants
+
+| 参数名                                                                                                                                        | 类型     | 值  | 描述                                                                                                                                                    |
+| ------------------------------------------------------------------------------------------------------------------------------------------ | ------ | -- | ----------------------------------------------------------------------------------------------------------------------------------------------------- |
+| <a href="#ACTUATOR_SATURATION_OK"></a> ACTUATOR_SATURATION_OK                                    | `int8` | 0  | The actuator is not saturated                                                                                                                         |
+| <a href="#ACTUATOR_SATURATION_UPPER_DYN"></a> ACTUATOR_SATURATION_UPPER_DYN | `int8` | 1  | The actuator is saturated (with a value <= the desired value) because it cannot increase its value faster |
+| <a href="#ACTUATOR_SATURATION_UPPER"></a> ACTUATOR_SATURATION_UPPER                              | `int8` | 2  | The actuator is saturated (with a value <= the desired value) because it has reached its maximum value    |
+| <a href="#ACTUATOR_SATURATION_LOWER_DYN"></a> ACTUATOR_SATURATION_LOWER_DYN | `int8` | -1 | The actuator is saturated (with a value >= the desired value) because it cannot decrease its value faster                          |
+| <a href="#ACTUATOR_SATURATION_LOWER"></a> ACTUATOR_SATURATION_LOWER                              | `int8` | -2 | The actuator is saturated (with a value >= the desired value) because it has reached its minimum value                             |
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ControlAllocatorStatus.msg)
+
+:::details
+Click here to see original file

 ```c
 uint64 timestamp                        # time since system start (microseconds)
@@ -25,5 +59,6 @@ int8[16] actuator_saturation            # Indicates actuator saturation status.

 uint16 handled_motor_failure_mask        # Bitmask of failed motors that were removed from the allocation / effectiveness matrix. Not necessarily identical to the report from FailureDetector
 uint16 motor_stop_mask                   # Bitmaks of motors stopped by failure injection
-
 ```
+
+:::
@@ -1,10 +1,30 @@
+---
+pageClass: is-wide-page
+---
+
 # Cpuload (UORB message)

-[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/Cpuload.msg)
+**TOPICS:** cpuload
+
+## Fields
+
+| 参数名                            | 类型        | Unit [Frame] | Range/Enum | 描述                                                        |
+| ------------------------------ | --------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- |
+| timestamp                      | `uint64`  |                                                                  |            | time since system start (microseconds) |
+| load                           | `float32` |                                                                  |            | processor load from 0 to 1                                |
+| ram_usage | `float32` |                                                                  |            | RAM usage from 0 to 1                                     |
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/Cpuload.msg)
+
+:::details
+Click here to see original file

 ```c
 uint64 timestamp		# time since system start (microseconds)
 float32 load                    # processor load from 0 to 1
 float32 ram_usage		# RAM usage from 0 to 1
-
 ```
+
+:::
@@ -1,6 +1,29 @@
+---
+pageClass: is-wide-page
+---
+
 # DatamanRequest (UORB message)

-[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DatamanRequest.msg)
+**TOPICS:** dataman_request
+
+## Fields
+
+| 参数名                               | 类型          | Unit [Frame] | Range/Enum | 描述                                                        |
+| --------------------------------- | ----------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- |
+| timestamp                         | `uint64`    |                                                                  |            | time since system start (microseconds) |
+| client_id    | `uint8`     |                                                                  |            |                                                           |
+| request_type | `uint8`     |                                                                  |            | id/read/write/clear                                       |
+| item                              | `uint8`     |                                                                  |            | dm_item_t       |
+| index                             | `uint32`    |                                                                  |            |                                                           |
+| data                              | `uint8[56]` |                                                                  |            |                                                           |
+| data_length  | `uint32`    |                                                                  |            |                                                           |
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DatamanRequest.msg)
+
+:::details
+Click here to see original file

 ```c
 uint64 timestamp	# time since system start (microseconds)
@@ -11,5 +34,6 @@ uint8 item			# dm_item_t
 uint32 index
 uint8[56] data
 uint32 data_length
-
 ```
+
+:::
@@ -1,6 +1,40 @@
+---
+pageClass: is-wide-page
+---
+
 # DatamanResponse (UORB message)

-[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DatamanResponse.msg)
+**TOPICS:** dataman_response
+
+## Fields
+
+| 参数名                               | 类型          | Unit [Frame] | Range/Enum | 描述                                                        |
+| --------------------------------- | ----------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- |
+| timestamp                         | `uint64`    |                                                                  |            | time since system start (microseconds) |
+| client_id    | `uint8`     |                                                                  |            |                                                           |
+| request_type | `uint8`     |                                                                  |            | id/read/write/clear                                       |
+| item                              | `uint8`     |                                                                  |            | dm_item_t       |
+| index                             | `uint32`    |                                                                  |            |                                                           |
+| data                              | `uint8[56]` |                                                                  |            |                                                           |
+| status                            | `uint8`     |                                                                  |            |                                                           |
+
+## Constants
+
+| 参数名                                                                                                                                    | 类型      | 值 | 描述 |
+| -------------------------------------------------------------------------------------------------------------------------------------- | ------- | - | -- |
+| <a href="#STATUS_SUCCESS"></a> STATUS_SUCCESS                                                                     | `uint8` | 0 |    |
+| <a href="#STATUS_FAILURE_ID_ERR"></a> STATUS_FAILURE_ID_ERR             | `uint8` | 1 |    |
+| <a href="#STATUS_FAILURE_NO_DATA"></a> STATUS_FAILURE_NO_DATA           | `uint8` | 2 |    |
+| <a href="#STATUS_FAILURE_READ_FAILED"></a> STATUS_FAILURE_READ_FAILED   | `uint8` | 3 |    |
+| <a href="#STATUS_FAILURE_WRITE_FAILED"></a> STATUS_FAILURE_WRITE_FAILED | `uint8` | 4 |    |
+| <a href="#STATUS_FAILURE_CLEAR_FAILED"></a> STATUS_FAILURE_CLEAR_FAILED | `uint8` | 5 |    |
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DatamanResponse.msg)
+
+:::details
+Click here to see original file

 ```c
 uint64 timestamp	# time since system start (microseconds)
@@ -18,5 +52,6 @@ uint8 STATUS_FAILURE_READ_FAILED = 3
 uint8 STATUS_FAILURE_WRITE_FAILED = 4
 uint8 STATUS_FAILURE_CLEAR_FAILED = 5
 uint8 status
-
 ```
+
+:::
@@ -1,6 +1,32 @@
+---
+pageClass: is-wide-page
+---
+
 # DebugArray (UORB message)

-[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DebugArray.msg)
+**TOPICS:** debug_array
+
+## Fields
+
+| 参数名       | 类型            | Unit [Frame] | Range/Enum | 描述                                                                              |
+| --------- | ------------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------- |
+| timestamp | `uint64`      |                                                                  |            | time since system start (microseconds)                       |
+| id        | `uint16`      |                                                                  |            | unique ID of debug array, used to discriminate between arrays                   |
+| name      | `char[10]`    |                                                                  |            | name of the debug array (max. 10 characters) |
+| data      | `float32[58]` |                                                                  |            | data                                                                            |
+
+## Constants
+
+| 参数名                                                        | 类型      | 值  | 描述 |
+| ---------------------------------------------------------- | ------- | -- | -- |
+| <a href="#ARRAY_SIZE"></a> ARRAY_SIZE | `uint8` | 58 |    |
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DebugArray.msg)
+
+:::details
+Click here to see original file

 ```c
 uint8 ARRAY_SIZE = 58
@@ -8,5 +34,6 @@ uint64 timestamp            # time since system start (microseconds)
 uint16 id                   # unique ID of debug array, used to discriminate between arrays
 char[10] name               # name of the debug array (max. 10 characters)
 float32[58] data            # data
-
 ```
+
+:::
@@ -1,10 +1,30 @@
+---
+pageClass: is-wide-page
+---
+
 # DebugKeyValue (UORB message)

-[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DebugKeyValue.msg)
+**TOPICS:** debug_keyvalue
+
+## Fields
+
+| 参数名       | 类型         | Unit [Frame] | Range/Enum | 描述                                                        |
+| --------- | ---------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- |
+| timestamp | `uint64`   |                                                                  |            | time since system start (microseconds) |
+| 键         | `char[10]` |                                                                  |            | max. 10 characters as key / name          |
+| value     | `float32`  |                                                                  |            | the value to send as debug output                         |
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DebugKeyValue.msg)
+
+:::details
+Click here to see original file

 ```c
 uint64 timestamp		# time since system start (microseconds)
 char[10] key			# max. 10 characters as key / name
 float32 value			# the value to send as debug output
-
 ```
+
+:::
@@ -1,10 +1,30 @@
+---
+pageClass: is-wide-page
+---
+
 # DebugValue (UORB message)

-[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DebugValue.msg)
+**TOPICS:** debug_value
+
+## Fields
+
+| 参数名       | 类型        | Unit [Frame] | Range/Enum | 描述                                                        |
+| --------- | --------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- |
+| timestamp | `uint64`  |                                                                  |            | time since system start (microseconds) |
+| ind       | `int8`    |                                                                  |            | index of debug variable                                   |
+| value     | `float32` |                                                                  |            | the value to send as debug output                         |
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DebugValue.msg)
+
+:::details
+Click here to see original file

 ```c
 uint64 timestamp	# time since system start (microseconds)
 int8 ind                # index of debug variable
 float32 value           # the value to send as debug output
-
 ```
+
+:::
@@ -1,6 +1,27 @@
+---
+pageClass: is-wide-page
+---
+
 # DebugVect (UORB message)

-[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DebugVect.msg)
+**TOPICS:** debug_vect
+
+## Fields
+
+| 参数名       | 类型         | Unit [Frame] | Range/Enum | 描述                                                        |
+| --------- | ---------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- |
+| timestamp | `uint64`   |                                                                  |            | time since system start (microseconds) |
+| name      | `char[10]` |                                                                  |            | max. 10 characters as key / name          |
+| x         | `float32`  |                                                                  |            | x value                                                   |
+| y         | `float32`  |                                                                  |            | y value                                                   |
+| z         | `float32`  |                                                                  |            | z value                                                   |
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DebugVect.msg)
+
+:::details
+Click here to see original file

 ```c
 uint64 timestamp	# time since system start (microseconds)
@@ -8,5 +29,6 @@ char[10] name           # max. 10 characters as key / name
 float32 x               # x value
 float32 y               # y value
 float32 z               # z value
-
 ```
+
+:::
@@ -1,11 +1,58 @@
+---
+pageClass: is-wide-page
+---
+
 # DeviceInformation (UORB message)

-Device information
+Device information.

 Can be used to uniquely associate a device_id from a sensor topic with a physical device using serial number.
 as well as tracking of the used firmware versions on the devices.

