New Crowdin translations - zh-CN (#26553)

Co-authored-by: Crowdin Bot <support+bot@crowdin.com>
2026-10-18 01:33:34 +08:00 · 2026-03-05 14:00:49 +11:00
parent 102b64f604
commit 62d0620eff
471 changed files with 4073 additions and 5684 deletions
@@ -5,7 +5,7 @@ PX4 does not manufacture this (or any) autopilot.
 Contact the [manufacturer](https://cubepilot.org/#/home) for hardware support or compliance issues.
 :::

-The G-A1 is a state-of-the-art flight controller developed derived from the [Pixhawk Autopilot v6X Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-012%20Pixhawk%20Autopilot%20v6X%20Standard.pdf).
+The G-A1 is a state-of-the-art flight controller derived from the [Pixhawk Autopilot v6X Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-012%20Pixhawk%20Autopilot%20v6X%20Standard.pdf).

 It includes an STM32H753 double-precision floating-point FMU processor and an STM32F103 IO coprocessor, multiple IMUs with 6-axis inertial sensors, two pressure/temperature sensors, and a geomagnetic sensor.
 It also has independent buses and power supplies, and is designed for safety and rich expansion capabilities.
@@ -65,7 +65,7 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo
 - 92.2 (L) x 51.2 (W) x 28.3 (H) mm
 - 77.6g (carrier board with IMU)

-## 购买渠道
+## Where to Buy {#store}

 - [Accton-IoT Godwit](https://www.accton-iot.com/godwit/)
 - [sales@accton-iot.com](sales@accton-iot.com)
@@ -115,7 +115,7 @@ PPM receivers should be connected to the PPM interface. And other RC systems can

 ## GPS/Compass

-The Godwit G-A1 has a built-in compass
+The Godwit G-A1 has a built-in compass.
 Due to potential interference, the autopilot is usually used with an external I2C compass as part of a GPS/Compass combination.

 ![G-A1 GPS](../../assets/flight_controller/accton-godwit/ga1/gps.png "G-A1 GPS")
@@ -26,7 +26,7 @@ AIRLink has two computers and integrated LTE Module:
 ## 产品规格

 - **Sensors**
-  - 3x Accelerometers, 3x Gyroscopes, 3x Magnetometers, 3x Pressure sensorss
+  - 3x Accelerometers, 3x Gyroscopes, 3x Magnetometers, 3x Pressure sensors
  - GNSS, Rangefinders, Lidars, Optical Flow, Cameras
  - 3x-redundant IMU
  - Vibration dampening
@@ -59,7 +59,7 @@ AIRLink has two computers and integrated LTE Module:
  - Ethernet 10/100/1000 Native Gigabit
  - WiFi 802.11a/b/g/n/ac, Bluetooth
  - USB 3.0 Type C
-  - 2x Video: 4-Lane MIPI CSI (FPV Camera) and 4-Lane MIPI CSI with HMDI Input (Payload Camera)
+  - 2x Video: 4-Lane MIPI CSI (FPV Camera) and 4-Lane MIPI CSI with HDMI Input (Payload Camera)

 - **LTE/5G Connectivity Module**
  - Up to 600 Mbps bandwidth
@@ -71,7 +71,7 @@ AIRLink has two computers and integrated LTE Module:
  - Antenna, 4x4 MIMO
  - Bands: Worldwide

-## 购买渠道
+## Where to Buy {#store}

 Purchase from the original Sky-Drones Store (worldwide shipping with 1-2 days order processing time):

@@ -92,7 +92,7 @@ The standard set contains:
 - 1x FPV camera with CSI cable
 - 1x WiFi antenna with MMCX connector
 - 2x/4x LTE/5G antenna with MMCX connector
- 1x HDMI to mini HDMI cable1x set of cables (7 cables for all connectors)
+- 1x HDMI to mini HDMI cable, 1x set of cables (7 cables for all connectors)

 [AIRLink Telemetry](https://sky-drones.com/sets/airlink-telemetry-set.html) based on the Microhard LAN/IP-based RF micromodule is available as an add-on and is fully compatible with AIRLink.

@@ -331,7 +331,7 @@ For PPM receivers please use RC Connector PPM pin located on the left side of th

 ## Outputs

-AIRLink has 16 PWM ouputs. Main outputs 1-8 and connected to IO MCU. AUX outputs 1-8 are connected to FMU.
+AIRLink has 16 PWM outputs. Main outputs 1-8 and connected to IO MCU. AUX outputs 1-8 are connected to FMU.

 | 输出    | Timer    | Channel   |
 | ----- | -------- | --------- |
@@ -355,7 +355,7 @@ It is pre-built and automatically installed by _QGroundControl_ when appropriate

 To [build PX4](../dev_setup/building_px4.md) for this target:

-```
+```sh
 make sky-drones_smartap-airlink
 ```

@@ -13,7 +13,7 @@ The USA-built ARK FPV flight controller is based on the [ARKV6X](https://arkelec
 This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
 :::

-## Where To Buy
+## Where To Buy {#store}

 Order from [Ark Electronics](https://arkelectron.com/product/arkv6x/) (US)

@@ -76,7 +76,7 @@ See the documentation [Ark Electronics GitBook](https://arkelectron.gitbook.io/a

 ## 附加信息

- Weight: 7.5 g g with MicroSD card
+- Weight: 7.5 g with MicroSD card
 - Dimensions: 3.6 x 3.6 x 0.8 cm
 - USA Built - NDAA compliant
 - Heater: 1W for warming sensors in extreme cold
@@ -11,7 +11,7 @@ The PAB form factor enables the ARK PAB Carrier to be used with any [PAB-compati

 ![ARKPAB Main Photo](../../assets/flight_controller/arkpab/ark_pab_main.jpg)

-### Where To Buy
+### Where To Buy {#store}

 Order From [Ark Electronics](https://arkelectron.com/product/ark-pixhawk-autopilot-bus-carrier/) (US)

@@ -39,7 +39,7 @@ Order From [Ark Electronics](https://arkelectron.com/product/ark-pixhawk-autopil
  - 6 Pin JST-GH
 - Dual CAN Ports
  - 4 Pin JST-GH
- Triple Telemetry Ports with Flow - Control
+- Triple Telemetry Ports with Flow Control
  - 6 Pin JST-GH
 - Eight PWM Outputs
  - 10 Pin JST-GH
@@ -1,10 +1,19 @@
 # ARK Pi6X Flow

+:::warning
+PX4 does not manufacture this (or any) autopilot.
+Contact the [manufacturer](https://arkelectron.com/contact-us/) for hardware support or compliance issues.
+:::
+
 The [ARK Pi6X Flow](https://arkelectron.gitbook.io/ark-documentation/flight-controllers/ark-pi6x-flow) integrates a Raspberry Pi Compute Module 4 (CM4) Carrier, [ARKV6X Flight Controller](../flight_controller/ark_v6x.md), [ARK Flow sensors](../dronecan/ark_flow.md) , [ARK PAB Power Module](../power_module/ark_pab_power_module.md), and a 4-in-1 ESC, all mounted onto one compact board.

 ![ARK Pi6X Flow Flight Controller](../../assets/flight_controller/ark_pi6x_flow/ark_pi6xflow.jpg)

-## 购买渠道
+:::info
+This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
+:::
+
+## Where to Buy {#store}

 Order this module from:

@@ -16,7 +16,7 @@ The Pixhawk Autopilot Bus (PAB) form factor enables the ARKV6X to be used on any
 This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
 :::

-## Where To Buy
+## Where To Buy {#store}

 Order From [Ark Electronics](https://arkelectron.com/product/arkv6x/) (US)

@@ -1 +1,2 @@
 <Redirect to="../flight_controller/ark_pab" />
+<!-- 2025 -->
@@ -1 +1,2 @@
 <Redirect to="../flight_controller/ark_v6x" />
+<!-- 2025 -->
@@ -1,92 +1,8 @@
-# AUAV-X2 自动驾驶仪 (停产)
+<Redirect to="../flight_controller/autopilot_discontinued" />

-<Badge type="info" text="Discontinued" />
+<!--
+# AUAV-X2 Autopilot (Discontinued)

-:::warning
-This flight controller has been [discontinued](../flight_controller/autopilot_experimental.md) and is no longer commercially available.
-:::
+Doc removed 202603

-:::warning
-PX4 does not manufacture this (or any) autopilot.
-Contact the [manufacturer](https://store.mrobotics.io/) for hardware support or compliance issues.
-:::
-
-The AUAV-X2 autopilot is based on the [Pixhawk<sup>&reg;</sup>-project](https://pixhawk.org/) **FMUv2** open hardware design. It runs PX4 on the [NuttX](https://nuttx.apache.org/) OS.
-
-![AUAVX2_case2](../../assets/flight_controller/auav_x2/auavx2_case2.jpg)
-
-## 总览
-
- Main System-on-Chip: [STM32F427](https://www.st.com/en/microcontrollers-microprocessors/stm32f427-437.html)
-  - CPU：STM32F427VIT6 ARM 微控制器-版本 3
-  - IO：STM32F100C8T6 ARM 微控制器
- 传感器：
-  - Invensense MPU9250 9DOF
-  - Invensense ICM-20608 6DOF
-  - MEAS MS5611 气压计
- 尺寸/重量
-  - 尺寸：36mm x 50mm
-  - 安装点：30.5mm x 30.5mm 直径 3.2mm
-  - 重量: 10.9g
- 具有反向电压保护的电源 OR-ing 原理图。 需要 5V 电源模块！
-
-## 连接
-
- 2.54 毫米头：
- GPS (USART4)
- I2C
- 遥控输入
- PPM 输入
- Spektrum 输入
- RSSI 输入
- sBus 输入
- sBus 输出
- 电源输入
- 蜂鸣器输出
- LED 输出
- 8路伺服输出
- 6路辅助输出
- USART7（控制台）
- USART8（OSD）
-
-## 访问链接
-
-No longer in production.
-This has been superseded by the [mRo X2.1](mro_x2.1.md).
-mRobotics is the distributor for the AUAV Products from August 2017.
-
-## 主链接
-
- [User Manual](http://arsovtech.com/wp-content/uploads/2015/08/AUAV-X2-user-manual-EN.pdf)
- [DIY Drones Post](https://diydrones.com/profiles/blogs/introducing-the-auav-x2-1-flight-controller)
-
-## 接线指南
-
-![AUAV-X2-basic-setup 3](../../assets/flight_controller/auav_x2/auav_x2_basic_setup_3.png)
-
-![AUAV-X2-basic-setup 2](../../assets/flight_controller/auav_x2/auav_x2_basic_setup_2.jpg)
-
-![AUAV-X2-basic-setup 1](../../assets/flight_controller/auav_x2/auav_x2_basic_setup_1.png)
-
-![AUAV-X2-airspeed-setup 3](../../assets/flight_controller/auav_x2/auav_x2_airspeed_setup_3.png)
-
-## 原理图
-
-The board is based on the [Pixhawk project](https://pixhawk.org/) **FMUv2** open hardware design.
-
- [FMUv2 + IOv2 schematic](https://raw.githubusercontent.com/PX4/Hardware/master/FMUv2/PX4FMUv2.4.5.pdf) -- Schematic and layout
-
-:::info
-As a CC-BY-SA 3.0 licensed Open Hardware design, all schematics and design files are [available](https://github.com/pixhawk/Hardware).
-:::
-
-## 串口映射
-
-| UART   | 设备         | Port                           |
-| ------ | ---------- | ------------------------------ |
-| UART1  | /dev/ttyS0 | IO debug                       |
-| USART2 | /dev/ttyS1 | TELEM1 (流控) |
-| USART3 | /dev/ttyS2 | TELEM2 (流控) |
-| UART4  |            |                                |
-| UART7  | CONSOLE    |                                |
-| UART8  | SERIAL4    |                                |
+-->
@@ -6,26 +6,28 @@ They are listed because you may be using them in an existing drone, and because

 ## Autopilots

- [Drotek DroPix](../flight_controller/dropix.md) (FMUv2)
- [Omnibus F4 SD](../flight_controller/omnibus_f4_sd.md)
- [CUAV X7](../flight_controller/cuav_x7.md)
- [CUAV v5](../flight_controller/cuav_v5.md) (Pixhawk FMUv5)
- [CUAV Pixhack v3](../flight_controller/pixhack_v3.md) (FMUv3)
- [Aerotenna OcPoC-Zynq Mini](../flight_controller/ocpoc_zynq.md)
- [Holybro Pixhawk 4 Mini](../flight_controller/pixhawk4_mini.md) (FMUv5)
- [Holybro Kakute F7](../flight_controller/kakutef7.md)
- [Holybro Pixhawk Mini](../flight_controller/pixhawk_mini.md) (FMUv3)
- [Holybro Pixfalcon](../flight_controller/pixfalcon.md) (Pixhawk FMUv2)
- [Holybro Pix32](../flight_controller/holybro_pix32.md) (FMUv2)
- [ModalAI VOXL Flight](../flight_controller/modalai_voxl_flight.md)
- [ModalAI Flight Core v1](../flight_controller/modalai_fc_v1.md)
- [mRobotics-X2.1](../flight_controller/mro_x2.1.md) (FMUv2)
- [mRo AUAV-X2](../flight_controller/auav_x2.md) (Pixhawk FMUv2)
- [NXP FMUK66](../flight_controller/nxp_rddrone_fmuk66.md) (Discontinued)
- [3DR Pixhawk 1](../flight_controller/pixhawk.md) (Pixhawk FMUv2)
+- _Drotek DroPix_ (FMUv2) — last published in [PX4 v1.13](https://docs.px4.io/v1.13/en/flight_controller/dropix) <!-- 202603 removed doc -->
+- _Drotek Pixhawk 3 Pro_ (FMUv4pro) — last published in [PX4 v1.15](https://docs.px4.io/v1.15/en/flight_controller/pixhawk3_pro) <!-- 202603 removed doc -->
+- _Omnibus F4 SD_ — last published in [PX4 v1.15](https://docs.px4.io/v1.15/en/flight_controller/omnibus_f4_sd) <!-- 202603 removed doc -->
+- _CUAV X7_ — last published in [PX4 v1.16](https://docs.px4.io/v1.16/en/flight_controller/cuav_x7) <!-- 202507 removed doc -->
+- _CUAV v5_ (Pixhawk FMUv5) — last published in [PX4 v1.16](https://docs.px4.io/v1.16/en/flight_controller/cuav_v5) <!-- 202507 removed doc -->
+- _CUAV Pixhack v3_ (FMUv3) — last published in [PX4 v1.15](https://docs.px4.io/v1.15/en/flight_controller/pixhack_v3) <!-- 202603 removed doc -->
+- _Aerotenna OcPoC-Zynq Mini_ — last published in [PX4v1.11](https://docs.px4.io/v1.11/en/flight_controller/ocpoc_zynq#aerotenna-ocpoc-zynq-mini-flight-controller) <!-- 202603 removed doc -->
+- _Holybro Pixhawk 4 Mini_ (FMUv5) -— last published in [PX4 v1.16](https://docs.px4.io/v1.16/en/flight_controller/pixhawk4_mini) <!-- 202603 removed doc -->
+- _Holybro Kakute F7_ — last published in [PX4 v1.15](https://docs.px4.io/v1.15/en/flight_controller/kakutef7) <!-- 202603 removed doc -->
+- _Holybro Pixhawk Mini_ (FMUv3) — last published in [PX4 v1.15](https://docs.px4.io/v1.15/en/flight_controller/pixhawk_mini) <!-- 202603 removed doc -->
+- _Holybro Pixfalcon_ (Pixhawk FMUv2) — last published in [PX4 v1.16](https://docs.px4.io/v1.16/en/flight_controller/pixfalcon) <!-- Discontinued around v1.15/2024. -->
+- _Holybro Pix32_ (FMUv2) — last published in [PX4 v1.15](https://docs.px4.io/v1.15/en/flight_controller/holybro_pix32) <!-- 202603 removed doc -->
+- _ModalAI VOXL Flight_ — last published in [PX4 v1.16](https://docs.px4.io/v1.16/en/flight_controller/modalai_voxl_flight) <!-- 202603 removed doc -->
+- _ModalAI Flight Core v1_ — last published in [PX4 v1.11](https://docs.px4.io/v1.11/en/flight_controller/modalai_fc_v1) <!-- 202603 removed doc -->
+- _mRobotics-X2.1_ (FMUv2) — last published in [PX4 v1.16](https://docs.px4.io/v1.16/en/flight_controller/mro_x2.1) <!-- 202507 removed doc -->
+- _mRo AUAV-X2_ (Pixhawk FMUv2) — last published in [PX4 v1.15](https://docs.px4.io/v1.15/en/flight_controller/auav_x2) <!-- 202603 removed doc -->
+- _NXP RDDRONE-FMUK66 FMU_ — last published in [PX4 v1.15 docs](https://docs.px4.io/v1.15/en/flight_controller/nxp_rddrone_fmuk66) <!-- 202603 removed doc -->
+- _3DR Pixhawk 1_ (Pixhawk FMUv2) — last published in [PX4 v1.15](https://docs.px4.io/v1.15/en/flight_controller/pixhawk) <!-- 202603 removed doc -->

 ## 整机

- [BetaFPV Beta75X 2S Brushless Whoop](https://docs.px4.io/v1.14/en/complete_vehicles/betafpv_beta75x.html#betafpv-beta75x-2s-brushless-whoop) (circa PX4 v1.14)
- [Intel® Aero RTF Drone](https://docs.px4.io/v1.12/en/complete_vehicles/intel_aero.html) (circa PX4 v1.12)
- [Qualcomm Snapdragon Flight](https://docs.px4.io/v1.11/en/flight_controller/snapdragon_flight.html) (circa PX4 v1.11)
+- _Bitcraze Crazyflie 2.0_ — last published in [PX4 v1.15](https://docs.px4.io/v1.15/en/complete_vehicles_mc/crazyflie2) <!-- 202603 removed doc -->
+- _BetaFPV Beta75X 2S Brushless Whoop_ — last published in [PX4 v1.14](https://docs.px4.io/v1.14/en/complete_vehicles/betafpv_beta75x#betafpv-beta75x-2s-brushless-whoop) <!-- 202603 removed before -->
+- _Intel® Aero RTF Drone_ — last published in [PX4 v1.12](https://docs.px4.io/v1.12/en/complete_vehicles/intel_aero)
+- _Qualcomm Snapdragon Flight_ — last published in [PX4 v1.11](https://docs.px4.io/v1.11/en/flight_controller/snapdragon_flight)
@@ -18,10 +18,11 @@ The boards in this category are:
 - [ARK Electronics ARKV6X](../flight_controller/ark_v6x.md) (and [ARK Electronics Pixhawk Autopilot Bus Carrier](../flight_controller/ark_pab.md))
 - [ARK FPV Flight Controller](../flight_controller/ark_fpv.md)
 - [ARK Pi6X Flow Flight Controller](../flight_controller/ark_pi6x.md)
- [CUAV Nora](../flight_controller/cuav_nora.md)（CUAV X7 variant)
+- [CUAV Nora](../flight_controller/cuav_nora.md) (CUAV X7 variant)
 - [CUAV V5+](../flight_controller/cuav_v5_plus.md) (FMUv5)
 - [CUAV V5 nano](../flight_controller/cuav_v5_nano.md) (FMUv5)
 - [CUAV X25 EVO](../flight_controller/cuav_x25-evo.md)
+  [CUAV X25 SUPER](../flight_controller/cuav_x25-super.md)
 - [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)
@@ -4,10 +4,10 @@

 :::warning
 PX4 does not manufacture this (or any) autopilot.
-Contact the [manufacturer](https://beagleboard.org/blue) for hardware support or compliance issues.
+Contact the [manufacturer](https://www.beagleboard.org/boards/beaglebone-blue) for hardware support or compliance issues.
 :::

-[BeagleBone Blue](https://beagleboard.org/blue) is an all-in-one Linux-based computer.
+[BeagleBone Blue](https://www.beagleboard.org/boards/beaglebone-blue) is an all-in-one Linux-based computer.
 Although it is optimized for robotics, this compact and inexpensive board has all necessary sensors and peripherals needed by a flight controller.
 This topic shows how to set up the board to run PX4 with [librobotcontrol](https://github.com/beagleboard/librobotcontrol) robotics package.

@@ -17,7 +17,7 @@ This topic shows how to set up the board to run PX4 with [librobotcontrol](https

 _BeagleBone Blue_ images can be found here:

- [Latest stable OS image](https://beagleboard.org/latest-images).
+- [Latest stable OS image](https://www.beagleboard.org/distros).
 - [Test OS images](https://rcn-ee.net/rootfs/bb.org/testing/) (updated frequently).

 Information about flashing OS images can be found on [this page](https://github.com/beagleboard/beaglebone-blue/wiki/Flashing-firmware).
@@ -79,7 +79,7 @@ echo "PermitRootLogin yes" >>  /etc/ssh/sshd_config && systemctl restart sshd
   For _rsync_ over SSH with key authentication, follow the steps here (on the development machine):
   1. Generate an SSH key if you have not previously done so:

