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[Docs] Fix links and tidy config (#25184)

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* Fix links and tidy config

* Add updated lock files
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Hamish Willee
2025-07-10 16:11:58 +10:00
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parent 6855aa57c4
commit 5d5e23bcfa
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docs/en/concept/control_allocation.md
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@@ -42,11 +42,11 @@ Notes:
- publishes the servo trims separately so they can be added as an offset when [testing actuators](../config/actuators.md#actuator-testing) (using the test sliders).
- the output drivers:
- handle the hardware initialization and update
- use a shared library [src/libs/mixer_module](https://github.com/PX4/PX4-Autopilot/blob/main/src/lib/mixer_module).
- use a shared library [src/libs/mixer_module](https://github.com/PX4/PX4-Autopilot/tree/main/src/lib/mixer_module).
The driver defines a parameter prefix, e.g. `PWM_MAIN` that the library then uses for configuration.
Its main task is to select from the input topics and assign the right data to the outputs based on the user set `<param_prefix>_FUNCx` parameter values.
For example if `PWM_MAIN_FUNC3` is set to **Motor 2**, the 3rd output is set to the 2nd motor from `actuator_motors`.
- output functions are defined under [src/lib/mixer_module/output_functions.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/lib/mixer_module/output_functions.yaml).
- output functions are defined under [src/lib/mixer_module/output_functions.yaml](https://github.com/PX4/PX4-Autopilot/tree/main/src/lib/mixer_module/output_functions.yaml).
- if you want to control an output from MAVLink, set the relevant output function to **Offboard Actuator Set x**, and then send the [MAV_CMD_DO_SET_ACTUATOR](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_SET_ACTUATOR) MAVLink command.
## Adding a new Geometry or Output Function