-[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DeviceInformation.msg)
+**TOPICS:** device_information
+
+## Fields
+
+| 参数名                                   | 类型         | Unit [Frame] | Range/Enum                                                                                                                                                              | 描述                                                                                                                              |
+| ------------------------------------- | ---------- | ---------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------- |
+| timestamp                             | `uint64`   |                                                                  |                                                                                                                                                                         | time since system start (microseconds)                                                                       |
+| device_type      | `uint8`    |                                                                  | [DEVICE_TYPE](#DEVICE_TYPE)                                                                                                                        | Type of the device. Matches MAVLink DEVICE_TYPE enum                                       |
+| vendor_name      | `char[32]` |                                                                  |                                                                                                                                                                         | Name of the device vendor                                                                                                       |
+| model_name       | `char[32]` |                                                                  |                                                                                                                                                                         | Name of the device model                                                                                                        |
+| `uint32`                              |            |                                                                  | Unique device ID for the sensor. Does not change between power cycles. (Invalid: 0 if not available) |                                                                                                                                 |
+| firmware_version | `char[24]` |                                                                  |                                                                                                                                                                         | Firmware version. (Invalid: empty if not available)                          |
+| hardware_version | `char[24]` |                                                                  |                                                                                                                                                                         | Hardware version. (Invalid: empty if not available)                          |
+| serial_number    | `char[33]` |                                                                  |                                                                                                                                                                         | Device serial number or unique identifier. (Invalid: empty if not available) |
+
+## Enums
+
+### DEVICE_TYPE {#DEVICE_TYPE}
+
+| 参数名                                                                                                                                                | 类型      | 值  | 描述                     |
+| -------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -- | ---------------------- |
+| <a href="#DEVICE_TYPE_GENERIC"></a> DEVICE_TYPE_GENERIC                                                  | `uint8` | 0  | Generic/unknown sensor |
+| <a href="#DEVICE_TYPE_AIRSPEED"></a> DEVICE_TYPE_AIRSPEED                                                | `uint8` | 1  | 空速传感器                  |
+| <a href="#DEVICE_TYPE_ESC"></a> DEVICE_TYPE_ESC                                                          | `uint8` | 2  | ESC                    |
+| <a href="#DEVICE_TYPE_SERVO"></a> DEVICE_TYPE_SERVO                                                      | `uint8` | 3  | Servo                  |
+| <a href="#DEVICE_TYPE_GPS"></a> DEVICE_TYPE_GPS                                                          | `uint8` | 4  | GPS                    |
+| <a href="#DEVICE_TYPE_MAGNETOMETER"></a> DEVICE_TYPE_MAGNETOMETER                                        | `uint8` | 5  | 磁力计                    |
+| <a href="#DEVICE_TYPE_PARACHUTE"></a> DEVICE_TYPE_PARACHUTE                                              | `uint8` | 6  | 降落伞                    |
+| <a href="#DEVICE_TYPE_RANGEFINDER"></a> DEVICE_TYPE_RANGEFINDER                                          | `uint8` | 7  | Rangefinder            |
+| <a href="#DEVICE_TYPE_WINCH"></a> DEVICE_TYPE_WINCH                                                      | `uint8` | 8  | Winch                  |
+| <a href="#DEVICE_TYPE_BAROMETER"></a> DEVICE_TYPE_BAROMETER                                              | `uint8` | 9  | Barometer              |
+| <a href="#DEVICE_TYPE_OPTICAL_FLOW"></a> DEVICE_TYPE_OPTICAL_FLOW                   | `uint8` | 10 | Optical flow           |
+| <a href="#DEVICE_TYPE_ACCELEROMETER"></a> DEVICE_TYPE_ACCELEROMETER                                      | `uint8` | 11 | Accelerometer          |
+| <a href="#DEVICE_TYPE_GYROSCOPE"></a> DEVICE_TYPE_GYROSCOPE                                              | `uint8` | 12 | Gyroscope              |
+| <a href="#DEVICE_TYPE_DIFFERENTIAL_PRESSURE"></a> DEVICE_TYPE_DIFFERENTIAL_PRESSURE | `uint8` | 13 | Differential pressure  |
+| <a href="#DEVICE_TYPE_BATTERY"></a> DEVICE_TYPE_BATTERY                                                  | `uint8` | 14 | Battery                |
+| <a href="#DEVICE_TYPE_HYGROMETER"></a> DEVICE_TYPE_HYGROMETER                                            | `uint8` | 15 | Hygrometer             |
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DeviceInformation.msg)
+
+:::details
+Click here to see original file

 ```c
 # Device information
@@ -41,5 +88,6 @@ uint32   device_id         # [-] [@invalid 0 if not available] Unique device ID
 char[24] firmware_version  # [-] [@invalid empty if not available] Firmware version.
 char[24] hardware_version  # [-] [@invalid empty if not available] Hardware version.
 char[33] serial_number     # [-] [@invalid empty if not available] Device serial number or unique identifier.
-
 ```
+
+:::
@@ -1,11 +1,33 @@
+---
+pageClass: is-wide-page
+---
+
 # DifferentialPressure (UORB message)

-Differential-pressure (airspeed) sensor
+Differential-pressure (airspeed) sensor.

 This is populated by airspeed sensor drivers and used by the sensor module to calculate airspeed.
 The information is published in the `SCALED_PRESSURE_n` MAVLink messages (along with information from a corresponding `SensorBaro` instance).

-[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DifferentialPressure.msg)
+**TOPICS:** differential_pressure
+
+## Fields
+
+| 参数名                                                                | 类型        | Unit [Frame] | Range/Enum | 描述                                                                        |
+| ------------------------------------------------------------------ | --------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------- |
+| timestamp                                                          | `uint64`  | us                                                               |            | Time of publication (since system start)               |
+| timestamp_sample                              | `uint64`  | us                                                               |            | Time of raw data capture                                                  |
+| device_id                                     | `uint32`  |                                                                  |            | Unique device ID for the sensor that does not change between power cycles |
+| differential_pressure_pa | `float32` | Pa                                                               |            | Differential pressure reading (may be negative)        |
+| temperature                                                        | `float32` | degC                                                             |            | Temperature (Invalid: NaN if unknown)  |
+| error_count                                   | `uint32`  |                                                                  |            | Number of errors detected by driver                                       |
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DifferentialPressure.msg)
+
+:::details
+Click here to see original file

 ```c
 # Differential-pressure (airspeed) sensor
@@ -20,5 +42,6 @@ uint32 device_id                  # [-] Unique device ID for the sensor that doe
 float32 differential_pressure_pa  # [Pa] Differential pressure reading (may be negative)
 float32 temperature               # [degC] [@invalid NaN if unknown] Temperature
 uint32 error_count                # [-] Number of errors detected by driver
-
 ```
+
+:::
@@ -1,8 +1,64 @@
+---
+pageClass: is-wide-page
+---
+
 # DistanceSensor (UORB message)

-DISTANCE_SENSOR message data
+DISTANCE_SENSOR message data.

-[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DistanceSensor.msg)
+**TOPICS:** distance_sensor
+
+## Fields
+
+| 参数名                                   | 类型           | Unit [Frame] | Range/Enum | 描述                                                                                                                                                                                                        |
+| ------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| timestamp                             | `uint64`     |                                                                  |            | time since system start (microseconds)                                                                                                                                                 |
+| device_id        | `uint32`     |                                                                  |            | unique device ID for the sensor that does not change between power cycles                                                                                                                                 |
+| min_distance     | `float32`    |                                                                  |            | Minimum distance the sensor can measure (in m)                                                                                                                                         |
+| max_distance     | `float32`    |                                                                  |            | Maximum distance the sensor can measure (in m)                                                                                                                                         |
+| current_distance | `float32`    |                                                                  |            | Current distance reading (in m)                                                                                                                                                        |
+| variance                              | `float32`    |                                                                  |            | Measurement variance (in m^2), 0 for unknown / invalid readings                                                                                                                        |
+| signal_quality   | `int8`       |                                                                  |            | Signal quality in percent (0...100%), where 0 = invalid signal, 100 = perfect signal, and -1 = unknown signal quality. |
+| type                                  | `uint8`      |                                                                  |            | Type from MAV_DISTANCE_SENSOR enum                                                                                                                              |
+| h_fov            | `float32`    |                                                                  |            | Sensor horizontal field of view (rad)                                                                                                                                                  |
+| v_fov            | `float32`    |                                                                  |            | Sensor vertical field of view (rad)                                                                                                                                                    |
+| q                                     | `float32[4]` |                                                                  |            | Quaterion sensor orientation with respect to the vehicle body frame to specify the orientation ROTATION_CUSTOM                                                                       |
+| orientation                           | `uint8`      |                                                                  |            | Direction the sensor faces from MAV_SENSOR_ORIENTATION enum                                                                                                     |
+| mode                                  | `uint8`      |                                                                  |            |                                                                                                                                                                                                           |
+
+## Constants
+
+| 参数名                                                                                                                                          | 类型      | 值   | 描述                                                                                                                |
+| -------------------------------------------------------------------------------------------------------------------------------------------- | ------- | --- | ----------------------------------------------------------------------------------------------------------------- |
+| <a href="#MAV_DISTANCE_SENSOR_LASER"></a> MAV_DISTANCE_SENSOR_LASER           | `uint8` | 0   |                                                                                                                   |
+| <a href="#MAV_DISTANCE_SENSOR_ULTRASOUND"></a> MAV_DISTANCE_SENSOR_ULTRASOUND | `uint8` | 1   |                                                                                                                   |
+| <a href="#MAV_DISTANCE_SENSOR_INFRARED"></a> MAV_DISTANCE_SENSOR_INFRARED     | `uint8` | 2   |                                                                                                                   |
+| <a href="#MAV_DISTANCE_SENSOR_RADAR"></a> MAV_DISTANCE_SENSOR_RADAR           | `uint8` | 3   |                                                                                                                   |
+| <a href="#ROTATION_YAW_0		"></a> ROTATION_YAW_0                                                    | `uint8` | 0   | MAV_SENSOR_ROTATION_NONE                           |
+| <a href="#ROTATION_YAW_45		"></a> ROTATION_YAW_45                                                  | `uint8` | 1   | MAV_SENSOR_ROTATION_YAW_45    |
+| <a href="#ROTATION_YAW_90		"></a> ROTATION_YAW_90                                                  | `uint8` | 2   | MAV_SENSOR_ROTATION_YAW_90    |
+| <a href="#ROTATION_YAW_135		"></a> ROTATION_YAW_135                                                | `uint8` | 3   | MAV_SENSOR_ROTATION_YAW_135   |
+| <a href="#ROTATION_YAW_180		"></a> ROTATION_YAW_180                                                | `uint8` | 4   | MAV_SENSOR_ROTATION_YAW_180   |
+| <a href="#ROTATION_YAW_225		"></a> ROTATION_YAW_225                                                | `uint8` | 5   | MAV_SENSOR_ROTATION_YAW_225   |
+| <a href="#ROTATION_YAW_270		"></a> ROTATION_YAW_270                                                | `uint8` | 6   | MAV_SENSOR_ROTATION_YAW_270   |
+| <a href="#ROTATION_YAW_315		"></a> ROTATION_YAW_315                                                | `uint8` | 7   | MAV_SENSOR_ROTATION_YAW_315   |
+| <a href="#ROTATION_FORWARD_FACING	"></a> ROTATION_FORWARD_FACING                                   | `uint8` | 0   | MAV_SENSOR_ROTATION_NONE                           |
+| <a href="#ROTATION_RIGHT_FACING	"></a> ROTATION_RIGHT_FACING                                       | `uint8` | 2   | MAV_SENSOR_ROTATION_YAW_90    |
+| <a href="#ROTATION_BACKWARD_FACING	"></a> ROTATION_BACKWARD_FACING                                 | `uint8` | 4   | MAV_SENSOR_ROTATION_YAW_180   |
+| <a href="#ROTATION_LEFT_FACING	"></a> ROTATION_LEFT_FACING                                         | `uint8` | 6   | MAV_SENSOR_ROTATION_YAW_270   |
+| <a href="#ROTATION_UPWARD_FACING"></a> ROTATION_UPWARD_FACING                                      | `uint8` | 24  | MAV_SENSOR_ROTATION_PITCH_90  |
+| <a href="#ROTATION_DOWNWARD_FACING"></a> ROTATION_DOWNWARD_FACING                                  | `uint8` | 25  | MAV_SENSOR_ROTATION_PITCH_270 |
+| <a href="#ROTATION_CUSTOM"></a> ROTATION_CUSTOM                                                                         | `uint8` | 100 | MAV_SENSOR_ROTATION_CUSTOM                         |
+| <a href="#MODE_UNKNOWN"></a> MODE_UNKNOWN                                                                               | `uint8` | 0   |                                                                                                                   |
+| <a href="#MODE_ENABLED"></a> MODE_ENABLED                                                                               | `uint8` | 1   |                                                                                                                   |
+| <a href="#MODE_DISABLED"></a> MODE_DISABLED                                                                             | `uint8` | 2   |                                                                                                                   |
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DistanceSensor.msg)
+
+:::details
+Click here to see original file

 ```c
 # DISTANCE_SENSOR message data
@@ -52,5 +108,6 @@ uint8 mode
 uint8 MODE_UNKNOWN  = 0
 uint8 MODE_ENABLED  = 1
 uint8 MODE_DISABLED = 2
-
 ```
+
+:::
@@ -1,6 +1,31 @@
+---
+pageClass: is-wide-page
+---
+
 # DistanceSensorModeChangeRequest (UORB message)