-      ```
+      ```sh
      ssh-keygen -t rsa
      ```

@@ -89,13 +89,13 @@ echo "PermitRootLogin yes" >>  /etc/ssh/sshd_config && systemctl restart sshd

   2. Define the BeagleBone Blue board as `beaglebone` in **/etc/hosts** and copy the public SSH key to the board for password-less SSH access:

-      ```
+      ```sh
      ssh-copy-id debian@beaglebone
      ```

   3. Alternatively you can use the beaglebone's IP directly:

-      ```
+      ```sh
      ssh-copy-id debian@<IP>
      ```

@@ -116,7 +116,7 @@ echo "PermitRootLogin yes" >>  /etc/ssh/sshd_config && systemctl restart sshd

         The ARM Cross Compiler for _BeagleBone Blue_ can be found at [Linaro Toolchain Binaries site](https://www.linaro.org/downloads/#gnu_and_llvm).

-         :::tip
+         ::: tip
         GCC in the toolchain should be compatible with kernel in _BeagleBone Blue_.
         General rule of thumb is to choose a toolchain where version of GCC is not higher than version of GCC which comes with the OS image on _BeagleBone Blue_.

@@ -131,7 +131,7 @@ echo "PermitRootLogin yes" >>  /etc/ssh/sshd_config && systemctl restart sshd
         tar -xf gcc-linaro-13.0.0-2022.06-x86_64_arm-linux-gnueabihf.tar.xz
         ```

-         :::tip
+         ::: tip
         The GCC version of the toolchain should be compatible with kernel in _BeagleBone Blue_.

 :::
@@ -151,7 +151,7 @@ echo "PermitRootLogin yes" >>  /etc/ssh/sshd_config && systemctl restart sshd

      3. Setup other dependencies by downloading the PX4 source code and then running the setup scripts:

-         ````
+         ````sh
         git clone https://github.com/PX4/PX4-Autopilot.git --recursive
         ols
         ```
@@ -170,7 +170,7 @@ echo "PermitRootLogin yes" >>  /etc/ssh/sshd_config && systemctl restart sshd

 Compile and Upload

-```
+```sh
 make beaglebone_blue_default upload
 ```

@@ -189,9 +189,7 @@ sudo ./bin/px4 -s px4.config
 Currently _librobotcontrol_ requires root access.
 :::

-<a id="native_builds"></a>
-
-## 本机构建（可选）
+## Native Builds (optional) {#native_builds}

 You can also natively build PX4 builds directly on the BeagleBone Blue.

@@ -216,7 +214,7 @@ Run the following commands on the BeagleBone Blue (i.e. via SSH):

 ## Changes in config

-All changes can be made in de px4.config file directly on beaglebone.
+All changes can be made in the px4.config file directly on beaglebone.
 For example, you can change the WIFI to wlan.

 :::info
@@ -295,8 +293,6 @@ For a quadcopter with GPS and an SBUS receiver, here are typical connections:

 1. 将电机 1,2,3 和 4 的电调连接到伺服输出的通道 1,2,3和4 分别在 BeagleBone Blue 上。
   如果您的电调连接器包含电源输出引脚，将其移除，不要将其连接到伺服通道的电源输出引脚在 BeagleBone Blue 上。
-
 2. Connect the above mentioned converted SBUS signal to the dsm2 port if you have the matching connector for dsm2, otherwise connect it to any other available UART port and change the corresponding port in **/home/debian/px4/px4.config** accordingly.
-
 3. 将 GPS 模块的信号连接到 BeagleBone Blue 上的 GPS 端口。
   Note that the signal pins of the GPS port on the BeagleBone Blue are only 3.3V tolerant, so choose your GPS module accordingly.
@@ -5,7 +5,7 @@ PX4 does not manufacture this (or any) autopilot.
 Contact the [manufacturer](https://www.cuav.net) for hardware support or compliance issues.
 :::

-The [Nora](https://doc.cuav.net/flight-controller/x7/en/nora.html)<sup>&reg;</sup> flight controller is a high-performance autopilot.
+The [Nora](https://doc.cuav.net/controller/x7/en/nora-plus.html)<sup>&reg;</sup> flight controller is a high-performance autopilot.
 It is an ideal choice for industrial drones and large-scale heavy-duty drones.
 It is mainly supplied to commercial manufacturers.

@@ -31,7 +31,7 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo
 - High performance processor

 :::tip
-The manufacturer [CUAV Docs](https://doc.cuav.net/flight-controller/x7/en/nora.html) are the canonical reference for Nora.
+The manufacturer [CUAV Docs](https://doc.cuav.net/controller/x7/en/nora-plus.html) are the canonical reference for Nora.
 They should be used by preference as they contain the most complete and up to date information.
 :::

@@ -76,14 +76,14 @@ When it runs PX4 firmware, only 8 PWM outputs work.
 The remaining 6 PWM ports are still being adapted (so it is not compatible with VOLT at time of writing).
 :::

-## 购买渠道
+## Where to Buy {#store}

 - [CUAV Store](https://store.cuav.net)<\br>
 - [CUAV Aliexpress](https://www.aliexpress.com/item/4001042501927.html?gps-id=8041884&scm=1007.14677.110221.0&scm_id=1007.14677.110221.0&scm-url=1007.14677.110221.0&pvid=3dc0a3ba-fa82-43d2-b0b3-6280e4329cef&spm=a2g0o.store_home.promoteRecommendProducts_7913969.58)

 ## Connections (Wiring)

-[CUAV nora Wiring Quickstart](https://doc.cuav.net/flight-controller/x7/en/quick-start/quick-start-nora.html)
+[CUAV nora Wiring Quickstart](https://doc.cuav.net/controller/x7/en/quick-start/quick-start-nora.html)

 ## Size and Pinouts

@@ -120,7 +120,7 @@ It is pre-built and automatically installed by _QGroundControl_ when appropriate

 To [build PX4](../dev_setup/building_px4.md) for this target:

-```
+```sh
 make cuav_nora_default
 ```

@@ -171,6 +171,6 @@ The complete set of supported configurations can be seen in the [Airframes Refer

 ## 更多信息

- [Quick start](https://doc.cuav.net/flight-controller/x7/en/quick-start/quick-start-nora.html)
+- [Quick start](https://doc.cuav.net/controller/x7/en/quick-start/quick-start-nora.html)
 - [CUAV docs](https://doc.cuav.net/)
 - [nora schematic](https://github.com/cuav/hardware/tree/master/X7_Autopilot)
@@ -61,7 +61,7 @@ The Pixhawk® V6X is ideal for corporate research labs, academic research and co
 - 16- PWM servo outputs
 - 1 Dedicated R/C input for Spektrum / DSM and S.Bus with analog / PWM RSSI input
 - 3 TELEM Ports（with full flow control）
- 1 UART4(Seial and I2C)
+- 1 UART4(Serial and I2C)
 - 2 GPS ports
  - 1 full GPS plus Safety Switch Port(GPS1)
  - 1 basic GPS port(with I2C,GPS2)
@@ -104,7 +104,7 @@ The Pixhawk® V6X is ideal for corporate research labs, academic research and co

    ![Pixhawk V6X](../../assets/flight_controller/cuav_pixhawk_v6x/core.png)

-## 购买渠道
+## Where to Buy {#store}

 Order from [CUAV](https://store.cuav.net/).

@@ -173,13 +173,11 @@ It is pre-built and automatically installed by _QGroundControl_ when appropriate

 To [build PX4](../dev_setup/building_px4.md) for this target:

-```
+```sh
 make px4_fmu-v6x_default
 ```

-<a id="debug_port"></a>
-
-## 调试接口
+## Debug Port {#debug_port}

 The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debug/swd_debug.md) run on the **FMU Debug** port.

@@ -1,149 +1,7 @@
+<Redirect to="../flight_controller/autopilot_discontinued" />
+
+<!--
 # CUAV v5 (Discontinued)

-<Badge type="info" text="Discontinued" /> <!-- 202507 / PX4v1.16 -->
-
-:::warning
-This flight controller has been [discontinued](../flight_controller/autopilot_experimental.md) and is no longer commercially available.
-:::
-
-:::warning
-PX4 does not manufacture this (or any) autopilot.
-Contact the [manufacturer](https://store.cuav.net/) for hardware support or compliance issues.
-:::
-
-_CUAV v5_<sup>&reg;</sup> (previously "Pixhack v5") is an advanced autopilot designed and made by CUAV<sup>&reg;</sup>.
-The board is based on the [Pixhawk-project](https://pixhawk.org/) **FMUv5** open hardware design.
-It runs PX4 on the [NuttX](https://nuttx.apache.org/) OS, and is fully compatible with PX4 firmware.
-It is intended primarily for academic and commercial developers.
-
-![CUAV v5](../../assets/flight_controller/cuav_v5/pixhack_v5.jpg)
-
-## 总览
-
- 主处理器：STM32F765
-  - 32 位 Arm® Cortex®-M7，216MHz，2MB 储存，512KB RAM
-
- IO 处理器：STM32F100
-  - 32 位 Arm® Cortex®-M3，24MHz，8KB SRAM
-
- 内置传感器：
-  - 加速度计/陀螺仪：ICM-20689
-  - 加速度计/陀螺仪：BMI055
-  - 磁力计：IST8310
-  - 气压计：MS5611
-
- 接口：
-  - 14路PWM输出 (6路来自FMU, 8路来自 IO)
-  - FMU上有3个专用PWM/Capture输入
-  - CPPM专用的RC输入
-  - Dedicated R/C input for PPM and S.Bus
-  - 电平/PWM RSSI输入
-  - S.BUS伺服输出
-  - 5个通用串行口
-  - 4路I2C总线
-  - 4路SPI总线
-  - 2 CANBuses with serial ESC
-  - 2个电池电流/电压模拟输入口
-
- 电源系统
-  - 输入电压：4.3~5.4V
-  - USB输入电压: 4.75~5.25V
-  - 伺服导轨输入电压：0~36V
-
- 重量和尺寸:
-  - 重量：99g
-  - 尺寸：44_84_12mm
-
- 其它特性:
-  - 工作温度：-20 ~ 80°C （实测值）
-
-## 购买渠道
-
-Order from [CUAV](https://cuav.taobao.com/index.htm?spm=2013.1.w5002-16371268426.2.411f26d9E18eAz).
-
-## 接口定义
-
-![CUAV v5](../../assets/flight_controller/cuav_v5/pixhack_v5_connector.jpg)
-
-:::warning
-The RCIN interface is limited to powering the rc receiver and cannot be connected to any power/load.
-:::
-
-## 额定电压
-
-_CUAV v5_ can be triple-redundant on the power supply if three power sources are supplied. The three power rails are: **POWER1**, **POWER2** and **USB**.
-
-:::info
-The output power rails **FMU PWM OUT** and **I/O PWM OUT** (0V to 36V) do not power the flight controller board (and are not powered by it).
-You must supply power to one of **POWER1**, **POWER2** or **USB** or the board will be unpowered.
-:::
-
-**Normal Operation Maximum Ratings**
-
-Under these conditions all power sources will be used in this order to power the system:
-
-1. **POWER1** and **POWER2** inputs (4.3V to 5.4V)
-2. **USB** input (4.75V to 5.25V)
-
-## 编译固件
-
-:::tip
-Most users will not need to build this firmware!
-It is pre-built and automatically installed by _QGroundControl_ when appropriate hardware is connected.
-:::
-
-To [build PX4](../dev_setup/building_px4.md) for this target:
-
-```
-make px4_fmu-v5_default
-```
-
-## 调试接口
-
-The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debug/swd_debug.md) operate on the **FMU Debug** port.
-Simply connect the FTDI cable to the Debug & F7 SWD connector.
-To access the I/O Debug port, the user must remove the CUAV v5 shell.
-Both ports have standard serial pins and can be connected to a standard FTDI cable (3.3V, but 5V tolerant).
-
-The pinout is as shown.
-
-![CUAV v5 debug](../../assets/flight_controller/cuav_v5/pixhack_v5_debug.jpg)
-
-| 引脚 | CUAV v5 debug                 |
-| -- | ----------------------------- |
-| 1  | GND                           |
-| 2  | FMU-swclk                     |
-| 3  | FMU-SWDIO                     |
-| 4  | UART7_RX |
-| 5  | UART7_TX |
-| 6  | VCC                           |
-
-## 串口映射
-
-| UART   | 设备         | Port                                                       |
-| ------ | ---------- | ---------------------------------------------------------- |
-| UART1  | /dev/ttyS0 | GPS                                                        |
-| USART2 | /dev/ttyS1 | TELEM1 (流控)                             |
-| USART3 | /dev/ttyS2 | TELEM2 (流控)                             |
-| UART4  | /dev/ttyS3 | TELEM4                                                     |
-| USART6 | /dev/ttyS4 | TX is RC input from SBUS_RC connector |
-| UART7  | /dev/ttyS5 | 调试控制台                                                      |
-| UART8  | /dev/ttyS6 | PX4IO                                                      |
-
-<!-- Note: Got ports using https://github.com/PX4/PX4-user_guide/pull/672#issuecomment-598198434 -->
-
-## 外部设备
-
- [Digital Airspeed Sensor](https://item.taobao.com/item.htm?spm=a1z10.3-c-s.w4002-16371268452.37.6d9f48afsFgGZI&id=9512463037)
- [Telemetry Radio Modules](https://cuav.taobao.com/category-158480951.htm?spm=2013.1.w5002-16371268426.4.410b7a821qYbBq&search=y&catName=%CA%FD%B4%AB%B5%E7%CC%A8)
- [Rangefinders/Distance sensors](../sensor/rangefinders.md)
-
-## 支持的平台/机身
-
-Any multicopter / airplane / rover or boat that can be controlled with normal RC servos or Futaba S-Bus servos.
-The complete set of supported configurations can be seen in the [Airframes Reference](../airframes/airframe_reference.md).
-
-## 更多信息
-
- [FMUv5 reference design pinout](https://docs.google.com/spreadsheets/d/1-n0__BYDedQrc_2NHqBenG1DNepAgnHpSGglke-QQwY/edit#gid=912976165).
- [CUAV Github](https://github.com/cuav)
+DOC REMOVED: 202603
+-->
@@ -60,7 +60,7 @@ Main FMU Processor: STM32F765◦32 Bit Arm® Cortex®-M7, 216MHz, 2MB memory, 51
 - 其它特性:
  - 工作温度：-20 ~ 85°C （实测值）

-## 购买渠道
+## Where to Buy {#store}

 [CUAV Store](https://store.cuav.net/shop/v5-nano/)

@@ -91,13 +91,11 @@ It is pre-built and automatically installed by _QGroundControl_ when appropriate

 To [build PX4](../dev_setup/building_px4.md) for this target:

-```
+```sh
 make px4_fmu-v5_default
 ```

-<a id="debug_port"></a>
-
-## 调试接口
+## Debug Port {#debug_port}

 The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debug/swd_debug.md) operate on the **FMU Debug** port (`DSU7`).
 The board does not have an I/O debug interface.
@@ -63,7 +63,7 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo
 - 其它特性:
  - Operating temperature: -20 ~ 80°c（Measured value）

-## 购买渠道
+## Where to Buy {#store}

 [CUAV Aliexpress](https://www.aliexpress.com/item/32890380056.html?spm=a2g0o.detail.1000060.1.7a7233e7mLTlVl&gps-id=pcDetailBottomMoreThisSeller&scm=1007.13339.90158.0&scm_id=1007.13339.90158.0&scm-url=1007.13339.90158.0&pvid=d899bfab-a7ca-46e1-adf2-72ad1d649822) (International users)

@@ -119,7 +119,7 @@ It is pre-built and automatically installed by _QGroundControl_ when appropriate

 To [build PX4](../dev_setup/building_px4.md) for this target:

-```
+```sh
 make px4_fmu-v5_default
 ```

@@ -210,7 +210,7 @@ The UAVCAN [NEO V2 PRO GNSS receiver](https://doc.cuav.net/gps/neo-series-gnss/e

 `DSU7` FMU Debug Pin 1 is 5 volts - not the 3.3 volts of the CPU.

-Some JTAG use this voltage to set the IO levels when communicating to the target.
+Some JTAG adapters use this voltage to set the IO levels when communicating to the target.

 For direct connection to _Segger Jlink_ we recommended you use the 3.3 Volts of DSM/SBUS/RSSI pin 4 as Pin 1 on the debug connector (`Vtref`).

@@ -85,7 +85,7 @@ These flight controllers are [manufacturer supported](../flight_controller/autop

 - Not provided.

-## Purchase Channels
+## Purchase Channels {#store}

 Order from [CUAV](https://store.cuav.net/).