-[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DistanceSensorModeChangeRequest.msg)
+**TOPICS:** distance_sensormode_changerequest
+
+## Fields
+
+| 参数名                                                      | 类型       | Unit [Frame] | Range/Enum | 描述                                                        |
+| -------------------------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- |
+| timestamp                                                | `uint64` |                                                                  |            | time since system start (microseconds) |
+| request_on_off | `uint8`  |                                                                  |            | request to disable/enable the distance sensor             |
+
+## Constants
+
+| 参数名                                                          | 类型      | 值 | 描述 |
+| ------------------------------------------------------------ | ------- | - | -- |
+| <a href="#REQUEST_OFF"></a> REQUEST_OFF | `uint8` | 0 |    |
+| <a href="#REQUEST_ON"></a> REQUEST_ON   | `uint8` | 1 |    |
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DistanceSensorModeChangeRequest.msg)
+
+:::details
+Click here to see original file

 ```c
 uint64 timestamp		# time since system start (microseconds)
@@ -8,5 +33,6 @@ uint64 timestamp		# time since system start (microseconds)
 uint8 request_on_off 			# request to disable/enable the distance sensor
 uint8 REQUEST_OFF = 0
 uint8 REQUEST_ON  = 1
-
 ```
+
+:::
@@ -1,6 +1,43 @@
+---
+pageClass: is-wide-page
+---
+
 # DronecanNodeStatus (UORB message)

-[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DronecanNodeStatus.msg)
+**TOPICS:** dronecan_nodestatus
+
+## Fields
+
+| 参数名                                                                                        | 类型       | Unit [Frame] | Range/Enum | 描述                                                        |
+| ------------------------------------------------------------------------------------------ | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- |
+| timestamp                                                                                  | `uint64` |                                                                  |            | time since system start (microseconds) |
+| node_id                                                               | `uint16` |                                                                  |            | The node ID which this data comes from                    |
+| uptime_sec                                                            | `uint32` |                                                                  |            | Node uptime                                               |
+| health                                                                                     | `uint8`  |                                                                  |            |                                                           |
+| mode                                                                                       | `uint8`  |                                                                  |            |                                                           |
+| sub_mode                                                              | `uint8`  |                                                                  |            |                                                           |
+| vendor_specific_status_code | `uint16` |                                                                  |            |                                                           |
+
+## Constants
+
+| 参数名                                                                                                 | 类型      | 值 | 描述                                                                                                |
+| --------------------------------------------------------------------------------------------------- | ------- | - | ------------------------------------------------------------------------------------------------- |
+| <a href="#HEALTH_OK"></a> HEALTH_OK                                            | `uint8` | 0 | The node is functioning properly.                                                 |
+| <a href="#HEALTH_WARNING"></a> HEALTH_WARNING                                  | `uint8` | 1 | A critical parameter went out of range or the node encountered a minor failure.   |
+| <a href="#HEALTH_ERROR"></a> HEALTH_ERROR                                      | `uint8` | 2 | The node encountered a major failure.                                             |
+| <a href="#HEALTH_CRITICAL"></a> HEALTH_CRITICAL                                | `uint8` | 3 | The node suffered a fatal malfunction.                                            |
+| <a href="#MODE_OPERATIONAL"></a> MODE_OPERATIONAL                              | `uint8` | 0 | Normal operating mode.                                                            |
+| <a href="#MODE_INITIALIZATION"></a> MODE_INITIALIZATION                        | `uint8` | 1 | Initialization is in progress; this mode is entered immediately after startup.    |
+| <a href="#MODE_MAINTENANCE"></a> MODE_MAINTENANCE                              | `uint8` | 2 | E.g. calibration, the bootloader is running, etc. |
+| <a href="#MODE_SOFTWARE_UPDATE"></a> MODE_SOFTWARE_UPDATE | `uint8` | 3 | New software/firmware is being loaded.                                            |
+| <a href="#MODE_OFFLINE"></a> MODE_OFFLINE                                      | `uint8` | 7 | The node is no longer available.                                                  |
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DronecanNodeStatus.msg)
+
+:::details
+Click here to see original file

 ```c
 uint64 timestamp					# time since system start (microseconds)
@@ -44,5 +81,6 @@ uint8 sub_mode
 # Optional, vendor-specific node status code, e.g. a fault code or a status bitmask.
 #
 uint16 vendor_specific_status_code
-
 ```
+
+:::
@@ -1,12 +1,38 @@
+---
+pageClass: is-wide-page
+---
+
 # Ekf2Timestamps (UORB message)

-this message contains the (relative) timestamps of the sensor inputs used by EKF2.
-It can be used for reproducible replay.
+this message contains the (relative) timestamps of the sensor inputs used by EKF2. It can be used for reproducible replay.

-the timestamp field is the ekf2 reference time and matches the timestamp of
-the sensor_combined topic.
+**TOPICS:** ekf2_timestamps

-[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/Ekf2Timestamps.msg)
+## Fields
+
+| 参数名                                                                                                                | 类型       | Unit [Frame] | Range/Enum | 描述                                                        |
+| ------------------------------------------------------------------------------------------------------------------ | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- |
+| timestamp                                                                                                          | `uint64` |                                                                  |            | time since system start (microseconds) |
+| airspeed_timestamp_rel                                                   | `int16`  |                                                                  |            |                                                           |
+| airspeed_validated_timestamp_rel                    | `int16`  |                                                                  |            |                                                           |
+| distance_sensor_timestamp_rel                       | `int16`  |                                                                  |            |                                                           |
+| optical_flow_timestamp_rel                          | `int16`  |                                                                  |            |                                                           |
+| vehicle_air_data_timestamp_rel | `int16`  |                                                                  |            |                                                           |
+| vehicle_magnetometer_timestamp_rel                  | `int16`  |                                                                  |            |                                                           |
+| visual_odometry_timestamp_rel                       | `int16`  |                                                                  |            |                                                           |
+
+## Constants
+
+| 参数名                                                                                                             | 类型      | 值     | 描述                                                            |
+| --------------------------------------------------------------------------------------------------------------- | ------- | ----- | ------------------------------------------------------------- |
+| <a href="#RELATIVE_TIMESTAMP_INVALID"></a> RELATIVE_TIMESTAMP_INVALID | `int16` | 32767 | (0x7fff) If one of the relative timestamps |
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/Ekf2Timestamps.msg)
+
+:::details
+Click here to see original file

 ```c
 # this message contains the (relative) timestamps of the sensor inputs used by EKF2.
@@ -33,5 +59,6 @@ int16 vehicle_magnetometer_timestamp_rel
 int16 visual_odometry_timestamp_rel

 # Note: this is a high-rate logged topic, so it needs to be as small as possible
-
 ```
+
+:::
@@ -1,6 +1,62 @@
+---
+pageClass: is-wide-page
+---
+
 # EscReport (UORB message)

-[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EscReport.msg)
+**TOPICS:** esc_report
+
+## Fields
+
+| 参数名                                    | 类型        | Unit [Frame] | Range/Enum | 描述                                                                                                                   |
+| -------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | -------------------------------------------------------------------------------------------------------------------- |
+| timestamp                              | `uint64`  |                                                                  |            | time since system start (microseconds)                                                            |
+| esc_errorcount    | `uint32`  |                                                                  |            | Number of reported errors by ESC - if supported                                                                      |
+| esc_rpm           | `int32`   |                                                                  |            | Motor RPM, negative for reverse rotation [RPM] - if supported    |
+| esc_voltage       | `float32` |                                                                  |            | Voltage measured from current ESC [V] - if supported             |
+| esc_current       | `float32` |                                                                  |            | Current measured from current ESC [A] - if supported             |
+| esc_temperature   | `float32` |                                                                  |            | Temperature measured from current ESC [degC] - if supported      |
+| esc_address       | `uint8`   |                                                                  |            | Address of current ESC (in most cases 1-8 / must be set by driver)                                |
+| esc_cmdcount      | `uint8`   |                                                                  |            | Counter of number of commands                                                                                        |
+| esc_state         | `uint8`   |                                                                  |            | State of ESC - depend on Vendor                                                                                      |
+| actuator_function | `uint8`   |                                                                  |            | actuator output function (one of Motor1...MotorN) |
+| failures                               | `uint16`  |                                                                  |            | Bitmask to indicate the internal ESC faults                                                                          |
+| esc_power         | `int8`    |                                                                  |            | Applied power 0-100 in % (negative values reserved)                                               |
+
+## Constants
+
+| 参数名                                                                                                                                          | 类型      | 值   | 描述                                                                                                                                                                                   |
+| -------------------------------------------------------------------------------------------------------------------------------------------- | ------- | --- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
+| <a href="#ACTUATOR_FUNCTION_MOTOR1"></a> ACTUATOR_FUNCTION_MOTOR1                                  | `uint8` | 101 |                                                                                                                                                                                      |
+| <a href="#ACTUATOR_FUNCTION_MOTOR2"></a> ACTUATOR_FUNCTION_MOTOR2                                  | `uint8` | 102 |                                                                                                                                                                                      |
+| <a href="#ACTUATOR_FUNCTION_MOTOR3"></a> ACTUATOR_FUNCTION_MOTOR3                                  | `uint8` | 103 |                                                                                                                                                                                      |
+| <a href="#ACTUATOR_FUNCTION_MOTOR4"></a> ACTUATOR_FUNCTION_MOTOR4                                  | `uint8` | 104 |                                                                                                                                                                                      |
+| <a href="#ACTUATOR_FUNCTION_MOTOR5"></a> ACTUATOR_FUNCTION_MOTOR5                                  | `uint8` | 105 |                                                                                                                                                                                      |
+| <a href="#ACTUATOR_FUNCTION_MOTOR6"></a> ACTUATOR_FUNCTION_MOTOR6                                  | `uint8` | 106 |                                                                                                                                                                                      |
+| <a href="#ACTUATOR_FUNCTION_MOTOR7"></a> ACTUATOR_FUNCTION_MOTOR7                                  | `uint8` | 107 |                                                                                                                                                                                      |
+| <a href="#ACTUATOR_FUNCTION_MOTOR8"></a> ACTUATOR_FUNCTION_MOTOR8                                  | `uint8` | 108 |                                                                                                                                                                                      |
+| <a href="#ACTUATOR_FUNCTION_MOTOR9"></a> ACTUATOR_FUNCTION_MOTOR9                                  | `uint8` | 109 |                                                                                                                                                                                      |
+| <a href="#ACTUATOR_FUNCTION_MOTOR10"></a> ACTUATOR_FUNCTION_MOTOR10                                | `uint8` | 110 |                                                                                                                                                                                      |
+| <a href="#ACTUATOR_FUNCTION_MOTOR11"></a> ACTUATOR_FUNCTION_MOTOR11                                | `uint8` | 111 |                                                                                                                                                                                      |
+| <a href="#ACTUATOR_FUNCTION_MOTOR12"></a> ACTUATOR_FUNCTION_MOTOR12                                | `uint8` | 112 |                                                                                                                                                                                      |
+| <a href="#FAILURE_OVER_CURRENT"></a> FAILURE_OVER_CURRENT                                          | `uint8` | 0   | (1 << 0)                                                                                                        |
+| <a href="#FAILURE_OVER_VOLTAGE"></a> FAILURE_OVER_VOLTAGE                                          | `uint8` | 1   | (1 << 1)                                                                                                        |
+| <a href="#FAILURE_MOTOR_OVER_TEMPERATURE"></a> FAILURE_MOTOR_OVER_TEMPERATURE | `uint8` | 2   | (1 << 2)                                                                                                        |
+| <a href="#FAILURE_OVER_RPM"></a> FAILURE_OVER_RPM                                                  | `uint8` | 3   | (1 << 3)                                                                                                        |
+| <a href="#FAILURE_INCONSISTENT_CMD"></a> FAILURE_INCONSISTENT_CMD                                  | `uint8` | 4   | (1 << 4) Set if ESC received an inconsistent command (i.e out of boundaries) |
+| <a href="#FAILURE_MOTOR_STUCK"></a> FAILURE_MOTOR_STUCK                                            | `uint8` | 5   | (1 << 5)                                                                                                        |
+| <a href="#FAILURE_GENERIC"></a> FAILURE_GENERIC                                                                         | `uint8` | 6   | (1 << 6)                                                                                                        |
+| <a href="#FAILURE_MOTOR_WARN_TEMPERATURE"></a> FAILURE_MOTOR_WARN_TEMPERATURE | `uint8` | 7   | (1 << 7)                                                                                                        |
+| <a href="#FAILURE_WARN_ESC_TEMPERATURE"></a> FAILURE_WARN_ESC_TEMPERATURE     | `uint8` | 8   | (1 << 8)                                                                                                        |
+| <a href="#FAILURE_OVER_ESC_TEMPERATURE"></a> FAILURE_OVER_ESC_TEMPERATURE     | `uint8` | 9   | (1 << 9)                                                                                                        |
+| <a href="#ESC_FAILURE_COUNT"></a> ESC_FAILURE_COUNT                                                | `uint8` | 10  | Counter - keep it as last element!                                                                                                                                                   |
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EscReport.msg)
+
+:::details
+Click here to see original file

 ```c
 uint64 timestamp					# time since system start (microseconds)
@@ -43,5 +99,6 @@ uint8 FAILURE_MOTOR_WARN_TEMPERATURE = 7	# (1 << 7)
 uint8 FAILURE_WARN_ESC_TEMPERATURE = 8		# (1 << 8)
 uint8 FAILURE_OVER_ESC_TEMPERATURE = 9		# (1 << 9)
 uint8 ESC_FAILURE_COUNT = 10 			# Counter - keep it as last element!
-
 ```
+
+:::
@@ -1,6 +1,41 @@
+---
+pageClass: is-wide-page
+---
+
 # EscStatus (UORB message)

-[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EscStatus.msg)
+**TOPICS:** esc_status
+
+## Fields
+
+| 参数名                                                        | 类型             | Unit [Frame] | Range/Enum | 描述                                                                                                                                                                                                   |
+| ---------------------------------------------------------- | -------------- | ---------------------------------------------------------------- | ---------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| timestamp                                                  | `uint64`       |                                                                  |            | time since system start (microseconds)                                                                                                                                            |
+| counter                                                    | `uint16`       |                                                                  |            | incremented by the writing thread everytime new data is stored                                                                                                                                       |
+| esc_count                             | `uint8`        |                                                                  |            | number of connected ESCs                                                                                                                                                                             |
+| esc_connectiontype                    | `uint8`        |                                                                  |            | how ESCs connected to the system                                                                                                                                                                     |
+| esc_online_flags | `uint8`        |                                                                  |            | Bitmask indicating which ESC is online/offline                                                                                                                                                       |
+| esc_armed_flags  | `uint8`        |                                                                  |            | Bitmask indicating which ESC is armed. For ESC's where the arming state is not known (returned by the ESC), the arming bits should always be set. |
+| esc                                                        | `EscReport[8]` |                                                                  |            |                                                                                                                                                                                                      |
+
+## Constants
+
+| 参数名                                                                                                                                    | 类型      | 值 | 描述                                                                                                   |
+| -------------------------------------------------------------------------------------------------------------------------------------- | ------- | - | ---------------------------------------------------------------------------------------------------- |
+| <a href="#CONNECTED_ESC_MAX"></a> CONNECTED_ESC_MAX                                          | `uint8` | 8 | The number of ESCs supported. Current (Q2/2013) we support 8 ESCs |
+| <a href="#ESC_CONNECTION_TYPE_PPM"></a> ESC_CONNECTION_TYPE_PPM         | `uint8` | 0 | Traditional PPM ESC                                                                                  |
+| <a href="#ESC_CONNECTION_TYPE_SERIAL"></a> ESC_CONNECTION_TYPE_SERIAL   | `uint8` | 1 | Serial Bus connected ESC                                                                             |
+| <a href="#ESC_CONNECTION_TYPE_ONESHOT"></a> ESC_CONNECTION_TYPE_ONESHOT | `uint8` | 2 | One Shot PPM                                                                                         |
+| <a href="#ESC_CONNECTION_TYPE_I2C"></a> ESC_CONNECTION_TYPE_I2C         | `uint8` | 3 | I2C                                                                                                  |
+| <a href="#ESC_CONNECTION_TYPE_CAN"></a> ESC_CONNECTION_TYPE_CAN         | `uint8` | 4 | CAN-Bus                                                                                              |
+| <a href="#ESC_CONNECTION_TYPE_DSHOT"></a> ESC_CONNECTION_TYPE_DSHOT     | `uint8` | 5 | DShot                                                                                                |
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EscStatus.msg)
+
+:::details
+Click here to see original file

 ```c
 uint64 timestamp					# time since system start (microseconds)
@@ -31,5 +66,6 @@ uint8 esc_online_flags					# Bitmask indicating which ESC is online/offline
 uint8 esc_armed_flags					# Bitmask indicating which ESC is armed. For ESC's where the arming state is not known (returned by the ESC), the arming bits should always be set.

 EscReport[8] esc
-
 ```
+
+:::
@@ -1,6 +1,36 @@
+---
+pageClass: is-wide-page
+---
+
 # EstimatorAidSource1d (UORB message)

-[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorAidSource1d.msg)
+**TOPICS:** estimator_aid_src_baro_hgt estimator_aid_src_ev_hgt estimator_aid_src_gnss_hgt estimator_aid_src_rng_hgt estimator_aid_src_airspeed estimator_aid_src_sideslip estimator_aid_src_fake_hgt estimator_aid_src_gnss_yaw estimator_aid_src_ev_yaw
+
+## Fields
+
+| 参数名                                                           | 类型        | Unit [Frame] | Range/Enum | 描述                                                              |
+| ------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------- |
+| timestamp                                                     | `uint64`  |                                                                  |            | time since system start (microseconds)       |
+| timestamp_sample                         | `uint64`  |                                                                  |            | the timestamp of the raw data (microseconds) |
+| estimator_instance                       | `uint8`   |                                                                  |            |                                                                 |
+| device_id                                | `uint32`  |                                                                  |            |                                                                 |
+| time_last_fuse      | `uint64`  |                                                                  |            |                                                                 |
+| observation                                                   | `float32` |                                                                  |            |                                                                 |
+| observation_variance                     | `float32` |                                                                  |            |                                                                 |
+| innovation                                                    | `float32` |                                                                  |            |                                                                 |
+| innovation_filtered                      | `float32` |                                                                  |            |                                                                 |
+| innovation_variance                      | `float32` |                                                                  |            |                                                                 |
+| test_ratio                               | `float32` |                                                                  |            | normalized innovation squared                                   |
+| test_ratio_filtered | `float32` |                                                                  |            | signed filtered test ratio                                      |
+| innovation_rejected                      | `bool`    |                                                                  |            | true if the observation has been rejected                       |
+| fused                                                         | `bool`    |                                                                  |            | true if the sample was successfully fused                       |
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorAidSource1d.msg)
+
+:::details
+Click here to see original file

 ```c
 uint64 timestamp             # time since system start (microseconds)
@@ -30,5 +60,6 @@ bool fused                   # true if the sample was successfully fused
 # TOPICS estimator_aid_src_airspeed estimator_aid_src_sideslip
 # TOPICS estimator_aid_src_fake_hgt
 # TOPICS estimator_aid_src_gnss_yaw estimator_aid_src_ev_yaw
-
 ```
+
+:::
@@ -1,6 +1,36 @@
+---
+pageClass: is-wide-page
+---
+
 # EstimatorAidSource2d (UORB message)

-[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorAidSource2d.msg)
+**TOPICS:** estimator_aid_src_ev_pos estimator_aid_src_fake_pos estimator_aid_src_gnss_pos estimator_aid_src_aux_global_position estimator_aid_src_aux_vel estimator_aid_src_optical_flow estimator_aid_src_drag
+
+## Fields
+
+| 参数名                                                           | 类型           | Unit [Frame] | Range/Enum | 描述                                                              |
+| ------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------- |
+| timestamp                                                     | `uint64`     |                                                                  |            | time since system start (microseconds)       |
+| timestamp_sample                         | `uint64`     |                                                                  |            | the timestamp of the raw data (microseconds) |
+| estimator_instance                       | `uint8`      |                                                                  |            |                                                                 |
+| device_id                                | `uint32`     |                                                                  |            |                                                                 |
+| time_last_fuse      | `uint64`     |                                                                  |            |                                                                 |
+| observation                                                   | `float64[2]` |                                                                  |            |                                                                 |
+| observation_variance                     | `float32[2]` |                                                                  |            |                                                                 |
+| innovation                                                    | `float32[2]` |                                                                  |            |                                                                 |
+| innovation_filtered                      | `float32[2]` |                                                                  |            |                                                                 |
+| innovation_variance                      | `float32[2]` |                                                                  |            |                                                                 |
+| test_ratio                               | `float32[2]` |                                                                  |            | normalized innovation squared                                   |
+| test_ratio_filtered | `float32[2]` |                                                                  |            | signed filtered test ratio                                      |
+| innovation_rejected                      | `bool`       |                                                                  |            | true if the observation has been rejected                       |
+| fused                                                         | `bool`       |                                                                  |            | true if the sample was successfully fused                       |
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorAidSource2d.msg)
+
+:::details
+Click here to see original file

 ```c
 uint64 timestamp                # time since system start (microseconds)
@@ -29,5 +59,6 @@ bool fused                      # true if the sample was successfully fused
 # TOPICS estimator_aid_src_ev_pos estimator_aid_src_fake_pos estimator_aid_src_gnss_pos estimator_aid_src_aux_global_position
 # TOPICS estimator_aid_src_aux_vel estimator_aid_src_optical_flow
 # TOPICS estimator_aid_src_drag
-
 ```
+
+:::
@@ -1,6 +1,36 @@
+---
+pageClass: is-wide-page
+---
+
 # EstimatorAidSource3d (UORB message)

-[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorAidSource3d.msg)
+**TOPICS:** estimator_aid_src_ev_vel estimator_aid_src_gnss_vel estimator_aid_src_gravity estimator_aid_src_mag
+
+## Fields
+
+| 参数名                                                           | 类型           | Unit [Frame] | Range/Enum | 描述                                                              |
+| ------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------- |
+| timestamp                                                     | `uint64`     |                                                                  |            | time since system start (microseconds)       |
+| timestamp_sample                         | `uint64`     |                                                                  |            | the timestamp of the raw data (microseconds) |
+| estimator_instance                       | `uint8`      |                                                                  |            |                                                                 |
+| device_id                                | `uint32`     |                                                                  |            |                                                                 |
+| time_last_fuse      | `uint64`     |                                                                  |            |                                                                 |
+| observation                                                   | `float32[3]` |                                                                  |            |                                                                 |
+| observation_variance                     | `float32[3]` |                                                                  |            |                                                                 |
+| innovation                                                    | `float32[3]` |                                                                  |            |                                                                 |
+| innovation_filtered                      | `float32[3]` |                                                                  |            |                                                                 |
+| innovation_variance                      | `float32[3]` |                                                                  |            |                                                                 |
+| test_ratio                               | `float32[3]` |                                                                  |            | normalized innovation squared                                   |
+| test_ratio_filtered | `float32[3]` |                                                                  |            | signed filtered test ratio                                      |
+| innovation_rejected                      | `bool`       |                                                                  |            | true if the observation has been rejected                       |
+| fused                                                         | `bool`       |                                                                  |            | true if the sample was successfully fused                       |
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorAidSource3d.msg)
+
+:::details
+Click here to see original file

 ```c
 uint64 timestamp                # time since system start (microseconds)
@@ -27,5 +57,6 @@ bool innovation_rejected        # true if the observation has been rejected
 bool fused                      # true if the sample was successfully fused

 # TOPICS estimator_aid_src_ev_vel estimator_aid_src_gnss_vel estimator_aid_src_gravity estimator_aid_src_mag
-
 ```
+
+:::
@@ -1,6 +1,30 @@
+---
+pageClass: is-wide-page
+---
+
 # EstimatorBias (UORB message)