@@ -135,13 +135,11 @@ It is pre-built and installed automatically by _QGroundControl_ when the appropr

 To [build PX4](../dev_setup/building_px4.md) for this target, execute:

-```
+```sh
 make cuav_x25-evo_default
 ```

-<a id="debug_port"></a>
-
-## 调试接口
+## Debug Port {#debug_port}

 The [PX4 System Console](../debug/system_console.md) and [SWD Interface](../debug/swd_debug.md) operate on the **FMU Debug** port.

@@ -0,0 +1,173 @@
+# CUAV X25-SUPER
+
+<Badge type="tip" text="PX4 v1.18)" />
+
+:::warning
+PX4 does not manufacture this (or any) autopilot.
+Contact the [manufacturer](https://store.cuav.net/) for hardware support or compliance issues.
+:::
+
+The _X25-SUPER_ is an advanced autopilot manufactured by CUAV<sup>&reg;</sup>.
+
+The autopilot is recommended for commercial system integration but is also suitable for academic research and any other applications.
+
+![X25-SUPER AutoPilot - hero image](../../assets/flight_controller/cuav_x25-super/x25-super.png)
+
+The X25-SUPER brings you ultimate performance, stability, and reliability in every aspect.
+
+:::info
+These flight controllers are [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
+:::
+
+### 特性
+
+- Arm® Cortex-M7® processor (STM32H743XI) with Floating-Point Unit (FPU), operating at 480MHz, and featuring 2MB Flash memory. Enables developers to enhance productivity and efficiency, allowing for more complex algorithms and models.
+- Automotive-grade RM3100 compass. Designed for better stability and anti-interference capability.
+- Triple-redundant IMUs and dual-redundant barometers located on separate buses. If the PX4 autopilot detects a sensor failure, the system seamlessly switches to another sensor to maintain flight control reliability.
+- Independent LDO power control supplies power to each sensor group. A vibration isolation system filters high-frequency vibrations and reduces noise to ensure accurate readings, enabling better overall flight performance for the vehicle.
+- Integrated Microchip Ethernet PHY for high-speed communication with onboard devices like mission computers via Ethernet.
+- Dual temperature compensation systems, located on the IMU board and FMU board respectively. Temperature is controlled by onboard heating resistors to achieve the optimal operating temperature for the IMUs.
+- PWM servo output voltage switchable between 3.3V or 5V.
+- Modular design for DIY carrier boards.
+
+### Processors & Sensors
+
+- Main Processor: STM32H743XI
+  - 32-bit Arm® Cortex®-M7, 480MHz, 2MB Flash, 1MB RAM
+- Onboard Sensors:
+  - Accel/Gyro: SCH16T
+  - Accel/Gyro: IIM42652
+  - Accel/Gyro: IIM42653
+  - Magnetometer: RM3100
+  - Barometer: BMP581
+  - Barometer: ICP-20100
+
+### Electrical Data
+
+- Rated Voltage:
+  - Input Voltage: 10~18V
+  - USB 电源输入：4.75~5.25V
+  - Servo Rail Input: 0~9.9V
+- Rated Current:
+  - Total Output Max Current: 10A
+  - TELEM1 and TELEM2 Output Current limiter: 4A
+  - CAN1 and CAN2 Output Current limiter: 2.4A
+  - Other Ports Output Current limiter: 1.5A
+
+### 接口
+
+- 16x PWM Servo Outputs
+- 1x Dedicated R/C Input for Spektrum / DSM and S.Bus
+- 1x Analog/PWM RSSI Input
+- 2x TELEM Ports (with full flow control)
+- 1x UART4 Port
+- 2x GPS Ports
+  - 1x Full GPS plus Safety Switch Port (GPS1)
+  - 1x Basic GPS Port (with I2C, GPS2)
+- 1x USB Port (TYPE-C)
+- 1x Ethernet Port
+  - Transformerless application
+  - 100Mbps
+- 3x I2C Bus Ports
+- 1x SPI Bus
+  - 1x Chip Select Line
+  - 1x Data Ready Line
+  - 1x SPI Reset Line
+- 5x CAN Ports for CAN Peripherals
+  - 3x CAN1 Bus Multiplexed Ports
+  - 2x CAN2 Bus Multiplexed Ports
+- 2x Power Input Ports
+  - DroneCAN/UAVCAN Power Input
+- 2x AD Ports
+  - Analog Input (3.3V)
+  - Analog Input (6.6V - not supported)
+- 1x Dedicated Debug Port
+  - FMU Debug
+
+### Mechanical Data
+
+- Size
+  - Flight controller
+
+    ![CUAV X25-SUPER](../../assets/flight_controller/cuav_x25-super/x25-super_size.png)
+
+## Purchase Channels {#store}
+
+Order from [CUAV](https://store.cuav.net/).
+
+## 组装 / 设置
+
+- Not provided.
+
+## 针脚定义
+
+![CUAV X25-SUPER Pinout_01](../../assets/flight_controller/cuav_x25-super/x25-super_pinouts_01.png)
+![CUAV X25-SUPER Pinout_02](../../assets/flight_controller/cuav_x25-super/x25-super_pinouts_02.png)
+
+## 串口映射
+
+| UART   | 设备         | Port   |
+| ------ | ---------- | ------ |
+| USART1 | /dev/ttyS0 | GPS1   |
+| USART2 | /dev/ttyS1 | GPS2   |
+| USART3 | /dev/ttyS2 | 调试控制台  |
+| UART4  | /dev/ttyS3 | UART4  |
+| UART5  | /dev/ttyS4 | TELEM2 |
+| USART6 | /dev/ttyS5 | RC     |
+| UART7  | /dev/ttyS6 | TELEM1 |
+
+## RC Input
+
+The RC input pin is directly connected to the FMU UART6 TX.
+
+## 额定电压
+
+The _X25-SUPER_ achieves triple redundancy on power supplies if three power sources are provided. The three power rails are POWERC1, POWERC2, and USB.
+
+- **POWER C1** and **POWER C2** are DroneCAN/UAVCAN battery interfaces.
+
+**Normal Operation Maximum Ratings**
+
+Under these conditions, all power sources will be used to power the system in the following order:
+
+1. **POWER C1** and **POWER C2** Inputs (10V to 18V)
+2. USB Input (4.75V to 5.25V)
+
+**Voltage monitoring**
+
+Digital DroneCAN/UAVCAN battery monitoring is enabled by default.
+
+## 编译固件
+
+:::tip
+Most users will not need to build this firmware from PX4 v1.18.
+It is pre-built and automatically installed by _QGroundControl_ when appropriate hardware is connected.
+:::
+
+To [build PX4](../dev_setup/building_px4.md) for this target, execute:
+
+```
+make cuav_x25-super_default
+```
+
+## Debug Port {#debug_port}
+
+The [PX4 System Console](../debug/system_console.md) and [SWD Interface](../debug/swd_debug.md) operate on the **FMU Debug** port.
+
+| 针脚   | 信号                                | 电压                    |
+| ---- | --------------------------------- | --------------------- |
+| 1（红） | 5V+                               | +5V                   |
+| 2    | DEBUG TX (OUT) | +3.3V |
+| 3    | DEBUG RX (IN)  | +3.3V |
+| 4（黑） | FMU_SWDIO    | +3.3V |
+| 6    | FMU_SWCLK    | +3.3V |
+| 6    | GND                               | GND                   |
+
+## 支持的平台/机身
+
+Any multicopter / airplane / rover or boat that can be controlled with normal RC servos or Futaba S-Bus servos.
+The complete set of supported configurations can be seen in the [Airframes Reference](../airframes/airframe_reference.md).
+
+## 更多信息
+
+- [CUAV Docs](https://doc.cuav.net/)
@@ -1,186 +1,7 @@
+<Redirect to="../flight_controller/autopilot_discontinued" />
+
+<!--
 # CUAV X7 Flight Controller (Discontinued)

-<Badge type="info" text="Discontinued" /> <!-- 202507 / PX4v1.16 -->
-
-:::warning
-This flight controller has been [discontinued](../flight_controller/autopilot_experimental.md) and is no longer commercially available.
-It has been superseded by the [CUAV X7+](https://doc.cuav.net/controller/x7/en/).
-:::
-
-:::warning
-PX4 does not manufacture this (or any) autopilot.
-Contact the [manufacturer](https://www.cuav.net) for hardware support or compliance issues.
-:::
-
-The [X7](https://doc.cuav.net/controller/x7/en/)<sup>&reg;</sup> flight controller is a high-performance autopilot.
-It is an ideal choice for industrial drones and large-scale heavy-duty drones.
-It is mainly supplied to commercial manufacturers.
-
-![CUAV x7](../../assets/flight_controller/cuav_x7/x7.jpg)
-
-The flight controller adopts a modular design and can be matched with different base plates.
-You can design a dedicated carrier board for your UAV to improve the integration of commercial systems, reduce wiring, improve system reliability, and enhance your UAV competitiveness (for example, integrating airspeed sensors, telemetry or even a companion computer, in the carrier board).
-CUAV has also provided a variety of carrier boards for you to choose from.
-
-:::info
-This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
-:::
-
-## 特性
-
- Internal shock absorption
- Modular design, can be DIY carrier board
- Support USB_HS, download logs faster (PX4 not yet supported)
- Support more DShot output
- Support IMU heating, make the sensor work better
- Dedicated CAN battery port
- 3 sets of IMU sensors
- Car-grade RM3100 compass
- High performance processor
-
-:::tip
-The manufacturer [CUAV Docs](https://doc.cuav.net/flight-controller/x7/en/) are the canonical reference for the X7.
-They should be used by preference as they contain the most complete and up to date information.
-:::
-
-## 总览
-
- Main FMU Processor: STM32H743
-
- 内置传感器：
-  - 加速度计/陀螺仪：ICM-20689
-  - 加速度计/陀螺仪：ICM-20649
-  - Accelerometer/Gyroscope: BMI088
-  - Magnetometer: RM3100
-  - Barometer: MS5611\*2
-
- 接口：
-  - 14 PWM outputs （12 supports Dshot）
-  - Support multiple RC inputs (SBUs / CPPM / DSM)
-  - Analogue / PWM RSSI input
-  - 2 GPS ports(GPS and UART4 ports)
-  - 4 i2c buses(Two i2c dedicated ports)
-  - 2 CAN bus ports
-  - 2 Power ports(Power A is common adc interface, Power C is DroneCAN battery interface)
-  - 2 ADC input
-  - 1 USB ports
-
- 电源系统
-  - 输入电压：4.3~5.4V
-  - USB输入电压: 4.75~5.25V
-  - 伺服导轨输入电压：0~36V
-
- 重量和尺寸:
-  - Weight: 101 g
-
- 其它特性:
-  - Operating temperature: -20 ~ 80°c（Measured value）
-  - Three imus
-  - Supports temperature compensation
-  - Internal shock absorption
-
-:::info
-When it runs PX4 firmware, only 8 pwm works, the remaining 6 pwm are still being adapted, so it is not compatible with VOLT now.
-:::
-
-## 购买渠道
-
-[CUAV Store](https://store.cuav.net)
-
-[CUAV aliexpress](https://www.aliexpress.com/item/4001042683738.html?spm=a2g0o.detail.1000060.2.1ebb2a9d3WDryi&gps-id=pcDetailBottomMoreThisSeller&scm=1007.13339.169870.0&scm_id=1007.13339.169870.0&scm-url=1007.13339.169870.0&pvid=f0df2481-1c0a-44eb-92a4-9c11c6cb3d06&_t=gps-id:pcDetailBottomMoreThisSeller,scm-url:1007.13339.169870.0,pvid:f0df2481-1c0a-44eb-92a4-9c11c6cb3d06,tpp_buckets:668%230%23131923%2320_668%23808%234094%23518_668%23888%233325%2319_668%234328%2319934%23630_668%232846%238115%23807_668%232717%237566%23827_668%231000022185%231000066058%230_668%233468%2315607%2376)
-
-## Connections (Wiring)
-
-[CUAV X7 Wiring Quickstart](https://doc.cuav.net/controller/x7/en/quick-start/quick-start-x7-plus.html)
-
-## Size and Pinouts
-
-![CUAV x7](../../assets/flight_controller/cuav_x7/x7-size.jpg)
-
-![X7 pinouts](../../assets/flight_controller/cuav_x7/x7-pinouts.jpg)
-
-:::warning
-The `RCIN` port is limited to powering the RC receiver and cannot be connected to any power/load.
-:::
-
-## 额定电压
-
-The _X7 AutoPilot_ can be triple-redundant on the power supply if three power sources are supplied.
-The power rails are: **POWERA**, **POWERC** and **USB**.
-
-:::info
-The output power rails **PWM OUT** (0V to 36V) do not power the flight controller board (and are not powered by it).
-You must supply power to one of **POWERA**, **POWERC** or **USB** or the board will be unpowered.
-:::
-
-**Normal Operation Maximum Ratings**
-
-Under these conditions all power sources will be used in this order to power the system:
-
-1. **POWERA** and **POWERC** inputs (4.3V to 5.4V)
-2. **USB** input (4.75V to 5.25V)
-
-## 编译固件
-
-:::tip
-Most users will not need to build this firmware!
-It is pre-built and automatically installed by _QGroundControl_ when appropriate hardware is connected.
-:::
-
-To [build PX4](../dev_setup/building_px4.md) for this target:
-
-```
-make cuav_x7pro_default
-```
-
-## Over Current Protection
-
-The _X7_ has over-current protection on the 5 Volt Peripheral and 5 Volt high power, which limits the current to 2.5A.
-The _X7_ has short circuit protection.
-
-:::warning
-Up to 2.5 A can be delivered to the connectors listed as pin 1 (although these are only rated at 1 A).
-:::
-
-## 调试接口
-
-The system's serial console and SWD interface operate on the **DSU7** port.
-Simply connect the FTDI cable to the DSU7 connector (the product list contains the CUAV FTDI cable).
-
-![Debug port (DSU7)](../../assets/flight_controller/cuav_v5_plus/debug_port_dsu7.jpg)
-
-The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debug/swd_debug.md) operate on the **FMU Debug** port (`DSU7`).
-
-The debug port (`DSU7`) uses a [JST BM06B](https://www.digikey.com.au/en/products/detail/jst-sales-america-inc/BM06B-GHS-TBT-LF-SN-N/807850) connector and has the following pinout:
-
-| 针脚   | 信号                                | 电压                    |
-| ---- | --------------------------------- | --------------------- |
-| 1（红） | 5V+                               | +5V                   |
-| 2    | DEBUG TX (OUT) | +3.3V |
-| 3    | DEBUG RX (IN)  | +3.3V |
-| 4（黑） | FMU_SWDIO    | +3.3V |
-| 6    | FMU_SWCLK    | +3.3V |
-| 6    | GND                               | GND                   |
-
-CUAV provides a dedicated debugging cable, which can be connected to the `DSU7` port.
-This splits out an FTDI cable for connecting the [PX4 System Console](../debug/system_console.md) to a computer USB port, and SWD pins used for SWD/JTAG debugging.
-The provided debug cable does not connect to the SWD port `Vref` pin (1).
-
-![CUAV Debug cable](../../assets/flight_controller/cuav_v5_plus/cuav_v5_debug_cable.jpg)
-
-:::warning
-The SWD Vref pin (1) uses 5V as Vref but the CPU is run at 3.3V!
-
-Some JTAG adapters (SEGGER J-Link) will use the Vref voltage to set the voltage on the SWD lines.
-For direct connection to _Segger Jlink_ we recommended you use the 3.3 Volts from pin 4 of the connector marked `DSM`/`SBUS`/`RSSI` to provide `Vtref` to the JTAG (i.e. providing 3.3V and _NOT_ 5V).
-:::
-
-## 支持的平台/机身
-
-Any multicopter / plane / rover or boat that can be controlled with normal RC servos or Futaba S-Bus servos.
-The complete set of supported configurations can be seen in the [Airframes Reference](../airframes/airframe_reference.md).
-
-## 更多信息
-
- [CUAV docs](https://doc.cuav.net/)
- [x7 schematic](https://github.com/cuav/hardware/tree/master/X7_Autopilot)
+DOC REMOVED: 202603
+-->
@@ -10,7 +10,7 @@ The [Cube Orange](https://www.cubepilot.com/#/cube/features) flight controller i
 ![Cube Orange](../../assets/flight_controller/cube/orange/cube_orange_hero.jpg)

 The controller is designed to be used with a domain-specific carrier board in order to reduce the wiring, improve reliability, and ease of assembly.
-For example, a carrier board for a commercial inspection vehicle might include connections for a companion computer, while a carrier board for a racer could includes ESCs for the frame of the vehicle.
+For example, a carrier board for a commercial inspection vehicle might include connections for a companion computer, while a carrier board for a racer could include ESCs for the frame of the vehicle.

 The ADS-B carrier board includes a customized 1090MHz ADSB-In receiver from uAvionix.
 This provides attitude and location of commercial manned aircraft within the range of Cube.
@@ -22,6 +22,10 @@ Cube includes vibration isolation on two of the IMU's, with a third fixed IMU as
 The manufacturer [Cube User Guide](https://docs.cubepilot.org/user-guides/autopilot/the-cube) contains detailed information, including an overview of the [Differences between Cube Colours](https://docs.cubepilot.org/user-guides/autopilot/the-cube/introduction/specifications).
 :::

+:::info
+This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
+:::
+
 ## 主要特性

 - 32bit STM32H753VI (32bit [ARM Cortex M7](https://en.wikipedia.org/wiki/ARM_Cortex-M#Cortex-M7), 400 MHz, Flash 2MB, RAM 1MB).
@@ -36,9 +40,7 @@ The manufacturer [Cube User Guide](https://docs.cubepilot.org/user-guides/autopi
 - High-power, multi-tone piezo audio indicator
 - microSD card for high-rate logging over extended periods of time

-<a id="stores"></a>
-
-## 购买渠道
+## Where to Buy {#store}

 - [Reseller list](https://www.cubepilot.com/#/reseller/list)

@@ -232,7 +234,7 @@ It is pre-built and automatically installed by _QGroundControl_ when appropriate

 To [build PX4](../dev_setup/building_px4.md) for this target, open up the terminal and enter:

-```
+```sh
 make cubepilot_cubeorange
 ```

@@ -6,12 +6,12 @@ Contact the [manufacturer](https://cubepilot.org/#/home) for hardware support or
 :::

 The [Cube Orange+](https://www.cubepilot.com/#/cube/features) flight controller is a flexible autopilot intended primarily for manufacturers of commercial systems.
-Cube Orange+ is similar to Cube Orange, but has a more powerful dual-core processor (STM32H757, and some different sensors parts.
+Cube Orange+ is similar to Cube Orange, but has a more powerful dual-core processor (STM32H757), and some different sensor parts.

 ![Cube Orange](../../assets/flight_controller/cube/orangeplus/cubepilot_cube_orangeplus_standard_set.jpg)

 The controller is designed to be used with a domain-specific carrier board in order to reduce the wiring, improve reliability, and ease of assembly.
-For example, a carrier board for a commercial inspection vehicle might include connections for a companion computer, while a carrier board for a racer could includes ESCs for the frame of the vehicle.
+For example, a carrier board for a commercial inspection vehicle might include connections for a companion computer, while a carrier board for a racer could include ESCs for the frame of the vehicle.

 The ADS-B carrier board includes a customized 1090MHz ADSB-In receiver from uAvionix.
 This provides attitude and location of commercial manned aircraft within the range of Cube.
@@ -23,6 +23,10 @@ Cube includes vibration isolation on two of the IMU's, with a third fixed IMU as
 The manufacturer [Cube User Guide](https://docs.cubepilot.org/user-guides/autopilot/the-cube) contains detailed information, including an overview of the [Differences between Cube Colours](https://docs.cubepilot.org/user-guides/autopilot/the-cube/introduction/specifications).
 :::

+:::info
+This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
+:::
+
 ## 主要特性

 - 32bit STM32H757ZI (32bit [ARM Cortex M7](https://en.wikipedia.org/wiki/ARM_Cortex-M#Cortex-M7), 400 MHz, Flash 2MB, RAM 1MB).
@@ -37,9 +41,7 @@ The manufacturer [Cube User Guide](https://docs.cubepilot.org/user-guides/autopi
 - High-power, multi-tone piezo audio indicator
 - microSD card for high-rate logging over extended periods of time

-<a id="stores"></a>
-
-## 购买渠道
+## Where to Buy {#store}

 - [Reseller list](https://www.cubepilot.com/#/reseller/list)

@@ -232,7 +234,7 @@ The firmware for Orange+ will be present in releases from PX4 v1.14.