-[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorBias.msg)
+**TOPICS:** estimator_baro_bias estimator_gnss_hgt_bias
+
+## Fields
+
+| 参数名                                                        | 类型        | Unit [Frame] | Range/Enum | 描述                                                                          |
+| ---------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------------------- |
+| timestamp                                                  | `uint64`  |                                                                  |            | time since system start (microseconds)                   |
+| timestamp_sample                      | `uint64`  |                                                                  |            | the timestamp of the raw data (microseconds)             |
+| device_id                             | `uint32`  |                                                                  |            | unique device ID for the sensor that does not change between power cycles   |
+| bias                                                       | `float32` |                                                                  |            | estimated barometric altitude bias (m)                   |
+| bias_var                              | `float32` |                                                                  |            | estimated barometric altitude bias variance (m^2)        |
+| innov                                                      | `float32` |                                                                  |            | innovation of the last measurement fusion (m)            |
+| innov_var                             | `float32` |                                                                  |            | innovation variance of the last measurement fusion (m^2) |
+| innov_test_ratio | `float32` |                                                                  |            | normalized innovation squared test ratio                                    |
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorBias.msg)
+
+:::details
+Click here to see original file

 ```c
 uint64 timestamp                # time since system start (microseconds)
@@ -15,5 +39,6 @@ float32 innov_var		# innovation variance of the last measurement fusion (m^2)
 float32 innov_test_ratio	# normalized innovation squared test ratio

 # TOPICS estimator_baro_bias estimator_gnss_hgt_bias
-
 ```
+
+:::
@@ -1,6 +1,30 @@
+---
+pageClass: is-wide-page
+---
+
 # EstimatorBias3d (UORB message)

-[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorBias3d.msg)
+**TOPICS:** estimator_bias3d estimator_ev_pos_bias
+
+## Fields
+
+| 参数名                                                        | 类型           | Unit [Frame] | Range/Enum | 描述                                                                          |
+| ---------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------------------- |
+| timestamp                                                  | `uint64`     |                                                                  |            | time since system start (microseconds)                   |
+| timestamp_sample                      | `uint64`     |                                                                  |            | the timestamp of the raw data (microseconds)             |
+| device_id                             | `uint32`     |                                                                  |            | unique device ID for the sensor that does not change between power cycles   |
+| bias                                                       | `float32[3]` |                                                                  |            | estimated barometric altitude bias (m)                   |
+| bias_var                              | `float32[3]` |                                                                  |            | estimated barometric altitude bias variance (m^2)        |
+| innov                                                      | `float32[3]` |                                                                  |            | innovation of the last measurement fusion (m)            |
+| innov_var                             | `float32[3]` |                                                                  |            | innovation variance of the last measurement fusion (m^2) |
+| innov_test_ratio | `float32[3]` |                                                                  |            | normalized innovation squared test ratio                                    |
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorBias3d.msg)
+
+:::details
+Click here to see original file

 ```c
 uint64 timestamp                # time since system start (microseconds)
@@ -17,5 +41,6 @@ float32[3] innov_test_ratio     # normalized innovation squared test ratio

 # TOPICS estimator_bias3d
 # TOPICS estimator_ev_pos_bias
-
 ```
+
+:::
@@ -1,6 +1,42 @@
+---
+pageClass: is-wide-page
+---
+
 # EstimatorEventFlags (UORB message)

-[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorEventFlags.msg)
+**TOPICS:** estimator_eventflags
+
+## Fields
+
+| 参数名                                                                                                         | 类型       | Unit [Frame] | Range/Enum | 描述                                                                                                        |
+| ----------------------------------------------------------------------------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------------------------------------------------- |
+| timestamp                                                                                                   | `uint64` |                                                                  |            | time since system start (microseconds)                                                 |
+| timestamp_sample                                                                       | `uint64` |                                                                  |            | the timestamp of the raw data (microseconds)                                           |
+| information_event_changes                                         | `uint32` |                                                                  |            | number of information event changes                                                                       |
+| gps_checks_passed                                                 | `bool`   |                                                                  |            | 0 - true when gps quality checks are passing passed                                                       |
+| reset_vel_to_gps                             | `bool`   |                                                                  |            | 1 - true when the velocity states are reset to the gps measurement                                        |
+| reset_vel_to_flow                            | `bool`   |                                                                  |            | 2 - true when the velocity states are reset using the optical flow measurement                            |
+| reset_vel_to_vision                          | `bool`   |                                                                  |            | 3 - true when the velocity states are reset to the vision system measurement                              |
+| reset_vel_to_zero                            | `bool`   |                                                                  |            | 4 - true when the velocity states are reset to zero                                                       |
+| reset_pos_to_last_known | `bool`   |                                                                  |            | 5 - true when the position states are reset to the last known position                                    |
+| reset_pos_to_gps                             | `bool`   |                                                                  |            | 6 - true when the position states are reset to the gps measurement                                        |
+| reset_pos_to_vision                          | `bool`   |                                                                  |            | 7 - true when the position states are reset to the vision system measurement                              |
+| starting_gps_fusion                                               | `bool`   |                                                                  |            | 8 - true when the filter starts using gps measurements to correct the state estimates                     |
+| starting_vision_pos_fusion                   | `bool`   |                                                                  |            | 9 - true when the filter starts using vision system position measurements to correct the state estimates  |
+| starting_vision_vel_fusion                   | `bool`   |                                                                  |            | 10 - true when the filter starts using vision system velocity measurements to correct the state estimates |
+| starting_vision_yaw_fusion                   | `bool`   |                                                                  |            | 11 - true when the filter starts using vision system yaw measurements to correct the state estimates      |
+| yaw_aligned_to_imu_gps  | `bool`   |                                                                  |            | 12 - true when the filter resets the yaw to an estimate derived from IMU and GPS data                     |
+| reset_hgt_to_baro                            | `bool`   |                                                                  |            | 13 - true when the vertical position state is reset to the baro measurement                               |
+| reset_hgt_to_gps                             | `bool`   |                                                                  |            | 14 - true when the vertical position state is reset to the gps measurement                                |
+| reset_hgt_to_rng                             | `bool`   |                                                                  |            | 15 - true when the vertical position state is reset to the rng measurement                                |
+| reset_hgt_to_ev                              | `bool`   |                                                                  |            | 16 - true when the vertical position state is reset to the ev measurement                                 |
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorEventFlags.msg)
+
+:::details
+Click here to see original file

 ```c
 uint64 timestamp                        # time since system start (microseconds)
@@ -25,5 +61,6 @@ bool reset_hgt_to_baro                  # 13 - true when the vertical position s
 bool reset_hgt_to_gps                   # 14 - true when the vertical position state is reset to the gps measurement
 bool reset_hgt_to_rng                   # 15 - true when the vertical position state is reset to the rng measurement
 bool reset_hgt_to_ev                    # 16 - true when the vertical position state is reset to the ev measurement
-
 ```
+
+:::
@@ -1,6 +1,39 @@
+---
+pageClass: is-wide-page
+---
+
 # EstimatorGpsStatus (UORB message)

-[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorGpsStatus.msg)
+**TOPICS:** estimator_gpsstatus
+
+## Fields
+
+| 参数名                                                                                                                                         | 类型        | Unit [Frame] | Range/Enum | 描述                                                                                               |
+| ------------------------------------------------------------------------------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------ |
+| timestamp                                                                                                                                   | `uint64`  |                                                                  |            | time since system start (microseconds)                                        |
+| timestamp_sample                                                                                                       | `uint64`  |                                                                  |            | the timestamp of the raw data (microseconds)                                  |
+| checks_passed                                                                                                          | `bool`    |                                                                  |            |                                                                                                  |
+| check_fail_gps_fix                                                           | `bool`    |                                                                  |            | 0 : insufficient fix type (no 3D solution)                    |
+| check_fail_min_sat_count                                | `bool`    |                                                                  |            | 1 : minimum required sat count fail                                              |
+| check_fail_max_pdop                                                          | `bool`    |                                                                  |            | 2 : maximum allowed PDOP fail                                                    |
+| check_fail_max_horz_err                                 | `bool`    |                                                                  |            | 3 : maximum allowed horizontal position error fail                               |
+| check_fail_max_vert_err                                 | `bool`    |                                                                  |            | 4 : maximum allowed vertical position error fail                                 |
+| check_fail_max_spd_err                                  | `bool`    |                                                                  |            | 5 : maximum allowed speed error fail                                             |
+| check_fail_max_horz_drift                               | `bool`    |                                                                  |            | 6 : maximum allowed horizontal position drift fail - requires stationary vehicle |
+| check_fail_max_vert_drift                               | `bool`    |                                                                  |            | 7 : maximum allowed vertical position drift fail - requires stationary vehicle   |
+| check_fail_max_horz_spd_err        | `bool`    |                                                                  |            | 8 : maximum allowed horizontal speed fail - requires stationary vehicle          |
+| check_fail_max_vert_spd_err        | `bool`    |                                                                  |            | 9 : maximum allowed vertical velocity discrepancy fail                           |
+| check_fail_spoofed_gps                                                       | `bool`    |                                                                  |            | 10 : GPS signal is spoofed                                                       |
+| position_drift_rate_horizontal_m_s | `float32` |                                                                  |            | Horizontal position rate magnitude (m/s)                                      |
+| position_drift_rate_vertical_m_s   | `float32` |                                                                  |            | Vertical position rate magnitude (m/s)                                        |
+| filtered_horizontal_speed_m_s                           | `float32` |                                                                  |            | Filtered horizontal velocity magnitude (m/s)                                  |
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorGpsStatus.msg)
+
+:::details
+Click here to see original file

 ```c
 uint64 timestamp                          # time since system start (microseconds)
@@ -23,5 +56,6 @@ bool check_fail_spoofed_gps      # 10 : GPS signal is spoofed
 float32 position_drift_rate_horizontal_m_s # Horizontal position rate magnitude (m/s)
 float32 position_drift_rate_vertical_m_s   # Vertical position rate magnitude (m/s)
 float32 filtered_horizontal_speed_m_s      # Filtered horizontal velocity magnitude (m/s)
-
 ```
+
+:::
@@ -1,6 +1,44 @@
+---
+pageClass: is-wide-page
+---
+
 # EstimatorInnovations (UORB message)