 To [build PX4](../dev_setup/building_px4.md) for this target, open up the terminal and enter:

-```
+```sh
 make cubepilot_cubeorangeplus
 ```

@@ -10,7 +10,7 @@ The Cube Yellow flight controller is a flexible autopilot intended primarily for
 ![Cube Yellow](../../assets/flight_controller/cube/yellow/cube_yellow_hero.jpg)

 The controller is designed to be used with a domain-specific carrier board in order to reduce the wiring, improve reliability, and ease of assembly.
-For example, a carrier board for a commercial inspection vehicle might include connections for a companion computer, while a carrier board for a racer could includes ESCs for the frame of the vehicle.
+For example, a carrier board for a commercial inspection vehicle might include connections for a companion computer, while a carrier board for a racer could include ESCs for the frame of the vehicle.

 Cube includes vibration isolation on two of the IMU's, with a third fixed IMU as a reference / backup.

@@ -18,6 +18,10 @@ Cube includes vibration isolation on two of the IMU's, with a third fixed IMU as
 The manufacturer [Cube User Guide](https://docs.cubepilot.org/user-guides/autopilot/the-cube) contains detailed information, including an overview of the [Differences between Cube Colours](https://docs.cubepilot.org/user-guides/autopilot/the-cube/introduction/specifications).
 :::

+:::info
+This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
+:::
+
 ## 主要特性

 - 32bit STM32F777VI (32bit [ARM Cortex M7](https://en.wikipedia.org/wiki/ARM_Cortex-M#Cortex-M7), 400 MHz, Flash 2MB, RAM 512 KB).
@@ -32,9 +36,7 @@ The manufacturer [Cube User Guide](https://docs.cubepilot.org/user-guides/autopi
 - High-power, multi-tone piezo audio indicator
 - microSD card for high-rate logging over extended periods of time

-<a id="stores"></a>
-
-## 购买渠道
+## Where to Buy {#store}

 - [Reseller list](https://www.cubepilot.com/#/reseller/list)

@@ -47,7 +49,7 @@ The manufacturer [Cube User Guide](https://docs.cubepilot.org/user-guides/autopi
 - **Processor:**
  - STM32F777VI (32bit [ARM Cortex M7](https://en.wikipedia.org/wiki/ARM_Cortex-M#Cortex-M7))
  - 400 MHz
-  - 512 KB MB RAM
+  - 512 KB RAM
  - 2 MB Flash
 - **Failsafe co-processor:** <!-- inconsistent info on failsafe processor: 32 bit STM32F103 failsafe co-processor -->
  - STM32F100 (32bit _ARM Cortex-M3_)
@@ -130,7 +132,7 @@ It is pre-built and automatically installed by _QGroundControl_ when appropriate

 To [build PX4](../dev_setup/building_px4.md) for this target:

-```
+```sh
 make cubepilot_cubeyellow
 ```

@@ -19,7 +19,7 @@ At high level, some of the key features are:
 - Internal vibration isolation system.
 - Dual high-performance, low-noise IMUs on board are designed for demanding stabilization applications.

-A summary of the key features, [assembly](../assembly/quick_start_durandal.md), and [purchase](#purchase) links can be found below.
+A summary of the key features, [assembly](../assembly/quick_start_durandal.md), and [purchase](#store) links can be found below.

 :::info
 This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
@@ -86,9 +86,7 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo

 For more information see: [Durandal Technical Data Sheet](https://cdn.shopify.com/s/files/1/0604/5905/7341/files/Durandal_technical_data_sheet_90f8875d-8035-4632-a936-a0d178062077.pdf).

-<a id="purchase"></a>
-
-## 购买渠道
+## Where to Buy {#store}

 Order from [Holybro](https://holybro.com/products/durandal).

@@ -162,7 +160,7 @@ It is pre-built and automatically installed by _QGroundControl_ when appropriate

 To [build PX4](../dev_setup/building_px4.md) for this target:

-```
+```sh
 make holybro_durandal-v1_default
 ```

@@ -74,7 +74,7 @@ Download the [gearup_airbrainh743_bootloader.bin](https://github.com/PX4/PX4-Aut

 To [build PX4](../dev_setup/building_px4.md) for this target:

-```
+```sh
 make gearup_airbrainh743_default
 ```

@@ -84,7 +84,7 @@ Firmware can be installed in any of the normal ways:

 - Build and upload the source:

-  ```
+  ```sh
  make gearup_airbrainh743_default upload
  ```

@@ -1,106 +1,8 @@
+<Redirect to="../flight_controller/autopilot_discontinued" />
+
+<!--
 # Holybro pix32 Flight Controller (Discontinued)

-<Badge type="info" text="Discontinued" />
+Doc removed 202603

-:::warning
-PX4 does not manufacture this (or any) autopilot.
-Contact the [manufacturer](https://holybro.com/) for hardware support or compliance issues.
-:::
-
-The Holybro<sup>&reg;</sup> [pix32 autopilot](https://holybro.com/products/pix32pixhawk-flight-controller) (also known as "Pixhawk 2", and formerly as HKPilot32) is based on the [Pixhawk<sup>&reg;</sup>-project](https://pixhawk.org/) **FMUv2** open hardware design.
-This board is based on hardware version Pixhawk 2.4.6.
-It runs the PX4 flight stack on the [NuttX](https://nuttx.apache.org/) OS.
-
-![pix32](../../assets/flight_controller/holybro_pix32/pix32_hero.jpg)
-
-As a CC-BY-SA 3.0 licensed Open Hardware design, schematics and design files should be [available here](https://github.com/pixhawk/Hardware).
-
-:::tip
-The Holybro pix32 is software compatible with the [3DR Pixhawk 1](../flight_controller/pixhawk.md).
-It is not connector compatible, but is otherwise physically very similar to the 3DR Pixhawk or mRo Pixhawk.
-:::
-
-:::info
-This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
-:::
-
-## 主要特性
-
- Main System-on-Chip: [STM32F427](https://www.st.com/en/microcontrollers-microprocessors/stm32f427-437.html)
-  - CPU: 32-bit STM32F427 Cortex<sup>&reg;</sup> M4 core with FPU
-  - RAM: 168 MHz/256 KB
-  - Flash: 2 MB
- Failsafe System-on-Chip: STM32F103
- 传感器：
-  - ST Micro L3GD20 3-axis 16-bit gyroscope
-  - ST Micro LSM303D 3-axis 14-bit accelerometer / magnetometer
-  - Invensense<sup>&reg;</sup> MPU 6000 3-axis accelerometer/gyroscope
-  - MEAS MS5611 气压计
- 尺寸/重量
-  - Size: 81x44x15mm
-  - Weight: 33.1g
- GPS: u-blox<sup>&reg;</sup> super precision Neo-7M with compass
- Input Voltage: 2~10s (7.4~37V)
-
-### 连接
-
- 1x I2C
- 2x CAN
- 3.3 and 6.6V ADC inputs
- 5x UART (serial ports), one high-power capable, 2x with HW flow control
- Spektrum DSM / DSM2 / DSM-X® Satellite compatible input up to DX8 (DX9 and above not supported)
- Futaba<sup>&reg;</sup> S.BUS compatible input and output
- PPM sum signal
- RSSI (PWM or voltage) input
- SPI
- External microUSB port
- Molex PicoBlade connectors
-
-## 购买渠道
-
-[shop.holybro.com](https://holybro.com/products/pix32pixhawk-flight-controller)
-
-### 配件
-
- [Digital airspeed sensor](https://holybro.com/products/digital-air-speed-sensor-ms4525do)
- [HolyBro SiK Telemetry Radio (EU 433 MHz, US 915 MHz)](../telemetry/holybro_sik_radio.md)
-
-## 编译固件
-
-:::tip
-Most users will not need to build this firmware!
-It is pre-built and automatically installed by _QGroundControl_ when appropriate hardware is connected.
-:::
-
-To [build PX4](../dev_setup/building_px4.md) for this target:
-
-```
-make px4_fmu-v2_default
-```
-
-## 调试接口
-
-See [3DR Pixhawk 1 > Debug Ports](../flight_controller/pixhawk.md#debug-ports).
-
-## 引脚和原理图
-
-The board is based on the [Pixhawk project](https://pixhawk.org/) **FMUv2** open hardware design.
-
- [FMUv2 + IOv2 schematic](https://raw.githubusercontent.com/PX4/Hardware/master/FMUv2/PX4FMUv2.4.5.pdf) -- Schematic and layout
-
-:::info
-As a CC-BY-SA 3.0 licensed Open Hardware design, all schematics and design files are [available](https://github.com/pixhawk/Hardware).
-:::
-
-## 串口映射
-
-| UART   | 设备         | Port                           |
-| ------ | ---------- | ------------------------------ |
-| UART1  | /dev/ttyS0 | IO debug                       |
-| USART2 | /dev/ttyS1 | TELEM1 (流控) |
-| USART3 | /dev/ttyS2 | TELEM2 (流控) |
-| UART4  |            |                                |
-| UART7  | CONSOLE    |                                |
-| UART8  | SERIAL4    |                                |
-
-<!-- Note: Got ports using https://github.com/PX4/PX4-user_guide/pull/672#issuecomment-598198434 -->
+-->
@@ -71,7 +71,7 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo

 Additional information can be found in the [Pix32 V5 Technical Data Sheet](https://cdn.shopify.com/s/files/1/0604/5905/7341/files/Holybro_PIX32-V5_technical_data_sheet_v1.1.pdf).

-## 购买渠道
+## Where to Buy {#store}

 Order from [Holybro website](https://holybro.com/products/pix32-v5).

@@ -125,7 +125,7 @@ It is pre-built and automatically installed by _QGroundControl_ when appropriate

 To [build PX4](../dev_setup/building_px4.md) for this target:

-```
+```sh
 make holybro_pix32v5_default
 ```

@@ -12,7 +12,7 @@ It is equipped with a high performance H7 Processor, and comes with IMU redundan
 <img src="../../assets/flight_controller/pix32v6/pix32v6_fc_only.png" width="550px" title="pix32v6 Upright Image" />

 <!--
-:::tip
+::: tip
 This autopilot is [supported](../flight_controller/autopilot_pixhawk_standard.md) by the PX4 maintenance and test teams.
 :::
 -->
@@ -93,7 +93,7 @@ This flight controller is perfect for people that is looking for a affordable an
 - 其它特性:
  - Operating & storage temperature: -40 ~ 85°c

-## 购买渠道
+## Where to Buy {#store}

 Order from [Holybro](https://holybro.com/products/pix32-v6).

@@ -156,13 +156,11 @@ It is pre-built and automatically installed by _QGroundControl_ when appropriate

 To [build PX4](../dev_setup/building_px4.md) for this target:

-```
+```sh
 make px4_fmu-v6c_default
 ```

-<a id="debug_port"></a>
-
-## 调试接口
+## Debug Port {#debug_port}

 The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debug/swd_debug.md) run on the **FMU Debug** port.

@@ -1,142 +1,7 @@
+<Redirect to="../flight_controller/autopilot_discontinued" />
+
+<!--
 # Holybro Kakute F7 (Discontinued)

-<Badge type="info" text="Discontinued" />
-
-:::warning
-This frame has been [discontinued](../flight_controller/autopilot_experimental.md) and is no longer commercially available.
-:::
-
-:::warning
-PX4 does not manufacture this (or any) autopilot.
-Contact the [manufacturer](https://holybro.com/) for hardware support or compliance issues.
-:::
-
-The _Kakute F7_ from Holybro is a flight controller board designed for racers.
-
-<img src="../../assets/flight_controller/kakutef7/board.jpg" width="400px" title="Kakute F7" />
-
-:::info
-This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
-:::
-
-## 主要特性
-
- Main System-on-Chip: [STM32F745VGT6](https://www.st.com/en/microcontrollers-microprocessors/stm32f745vg.html)
-  - CPU: 216 MHz ARM Cortex M7 with single-precision FPU
-  - RAM: 320 KB SRAM
-  - FLASH: 1 MB
- Standard racer form factor: 36x36 mm with standard 30.5 mm hole pattern
- ICM20689 Accel / Gyro (Soft-mounted)
- BMP280 Baro
- microSD (for logging)
- 6 UARTs
- 1 I2C bus
- 6 路 PWM 输出
- Built-in OSD chip (AB7456 via SPI)
-
-## 购买渠道
-
-The board can be bought from one of the following shops (for example):
-
- [getfpv](https://www.getfpv.com/holybro-kakute-f7-tekko32-f3-metal-65a-4-in-1-esc-combo.html)
-
-:::tip
-The _Kakute F7_ is designed to work with the _Tekko32_ 4-in-1 ESC and they can be bought in combination.
-:::
-
-## Connectors and Pins
-
-This is the silkscreen for the _Kakute F7_, showing the top of the board:
-
-![Kakute F7 Silkscreen](../../assets/flight_controller/kakutef7/silk.png)
-
-| 针脚       | 功能                                                                                      | PX4 default         |
-| -------- | --------------------------------------------------------------------------------------- | ------------------- |
-| B+       | Battery positive voltage (2S-6S)                                     |                     |
-| 5V       | 5V output (2A max)                                                   |                     |
-| VO       | Video output to video transmitter                                                       |                     |
-| VI       | Video input from FPV camera                                                             |                     |
-| G or GND | Ground                                                                                  |                     |
-| SDA, SCL | I2C connection (for peripherals)                                     |                     |
-| R1, T1   | UART1 RX and TX                                                                         | TELEM1              |
-| R2, T2   | UART2 RX and TX                                                                         | TELEM2              |
-| R3, T3   | UART3 RX and TX                                                                         | NuttX debug console |
-| R4, T4   | UART4 RX and TX                                                                         | GPS1                |
-| R6, T6   | UART6 RX and TX                                                                         | RC port             |
-| R7, T7   | UART7 RX and TX (RX is located in the plug for use with 4-in-1 ESCs) | DShot telemetry     |
-| LED      | WS2182 addressable LED signal wire (not tested)                      |                     |
-| Buz-     | Piezo buzzer negative leg (Connect buzzer positive leg to 5V pad)    |                     |
-| 3V3      | 3.3V output (200 mA max)                             |                     |
-| M1 to M4 | Motor signal outputs (located in plug for use in 4-in-1 ESCs)        |                     |
-| M5, M6   | Additional motor signal outputs (located on side of board)           |                     |
-| RSI      | Analog RSSI (0-3.3V) input from receiver             |                     |
-| Boot     | Bootloader button                                                                       |                     |
-
-<a id="bootloader"></a>
-
-## PX4 Bootloader Update
-
-The board comes pre-installed with [Betaflight](https://github.com/betaflight/betaflight/wiki).
-Before PX4 firmware can be installed, the _PX4 bootloader_ must be flashed.
-Download the [kakutef7_bl.hex](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/flight_controller/kakutef7/kakutef7_bl_0b3fbe2da0.hex) bootloader binary and read [this page](../advanced_config/bootloader_update_from_betaflight.md) for flashing instructions.
-
-## 编译固件
-
-To [build PX4](../dev_setup/building_px4.md) for this target:
-
-```
-make holybro_kakutef7_default
-```
-
-## Installing PX4 Firmware
-
-The firmware can be installed in any of the normal ways:
-
- Build and upload the source
-  ```
-  make holybro_kakutef7_default upload
-  ```
- [Load the firmware](../config/firmware.md) using _QGroundControl_.
-  You can use either pre-built firmware or your own custom firmware.
-
-## 配置
-
-If you use a 4-in-1 ESC with Betaflight/Cleanflight motor assignment you can use the [Actuator](../config/actuators.md) configuration UI to set the motor ordering appropriately.
-
-In addition to the [basic configuration](../config/index.md), the following parameters are important:
-
-| 参数                                                                                                             | 设置                                                                                                                                                      |
-| -------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| [SYS_HAS_MAG](../advanced_config/parameter_reference.md#SYS_HAS_MAG) | This should be disabled since the board does not have an internal mag. You can enable it if you attach an external mag. |
-
-## 串口映射
-
-| UART   | 设备         | Port                                     |
-| ------ | ---------- | ---------------------------------------- |
-| USART1 | /dev/ttyS0 | TELEM1                                   |
-| USART2 | /dev/ttyS1 | TELEM2                                   |
-| USART3 | /dev/ttyS2 | 调试控制台                                    |
-| UART4  | /dev/ttyS3 | GPS1                                     |
-| USART6 | /dev/ttyS4 | RC SBUS                                  |
-| UART7  | /dev/ttyS5 | ESC telemetry (DShot) |
-
-<!-- Note: Got ports using https://github.com/PX4/PX4-user_guide/pull/672#issuecomment-598198434 -->
-
-## 调试接口
-
-### 系统控制台
-
-UART3 RX and TX are configured for use as the [System Console](../debug/system_console.md).
-
-### SWD
-
-The [SWD interface](../debug/swd_debug.md) (JTAG) pins are:
-
- `SWCLK`: Test Point 2 (Pin 72 on the CPU)
- `SWDIO`: Test Point 3 (Pin 76 on CPU)
- `GND`: As marked on board
- `VDD_3V3`: As marked on board
-
-These are shown below.
-
-![SWD Pins on Kakute F7 - CLK SWO](../../assets/flight_controller/kakutef7/debug_swd_port.jpg) ![SWD Pins on Kakute F7:  GND and VDD_3V3](../../assets/flight_controller/kakutef7/debug_swd_port_gnd_vcc3_3.jpg)
+DOC REMOVED: 202603
+-->
@@ -13,7 +13,7 @@ The [Holybro Kakute H743 Wing](https://holybro.com/products/kakute-h743-wing) is
 This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
 :::

-## 购买渠道
+## Where to Buy {#store}

 The board can be bought from one of the following shops (for example):

@@ -43,7 +43,7 @@ Download the [holybro_kakuteh7-wing.hex](https://github.com/PX4/PX4-Autopilot/ra

 To [build PX4](../dev_setup/building_px4.md) for this target:

-```
+```sh
 make holybro_kakuteh7-wing_default
 ```

@@ -58,7 +58,7 @@ Firmware can be manually installed in any of the normal ways:

 - Build and upload the source:

-  ```
+  ```sh
  make holybro_kakuteh7-wing_default upload
  ```

@@ -36,7 +36,7 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo
 - Dimensions: 35x35mm
 - Weight: 8g

-## 购买渠道
+## Where to Buy {#store}

 The board can be bought from one of the following shops (for example):

@@ -102,7 +102,7 @@ The firmware can be installed in any of the normal ways:
  You can use either pre-built firmware or your own custom firmware.

 :::info
-If you are loading the pre-built firmware via QGroundcontrol, you must use QGC Daily or QGC version newer than 4.1.7.
+If you are loading the pre-built firmware via QGroundControl, you must use QGC Daily or QGC version newer than 4.1.7.
 :::

 ## PX4 配置
@@ -40,7 +40,7 @@ PX4 runs on the H7 mini v1.3 and later.
 - Dimensions: 30x31x6mm
 - Weight: 5.5g

-## 购买渠道
+## Where to Buy {#store}

 The board can be bought from one of the following shops (for example):

@@ -86,14 +86,14 @@ Download the [holybro_kakuteh7mini_bootloader.hex](https://github.com/PX4/PX4-Au

 To [build PX4](../dev_setup/building_px4.md) for this target:

-```
+```sh
 make holybro_kakuteh7mini_default
 ```

 ## Installing PX4 Firmware

 :::info
-If you are loading the pre-built firmware via QGroundcontrol, you must use QGC Daily or QGC version newer than 4.1.7.
+If you are loading the pre-built firmware via QGroundControl, you must use QGC Daily or QGC version newer than 4.1.7.
 Prior to that release you will need to manually build and install the firmware.
 :::

@@ -101,7 +101,7 @@ Firmware can be manually installed in any of the normal ways:

 - Build and upload the source:

-  ```
+  ```sh
  make holybro_kakuteh7mini_default upload
  ```

@@ -36,7 +36,7 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo
 - Dimensions: 35x35mm
 - Weight: 8g

-## 购买渠道
+## Where to Buy {#store}

 The board can be bought from one of the following shops (for example):

@@ -83,14 +83,14 @@ Download the [holybro_kakuteh7v2_bootloader.hex](https://github.com/PX4/PX4-Auto

 To [build PX4](../dev_setup/building_px4.md) for this target:

-```
+```sh
 make holybro_kakuteh7v2_default
 ```

 ## Installing PX4 Firmware

 :::info
-KakuteH7v2 is supported with PX4 master & PX4 v1.14 or newer. If you are loading the pre-built firmware via QGroundcontrol, you must use QGC Daily or QGC version newer than 4.1.7.
+KakuteH7v2 is supported with PX4 master & PX4 v1.14 or newer. If you are loading the pre-built firmware via QGroundControl, you must use QGC Daily or QGC version newer than 4.1.7.
 Prior to that release you will need to manually build and install the firmware.
 :::

@@ -98,7 +98,7 @@ Firmware can be manually installed in any of the normal ways:

 - Build and upload the source:

-  ```
+  ```sh
  make holybro_kakuteh7v2_default upload
  ```

@@ -12,7 +12,7 @@ MicoAir743-Lite is an ultra-high performance H743 flight controller with an unbe
 ![MicoAir743-Lite Front View](../../assets/flight_controller/micoair743_lite/front_view.png)

 Equipped with a high-performance H7 processor, the MicoAir743-Lite features a compact form factor with SH1.0 connectors (which are more suitable than Pixhawk-standard GH1.25 for this board size).
-When paired with with Bluetooth telemetry, the board can be debugged with a phone or PC.
+When paired with Bluetooth telemetry, the board can be debugged with a phone or PC.

 :::info
 This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
@@ -67,7 +67,7 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo

 ![MicoAir743-Lite Size](../../assets/flight_controller/micoair743_lite/size.png)

-## 购买渠道
+## Where to Buy {#store}

 Order from [MicoAir Tech Store](https://store.micoair.com/product/micoair743-lite/).

@@ -85,12 +85,12 @@ Pinouts definition can be found in the [MicoAir743-Lite_pinout.xlsx](https://raw
 | UART4  | /dev/ttyS3 | TELEM2 |
 | UART5  | /dev/ttyS4 | TELEM3 |
 | USART6 | /dev/ttyS5 | RC     |
-| UART7  | /dev/ttyS6 | URT6   |
+| UART7  | /dev/ttyS6 | UART6  |
 | UART8  | /dev/ttyS7 | TELEM4 |

 ## Interfaces Diagram

-:::note
+:::info
 All the connectors used on the board are SH1.0
 :::

@@ -19,7 +19,7 @@ These flight controllers are [manufacturer supported](../flight_controller/autop
 The main hardware documentation is [here](http://mindpx.net/assets/accessories/Specification9.18_3_pdf.pdf).
 :::

-MindPX is a new generation autopilot system branched from Pixhawk<sup>&reg;</sup>, been revised in schematic and structure, and been further enhanced with new features to make un-manned vehicle more smart and more friendly to use.
+MindPX is a new generation autopilot system branched from Pixhawk<sup>&reg;</sup>, has been revised in schematic and structure, and has been further enhanced with new features to make unmanned vehicle more smart and more friendly to use.

 MindPX increases total PWM output channels to 16 (8 main outputs + 8 aux outputs).
 This means that MindPX can support more complicated VTOL configurations and more fine control.
@@ -86,7 +86,7 @@ It is pre-built and automatically installed by _QGroundControl_ when appropriate

 To [build PX4](../dev_setup/building_px4.md) for this target:

-```
+```sh
 make airmind_mindpx-v2_default
 ```

@@ -96,7 +96,7 @@ MindPX has a USB-TO-UART Bridge IC on the board.
 A micro-USB to USB type A cable is used for the connection.
 Connect micro-USB end to the 'OBC' port of MindPX and USB type A end to companion computer.

-And the max BAUD rate is the same with px4 family, which is up to 921600.
+And the max BAUD rate is the same as for the PX4 family, which is up to 921600.

 ## User Guide

@@ -104,7 +104,7 @@ And the max BAUD rate is the same with px4 family, which is up to 921600.
 The user guide is [here](http://mindpx.net/assets/accessories/UserGuide9.18_2_pdf.pdf).
 :::

-## 购买渠道
+## Where to Buy {#store}

 MindRacer is available at [AirMind Store](https://airmind.mindpx.net/catalog).
 You can also find MindRacer at Amazon<sup>&reg;</sup> or eBay<sup>&reg;</sup>.
@@ -66,7 +66,7 @@ It is pre-built and automatically installed by _QGroundControl_ when appropriate

 To [build PX4](../dev_setup/building_px4.md) for this target:

-```
+```sh
 make airmind_mindpx-v2_default
 ```

@@ -79,7 +79,7 @@ MindRacer has an attached Adapt IO board.
 MindRacer has a built-in UART-to-USB converter.
 To connect a companion computer, stack MindRacer on an interface board, and connect the companion computer to the USB port on the interface board.

-And the max BAUD rate is the same with px4 family, which is up to 921600.
+And the max BAUD rate is the same as for the PX4 family, which is up to 921600.

 ### User Guide

@@ -87,7 +87,7 @@ And the max BAUD rate is the same with px4 family, which is up to 921600.
 The user guide is [here](http://mindpx.net/assets/accessories/mindracer_user_guide_v1.2.pdf)
 :::

-## 购买渠道
+## Where to Buy {#store}

 MindRacer is available at [AirMind Store](https://airmind.mindpx.net/catalog).
 You can also find MindRacer at Amazon<sup>&reg;</sup> or eBay<sup>&reg;</sup>.
@@ -1,146 +1,7 @@
-# ModalAI Flight Core v1
+<Redirect to="../flight_controller/autopilot_discontinued" />

-<Badge type="info" text="Discontinued" /> <Badge type="tip" text="PX4 v1.11" />
+<!--
+# ModalAI Flight Core v1 (Discontinued)

-:::warning
-This frame has been [discontinued](../flight_controller/autopilot_experimental.md) and is no longer commercially available.
-:::
-
-:::warning
-PX4 does not manufacture this (or any) autopilot.
-Contact the [manufacturer](https://forum.modalai.com/) for hardware support or compliance issues.
-:::
-
-The ModalAI _Flight Core v1_ ([Datasheet](https://docs.modalai.com/flight-core-datasheet)) is a flight controller for PX4, made in the USA.
-The Flight Core can be paired with ModalAI VOXL for obstacle avoidance and GPS-denied navigation, or used independently as a standalone flight controller.
-
-![FlightCoreV1](../../assets/flight_controller/modalai/fc_v1/main.jpg)
-
-Flight Core is identical to the PX4 Flight Controller portion of [VOXL Flight](https://www.modalai.com/voxl-flight) ([Datasheet](https://docs.modalai.com/voxl-flight-datasheet/)) which integrates the VOXL Companion Computer and Flight Core into a single PCB.
-
-:::info
-This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
-:::
-
-## 技术规范
-
-| 特性               | Details                                                          |
-| :--------------- | :--------------------------------------------------------------- |
-| 重量               | 6 g                                                              |
-| MCU              | 216MHz, 32-bit ARM M7 [STM32F765II][stm32f765ii]                 |
-| 内存               | 256Kb FRAM                                                       |
-|                  | 2Mbit Flash                                                      |
-|                  | 512Kbit SRAM                                                     |
-| 固件               | [PX4][px4]                                                       |
-| IMUs             | [ICM-20602][icm-20602] (SPI1)                                    |
-|                  | ICM-42688 (SPI2)                              |
-|                  | [BMI088][bmi088] (SPI6)                                          |
-| Barometer        | [BMP388][bmp388] (I2C4)                                          |
-| Secure Element   | [A71CH][a71ch] (I2C4)                                            |
-| microSD Card     | [Information on supported cards](../dev_log/logging.md#sd-cards) |
-| 输入               | GPS/Mag                                                          |
-|                  | Spektrum                                                         |
-|                  | 数传                                                               |
-|                  | CAN bus                                                          |
-|                  | PPM                                                              |
-| Outputs          | 6 LEDs (2xRGB)                                |
-|                  | 8 PWM Channels                                                   |
-| Extra Interfaces | 3 serial ports                                                   |
-|                  | I2C                                                              |
-|                  | GPIO                                                             |
-
-:::info
-More detailed hardware documentation can be found [here](https://docs.modalai.com/flight-core-datasheet/).
-:::
-
-<!-- reference links for table above (improve layout) -->
-
-[stm32f765ii]: https://www.st.com/en/microcontrollers-microprocessors/stm32f765ii.html
-[bmp388]: https://www.adafruit.com/product/3966
-[icm-20602]: https://invensense.tdk.com/products/motion-tracking/6-axis/icm-20602/
-[bmi088]: https://www.bosch-sensortec.com/products/motion-sensors/imus/bmi088/
-[px4]: https://github.com/PX4/PX4-Autopilot/tree/main/boards/modalai/fc-v1
-[a71ch]: https://www.nxp.com/products/security-and-authentication/authentication/plug-and-trust-the-fast-easy-way-to-deploy-secure-iot-connections:A71CH
-
-## 尺寸
-
-![FlightCoreV1Dimensions](../../assets/flight_controller/modalai/fc_v1/dimensions.png)
-
-## PX4 Firmware Compatibility
-
-_Flight Core v1_ is fully compatible with the official PX4 Firmware from PX4 v1.11.
-
-ModalAI maintains a [branched PX4 version](https://github.com/modalai/px4-firmware/tree/modalai-1.11) for PX4 v1.11.
-This includes UART ESC support and improvements in VIO and VOA that are planned to be upstreamed.
-
-More information about the firmware can be found [here](https://docs.modalai.com/flight-core-firmware/).
-
-## QGroundControl支持
-
-This board supported in QGroundControl 4.0 and later.
-
-## 访问链接
-
- No longer available
-
-## Quick Start
-
-### 安装方向
-
-The diagram below shows the recommended orientation, which corresponds to `ROTATION_NONE` starting with PX4 v1.11.
-
-![FlightCoreV1Orientation](../../assets/flight_controller/modalai/fc_v1/orientation.png)
-
-### 连接器
-
-Detailed information about the pinouts can be found [here](https://docs.modalai.com/flight-core-datasheet-connectors).
-
-![FlightCoreV1Top](../../assets/flight_controller/modalai/fc_v1/top.png)
-
-| Connector | 概要                                                                            |
-| --------- | ----------------------------------------------------------------------------- |
-| J1        | VOXL Communications Interface Connector (TELEM2)           |
-| J2        | Programming and Debug Connector                                               |
-| J3        | USB Connector                                                                 |
-| J4        | UART2, UART ESC (TELEM3)                                   |
-| J5        | Telemetry Connector (TELEM1)                               |
-| J6        | VOXL-Power Management Input / Expansion                                       |
-| J7        | 8-Channel PWM Output Connector                                                |
-| J8        | CAN Bus Connector                                                             |
-| J9        | PPM RC In                                                                     |
-| J10       | External GPS & Magnetometer Connector                     |
-| J12       | RC input, Spektrum/SBus/UART Connector                                        |
-| J13       | I2C Display (Spare Sensor Connector) / Safety Button Input |
-
-![FlightCoreV1Bottom](../../assets/flight_controller/modalai/fc_v1/bottom.png)
-
-### User Guide
-
-The full user guide is available [here](https://docs.modalai.com/flight-core-manual/).
-
-### How to Build
-
-To [build PX4](../dev_setup/building_px4.md) for this target:
-
-```
-make modalai_fc-v1
-```
-
-## 串口映射
-
-| UART   | 设备         | Port                                                        |
-| ------ | ---------- | ----------------------------------------------------------- |
-| USART1 | /dev/ttyS0 | GPS1 (J10)                               |
-| USART2 | /dev/ttyS1 | TELEM3 (J4)                              |
-| USART3 | /dev/ttyS2 | Debug Console (J2)                       |
-| UART4  | /dev/ttyS3 | Expansion UART (J6)                      |
-| UART5  | /dev/ttyS4 | TELEM2, Primary VOXL Communications (J1) |
-| USART6 | /dev/ttyS5 | RC (J12)                                 |
-| UART7  | /dev/ttyS6 | TELEM1 (J5)                              |
-| UART8  | /dev/ttyS7 | N/A                                                         |
-
-<!-- Note: Got ports using https://github.com/PX4/PX4-user_guide/pull/672#issuecomment-598198434 -->
-
-## 技术支持
-
-Please visit the [ModalAI Forum](https://forum.modalai.com/category/10/flight-core) for more information.
+DOC REMOVED: 202603
+-->
@@ -5,7 +5,7 @@ PX4 does not manufacture this (or any) autopilot.
 Contact the [manufacturer](https://forum.modalai.com/) for hardware support or compliance issues.
 :::

-The ModalAI [VOXL 2](https://modalai.com/voxl-2) ([Datasheet](https://docs.modalai.com/voxl2-datasheets/)) is ModalAI’s next-gen autonomous computing platform built around the Qualcomm QRB5165 processor. VOXL 2 boasts 8 cores, integrated PX4, seven camera concurrency, advanced onboard AI up to 15+ TOPS, and 5G connectivity. At 16 grams, VOXL 2 is the future of fully autonomous and connected drones!
+The ModalAI [VOXL 2](https://www.modalai.com/products/voxl-2) ([Datasheet](https://docs.modalai.com/voxl2-datasheets/)) is ModalAI's next-gen autonomous computing platform built around the Qualcomm QRB5165 processor. VOXL 2 boasts 8 cores, integrated PX4, seven camera concurrency, advanced onboard AI up to 15+ TOPS, and 5G connectivity. At 16 grams, VOXL 2 is the future of fully autonomous and connected drones!

 ![VOXL-2](../../assets/flight_controller/modalai/voxl_2/voxl-2-hero.jpg)

@@ -62,7 +62,7 @@ ModalAI is actively maintaining a [branched PX4 version](https://github.com/moda

 As VOXL 2 runs Ubuntu, the production releases of PX4 for VOXL 2 are distributed through [apt package management](https://docs.modalai.com/configure-pkg-manager/) and the [VOXL SDK](https://docs.modalai.com/voxl-sdk/).

-More information about the firmware can be found [here](https://docs.modalai.com/voxl2-px4-developer-guide/).
+More information about the firmware can be found [here](https://docs.modalai.com/voxl-px4/).

 ### main branch

@@ -70,7 +70,7 @@ PX4 mainline supports VOXL 2 (board documentation [here](https://github.com/PX4/

 ## QGroundControl支持

-This board supported in QGroundControl 4.0 and later.
+This board is supported in QGroundControl 4.0 and later.

 ## 访问链接

@@ -78,17 +78,16 @@ This board supported in QGroundControl 4.0 and later.
 - [Starling 2 MAX](https://www.modalai.com/products/starling-2-max)
 - [Sentinel Development Drone powered by VOXL 2](https://www.modalai.com/pages/sentinel)
  - [Demo Video](https://www.youtube.com/watch?v=hMhQgWPLGXo)
- [VOXL 2 Flight Deck, ready to mount, tune and fly](https://www.modalai.com/collections/ready-to-mount/products/voxl-2-flight-deck)
 - [VOXL 2 Development Kits](https://www.modalai.com/products/voxl-2)
  - [Demo Video](https://www.youtube.com/watch?v=aVHBWbwp488)

 ## Quick Start

-Quickstarts from the vendor are located [here](https://docs.modalai.com/voxl2-quickstarts/).
+Quickstarts from the vendor are located [here](https://docs.modalai.com/voxl-2-hardware-quickstart/).

 ### VOXL SDK

-VOXL SDK (Software Development Kit) consists of the open source [voxl-px4](https://docs.modalai.com/voxl-px4/), [core libraries](https://docs.modalai.com/core-libs/), [services](https://docs.modalai.com/mpa-services/), [tools](https://docs.modalai.com/inspect-tools/), [utilities](https://docs.modalai.com/sdk-utilities/), and [build environments](https://docs.modalai.com/build-environments/) that ModalAI provide to accelerate the use and development of VOXL compute boards and accessories.
+VOXL SDK (Software Development Kit) consists of the open source [voxl-px4](https://docs.modalai.com/voxl-px4/), [core libraries](https://docs.modalai.com/core-libs/), [services](https://docs.modalai.com/mpa-services/), [tools](https://docs.modalai.com/inspect-tools/), and [build environments](https://docs.modalai.com/build-environments/) that ModalAI provide to accelerate the use and development of VOXL compute boards and accessories.

 VOXL SDK runs on VOXL, VOXL 2 and RB5 Flight!

@@ -123,11 +122,11 @@ The PX4 user guide for VOXL 2 is available [here](https://docs.modalai.com/voxl-

 ### Developer Guide

-The PX4 developer guide for VOXL 2 is available [here](https://docs.modalai.com/voxl-px4-developer-guide/).
+The PX4 developer guide for VOXL 2 is available [here](https://docs.modalai.com/voxl-px4/).

 ### How to Build

-See the [VOXL PX4 Build Guide](https://docs.modalai.com/voxl2-px4-build-guide/) on how to build.
+See the [VOXL PX4 Build Guide](https://docs.modalai.com/voxl-px4-dev-build-guide/) on how to build.

 ## 技术支持

@@ -1,202 +1,7 @@
-# ModalAI VOXL Flight
+<Redirect to="../flight_controller/autopilot_discontinued" />

-<Badge type="info" text="Discontinued" /> <Badge type="tip" text="PX4 v1.11" />
+<!--
+# ModalAI VOXL Flight (Discontinued)

-:::warning
-This frame has been [discontinued](../flight_controller/autopilot_experimental.md) and is no longer commercially available.
-:::
-
-:::warning
-PX4 does not manufacture this (or any) autopilot.
-Contact the [manufacturer](https://forum.modalai.com/) for hardware support or compliance issues.
-:::
-
-The ModalAI VOXL Flight is one of the first computing platforms to combine the power and sophistication of Snapdragon with the flexibility and ease of use of PX4 on an STM32F7.
-Made in the USA, VOXL Flight supports obstacle avoidance and GPS-denied (indoor) navigation fused with a PX4 flight controller on a single PCB.
-
-![VOXL-Flight](../../assets/flight_controller/modalai/voxl_flight/voxl-flight-dk.jpg)
-
-:::info
-This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
-:::
-
-## 产品规格
-
-### 系统
-
-| 特性 | Details |
-| :- | :------ |
-| 重量 | 26 g    |
-
-### Companion Computer
-
-| 特性                    | Details                                                                                                                                                                                                                                                            |
-| :-------------------- | :----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| Base Operation System | Linux Yocto Jethro with 3.18 kernel. Additional Linux Operating Systems can be used by running Docker on VOXL, details [here](https://docs.modalai.com/docker-on-voxl/)                                                            |
-| Compute               | Qualcomm Snapdragon 821 w/ 4GB LPDDR4 1866MHz, Snapdragon 821 [Datasheet](https://developer.qualcomm.com/download/sd820e/qualcomm-snapdragon-820e-processor-apq8096sge-device-specification.pdf), [Docs](https://developer.qualcomm.com/hardware/apq-8096sg/tools) |
-| CPU                   | Quad-core CPU up to 2.15GHz                                                                                                                                                                                                                        |
-| GPU                   | Adreno 530 GPU at 624MHz                                                                                                                                                                                                                                           |
-| Compute DSP           | Hexagon compute DSP (cDSP) 825MHz                                                                                                                                                                                                               |
-| Sensor DSP            | Hexagon sensor DSP (sDSP) 700MHz                                                                                                                                                                                                                |
-| 视频                    | 4k30 Video Capture h.264/5 w/ 720p FPV                                                                                                                                                                                                             |
-| Camera Interfaces     | Support for MIPI-CSI2, USB UVC, HDMI                                                                                                                                                                                                                               |
-| Wi-Fi                 | Pre-certified Wi-Fi module [QCNFA324 FCC ID:PPD-QCNFA324](https://fccid.io/PPD-QCNFA324), QCA6174A modem, 802.11ac 2x2 Dual-band, Bluetooth 4.2 (dual-mode)                                     |
-| 4G LTE                | [Optional add-on module](https://www.modalai.com/collections/voxl-add-ons/products/voxl-lte)                                                                                                                                                                       |
-| Microhard pDDL        | [Optional add-on module](https://www.modalai.com/collections/voxl-add-ons/products/voxl-microhard-modem-usb-hub)                                                                                                                                                   |
-| GNSS                  | WGR7640 10Hz                                                                                                                                                                                                                                                       |
-| I/O                   | 1x USB3.0 OTG (ADB port), 1x USB2.0 (expansion port), 2x UART, 3x I2C, additional GPIO and SPI can be configured                                                                             |
-| Storage               | 32GB (UFS 2.0), Micro SD Card                                                                                                                                                                                                   |
-| Software              | Docker, OpenCV 2.4.11, 3.4.6, 4.2, ROS Indigo, Qualcomm Machine Vision SDK, see [GitLab](https://gitlab.com/voxl-public) for lots of open source examples!                         |
-| IMUs                  | ICM-42688 (SPI10), ICM-20948 (SPI1)                                                                                                                                                                                          |
-| Barometer             | BMP280                                                                                                                                                                                                                                                             |
-
-### Flight Controller
-
-| 特性               | Details                                                          |
-| :--------------- | :--------------------------------------------------------------- |
-| MCU              | 216MHz, 32-bit ARM M7 [STM32F765II][stm32f765ii]                 |
-| 内存               | 256Kb FRAM                                                       |
-|                  | 2Mbit Flash                                                      |
-|                  | 512Kbit SRAM                                                     |
-| 固件               | [PX4][px4]                                                       |
-| IMUs             | [ICM-20602][icm-20602] (SPI1)                                    |
-|                  | ICM-42688 (SPI2)                              |
-|                  | [BMI088][bmi088] (SPI6)                                          |
-| Barometer        | [BMP388][bmp388] (I2C4)                                          |
-| Secure Element   | [A71CH][a71ch] (I2C4)                                            |
-| microSD Card     | [Information on supported cards](../dev_log/logging.md#sd-cards) |
-| 输入               | GPS/Mag                                                          |
-|                  | Spektrum                                                         |
-|                  | 数传                                                               |
-|                  | CAN bus                                                          |
-|                  | PPM                                                              |
-| Outputs          | 6 LEDs (2xRGB)                                |
-|                  | 8 PWM Channels                                                   |
-| Extra Interfaces | 3 serial ports                                                   |
-|                  | I2C                                                              |
-|                  | GPIO                                                             |
-
-<!-- reference links for above table (improve layout) -->
-
-[stm32f765ii]: https://www.st.com/en/microcontrollers-microprocessors/stm32f765ii.html
-[px4]: https://github.com/PX4/PX4-Autopilot/tree/main/boards/modalai/fc-v1
-[icm-20602]: https://invensense.tdk.com/products/motion-tracking/6-axis/icm-20602/
-[bmi088]: https://www.bosch-sensortec.com/products/motion-sensors/imus/bmi088/
-[bmp388]: https://www.adafruit.com/product/3966
-[a71ch]: https://www.nxp.com/products/security-and-authentication/authentication/plug-and-trust-the-fast-easy-way-to-deploy-secure-iot-connections:A71CH
-
-:::info
-More detailed hardware documentation can be found [here](https://docs.modalai.com/voxl-flight-datasheet/).
-:::
-
-## 尺寸
-
-![FlightCoreV1Dimensions](../../assets/flight_controller/modalai/voxl_flight/voxl-flight-dimensions.jpg)
-
-[3D STEP File](https://storage.googleapis.com/modalai_public/modal_drawings/M0019_VOXL-Flight.zip)
-
-## PX4 Firmware Compatibility
-
-_VOXL Flight_ is fully compatible with the official PX4 Firmware from PX4 v1.11.
-
-ModalAI maintains a [branched PX4 version](https://github.com/modalai/px4-firmware/tree/modalai-1.11) for PX4 v1.11.
-This includes UART ESC support and improvements in VIO and VOA that are planned to be upstreamed.
-
-More information about the firmware can be found [here](https://docs.modalai.com/flight-core-firmware/).
-
-## QGroundControl支持
-
-This board supported in QGroundControl 4.0 and later.
-
-## 访问链接
-
-No longer available.
-
-## Quick Start
-
-A quickstart from the vendor is located [here](https://docs.modalai.com/voxl-flight-quickstart/).
-
-### voxl-vision-px4
-
-The VOXL Flight runs [voxl-vision-px4](https://gitlab.com/voxl-public/modal-pipe-architecture/voxl-vision-px4) on the companion computer portion of the hardware serving as a sort of MAVLink proxy.
-For details, the source code is available [here](https://gitlab.com/voxl-public/modal-pipe-architecture/voxl-vision-px4)
-
-### 连接器
-
-Detailed information about the pinouts can be found [here](https://docs.modalai.com/voxl-flight-datasheet-connectors/).
-
-#### Top
-
-![VOXLFlightTop](../../assets/flight_controller/modalai/voxl_flight/voxl-flight-top.jpg)
-
-_Note: 1000 Series connectors accessible from the STM32/PX4_
-
-| Connector | 概要                                                                        | Used By                                              |
-| --------- | ------------------------------------------------------------------------- | ---------------------------------------------------- |
-| J2        | Hires 4k Image Sensor (CSI0)                           | Snapdragon - Linux                                   |
-| J3        | Stereo Image Sensor (CSI1)                             | Snapdragon - Linux                                   |
-| J6        | Cooling Fan Connector                                                     | Snapdragon - Linux                                   |
-| J7        | BLSP6 (GPIO) and BLSP9 (UART)       | Snapdragon - Linux                                   |
-| J13       | Expansion B2B                                                             | Snapdragon - Linux                                   |
-| J14       | Integrated GNSS Antenna Connection                                        | Snapdragon - Linux                                   |
-| J1001     | Programming and Debug/UART3                                               | STM32 - PX4                                          |
-| J1002     | UART ESC, UART2/TELEM3                                                    | STM32 - PX4                                          |
-| J1003     | PPM RC In                                                                 | STM32 - PX4                                          |
-| J1004     | RC Input, Spektrum/SBus/UART6                                             | STM32 - PX4                                          |
-| J1006     | USB 2.0 Connector (PX4/QGroundControl) | STM32 - PX4                                          |
-| J1007     | 8-Channel PWM/DShot Output                                                | STM32 - PX4                                          |
-| J1008     | CAN Bus                                                                   | STM32 - PX4                                          |
-| J1009     | I2C3, UART4                                                               | STM32 - PX4                                          |
-| J1010     | Telemetry (TELEM1)                                     | STM32 - PX4                                          |
-| J1011     | I2C2, Safety Button Input                                                 | STM32 - PX4                                          |
-| J1012     | External GPS & Mag, UART1, I2C1                       | STM32 - PX4                                          |
-| J1013     | Power Input, I2C3                                                         | STM32 - PX4 (powers whole system) |
-
-#### Bottom
-
-![VOXLFlightBottom](../../assets/flight_controller/modalai/voxl_flight/voxl-flight-bottom.jpg)
-
-_Note: 1000 Series connectors accessible from the STM32/PX4_
-
-| Connector      | 概要                                                         | Used By                     |
-| -------------- | ---------------------------------------------------------- | --------------------------- |
-| J4             | Tracking/Optic Flow Image Sensor (CSI2) | Snapdragon - Linux          |
-| J8             | USB 3.0 OTG                                | Snapdragon - Linux, **adb** |
-| J10            | BLSP7 UART and I2C off-board                               | Snapdragon - Linux          |
-| J11            | BLSP12 UART and I2C off-board                              | Snapdragon - Linux          |
-| VOXL microSD   |                                                            | Snapdragon - Linux          |
-| PX4 microSD    | 32Gb Max                                                   | STM32 - PX4                 |
-| Wi-Fi Antennas | Included                                                   | Snapdragon - Linux          |
-
-### User Guide
-
-The full user guide is available [here](https://docs.modalai.com/voxl-flight-quickstart).
-
-### How to Build
-
-To [build PX4](../dev_setup/building_px4.md) for this target:
-
-```
-make modalai_fc-v1
-```
-
-## 串口映射
-
-_Note: mappings shown are for the PX4 controlled interfaces only_
-
-| UART   | 设备         | Port                                     |
-| ------ | ---------- | ---------------------------------------- |
-| USART1 | /dev/ttyS0 | GPS1 (J1012)          |
-| USART2 | /dev/ttyS1 | TELEM3 (J1002)        |
-| USART3 | /dev/ttyS2 | Debug Console (J1001) |
-| UART4  | /dev/ttyS3 | Expansion UART (J6)   |
-| UART5  | /dev/ttyS4 | UART between PX4 and Companion Computer  |
-| USART6 | /dev/ttyS5 | RC (J1004)            |
-| UART7  | /dev/ttyS6 | TELEM1 (J1010)        |
-| UART8  | /dev/ttyS7 | N/A                                      |
-
-<!-- Note: Got ports using https://github.com/PX4/PX4-user_guide/pull/672#issuecomment-598198434 -->
-
-## 技术支持
-
-Please visit the [ModalAI Forum](https://forum.modalai.com/category/8/voxl-flight) for more information.
+DOC REMOVED: 202603
+-->
@@ -30,7 +30,7 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo
  - [Bosch BMI088](https://www.bosch-sensortec.com/products/motion-sensors/imus/bmi088/) 3-axis accelerometer/gyroscope (internally vibration dampened)
  - [Invensense ICM-20602](https://invensense.tdk.com/products/motion-tracking/6-axis/icm-20602/) 3-axis accelerometer/gyroscope
  - [Invensense ICM-20948](https://invensense.tdk.com/products/motion-tracking/9-axis/icm-20948/) 3-axis accelerometer/gyroscope/magnetometer
-  - [Infineon DPS310 barometer](https://www.infineon.com/assets/row/public/documents/24/49/infineon-dps310-datasheet-en.pdf) - [Discontinued](https://www.infineon.com/part/DPS310) (So smooth and NO more light sensitivity)
+  - Infineon DPS310 barometer - [Discontinued](https://www.infineon.com/products/sensor/pressure-sensors/pressure-sensors-for-iot) (So smooth and NO more light sensitivity)

 - 接口：
  - 6x UART (serial ports total), 3x with HW flow control, 1x FRSky Telemetry (D or X types), 1x Console and 1x GPS+I2C
@@ -56,7 +56,7 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo
 - 电源系统
  - 3x Ultra low noise LDO voltage regulator

-## 购买渠道
+## Where to Buy {#store}

 - [mRo Control Zero](https://store.mrobotics.io/mRo-Control-Zero-F7-p/mro-ctrl-zero-f7.htm)

@@ -69,22 +69,22 @@ It is pre-built and automatically installed by _QGroundControl_ when appropriate

 To [build PX4](../dev_setup/building_px4.md) for this target:

-```
+```sh
 make mro_ctrl-zero-f7
 ```