-[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorInnovations.msg)
+**TOPICS:** estimator_innovations estimator_innovation_variances estimator_innovation_test_ratios
+
+## Fields
+
+| 参数名                                   | 类型           | Unit [Frame] | Range/Enum                                                                                                                                           | 描述                                                                                                                                                                               |
+| ------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| timestamp                             | `uint64`     |                                                                  |                                                                                                                                                      | time since system start (microseconds)                                                                                                                        |
+| timestamp_sample | `uint64`     |                                                                  |                                                                                                                                                      | the timestamp of the raw data (microseconds)                                                                                                                  |
+| gps_hvel         | `float32[2]` |                                                                  |                                                                                                                                                      | horizontal GPS velocity innovation (m/sec) and innovation variance ((m/sec)\*\*2)                                       |
+| `float32`                             |              |                                                                  | vertical GPS velocity innovation (m/sec) and innovation variance ((m/sec)\*\*2)             |                                                                                                                                                                                  |
+| gps_hpos         | `float32[2]` |                                                                  |                                                                                                                                                      | horizontal GPS position innovation (m) and innovation variance (m\*\*2)                                                                    |
+| `float32`                             |              |                                                                  | vertical GPS position innovation (m) and innovation variance (m\*\*2)                                          |                                                                                                                                                                                  |
+| ev_hvel          | `float32[2]` |                                                                  |                                                                                                                                                      | horizontal external vision velocity innovation (m/sec) and innovation variance ((m/sec)\*\*2)                           |
+| `float32`                             |              |                                                                  | vertical external vision velocity innovation (m/sec) and innovation variance ((m/sec)\*\*2) |                                                                                                                                                                                  |
+| ev_hpos          | `float32[2]` |                                                                  |                                                                                                                                                      | horizontal external vision position innovation (m) and innovation variance (m\*\*2)                                                        |
+| `float32`                             |              |                                                                  | vertical external vision position innovation (m) and innovation variance (m\*\*2)                              |                                                                                                                                                                                  |
+| rng_vpos         | `float32`    |                                                                  |                                                                                                                                                      | range sensor height innovation (m) and innovation variance (m\*\*2)                                                                        |
+| baro_vpos        | `float32`    |                                                                  |                                                                                                                                                      | barometer height innovation (m) and innovation variance (m\*\*2)                                                                           |
+| aux_hvel         | `float32[2]` |                                                                  |                                                                                                                                                      | horizontal auxiliary velocity innovation from landing target measurement (m/sec) and innovation variance ((m/sec)\*\*2) |
+| flow                                  | `float32[2]` |                                                                  |                                                                                                                                                      | flow innvoation (rad/sec) and innovation variance ((rad/sec)\*\*2)                                                      |
+| heading                               | `float32`    |                                                                  |                                                                                                                                                      | heading innovation (rad) and innovation variance (rad\*\*2)                                                                                |
+| mag_field        | `float32[3]` |                                                                  |                                                                                                                                                      | earth magnetic field innovation (Gauss) and innovation variance (Gauss\*\*2)                                                               |
+| gravity                               | `float32[3]` |                                                                  |                                                                                                                                                      | gravity innovation from accelerometerr vector (m/s\*\*2)                                                                                                      |
+| drag                                  | `float32[2]` |                                                                  |                                                                                                                                                      | drag specific force innovation (m/sec\*\*2) and innovation variance ((m/sec)\*\*2)                                      |
+| airspeed                              | `float32`    |                                                                  |                                                                                                                                                      | airspeed innovation (m/sec) and innovation variance ((m/sec)\*\*2)                                                      |
+| beta                                  | `float32`    |                                                                  |                                                                                                                                                      | synthetic sideslip innovation (rad) and innovation variance (rad\*\*2)                                                                     |
+| hagl                                  | `float32`    |                                                                  |                                                                                                                                                      | height of ground innovation (m) and innovation variance (m\*\*2)                                                                           |
+| hagl_rate        | `float32`    |                                                                  |                                                                                                                                                      | height of ground rate innovation (m/s) and innovation variance ((m/s)\*\*2)                                             |
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorInnovations.msg)
+
+:::details
+Click here to see original file

 ```c
 uint64 timestamp		# time since system start (microseconds)
@@ -42,5 +80,6 @@ float32 hagl_rate	# height of ground rate innovation (m/s) and innovation varian
 # the test ratio will be put in the first component of the vector.

 # TOPICS estimator_innovations estimator_innovation_variances estimator_innovation_test_ratios
-
 ```
+
+:::
@@ -1,6 +1,38 @@
+---
+pageClass: is-wide-page
+---
+
 # EstimatorSelectorStatus (UORB message)

-[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorSelectorStatus.msg)
+**TOPICS:** estimator_selectorstatus
+
+## Fields
+
+| 参数名                                                               | 类型           | Unit [Frame] | Range/Enum | 描述                                                        |
+| ----------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- |
+| timestamp                                                         | `uint64`     |                                                                  |            | time since system start (microseconds) |
+| primary_instance                             | `uint8`      |                                                                  |            |                                                           |
+| instances_available                          | `uint8`      |                                                                  |            |                                                           |
+| instance_changed_count  | `uint32`     |                                                                  |            |                                                           |
+| last_instance_change    | `uint64`     |                                                                  |            |                                                           |
+| accel_device_id         | `uint32`     |                                                                  |            |                                                           |
+| baro_device_id          | `uint32`     |                                                                  |            |                                                           |
+| gyro_device_id          | `uint32`     |                                                                  |            |                                                           |
+| mag_device_id           | `uint32`     |                                                                  |            |                                                           |
+| combined_test_ratio     | `float32[9]` |                                                                  |            |                                                           |
+| relative_test_ratio     | `float32[9]` |                                                                  |            |                                                           |
+| healthy                                                           | `bool[9]`    |                                                                  |            |                                                           |
+| accumulated_gyro_error  | `float32[4]` |                                                                  |            |                                                           |
+| accumulated_accel_error | `float32[4]` |                                                                  |            |                                                           |
+| gyro_fault_detected     | `bool`       |                                                                  |            |                                                           |
+| accel_fault_detected    | `bool`       |                                                                  |            |                                                           |
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorSelectorStatus.msg)
+
+:::details
+Click here to see original file

 ```c
 uint64 timestamp		# time since system start (microseconds)
@@ -25,5 +57,6 @@ float32[4] accumulated_gyro_error
 float32[4] accumulated_accel_error
 bool gyro_fault_detected
 bool accel_fault_detected
-
 ```
+
+:::
@@ -1,9 +1,44 @@
+---
+pageClass: is-wide-page
+---
+
 # EstimatorSensorBias (UORB message)

-Sensor readings and in-run biases in SI-unit form. Sensor readings are compensated for static offsets,
-scale errors, in-run bias and thermal drift (if thermal compensation is enabled and available).
+Sensor readings and in-run biases in SI-unit form. Sensor readings are compensated for static offsets,. scale errors, in-run bias and thermal drift (if thermal compensation is enabled and available).

-[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorSensorBias.msg)
+**TOPICS:** estimator_sensorbias
+
+## Fields
+
+| 参数名                                                           | 类型           | Unit [Frame] | Range/Enum | 描述                                                                                      |
+| ------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------------------------------- |
+| timestamp                                                     | `uint64`     |                                                                  |            | time since system start (microseconds)                               |
+| timestamp_sample                         | `uint64`     |                                                                  |            | the timestamp of the raw data (microseconds)                         |
+| gyro_device_id      | `uint32`     |                                                                  |            | unique device ID for the sensor that does not change between power cycles               |
+| gyro_bias                                | `float32[3]` |                                                                  |            | gyroscope in-run bias in body frame (rad/s)                          |
+| gyro_bias_limit     | `float32`    |                                                                  |            | magnitude of maximum gyroscope in-run bias in body frame (rad/s)     |
+| gyro_bias_variance  | `float32[3]` |                                                                  |            |                                                                                         |
+| gyro_bias_valid     | `bool`       |                                                                  |            |                                                                                         |
+| gyro_bias_stable    | `bool`       |                                                                  |            | true when the gyro bias estimate is stable enough to use for calibration                |
+| accel_device_id     | `uint32`     |                                                                  |            | unique device ID for the sensor that does not change between power cycles               |
+| accel_bias                               | `float32[3]` |                                                                  |            | accelerometer in-run bias in body frame (m/s^2)                      |
+| accel_bias_limit    | `float32`    |                                                                  |            | magnitude of maximum accelerometer in-run bias in body frame (m/s^2) |
+| accel_bias_variance | `float32[3]` |                                                                  |            |                                                                                         |
+| accel_bias_valid    | `bool`       |                                                                  |            |                                                                                         |
+| accel_bias_stable   | `bool`       |                                                                  |            | true when the accel bias estimate is stable enough to use for calibration               |
+| mag_device_id       | `uint32`     |                                                                  |            | unique device ID for the sensor that does not change between power cycles               |
+| mag_bias                                 | `float32[3]` |                                                                  |            | magnetometer in-run bias in body frame (Gauss)                       |
+| mag_bias_limit      | `float32`    |                                                                  |            | magnitude of maximum magnetometer in-run bias in body frame (Gauss)  |
+| mag_bias_variance   | `float32[3]` |                                                                  |            |                                                                                         |
+| mag_bias_valid      | `bool`       |                                                                  |            |                                                                                         |
+| mag_bias_stable     | `bool`       |                                                                  |            | true when the mag bias estimate is stable enough to use for calibration                 |
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorSensorBias.msg)
+
+:::details
+Click here to see original file

 ```c
 #
@@ -36,5 +71,6 @@ float32 mag_bias_limit          # magnitude of maximum magnetometer in-run bias
 float32[3] mag_bias_variance
 bool mag_bias_valid
 bool mag_bias_stable		# true when the mag bias estimate is stable enough to use for calibration
-
 ```
+
+:::
@@ -1,6 +1,27 @@
+---
+pageClass: is-wide-page
+---
+
 # EstimatorStates (UORB message)

-[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorStates.msg)
+**TOPICS:** estimator_states
+
+## Fields
+
+| 参数名                                   | 类型            | Unit [Frame] | Range/Enum | 描述                                                              |
+| ------------------------------------- | ------------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------- |
+| timestamp                             | `uint64`      |                                                                  |            | time since system start (microseconds)       |
+| timestamp_sample | `uint64`      |                                                                  |            | the timestamp of the raw data (microseconds) |
+| states                                | `float32[25]` |                                                                  |            | Internal filter states                                          |
+| n_states         | `uint8`       |                                                                  |            | Number of states effectively used                               |
+| covariances                           | `float32[24]` |                                                                  |            | Diagonal Elements of Covariance Matrix                          |
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorStates.msg)
+
+:::details
+Click here to see original file

 ```c
 uint64 timestamp		# time since system start (microseconds)
@@ -10,5 +31,6 @@ float32[25] states		# Internal filter states
 uint8 n_states		# Number of states effectively used

 float32[24] covariances	# Diagonal Elements of Covariance Matrix
-
 ```
+
+:::
@@ -1,6 +1,109 @@
+---
+pageClass: is-wide-page
+---
+
 # EstimatorStatus (UORB message)