-## Debug Ports
+## Debug Ports {#debug_port}

 ### Console Port

 The [PX4 System Console](../debug/system_console.md) runs on `USART7` using the pins listed below.
 This is a standard serial pinout, designed to connect to a [3.3V FTDI](https://www.digikey.com/en/products/detail/TTL-232R-3V3/768-1015-ND/1836393) cable (5V tolerant).

-\| mRo control zero f7 |             | FTDI |
-\| ------------------- | ----------- | ---- | ---------------- |
-\| 17                  | USART7 Tx   | 5    | FTDI RX (yellow) |
-\| 19                  | USART7 Rx   | 4    | FTDI TX (orange) |
-\| 6                   | USART21 GND | 1    | FTDI GND (black) |
+| mRo control zero f7 |             | FTDI |                                  |
+| ------------------- | ----------- | ---- | -------------------------------- |
+| 17                  | USART7 Tx   | 5    | FTDI RX （黄色）                     |
+| 19                  | USART7 Rx   | 4    | FTDI TX （橙色）                     |
+| 6                   | USART21 GND | 1    | FTDI GND (黑色) |

 ### SWD Port

@@ -72,7 +72,7 @@ It is pre-built and automatically installed by _QGroundControl_ when appropriate

 To [build PX4](../dev_setup/building_px4.md) for this target:

-```
+```sh
 make px4_fmu-v3_default
 ```

@@ -1,122 +1,10 @@
+<Redirect to="../flight_controller/autopilot_discontinued" />
+
+<!--
 # mRo-X2.1 Autopilot (Discontinued)

-<Badge type="info" text="Discontinued" /> <!-- 202507 / PX4v1.16 -->
+Doc removed 202603
+ text="Discontinued"  202507 / PX4v1.16

-:::warning
-This flight controller has been [discontinued](../flight_controller/autopilot_experimental.md) and is no longer commercially available.
-:::
-
-:::warning
-PX4 does not manufacture this (or any) autopilot.
-Contact the [manufacturer](https://store.mrobotics.io/) for hardware support or compliance issues.
-:::
-
-The [mRo-X2.1 autopilot](http://www.mRobotics.io/) is based on the [Pixhawk<sup>&reg;</sup>-project](https://pixhawk.org/) **FMUv2** open hardware design.
-It runs PX4 on the [NuttX](https://nuttx.apache.org/) OS.
-
-![mRo X2.1](../../assets/flight_controller/mro/mro_x2.1.jpg)
-
-:::info
-This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
-:::
-
-## 总览
-
- Main System-on-Chip: [STM32F427](https://www.st.com/en/microcontrollers-microprocessors/stm32f427-437.html)
-  - CPU: STM32F427VIT6 ARM<sup>&reg;</sup> microcontroller - Revision 3
-  - IO: STM32F100C8T6 ARM<sup>&reg;</sup> microcontroller
- 传感器：
-  - Invensense<sup>&reg;</sup> MPU9250 9DOF
-  - Invensense ICM-20602 6DOF
-  - MEAS MS5611 气压计
- 尺寸/重量
-  - Size: 36mm x 50mm
-    (Can be ordered with vertical, horizontal or no headers installed)
-  - 安装点：30.5mm x 30.5mm 直径 3.2mm
-  - 重量: 10.9g
-
-The diagram below provides a side-by-side comparison with a Pixhawk 1.
-The mRo features almost identical hardware and connectivity but
-has a much smaller footprint.
-Major differences are updated sensors and Rev 3 FMU.
-
-![Mro Pixhawk 1 vs X2.1 comparison](../../assets/flight_controller/mro/px1_x21.jpg)
-
-## 连接
-
- 2.54 毫米头：
- GPS (UART4) with I2C
- CAN Bus
- 遥控输入
- PPM 输入
- Spektrum 输入
- RSSI 输入
- sBus 输入
- sBus 输出
- 电源输入
- 蜂鸣器输出
- LED 输出
- 8路伺服输出
- 6路辅助输出
- Offboard microUSB connector
- Kill Pin output _(Currently not supported by firmware)_
- AirSpeed Sensor
- USART2 (Telem 1)
- USART3 (Telem 2)
- UART7 (Console)
- UART8 (OSD)
-
-## PX4 BootLoader Issue
-
-By default a mRo X2.1 might come preconfigured for ArduPilot<sup>&reg;</sup> rather than PX4. This
-can be seen during firmware update when the board is recognized as FMUv2 instead of X2.1.
-
-In this case you must update the BootLoader using [BL_Update_X21.zip](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/hardware/BL_Update_X21.zip).
-If this correction is not carried out your compass direction will be wrong and the
-secondary IMU will not be detected.
-
-The update steps are:
-
-1. Download and extract [BL_Update_X21.zip](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/hardware/BL_Update_X21.zip).
-2. Find the folder _BL_Update_X21_. This contains a **bin** file and a subfolder named **/etc** containing an **rc.txt** file
-3. Copy these files to your micro SD card's root directory and insert it into the mRO x2.1
-4. Power on the mRO x2.1 Wait for it to boot and then reboot 1 time.
-
-## 访问链接
-
-This product can be ordered at the [mRobotics<sup>&reg;</sup> Store](https://store.mrobotics.io/mRo-X2-1-Rev-2-p/m10021a.htm).
-
-## 接线指南
-
-![mRo_X2.1_Wiring](../../assets/flight_controller/mro/mro_x21_wiring.png)
-
-## 编译固件
-
-:::tip
-Most users will not need to build this firmware!
-It is pre-built and automatically installed by _QGroundControl_ when appropriate hardware is connected.
-:::
-
-To [build PX4](../dev_setup/building_px4.md) for this target:
-
-```
-make mro_x21_default
-```
-
-## 原理图
-
-The board is documented on the mRo hardware repo: [x21_V2_schematic.pdf](https://github.com/mRoboticsIO/Hardware/blob/master/X2.1/Docs/x21_V2_schematic.pdf).
-
-## 串口映射
-
-| UART   | 设备         | Port            |
-| ------ | ---------- | --------------- |
-| USART1 | /dev/ttyS0 | IO debug        |
-| USART2 | /dev/ttyS1 | SERIAL1         |
-| USART3 | /dev/ttyS2 | TELEM2          |
-| UART4  | /dev/ttyS3 | GPS/I2C         |
-| USART6 | /dev/ttyS4 | PX4IO           |
-| UART7  | /dev/ttyS5 | SERIAL5 CONSOLE |
-| UART8  | /dev/ttyS6 | SERIAL4         |
-
-<!-- Note: Got ports using https://github.com/PX4/PX4-user_guide/pull/672#issuecomment-598198434 -->
+Note: Got ports using https://github.com/PX4/PX4-user_guide/pull/672#issuecomment-598198434
+-->
@@ -147,7 +147,7 @@ Similar variants will be available from our licensees.
 - 其它特性:
  - Operating & storage temperature: -40 ~ 85°c

-## 购买渠道
+## Where to Buy {#store}

 Order from [NXP](https://www.nxp.com).

@@ -1,131 +1,7 @@
+<Redirect to="../flight_controller/autopilot_discontinued" />
+
+<!--
 # NXP RDDRONE-FMUK66 FMU (Discontinued)

-<Badge type="info" text="Discontinued" />
-
-:::warning
-This flight controller has been [discontinued](../flight_controller/autopilot_experimental.md) and is no longer commercially available.
-:::
-
-:::warning
-PX4 does not manufacture this (or any) autopilot.
-Contact the [manufacturer](https://www.nxp.com/) for hardware support or compliance issues.
-:::
-
-RDDRONE-FMUK66 FMU is a reference design using NXP Semiconductor components that closely follows Pixhawk FMUv4 specifications while adding two wire automotive Ethernet 100BASET1 and secure element A71CH (RevC) or SE050 (RevD).
-NXP provides the schematics, gerbers, BOM and source files so that anyone can duplicate, change or repurpose this design.
-
-This is the official FMU for use with [HoverGames](https://www.hovergames.com/).
-
-![RDDRONE-FMUK66 FMU Hero Image1](../../assets/flight_controller/nxp_rddrone_fmuk66/HoverGamesDrone_14042019_XL_020.jpg)
-
-![RDDRONE-FMUK66 FMU Hero Image2](../../assets/flight_controller/nxp_rddrone_fmuk66/HoverGamesDrone_14042019_XL_021.jpg)
-
-The NXP FMU and included peripherals have been tested to comply with FCC/CE/RoHs/REACH directives.
-
-:::info
-These flight controllers are [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
-:::
-
-## 总览
-
- **Main FMU Processor:**
-  - Kinetis K66 MK66FN2MOVLQ18 microcontroller running at 180MHz Cortex-M4F MCU, 2MB Flash, 256KB SRAM, Dual USBs (FS + HS), Ethernet, 144-LQFP.
- **On-board sensors:**
-  - Accel/Gyro: BMI088/ICM42688 (RevD)...
-  - Accel/Magnetometer: FXOS8700CQ
-  - Gyro: FXAS21002CQ
-  - Magnetometer: BMM150
-  - Barometer: ML3115A2
-  - Barometer: BMP280
- **GPS:**
-  - u-blox Neo-M8N GPS/GLONASS receiver; integrated magnetometer IST8310
-
-This FMU is provided only as a kit, and includes [Segger Jlink EDU mini debugger](https://www.segger.com/products/debug-probes/j-link/models/j-link-edu-mini/), DCD-LZ debugger adapter, USB-TTL-3V3 console cable, HolyBro GPS module, battery power module, SDCard and case, screws and stickers.
-Telemetry radios ([HGD-TELEM433](https://www.nxp.com/part/HGD-TELEM433) and [HGD-TELEM915](https://www.nxp.com/part/HGD-TELEM915)) must be purchased separately to match ISM band frequencies used in your country.
-
-![RDDRONE-FMUK66 FMU Kit](../../assets/flight_controller/nxp_rddrone_fmuk66/rddrone_fmu66_kit_img_contents.jpg)
-
-A "Lite" version RDDRONE-FMUK66L is also available which does not include the power module, GPS, Jlink or USB-TTL-3V3 console cable or SDCard.[Scroll down to see FMUK66L in the buy section of the FMUK66 buy page](https://www.nxp.com/design/design-center/development-boards-and-designs/px4-robotic-drone-vehicle-flight-management-unit-vmu-fmu-rddrone-fmuk66:RDDRONE-FMUK66#buy)
-
-Additional information can be found in the [Technical Data Sheet](https://www.nxp.com/design/design-center/development-boards-and-designs/px4-robotic-drone-vehicle-flight-management-unit-vmu-fmu-rddrone-fmuk66:RDDRONE-FMUK66). <!-- www.nxp.com/rddrone-fmuk66 -->
-
-## 购买渠道
-
-**RDDRONE-FMUK66** reference design kit may be purchased direct from NXP or from any of NXP's authorised worldwide network of [electronics distributors](https://www.nxp.com/support/sample-and-buy/distributor-network:DISTRIBUTORS).
-
- [Purchase Link](https://www.nxp.com/design/design-center/development-boards-and-designs/px4-robotic-drone-vehicle-flight-management-unit-vmu-fmu-rddrone-fmuk66:RDDRONE-FMUK66#buy) (www.nxp.com)
- Telemetry radios are purchased separately depending on frequency band:
-  - [HGD-TELEM433](https://www.nxp.com/part/HGD-TELEM433)
-  - [HGD-TELEM915](https://www.nxp.com/part/HGD-TELEM915)
-
-:::info
-_RDDRONE-FMUK66_ FMU is also included in the complete HoverGames drone kit: [KIT-HGDRONEK66](https://www.nxp.com/design/design-center/development-boards-and-designs/nxp-hovergames-drone-kit-including-flight-controller-and-peripherals:KIT-HGDRONEK66#buy)
-:::
-
-<!--
-## Connectors
-
-[Connector Diagram]
-
-## Pinouts
-
-[Pinouts listing or link]
-
-## Dimensions
-
-[Dimensions]
-
+DOC REMOVED: 202603
 -->
-
-## 组装 / 设置
-
-https://nxp.gitbook.io/hovergames
-
-## 编译固件
-
-:::tip
-Most users will not need to build this firmware!
-It is pre-built and automatically installed by _QGroundControl_ when appropriate hardware is connected.
-:::
-
-To [build PX4](../dev_setup/building_px4.md) for this target:
-
-```
-make nxp_fmuk66-v3_default
-```
-
-## 调试接口
-
-The [PX4 System Console](../debug/system_console.md) and the [SWD interface](../debug/swd_debug.md) run on the [DCD-LZ FMU Debug](https://nxp.gitbook.io/hovergames/rddrone-fmuk66/connectors/debug-interface-dcd-lz) port.
-
-NXP's DCD-LZ is a 7 pin JST-GH connector and adds the nRST/MCU_RESET pin to the [Pixhawk 6-Pin standard debug port](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf).
-
-The DCD-LZ breakout adapter permits the use of a standard 10 pin JTAG/SWD interface (i.e. using the Segger Jlink) and a standard 5 pin FTDI USB-TTL-3V3 type cable.
-
-<!--
-
-## Peripherals
-
-* [List of anything people should use with this hardware]
-
-->
-
-## 支持的平台/机身
-
-Any multicopter / airplane / rover or boat that can be controlled with normal RC servos or Futaba S-Bus servos.
-The complete set of supported configurations can be seen in the [Airframes Reference](../airframes/airframe_reference.md).
-
-![HoverGames Drone Kit](../../assets/flight_controller/nxp_rddrone_fmuk66/hovergames_drone_14042019_xl001.jpg)
-
-:::tip
-The NXP [HoverGames Drone Kit](https://www.nxp.com/kit-hgdronek66) (shown above) is a complete drone development kit that includes everything needed to build a quadcopter.
-You only need to supply the 3S/4S LiPo battery.
-:::
-
-## 更多信息
-
- [HoverGames online documentation](https://nxp.gitbook.io/hovergames) PX4 user and programming guide, specific assembly, construction, debugging, programming instructions.
-
- 3DModels supporting HoverGames and RDDRONE-FMUK66 can be found on _Thingiverse_ at these search links: [fmuk66](https://www.thingiverse.com/search?q=fmuk66&type=things&sort=relevant), [hovergames](https://www.thingiverse.com/search?q=hovergames&type=things&sort=relevant).
-
-![HoverGamesDronelogo](../../assets/flight_controller/nxp_rddrone_fmuk66/hovergames_colored_small.png)
@@ -1,12 +1,7 @@
+<Redirect to="../flight_controller/autopilot_discontinued" />
+
+<!--
 # Aerotenna OcPoC-Zynq Mini Flight Controller (Discontinued)
-
-<Badge type="info" text="Discontinued" />
-
-:::warning
-This flight controller has been [discontinued](../flight_controller/autopilot_experimental.md) and is no longer commercially available.
-
-PX4 v1.11 is the last release that has (experimental) support for this platform.
-See the [PX4v1.11 docs](http://docs.px4.io/v1.11/en/flight_controller/ocpoc_zynq.html#aerotenna-ocpoc-zynq-mini-flight-controller) for more information.
-:::
-
-![ocpoc-zynq-mini](../../assets/hardware/hardware-ocpoc-zynq-mini.jpg)
+Doc removed 202603
+Probably actually PX4 1.11 timeframes
+-->
@@ -1,266 +1,7 @@
-# Omnibus F4 SD
+<Redirect to="../flight_controller/autopilot_discontinued" />

-:::warning
-This flight controller has been [discontinued](../flight_controller/autopilot_experimental.md) and is no longer commercially available.
-:::
+<!--
+# Omnibus F4 SD (Discontinued)

-:::warning
-PX4 does not manufacture this (or any) autopilot.
-Contact the manufacturer for support or compliance issues.
-:::
-
-The _Omnibus F4 SD_ is a controller board designed for racers.
-In contrast to a typical racer board it has some additional features, such as an SD card and a faster CPU.
-
-<img src="../../assets/flight_controller/omnibus_f4_sd/board.jpg" width="400px" title="Omnibus F4 SD" />
-
-These are the main differences compared to a [Pixracer](../flight_controller/pixracer.md):
-
- Lower price
- Fewer IO ports (though it's still possible to attach a GPS or a Flow sensor for example)
- Requires external pull up resistor on the I2C bus for external GPS, see [I2C](#i2c) below.
- Less RAM (192 KB vs. 256 KB) and FLASH (1 MB vs. 2 MB)
- Same board dimensions as a _Pixracer_, but slightly smaller form factor (because it has less connectors)
- Integrated OSD (not yet implemented in software)
-
-:::tip
-All the usual PX4 features can still be used for your racer!
-:::
-
-:::info
-This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
-:::
-
-## 主要特性
-
- Main System-on-Chip: [STM32F405RGT6](https://www.st.com/en/microcontrollers/stm32f405rg.html)
-  - CPU: 168 MHz ARM Cortex M4 with single-precision FPU
-  - RAM: 192 KB SRAM
-  - FLASH: 1 MB
- Standard racer form factor: 36x36 mm with standard 30.5 mm hole pattern
- MPU6000 Accel / Gyro
- BMP280 Baro (not all boards have it mounted)
- microSD (for logging)
- Futaba S.BUS and S.BUS2 / Spektrum DSM2 and DSMX / Graupner SUMD / PPM input / Yuneec ST24
- OneShot PWM out (configurable)
- Built-in current sensor
- Built-in OSD chip (AB7456 via SPI)
-
-## 购买渠道
-
-The board is produced by different vendors, with some variations (e.g. with or without a barometer).
-
-:::tip
-PX4 is compatible with boards that support the Betaflight OMNIBUSF4SD target (if _OMNIBUSF4SD_ is present on the product page the board should work with PX4).
-:::
-
-:::tip
-Any Omnibus F4 labeled derivative (e.g. clone) should work as well. However, power distribution on these boards is of varying quality.
-:::
-
-These are the boards tested and known to work:
-
- [Hobbywing XRotor Flight Controller F4](https://www.hobbywing.com/en/products/info.html?id=164)
-
-  ::: info
-  This board fits on top of the [Hobbywing XRotor Micro 40A 4in1 ESC](https://www.hobbywing.com/en/products/info.html?id=116) without soldering. This ESC board also provides power for the Omnibus board.
-
-:::
-
-  Purchase from:
-
-  - [Hobbywing XRotor F4 Flight Controller w/OSD](https://www.getfpv.com/hobbywing-xrotor-f4-flight-controller-w-osd.html) (getfpv)
-
- Original Airbot Omnibus F4 SD
-
-  Purchase from:
-
-  - [Airbot (CN manufacturer)](https://store.myairbot.com/omnibusf4prov3.html)
-  - [Ready To Fly Quads (US reseller)](https://quadsrtf.com/product/flip-32-f4-omnibus-rev-2/)
-
-Accessories include:
-
- [ESP8266 WiFi Module](../telemetry/esp8266_wifi_module.md) for MAVLink telemetry.
-  You need to connect these pins: GND, RX, TX, VCC and CH-PD (CH-PD to 3.3V). The baud rate is 921600.
-
-## 连接器
-
-Boards from different vendors (based on this design) can have significantly different layout.
-Layouts/Silkscreens for various versions are shown below.
-
-### Airbot Omnibus F4 SD
-
-Below are silkscreens for the Airbot Omnibus F4 SD (V1), showing both top and bottom.
-
-![Omnibus F4 SD v1 Silkscreen Top](../../assets/flight_controller/omnibus_f4_sd/silk-top.jpg)
-![Omnibus F4 SD v1 Silkscreen Bottom](../../assets/flight_controller/omnibus_f4_sd/silk-bottom.jpg)
-
-### Hobbywing XRotor Flight Controller F4
-
-Below are silkscreens for the Hobbywing XRotor Flight Controller F4.
-
-![Hobbywing XRotor Flight Controller F4 Silkscreen](../../assets/flight_controller/omnibus_f4_sd/hobbywing_xrotor_silk.png)
-
-## 针脚定义
-
-### 遥控器
-
-RC is connected to one of the following ports:
-
- UART1
- SBUS/PPM port (via inverter, internally goes to UART1)
-
-:::info
-Some Omnibus F4 boards have a jumper connecting either or both the MCU SBUS and PPM to a single pin header. Set your jumper or solder bridge to the appropriate MCU pin before use.
-:::
-
-### UARTs
-
- UART6: GPS port
-
-  - TX: MCU pin PC6
-
-  - RX: MCU pin PC7
-
-  - Airbot Omnibus F4 SD Pinout is on Port J10 (TX6/RX6):
-
-  ![Omnibus F4 SD UART6](../../assets/flight_controller/omnibus_f4_sd/uart6.jpg)
-
- UART4
-
-  - TX: MCU pin PA0
-  - RX: MCU pin PA1
-  - 57600 波特率
-  - This can be configured as the `TELEM 2` port.
-  - Airbot Omnibus F4 SD Pinout:
-    - TX: RSSI pin
-    - RX: PWM out 5
-
-  ![Omnibus F4 SD UART4](../../assets/flight_controller/omnibus_f4_sd/uart4.jpg)
-
-  ![Omnibus F4 SD UART4 Top](../../assets/flight_controller/omnibus_f4_sd/uart4-top.jpg)
-
-### I2C
-
-There is one I2C port available via:
-
- SCL: MCU pin PB10 (might be labeled as TX3)
- SDA: MCU pin PB11 (might be labeled as RX3)
-
-:::info
-You will need external pullups on both signals (clock and data).
-You can use 2.2k pullups for example to attach an external mag.
-:::
-
- Airbot Omnibus F4 SD Pinout is on Port J10 (SCL [clock] / SCA [data]): <img src="../../assets/flight_controller/omnibus_f4_sd/uart6.jpg" title="Omnibus F4 SD UART6" />
-
-Here is an example implementation. I used a Spektrum plug to get 3.3v from the DSM port, connecting only 3.3v + to each line via 2.2k resistor.
-
-![Omnibus F4 SD Pullup](../../assets/flight_controller/omnibus_f4_sd/pullup-schematic.jpg)
-
-![Omnibus F4 SD Pullup Implementation](../../assets/flight_controller/omnibus_f4_sd/pullup.jpg)
-
-## 串口映射
-
-| UART   | 设备         | Port     |
-| ------ | ---------- | -------- |
-| USART1 | /dev/ttyS0 | SerialRX |
-| USART4 | /dev/ttyS1 | TELEM1   |
-| USART6 | /dev/ttyS2 | GPS      |
-
-<!-- Note: Got ports using https://github.com/PX4/PX4-user_guide/pull/672#issuecomment-598198434 -->
-
-## RC Telemetry
-
-The Omnibus supports telemetry to the RC Transmitter using [FrSky Telemetry](../peripherals/frsky_telemetry.md) or [CRSF Crossfire Telemetry](#crsf_telemetry).
-
-<a id="crsf_telemetry"></a>
-
-### CRSF Crossfire Telemetry
-
-[TBS CRSF Telemetry](../telemetry/crsf_telemetry.md) may be used to send telemetry data from the flight controller (the vehicle's attitude, battery, flight mode and GPS data) to an RC transmitter such as a Taranis.
-
-Benefits over [FrSky telemetry](../peripherals/frsky_telemetry.md) include:
-
- Only a single UART is needed for RC and telemetry.
- The CRSF protocol is optimized for low latency.
- 150 Hz RC update rate.
- The signals are uninverted and thus no (external) inverter logic is required.
-
-:::info
-If you use CRSF Telemetry you will need to build custom PX4 firmware.
-By contrast, FrSky telemetry can use prebuilt firmware.
-:::
-
-For Omnibus we recommend the [TBS Crossfire Nano RX](https://www.team-blacksheep.com/products/prod:crossfire_nano_rx), since it is specifically designed for small Quads.
-
-On the handheld controller (e.g. Taranis) you will also need a [Transmitter Module](https://www.team-blacksheep.com/shop/cat:tbs-crossfire-radio-transmitter#product_listing).
-This can be plugged into the back of the RC controller.
-
-:::info
-The referenced links above contains the documentation for the TX/RX modules.
-:::
-
-#### 设置
-
-Connect the Nano RX and Omnibus pins as shown:
-
-| Omnibus UART1 | Nano RX |
-| ------------- | ------- |
-| TX            | Ch2     |
-| RX            | Ch1     |
-
-Next update the TX/RX modules to use the CRSF protocol and set up telemetry.
-Instructions for this are provided in the [TBS Crossfire Manual](https://www.team-blacksheep.com/media/files/tbs-crossfire-manual.pdf) (search for 'Setting up radio for CRSF').
-
-#### PX4 CRSF Configuration
-
-You will need to build custom firmware to use CRSF.
-For more information see [CRSF Telemetry](../telemetry/crsf_telemetry.md#px4-configuration).
-
-<!-- no longer available 202507 -->
-
-## PX4 Bootloader Update {#bootloader}
-
-The board comes pre-installed with [Betaflight](https://github.com/betaflight/betaflight/wiki).
-Before PX4 firmware can be installed, the _PX4 bootloader_ must be flashed.
-Download the [omnibusf4sd_bl.hex](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/flight_controller/omnibus_f4_sd/omnibusf4sd_bl_d52b70cb39.hex) bootloader binary and read [this page](../advanced_config/bootloader_update_from_betaflight.md) for flashing instructions.
-
-## 编译固件
-
-To [build PX4](../dev_setup/building_px4.md) for this target:
-
-```
-make omnibus_f4sd_default
-```
-
-## Installing PX4 Firmware
-
-You can use either pre-built firmware or your own custom firmware.
-
-:::warning
-If you use [CRSF Telemetry](../telemetry/crsf_telemetry.md#px4-configuration) in your radio system, as describe above, then you must use custom firmware.
-:::
-
-The firmware can be installed in any of the normal ways:
-
- Build and upload the source
-
-  ```
-  make omnibus_f4sd_default upload
-  ```
-
- [Load the firmware](../config/firmware.md) using _QGroundControl_.
-
-## 配置
-
-In addition to the [basic configuration](../config/index.md), the following parameters are important:
-
-| 参数                                                                                                               | 设置                                                                                                                                                      |
-| ---------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| [SYS_HAS_MAG](../advanced_config/parameter_reference.md#SYS_HAS_MAG)   | This should be disabled since the board does not have an internal mag. You can enable it if you attach an external mag. |
-| [SYS_HAS_BARO](../advanced_config/parameter_reference.md#SYS_HAS_BARO) | Disable this if your board does not have a barometer.                                                                                   |
-
-## Further Info
-
-[This page](https://blog.unmanned.tech/omnibus-f4-flight-controller-guide/) provides a good overview with pinouts and setup instructions.
+DOC REMOVED: 202603
+-->
@@ -1,75 +1,5 @@
+<Redirect to="../flight_controller/autopilot_discontinued" />
+
+<!--
 # Pixfalcon Flight Controller (Discontinued)
-
-<Badge type="info" text="Discontinued" px4_current="v1.15" year="2024"/>
-
-:::warning
-This flight controller has been [discontinued](../flight_controller/autopilot_experimental.md) and is no longer commercially available.
-:::
-
-:::warning
-PX4 does not manufacture this (or any) autopilot.
-Contact the [manufacturer](https://holybro.com/) for hardware support or compliance issues.
-:::
-
-The Pixfalcon autopilot (designed by [Holybro<sup>&reg;</sup>](https://holybro.com/)) is binary-compatible (FMUv2) derivative of the [Pixhawk 1](../flight_controller/pixhawk.md) design that has been optimized for space-constrained applications such as FPV racers. It has less IO to allow for the reduction in size.
-
-![Pixfalcon hero image](../../assets/hardware/hardware-pixfalcon.png)
-
-## 总览
-
- Main System-on-Chip: [STM32F427](https://www.st.com/en/microcontrollers-microprocessors/stm32f427-437.html)
-  - CPU: 180 MHz ARM<sup>&reg;</sup> Cortex<sup>&reg;</sup> M4 with single-precision FPU
-  - RAM: 256 KB SRAM (L1)
- Failsafe System-on-Chip: STM32F100
-  - CPU: 24 MHz ARM Cortex M3
-  - RAM: 8 KB SRAM
- GPS: u-blox<sup>&reg;</sup> M8 (bundled)
-
-### 连接
-
- 1x I2C
- 2x UART (one for Telemetry / OSD, no flow control)
- 8x PWM with manual override
- S.BUS / PPM input
-
-## 访问链接:
-
-No longer available.
-
-Optional hardware:
-
- Optical flow: PX4 Flow unit from manufacturer [Holybro](https://holybro.com/products/px4flow)
- Digital Airspeed sensor from manufacturer [Holybro](https://holybro.com/products/digital-air-speed-sensor-ms4525do)
- On screen display with integrated Telemetry:
-  - Micro HKPilot Telemetry Radio Module with On Screen Display (OSD) unit - 433MHz. (Discontinued)
- Pure Telemetry options:
-  - [SIK Radios](../telemetry/sik_radio.md)
-
-## 编译固件
-
-:::tip
-Most users will not need to build this firmware!
-It is pre-built and automatically installed by _QGroundControl_ when appropriate hardware is connected.
-:::
-
-To [build PX4](../dev_setup/building_px4.md) for this target:
-
-```
-make px4_fmu-v2_default
-```
-
-## 调试接口
-
-This board does not have a debug port (i.e it does not have a port for accessing the [System Console](../debug/system_console.md) or the [SWD interface](../debug/swd_debug.md) (JTAG).
-
-Developers will need to solder wires to the board test pads for SWD, and to the STM32F4 (IC) TX and RX to get a console.
-
-## 串口映射
-
-| UART   | 设备         | Port                                        |
-| ------ | ---------- | ------------------------------------------- |
-| UART1  | /dev/ttyS0 | IO Debug                                    |
-| USART2 | /dev/ttyS1 | TELEM1 (No flow control) |
-| UART4  | /dev/ttyS2 | GPS                                         |
-
-<!-- Note: Got ports using https://github.com/PX4/PX4-user_guide/pull/672#issuecomment-598198434 -->
+ text="Discontinued" px4_current="v1.15" year="2024". This change in 202603 -->
@@ -1,88 +1,8 @@
+<Redirect to="../flight_controller/autopilot_discontinued" />
+
+<!--
 # CUAV Pixhack V3 (Discontinued)

-<Badge type="info" text="Discontinued" />
+Doc removed 202603

-:::warning
-This flight controller has been [discontinued](../flight_controller/autopilot_experimental.md) and is no longer commercially available.
-:::
-
-:::warning
-PX4 does not manufacture this (or any) autopilot.
-Contact the [manufacturer](https://store.cuav.net/) for hardware support or compliance issues.
-:::
-
-The CUAV _Pixhack V3_ flight controller board is a flexible autopilot intended primarily for manufacturers of commercial systems.
-
-The board is a variant of the SOLO Pixhawk<sup>&reg;</sup> 2 (PH2) flight controller, which is in turn based on the [Pixhawk-project](https://pixhawk.org/) **FMUv3** open hardware design.
-It runs PX4 on the [NuttX](https://nuttx.apache.org/) OS, and is fully compatible with both PX4 or ArduPilot<sup>&reg;</sup> (APM) firmware.
-
-_Pixhack V3_ has significant improvements with respect to the original design, including better interface layout and the addition of vibration damping and a thermostat system.
-
-![Pixhack v3](../../assets/flight_controller/pixhack_v3/pixhack_v3_157_large_default.jpg)
-
-:::info
-This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
-:::
-
-## 总览
-
- 微处理器：
-  - STM32F427
-  - STM32F100 (故障保护协处理器)
- 传感器：
-  - 加速度计 (3): LSM303D,MPU6000,MPU6000
-  - 陀螺仪 (3): L3GD20, MPU6000, MPU9250
-  - 指南针 (2): LS303D, MPU9250
-  - 气压计 (2): MS5611\*2
- 接口：
-  - MAVLink UART (2)
-  - GPS UART (2)
-  - DEBUG UART (1)
-  - 遥控信号输入(支持PPM, SBUS, DSM/DSM2)
-  - RSSI输入: PWM或3.3ADC
-  - I2C总线 (2)
-  - CAN总线 (1)
-  - ADC输入: 3.3V X1 , 6.6V X1
-  - PWM输出: 8 PWM IO + 4 IO
- 电源系统
-  - Power口输入电压: 4.5 ~ 5.5 V
-  - USB口输入电压：5.0 V +- 0.25v
- 重量和尺寸:
-  - 重量: 63g
-  - 宽度：68mm
-  - 厚度: 17mm
-  - 长度：44mm
- 其它特性:
-  - 工作温度: -20 ~ 60°C
-
-## 访问链接
-
-The board can be purchased from:
-
- [leixun.aliexpress.com/store](https://leixun.aliexpress.com/store)
-
-## 编译固件
-
-:::tip
-Most users will not need to build this firmware!
-It is pre-built and automatically installed by _QGroundControl_ when appropriate hardware is connected.
-:::
-
-To [build PX4](../dev_setup/building_px4.md) for this target:
-
-```sh
-make px4_fmu-v3_default
-```
-
-<!-- Pinouts and Schematics: section removed as guides no longer published -->
-
-## 串口映射
-
-| UART   | 设备         | Port                           |
-| ------ | ---------- | ------------------------------ |
-| UART1  | /dev/ttyS0 | IO debug                       |
-| USART2 | /dev/ttyS1 | TELEM1 (流控) |
-| USART3 | /dev/ttyS2 | TELEM2 (流控) |
-| UART4  |            |                                |
-| UART7  |            | CONSOLE                        |
-| UART8  |            | SERIAL4                        |
+-->
@@ -47,9 +47,7 @@ This autopilot is [supported](../flight_controller/autopilot_pixhawk_standard.md
 - High-power, multi-tone piezo audio indicator
 - microSD card for high-rate logging over extended periods of time

-<a id="stores"></a>
-
-## 购买渠道
+## Where to Buy {#store}

 [Cube Black](https://www.cubepilot.com/#/reseller/list) (Reseller list)

@@ -155,7 +153,7 @@ It is pre-built and automatically installed by _QGroundControl_ when appropriate

 To [build PX4](../dev_setup/building_px4.md) for this target:

-```
+```sh
 make px4_fmu-v3_default
 ```