-[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorStatus.msg)
+**TOPICS:** estimator_status
+
+## Fields
+
+| 参数名                                                                                                                                       | 类型           | Unit [Frame] | Range/Enum | 描述                                                                                                                                                                                  |
+| ----------------------------------------------------------------------------------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| timestamp                                                                                                                                 | `uint64`     |                                                                  |            | time since system start (microseconds)                                                                                                                           |
+| timestamp_sample                                                                                                     | `uint64`     |                                                                  |            | the timestamp of the raw data (microseconds)                                                                                                                     |
+| output_tracking_error                                                                           | `float32[3]` |                                                                  |            | return a vector containing the output predictor angular, velocity and position tracking error magnitudes (rad), (m/s), (m) |
+| gps_check_fail_flags                                                       | `uint16`     |                                                                  |            | Bitmask to indicate status of GPS checks - see definition below                                                                                                                     |
+| control_mode_flags                                                                              | `uint64`     |                                                                  |            | Bitmask to indicate EKF logic state                                                                                                                                                 |
+| filter_fault_flags                                                                              | `uint32`     |                                                                  |            | Bitmask to indicate EKF internal faults                                                                                                                                             |
+| pos_horiz_accuracy                                                                              | `float32`    |                                                                  |            | 1-Sigma estimated horizontal position accuracy relative to the estimators origin (m)                                                                             |
+| pos_vert_accuracy                                                                               | `float32`    |                                                                  |            | 1-Sigma estimated vertical position accuracy relative to the estimators origin (m)                                                                               |
+| hdg_test_ratio                                                                                  | `float32`    |                                                                  |            | low-pass filtered ratio of the largest heading innovation component to the innovation test limit                                                                                    |
+| vel_test_ratio                                                                                  | `float32`    |                                                                  |            | low-pass filtered ratio of the largest velocity innovation component to the innovation test limit                                                                                   |
+| pos_test_ratio                                                                                  | `float32`    |                                                                  |            | low-pass filtered ratio of the largest horizontal position innovation component to the innovation test limit                                                                        |
+| hgt_test_ratio                                                                                  | `float32`    |                                                                  |            | low-pass filtered ratio of the vertical position innovation to the innovation test limit                                                                                            |
+| tas_test_ratio                                                                                  | `float32`    |                                                                  |            | low-pass filtered ratio of the true airspeed innovation to the innovation test limit                                                                                                |
+| hagl_test_ratio                                                                                 | `float32`    |                                                                  |            | low-pass filtered ratio of the height above ground innovation to the innovation test limit                                                                                          |
+| beta_test_ratio                                                                                 | `float32`    |                                                                  |            | low-pass filtered ratio of the synthetic sideslip innovation to the innovation test limit                                                                                           |
+| solution_status_flags                                                                           | `uint16`     |                                                                  |            | Bitmask indicating which filter kinematic state outputs are valid for flight control use.                                                                           |
+| reset_count_vel_ne                                                         | `uint8`      |                                                                  |            | number of horizontal position reset events (allow to wrap if count exceeds 255)                                                                                  |
+| reset_count_vel_d                                                          | `uint8`      |                                                                  |            | number of vertical velocity reset events (allow to wrap if count exceeds 255)                                                                                    |
+| reset_count_pos_ne                                                         | `uint8`      |                                                                  |            | number of horizontal position reset events (allow to wrap if count exceeds 255)                                                                                  |
+| reset_count_pod_d                                                          | `uint8`      |                                                                  |            | number of vertical position reset events (allow to wrap if count exceeds 255)                                                                                    |
+| reset_count_quat                                                                                | `uint8`      |                                                                  |            | number of quaternion reset events (allow to wrap if count exceeds 255)                                                                                           |
+| time_slip                                                                                                            | `float32`    |                                                                  |            | cumulative amount of time in seconds that the EKF inertial calculation has slipped relative to system time                                                                          |
+| pre_flt_fail_innov_heading                            | `bool`       |                                                                  |            |                                                                                                                                                                                     |
+| pre_flt_fail_innov_height                             | `bool`       |                                                                  |            |                                                                                                                                                                                     |
+| pre_flt_fail_innov_pos_horiz     | `bool`       |                                                                  |            |                                                                                                                                                                                     |
+| pre_flt_fail_innov_vel_horiz     | `bool`       |                                                                  |            |                                                                                                                                                                                     |
+| pre_flt_fail_innov_vel_vert      | `bool`       |                                                                  |            |                                                                                                                                                                                     |
+| pre_flt_fail_mag_field_disturbed | `bool`       |                                                                  |            |                                                                                                                                                                                     |
+| accel_device_id                                                                                 | `uint32`     |                                                                  |            |                                                                                                                                                                                     |
+| gyro_device_id                                                                                  | `uint32`     |                                                                  |            |                                                                                                                                                                                     |
+| baro_device_id                                                                                  | `uint32`     |                                                                  |            |                                                                                                                                                                                     |
+| mag_device_id                                                                                   | `uint32`     |                                                                  |            |                                                                                                                                                                                     |
+| health_flags                                                                                                         | `uint8`      |                                                                  |            | Bitmask to indicate sensor health states (vel, pos, hgt)                                                                                                         |
+| timeout_flags                                                                                                        | `uint8`      |                                                                  |            | Bitmask to indicate timeout flags (vel, pos, hgt)                                                                                                                |
+| mag_inclination_deg                                                                             | `float32`    |                                                                  |            |                                                                                                                                                                                     |
+| mag_inclination_ref_deg                                                    | `float32`    |                                                                  |            |                                                                                                                                                                                     |
+| mag_strength_gs                                                                                 | `float32`    |                                                                  |            |                                                                                                                                                                                     |
+| mag_strength_ref_gs                                                        | `float32`    |                                                                  |            |                                                                                                                                                                                     |
+
+## Constants
+
+| 参数名                                                                                                                                                                                                           | 类型      | 值  | 描述                                                                                                |
+| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -- | ------------------------------------------------------------------------------------------------- |
+| <a href="#GPS_CHECK_FAIL_GPS_FIX"></a> GPS_CHECK_FAIL_GPS_FIX                                                             | `uint8` | 0  | 0 : insufficient fix type (no 3D solution)                     |
+| <a href="#GPS_CHECK_FAIL_MIN_SAT_COUNT"></a> GPS_CHECK_FAIL_MIN_SAT_COUNT                            | `uint8` | 1  | 1 : minimum required sat count fail                                               |
+| <a href="#GPS_CHECK_FAIL_MAX_PDOP"></a> GPS_CHECK_FAIL_MAX_PDOP                                                           | `uint8` | 2  | 2 : maximum allowed PDOP fail                                                     |
+| <a href="#GPS_CHECK_FAIL_MAX_HORZ_ERR"></a> GPS_CHECK_FAIL_MAX_HORZ_ERR                              | `uint8` | 3  | 3 : maximum allowed horizontal position error fail                                |
+| <a href="#GPS_CHECK_FAIL_MAX_VERT_ERR"></a> GPS_CHECK_FAIL_MAX_VERT_ERR                              | `uint8` | 4  | 4 : maximum allowed vertical position error fail                                  |
+| <a href="#GPS_CHECK_FAIL_MAX_SPD_ERR"></a> GPS_CHECK_FAIL_MAX_SPD_ERR                                | `uint8` | 5  | 5 : maximum allowed speed error fail                                              |
+| <a href="#GPS_CHECK_FAIL_MAX_HORZ_DRIFT"></a> GPS_CHECK_FAIL_MAX_HORZ_DRIFT                          | `uint8` | 6  | 6 : maximum allowed horizontal position drift fail - requires stationary vehicle  |
+| <a href="#GPS_CHECK_FAIL_MAX_VERT_DRIFT"></a> GPS_CHECK_FAIL_MAX_VERT_DRIFT                          | `uint8` | 7  | 7 : maximum allowed vertical position drift fail - requires stationary vehicle    |
+| <a href="#GPS_CHECK_FAIL_MAX_HORZ_SPD_ERR"></a> GPS_CHECK_FAIL_MAX_HORZ_SPD_ERR | `uint8` | 8  | 8 : maximum allowed horizontal speed fail - requires stationary vehicle           |
+| <a href="#GPS_CHECK_FAIL_MAX_VERT_SPD_ERR"></a> GPS_CHECK_FAIL_MAX_VERT_SPD_ERR | `uint8` | 9  | 9 : maximum allowed vertical velocity discrepancy fail                            |
+| <a href="#GPS_CHECK_FAIL_SPOOFED"></a> GPS_CHECK_FAIL_SPOOFED                                                                                  | `uint8` | 10 | 10 : GPS signal is spoofed                                                        |
+| <a href="#GPS_CHECK_FAIL_JAMMED"></a> GPS_CHECK_FAIL_JAMMED                                                                                    | `uint8` | 11 | 11 : GPS signal is jammed                                                         |
+| <a href="#CS_TILT_ALIGN"></a> CS_TILT_ALIGN                                                                                                                         | `uint8` | 0  | 0 - true if the filter tilt alignment is complete                                                 |
+| <a href="#CS_YAW_ALIGN"></a> CS_YAW_ALIGN                                                                                                                           | `uint8` | 1  | 1 - true if the filter yaw alignment is complete                                                  |
+| <a href="#CS_GNSS_POS"></a> CS_GNSS_POS                                                                                                                             | `uint8` | 2  | 2 - true if GNSS position measurements are being fused                                            |
+| <a href="#CS_OPT_FLOW"></a> CS_OPT_FLOW                                                                                                                             | `uint8` | 3  | 3 - true if optical flow measurements are being fused                                             |
+| <a href="#CS_MAG_HDG"></a> CS_MAG_HDG                                                                                                                               | `uint8` | 4  | 4 - true if a simple magnetic yaw heading is being fused                                          |
+| <a href="#CS_MAG_3D"></a> CS_MAG_3D                                                                                                                                 | `uint8` | 5  | 5 - true if 3-axis magnetometer measurement are being fused                                       |
+| <a href="#CS_MAG_DEC"></a> CS_MAG_DEC                                                                                                                               | `uint8` | 6  | 6 - true if synthetic magnetic declination measurements are being fused                           |
+| <a href="#CS_IN_AIR"></a> CS_IN_AIR                                                                                                                                 | `uint8` | 7  | 7 - true when thought to be airborne                                                              |
+| <a href="#CS_WIND"></a> CS_WIND                                                                                                                                                          | `uint8` | 8  | 8 - true when wind velocity is being estimated                                                    |
+| <a href="#CS_BARO_HGT"></a> CS_BARO_HGT                                                                                                                             | `uint8` | 9  | 9 - true when baro data is being fused                                                            |
+| <a href="#CS_RNG_HGT"></a> CS_RNG_HGT                                                                                                                               | `uint8` | 10 | 10 - true when range finder data is being fused for height aiding                                 |
+| <a href="#CS_GPS_HGT"></a> CS_GPS_HGT                                                                                                                               | `uint8` | 11 | 11 - true when GPS altitude is being fused                                                        |
+| <a href="#CS_EV_POS"></a> CS_EV_POS                                                                                                                                 | `uint8` | 12 | 12 - true when local position data from external vision is being fused                            |
+| <a href="#CS_EV_YAW"></a> CS_EV_YAW                                                                                                                                 | `uint8` | 13 | 13 - true when yaw data from external vision measurements is being fused                          |
+| <a href="#CS_EV_HGT"></a> CS_EV_HGT                                                                                                                                 | `uint8` | 14 | 14 - true when height data from external vision measurements is being fused                       |
+| <a href="#CS_BETA"></a> CS_BETA                                                                                                                                                          | `uint8` | 15 | 15 - true when synthetic sideslip measurements are being fused                                    |
+| <a href="#CS_MAG_FIELD"></a> CS_MAG_FIELD                                                                                                                           | `uint8` | 16 | 16 - true when only the magnetic field states are updated by the magnetometer                     |
+| <a href="#CS_FIXED_WING"></a> CS_FIXED_WING                                                                                                                         | `uint8` | 17 | 17 - true when thought to be operating as a fixed wing vehicle with constrained sideslip          |
+| <a href="#CS_MAG_FAULT"></a> CS_MAG_FAULT                                                                                                                           | `uint8` | 18 | 18 - true when the magnetometer has been declared faulty and is no longer being used              |
+| <a href="#CS_ASPD"></a> CS_ASPD                                                                                                                                                          | `uint8` | 19 | 19 - true when airspeed measurements are being fused                                              |
+| <a href="#CS_GND_EFFECT"></a> CS_GND_EFFECT                                                                                                                         | `uint8` | 20 | 20 - true when when protection from ground effect induced static pressure rise is active          |
+| <a href="#CS_RNG_STUCK"></a> CS_RNG_STUCK                                                                                                                           | `uint8` | 21 | 21 - true when a stuck range finder sensor has been detected                                      |
+| <a href="#CS_GPS_YAW"></a> CS_GPS_YAW                                                                                                                               | `uint8` | 22 | 22 - true when yaw (not ground course) data from a GPS receiver is being fused |
+| <a href="#CS_MAG_ALIGNED"></a> CS_MAG_ALIGNED                                                                                                                       | `uint8` | 23 | 23 - true when the in-flight mag field alignment has been completed                               |
+| <a href="#CS_EV_VEL"></a> CS_EV_VEL                                                                                                                                 | `uint8` | 24 | 24 - true when local frame velocity data fusion from external vision measurements is intended     |
+| <a href="#CS_SYNTHETIC_MAG_Z"></a> CS_SYNTHETIC_MAG_Z                                                                                          | `uint8` | 25 | 25 - true when we are using a synthesized measurement for the magnetometer Z component            |
+| <a href="#CS_VEHICLE_AT_REST"></a> CS_VEHICLE_AT_REST                                                                                          | `uint8` | 26 | 26 - true when the vehicle is at rest                                                             |
+| <a href="#CS_GPS_YAW_FAULT"></a> CS_GPS_YAW_FAULT                                                                                              | `uint8` | 27 | 27 - true when the GNSS heading has been declared faulty and is no longer being used              |
+| <a href="#CS_RNG_FAULT"></a> CS_RNG_FAULT                                                                                                                           | `uint8` | 28 | 28 - true when the range finder has been declared faulty and is no longer being used              |
+| <a href="#CS_GNSS_VEL"></a> CS_GNSS_VEL                                                                                                                             | `uint8` | 44 | 44 - true if GNSS velocity measurement fusion is intended                                         |
+| <a href="#CS_GNSS_FAULT"></a> CS_GNSS_FAULT                                                                                                                         | `uint8` | 45 | 45 - true if GNSS measurements have been declared faulty and are no longer used                   |
+| <a href="#CS_YAW_MANUAL"></a> CS_YAW_MANUAL                                                                                                                         | `uint8` | 46 | 46 - true if yaw has been set manually                                                            |
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorStatus.msg)
+
+:::details
+Click here to see original file

 ```c
 uint64 timestamp		# time since system start (microseconds)
@@ -130,5 +233,6 @@ float32 mag_inclination_deg
 float32 mag_inclination_ref_deg
 float32 mag_strength_gs
 float32 mag_strength_ref_gs
-
 ```
+
+:::
@@ -1,6 +1,85 @@
+---
+pageClass: is-wide-page
+---
+
 # EstimatorStatusFlags (UORB message)

-[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorStatusFlags.msg)
+**TOPICS:** estimator_statusflags
+
+## Fields
+
+| 参数名                                                                                                          | 类型       | Unit [Frame] | Range/Enum | 描述                                                                                                       |
+| ------------------------------------------------------------------------------------------------------------ | -------- | ---------------------------------------------------------------- | ---------- | -------------------------------------------------------------------------------------------------------- |
+| timestamp                                                                                                    | `uint64` |                                                                  |            | time since system start (microseconds)                                                |
+| timestamp_sample                                                                        | `uint64` |                                                                  |            | the timestamp of the raw data (microseconds)                                          |
+| control_status_changes                                             | `uint32` |                                                                  |            | number of filter control status (cs) changes                                          |
+| cs_tilt_align                                                      | `bool`   |                                                                  |            | 0 - true if the filter tilt alignment is complete                                                        |
+| cs_yaw_align                                                       | `bool`   |                                                                  |            | 1 - true if the filter yaw alignment is complete                                                         |
+| cs_gnss_pos                                                        | `bool`   |                                                                  |            | 2 - true if GNSS position measurement fusion is intended                                                 |
+| cs_opt_flow                                                        | `bool`   |                                                                  |            | 3 - true if optical flow measurements fusion is intended                                                 |
+| cs_mag_hdg                                                         | `bool`   |                                                                  |            | 4 - true if a simple magnetic yaw heading fusion is intended                                             |
+| cs_mag_3d                                                          | `bool`   |                                                                  |            | 5 - true if 3-axis magnetometer measurement fusion is intended                                           |
+| cs_mag_dec                                                         | `bool`   |                                                                  |            | 6 - true if synthetic magnetic declination measurements fusion is intended                               |
+| cs_in_air                                                          | `bool`   |                                                                  |            | 7 - true when the vehicle is airborne                                                                    |
+| cs_wind                                                                                 | `bool`   |                                                                  |            | 8 - true when wind velocity is being estimated                                                           |
+| cs_baro_hgt                                                        | `bool`   |                                                                  |            | 9 - true when baro data is being fused                                                                   |
+| cs_rng_hgt                                                         | `bool`   |                                                                  |            | 10 - true when range finder data is being fused for height aiding                                        |
+| cs_gps_hgt                                                         | `bool`   |                                                                  |            | 11 - true when GPS altitude is being fused                                                               |
+| cs_ev_pos                                                          | `bool`   |                                                                  |            | 12 - true when local position data fusion from external vision is intended                               |
+| cs_ev_yaw                                                          | `bool`   |                                                                  |            | 13 - true when yaw data from external vision measurements fusion is intended                             |
+| cs_ev_hgt                                                          | `bool`   |                                                                  |            | 14 - true when height data from external vision measurements is being fused                              |
+| cs_fuse_beta                                                       | `bool`   |                                                                  |            | 15 - true when synthetic sideslip measurements are being fused                                           |
+| cs_mag_field_disturbed                        | `bool`   |                                                                  |            | 16 - true when the mag field does not match the expected strength                                        |
+| cs_fixed_wing                                                      | `bool`   |                                                                  |            | 17 - true when the vehicle is operating as a fixed wing vehicle                                          |
+| cs_mag_fault                                                       | `bool`   |                                                                  |            | 18 - true when the magnetometer has been declared faulty and is no longer being used                     |
+| cs_fuse_aspd                                                       | `bool`   |                                                                  |            | 19 - true when airspeed measurements are being fused                                                     |
+| cs_gnd_effect                                                      | `bool`   |                                                                  |            | 20 - true when protection from ground effect induced static pressure rise is active                      |
+| cs_rng_stuck                                                       | `bool`   |                                                                  |            | 21 - true when rng data wasn't ready for more than 10s and new rng values haven't changed enough         |
+| cs_gnss_yaw                                                        | `bool`   |                                                                  |            | 22 - true when yaw (not ground course) data fusion from a GPS receiver is intended    |
+| cs_mag_aligned_in_flight | `bool`   |                                                                  |            | 23 - true when the in-flight mag field alignment has been completed                                      |
+| cs_ev_vel                                                          | `bool`   |                                                                  |            | 24 - true when local frame velocity data fusion from external vision measurements is intended            |
+| cs_synthetic_mag_z                            | `bool`   |                                                                  |            | 25 - true when we are using a synthesized measurement for the magnetometer Z component                   |
+| cs_vehicle_at_rest                            | `bool`   |                                                                  |            | 26 - true when the vehicle is at rest                                                                    |
+| cs_gnss_yaw_fault                             | `bool`   |                                                                  |            | 27 - true when the GNSS heading has been declared faulty and is no longer being used                     |
+| cs_rng_fault                                                       | `bool`   |                                                                  |            | 28 - true when the range finder has been declared faulty and is no longer being used                     |
+| cs_inertial_dead_reckoning                    | `bool`   |                                                                  |            | 29 - true if we are no longer fusing measurements that constrain horizontal velocity drift               |
+| cs_wind_dead_reckoning                        | `bool`   |                                                                  |            | 30 - true if we are navigationg reliant on wind relative measurements                                    |
+| cs_rng_kin_consistent                         | `bool`   |                                                                  |            | 31 - true when the range finder kinematic consistency check is passing                                   |
+| cs_fake_pos                                                        | `bool`   |                                                                  |            | 32 - true when fake position measurements are being fused                                                |
+| cs_fake_hgt                                                        | `bool`   |                                                                  |            | 33 - true when fake height measurements are being fused                                                  |
+| cs_gravity_vector                                                  | `bool`   |                                                                  |            | 34 - true when gravity vector measurements are being fused                                               |
+| cs_mag                                                                                  | `bool`   |                                                                  |            | 35 - true if 3-axis magnetometer measurement fusion (mag states only) is intended     |
+| cs_ev_yaw_fault                               | `bool`   |                                                                  |            | 36 - true when the EV heading has been declared faulty and is no longer being used                       |
+| cs_mag_heading_consistent                     | `bool`   |                                                                  |            | 37 - true when the heading obtained from mag data is declared consistent with the filter                 |
+| cs_aux_gpos                                                        | `bool`   |                                                                  |            | 38 - true if auxiliary global position measurement fusion is intended                                    |
+| cs_rng_terrain                                                     | `bool`   |                                                                  |            | 39 - true if we are fusing range finder data for terrain                                                 |
+| cs_opt_flow_terrain                           | `bool`   |                                                                  |            | 40 - true if we are fusing flow data for terrain                                                         |
+| cs_valid_fake_pos                             | `bool`   |                                                                  |            | 41 - true if a valid constant position is being fused                                                    |
+| cs_constant_pos                                                    | `bool`   |                                                                  |            | 42 - true if the vehicle is at a constant position                                                       |
+| cs_baro_fault                                                      | `bool`   |                                                                  |            | 43 - true when the current baro has been declared faulty and is no longer being used                     |
+| cs_gnss_vel                                                        | `bool`   |                                                                  |            | 44 - true if GNSS velocity measurement fusion is intended                                                |
+| cs_gnss_fault                                                      | `bool`   |                                                                  |            | 45 - true if GNSS true if GNSS measurements (lat, lon, vel) have been declared faulty |
+| cs_yaw_manual                                                      | `bool`   |                                                                  |            | 46 - true if yaw has been set manually                                                                   |
+| cs_gnss_hgt_fault                             | `bool`   |                                                                  |            | 47 - true if GNSS true if GNSS measurements (alt) have been declared faulty           |
+| fault_status_changes                                               | `uint32` |                                                                  |            | number of filter fault status (fs) changes                                            |
+| fs_bad_mag_x                                  | `bool`   |                                                                  |            | 0 - true if the fusion of the magnetometer X-axis has encountered a numerical error                      |
+| fs_bad_mag_y                                  | `bool`   |                                                                  |            | 1 - true if the fusion of the magnetometer Y-axis has encountered a numerical error                      |
+| fs_bad_mag_z                                  | `bool`   |                                                                  |            | 2 - true if the fusion of the magnetometer Z-axis has encountered a numerical error                      |
+| fs_bad_hdg                                                         | `bool`   |                                                                  |            | 3 - true if the fusion of the heading angle has encountered a numerical error                            |
+| fs_bad_mag_decl                               | `bool`   |                                                                  |            | 4 - true if the fusion of the magnetic declination has encountered a numerical error                     |
+| fs_bad_airspeed                                                    | `bool`   |                                                                  |            | 5 - true if fusion of the airspeed has encountered a numerical error                                     |
+| fs_bad_sideslip                                                    | `bool`   |                                                                  |            | 6 - true if fusion of the synthetic sideslip constraint has encountered a numerical error                |
+| fs_bad_optflow_x                              | `bool`   |                                                                  |            | 7 - true if fusion of the optical flow X axis has encountered a numerical error                          |
+| fs_bad_optflow_y                              | `bool`   |                                                                  |            | 8 - true if fusion of the optical flow Y axis has encountered a numerical error                          |
+| fs_bad_acc_vertical                           | `bool`   |                                                                  |            | 10 - true if bad vertical accelerometer data has been detected                                           |
+| fs_bad_acc_clipping                           | `bool`   |                                                                  |            | 11 - true if delta velocity data contains clipping (asymmetric railing)               |
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorStatusFlags.msg)
+
+:::details
+Click here to see original file

 ```c
 uint64 timestamp                          # time since system start (microseconds)
@@ -71,19 +150,6 @@ bool fs_bad_optflow_x         #  7 - true if fusion of the optical flow X axis h
 bool fs_bad_optflow_y         #  8 - true if fusion of the optical flow Y axis has encountered a numerical error
 bool fs_bad_acc_vertical      # 10 - true if bad vertical accelerometer data has been detected
 bool fs_bad_acc_clipping      # 11 - true if delta velocity data contains clipping (asymmetric railing)
-
-
-# innovation test failures
-uint32 innovation_fault_status_changes    # number of innovation fault status (reject) changes
-bool reject_hor_vel                       #  0 - true if horizontal velocity observations have been rejected
-bool reject_ver_vel                       #  1 - true if vertical velocity observations have been rejected
-bool reject_hor_pos                       #  2 - true if horizontal position observations have been rejected
-bool reject_ver_pos                       #  3 - true if vertical position observations have been rejected
-bool reject_yaw                           #  7 - true if the yaw observation has been rejected
-bool reject_airspeed                      #  8 - true if the airspeed observation has been rejected
-bool reject_sideslip                      #  9 - true if the synthetic sideslip observation has been rejected
-bool reject_hagl                          # 10 - true if the height above ground observation has been rejected
-bool reject_optflow_x                     # 11 - true if the X optical flow observation has been rejected
-bool reject_optflow_y                     # 12 - true if the Y optical flow observation has been rejected
-
 ```
+
+:::
@@ -1,8 +1,36 @@
+---
+pageClass: is-wide-page
+---
+
 # Event (UORB message)

-Events interface
+Events interface.

-[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/Event.msg)
+**TOPICS:** event
+
+## Fields
+
+| 参数名                                 | 类型          | Unit [Frame] | Range/Enum | 描述                                                                                                     |
+| ----------------------------------- | ----------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------ |
+| timestamp                           | `uint64`    |                                                                  |            | time since system start (microseconds)                                              |
+| id                                  | `uint32`    |                                                                  |            | Event ID                                                                                               |
+| event_sequence | `uint16`    |                                                                  |            | Event sequence number                                                                                  |
+| arguments                           | `uint8[25]` |                                                                  |            | (optional) arguments, depend on event id                                            |
+| log_levels     | `uint8`     |                                                                  |            | Log levels: 4 bits MSB: internal, 4 bits LSB: external |
+
+## Constants
+
+| 参数名                                                                                         | 类型       | 值  | 描述 |
+| ------------------------------------------------------------------------------------------- | -------- | -- | -- |
+| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION                        | `uint32` | 1  |    |
+| <a href="#ORB_QUEUE_LENGTH"></a> ORB_QUEUE_LENGTH | `uint8`  | 16 |    |
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/Event.msg)
+
+:::details
+Click here to see original file

 ```c
 # Events interface
@@ -17,5 +45,6 @@ uint8[25] arguments         # (optional) arguments, depend on event id
 uint8 log_levels            # Log levels: 4 bits MSB: internal, 4 bits LSB: external

 uint8 ORB_QUEUE_LENGTH = 16
-
 ```
+
+:::
--- a/Show More
+++ b/Show More