@@ -1,337 +1,6 @@
+<Redirect to="../flight_controller/autopilot_discontinued" />
+
+<!--
 # 3DR Pixhawk 1 Flight Controller (Discontinued)
-
-:::warning
-This flight controller has been [discontinued](../flight_controller/autopilot_experimental.md) and is no longer commercially available.
-You can use the [mRo Pixhawk](../flight_controller/mro_pixhawk.md) as a drop-in replacement.
-:::
-
-:::warning
-PX4 does not manufacture this (or any) autopilot.
-Contact the manufacturer for support or compliance issues.
-:::
-
-The _3DR Pixhawk<sup>&reg;</sup> 1_ autopilot is a popular general purpose flight controller based on the [Pixhawk-project](https://pixhawk.org/) **FMUv2** open hardware design (it combines the functionality of the PX4FMU + PX4IO).
-It runs PX4 on the [NuttX](https://nuttx.apache.org/) OS.
-
-![Pixhawk Image](../../assets/hardware/hardware-pixhawk.png)
-
-Assembly/setup instructions for use with PX4 are provided here: [Pixhawk Wiring Quickstart](../assembly/quick_start_pixhawk.md)
-
-## 主要特性
-
- Main System-on-Chip: [STM32F427](https://www.st.com/en/microcontrollers-microprocessors/stm32f427-437.html)
-  - CPU: 180 MHz ARM<sup>&reg;</sup> Cortex<sup>&reg;</sup> M4 with single-precision FPU
-  - RAM: 256 KB SRAM (L1)
- Failsafe System-on-Chip: STM32F100
-  - CPU: 24 MHz ARM Cortex M3
-  - RAM: 8 KB SRAM
- Wifi: ESP8266 external
- GPS: u-blox<sup>&reg;</sup> 7/8 (Hobbyking<sup>&reg;</sup>) / u-blox 6 (3D Robotics)
- Optical flow: [PX4 Flow unit](../sensor/px4flow.md)
- Redundant power supply inputs and automatic failover
- External safety switch
- Multicolor LED main visual indicator
- High-power, multi-tone piezo audio indicator
- microSD card for high-rate logging over extended periods of time
-
-连接
-
- 1x I2C
- 1x CAN (2x optional)
- 1x ADC
- 4x UART (2x with flow control)
- 1x Console
- 8x PWM with manual override
- 6x PWM / GPIO / PWM input
- S.BUS / PPM / Spektrum input
- S.BUS output
-
-# 购买渠道
-
-Originally manufactured by 3DR&reg; this board was the original standard microcontroller platform for PX4&reg;. While the board is no longer manufactured by 3DR, you can use the [mRo Pixhawk](../flight_controller/mro_pixhawk.md) as a drop-in replacement.
-
-Order mRo Pixhawk from:
-
- [Bare Bones](https://store.mrobotics.io/Genuine-PixHawk-1-Barebones-p/mro-pixhawk1-bb-mr.htm) - Just the board (useful as a 3DR Pixhawk replacement)
- [mRo Pixhawk 2.4.6 Essential Kit](https://store.mrobotics.io/Genuine-PixHawk-Flight-Controller-p/mro-pixhawk1-minkit-mr.htm) - includes everything except for telemetry radios
- [mRo Pixhawk 2.4.6 Cool Kit! (Limited edition)](https://store.mrobotics.io/product-p/mro-pixhawk1-fullkit-mr.htm) - includes everything you need including telemetry radios
-
-## 产品规格
-
-### 处理器
-
- 32bit STM32F427 [Cortex-M4F](https://en.wikipedia.org/wiki/ARM_Cortex-M#Cortex-M4) core with FPU
- 168 MHz
- 256 KB RAM
- 2 MB Flash
- 32 bit STM32F103 failsafe co-processor
-
-### 传感器
-
- ST Micro L3GD20H 16 bit gyroscope
- ST Micro LSM303D 14 bit accelerometer / magnetometer
- Invensense MPU 6000 3-axis accelerometer/gyroscope
- MEAS MS5611 气压计
-
-### 接口
-
- 5x UART (serial ports), one high-power capable, 2x with HW flow control
- 2x CAN (one with internal 3.3V transceiver, one on expansion connector)
- Spektrum DSM / DSM2 / DSM-X® Satellite compatible input
- Futaba S.BUS® compatible input and output
- PPM sum signal input
- RSSI (PWM or voltage) input
- I2C
- SPI
- 3.3 and 6.6V ADC inputs
- Internal microUSB port and external microUSB port extension
-
-<lite-youtube videoid="gCCC5A-Bvv4" title="PX4 Pixhawk (3DR) Multicolor Led in action"/>
-
-### Power System and Protection
-
- Ideal diode controller with automatic failover
- Servo rail high-power (max. 10V) and high-current (10A+) ready
- All peripheral outputs over-current protected, all inputs ESD protected
-
-## 额定电压
-
-Pixhawk can be triple-redundant on the power supply if three power sources are supplied. The three rails are: Power module input, servo rail input, USB input.
-
-### Normal Operation Maximum Ratings
-
-Under these conditions all power sources will be used in this order to power the system
-
- Power module input (4.8V to 5.4V)
- Servo rail input (4.8V to 5.4V) **UP TO 10V FOR MANUAL OVERRIDE, BUT AUTOPILOT PART WILL BE UNPOWERED ABOVE 5.7V IF POWER MODULE INPUT IS NOT PRESENT**
- USB power input (4.8V to 5.4V)
-
-### Absolute Maximum Ratings
-
-Under these conditions the system will not draw any power (will not be operational), but will remain intact.
-
- Power module input (4.1V to 5.7V, 0V to 20V undamaged)
- Servo rail input (4.1V to 5.7V, 0V to 20V)
- USB power input (4.1V to 5.7V, 0V to 6V)
-
-## 原理图
-
-[FMUv2 + IOv2 schematic](https://raw.githubusercontent.com/PX4/Hardware/master/FMUv2/PX4FMUv2.4.5.pdf) -- Schematic and layout
-
-:::info
-As a CC-BY-SA 3.0 licensed Open Hardware design, all schematics and design files are [available](https://github.com/pixhawk/Hardware).
-:::
-
-## Connections
-
-Pixhawk ports are shown below.
-These use Hirose DF13 connectors (predating the JST-GH connectors defined in the Pixhawk connector standard).
-
-:::warning
-Many 3DR Pixhawk clones use Molex picoblade connectors instead of DF13 connectors.
-They have rectangular instead of square pins, and cannot be assumed to be compatible.
-:::
-
-![Pixhawk Connectors](../../assets/flight_controller/pixhawk1/pixhawk_connectors.png)
-
-:::tip
-The `RC IN` port is for RC receivers only and provides sufficient power for that purpose.
-**NEVER** connect any servos, power supplies or batteries to it or to the receiver connected to it.
-:::
-
-## 针脚定义
-
-#### TELEM1，TELEM2 接口
-
-| 针脚   | 信号                           | 电压                    |
-| ---- | ---------------------------- | --------------------- |
-| 1（红） | VCC                          | +5V                   |
-| 2    | TX (OUT)  | +3.3V |
-| 3    | RX (IN)   | +3.3V |
-| 4（黑） | CTS (IN)  | +3.3V |
-| 6    | RTS (OUT) | +3.3V |
-| 6    | GND                          | GND                   |
-
-#### GPS 接口
-
-| 针脚   | 信号                          | 电压                    |
-| ---- | --------------------------- | --------------------- |
-| 1（红） | VCC                         | +5V                   |
-| 2    | TX (OUT) | +3.3V |
-| 3    | RX (IN)  | +3.3V |
-| 4（黑） | CAN2 TX                     | +3.3V |
-| 6    | CAN2 RX                     | +3.3V |
-| 6    | GND                         | GND                   |
-
-#### SERIAL 4/5 port
-
-Due to space constraints two ports are on one connector.
-
-| 针脚   | 信号                         | 电压                    |
-| ---- | -------------------------- | --------------------- |
-| 1（红） | VCC                        | +5V                   |
-| 2    | TX (#4) | +3.3V |
-| 3    | RX (#4) | +3.3V |
-| 4（黑） | TX (#5) | +3.3V |
-| 6    | RX (#5) | +3.3V |
-| 6    | GND                        | GND                   |
-
-#### ADC 6.6V
-
-| 针脚   | 信号     | 电压                          |
-| ---- | ------ | --------------------------- |
-| 1（红） | VCC    | +5V                         |
-| 2    | ADC IN | up to +6.6V |
-| 3    | GND    | GND                         |
-
-#### ADC 3.3V
-
-| 针脚   | 信号     | 电压                          |
-| ---- | ------ | --------------------------- |
-| 1（红） | VCC    | +5V                         |
-| 2    | ADC IN | up to +3.3V |
-| 3    | GND    | GND                         |
-| 4（黑） | ADC IN | up to +3.3V |
-| 6    | GND    | GND                         |
-
-#### I2C
-
-| 针脚   | 信号  | 电压                                                |
-| ---- | --- | ------------------------------------------------- |
-| 1（红） | VCC | +5V                                               |
-| 2    | SCL | +3.3 (pullups) |
-| 3    | SDA | +3.3 (pullups) |
-| 4（黑） | GND | GND                                               |
-
-#### CAN
-
-| 针脚   | 信号                         | 电压   |
-| ---- | -------------------------- | ---- |
-| 1（红） | VCC                        | +5V  |
-| 2    | CAN_H | +12V |
-| 3    | CAN_L | +12V |
-| 4（黑） | GND                        | GND  |
-
-#### SPI
-
-| 针脚   | 信号                                                     | 电压                   |
-| ---- | ------------------------------------------------------ | -------------------- |
-| 1（红） | VCC                                                    | +5V                  |
-| 2    | SPI_EXT_SCK  | +3.3 |
-| 3    | SPI_EXT_MISO | +3.3 |
-| 4（黑） | SPI_EXT_MOSI | +3.3 |
-| 6    | !SPI_EXT_NSS | +3.3 |
-| 6    | !GPIO_EXT                         | +3.3 |
-| 7    | GND                                                    | GND                  |
-
-#### POWER
-
-| 针脚   | 信号  | 电压                    |
-| ---- | --- | --------------------- |
-| 1（红） | VCC | +5V                   |
-| 2    | VCC | +5V                   |
-| 3    | 电流  | +3.3V |
-| 4（黑） | 电压  | +3.3V |
-| 6    | GND | GND                   |
-| 6    | GND | GND                   |
-
-#### SWITCH
-
-| 针脚   | 信号                                                       | 电压                    |
-| ---- | -------------------------------------------------------- | --------------------- |
-| 1（红） | VCC                                                      | +3.3V |
-| 2    | !IO_LED_SAFETY | GND                   |
-| 3    | SAFETY                                                   | GND                   |
-
-## 串口映射
-
-| UART   | 设备         | Port                           |
-| ------ | ---------- | ------------------------------ |
-| UART1  | /dev/ttyS0 | IO debug                       |
-| USART2 | /dev/ttyS1 | TELEM1 (流控) |
-| USART3 | /dev/ttyS2 | TELEM2 (流控) |
-| UART4  |            |                                |
-| UART7  | CONSOLE    |                                |
-| UART8  | SERIAL4    |                                |
-
-<!-- Note: Got ports using https://github.com/PX4/PX4-user_guide/pull/672#issuecomment-598198434 -->
-
-## Debug Ports
-
-### Console Port
-
-The [PX4 System Console](../debug/system_console.md) runs on the port labeled [SERIAL4/5](#serial-4-5-port).
-
-:::tip
-A convenient way to connect to the console is to use a [Zubax BugFace BF1](https://github.com/Zubax/bugface_bf1), as it comes with connectors that can be used with several different Pixhawk devices.
-Simply connect the 6-pos DF13 1:1 cable on the [Zubax BugFace BF1](https://github.com/Zubax/bugface_bf1) to the Pixhawk `SERIAL4/5` port.
-
-![Zubax BugFace BF1](../../assets/flight_controller/pixhawk1/dronecode_probe.jpg)
-:::
-
-The pinout is standard serial pinout, designed to connect to a [3.3V FTDI](https://www.digikey.com/en/products/detail/TTL-232R-3V3/768-1015-ND/1836393) cable (5V tolerant).
-
-\| 3DR Pixhawk 1 |           | FTDI |
-\| ------------- | --------- | ---- | ---------------- |
-\| 1             | +5V (red) |      | N/C              |
-\| 2             | S4 Tx     |      | N/C              |
-\| 3             | S4 Rx     |      | N/C              |
-\| 4             | S5 Tx     | 5    | FTDI RX (yellow) |
-\| 5             | S5 Rx     | 4    | FTDI TX (orange) |
-\| 6             | GND       | 1    | FTDI GND (black) |
-
-The wiring for an FTDI cable to a 6-pos DF13 1:1 connector is shown in the figure below.
-
-![Console Connector](../../assets/flight_controller/pixhawk1/console_connector.jpg)
-
-The complete wiring is shown below.
-
-![Console Debug](../../assets/flight_controller/pixhawk1/console_debug.jpg)
-
-:::info
-For information on how to _use_ the console see: [System Console](../debug/system_console.md).
-:::
-
-### SWD Port
-
-The [SWD](../debug/swd_debug.md) (JTAG) ports are hidden under the cover (which must be removed for hardware debugging).
-There are separate ports for FMU and IO, as highlighted below.
-
-![Pixhawk SWD](../../assets/flight_controller/pixhawk1/pixhawk_swd.jpg)
-
-The ports are ARM 10-pin JTAG connectors, which you will probably have to solder.
-The pinout for the ports is shown below (the square markers in the corners above indicates pin 1).
-
-![ARM 10-Pin connector pinout](../../assets/flight_controller/pixhawk1/arm_10pin_jtag_connector_pinout.jpg)
-
-:::info
-All Pixhawk FMUv2 boards have a similar SWD port.
-:::
-
-## 编译固件
-
-:::tip
-Most users will not need to build this firmware!
-It is pre-built and automatically installed by _QGroundControl_ when appropriate hardware is connected.
-:::
-
-To [build PX4](../dev_setup/building_px4.md) for this target:
-
-```
-make px4_fmu-v2_default
-```
-
-## Parts / Housings
-
- **ARM MINI JTAG (J6)**: 1.27 mm 10pos header (SHROUDED), for Black Magic Probe: FCI 20021521-00010D4LF ([Digi-Key](https://www.digikey.com/en/products/detail/20021521-00010T1LF/609-4054-ND/2414951),) or Samtec FTSH-105-01-F-DV-K (untested) or Harwin M50-3600542 ([Digikey](https://www.digikey.com/en/products/detail/harwin-inc/M50-3600542/2264370))
-  - JTAG Adapter Option #1: [BlackMagic Probe](https://1bitsquared.com/products/black-magic-probe). Note, may come without cables (check with manufacturer).
-    If so, you will need the **Samtec FFSD-05-D-06.00-01-N** cable ([Samtec sample service](https://www.samtec.com/products/ffsd-05-d-06.00-01-n) or [Digi-Key Link: SAM8218-ND](https://www.digikey.com/en/products/detail/samtec-inc/ffsd-05-d-06-00-01-n/1106577)) or [Tag Connect Ribbon](https://www.tag-connect.com/product/10-pin-cortex-ribbon-cable-4-length-with-50-mil-connectors) and a Mini-USB cable.
-  - JTAG Adapter Option #2: [Digi-Key Link: ST-LINK/V2](https://www.digikey.com/product-detail/en/stmicroelectronics/ST-LINK-V2/497-10484-ND) / [ST USER MANUAL](https://www.st.com/resource/en/user_manual/dm00026748.pdf), needs an ARM Mini JTAG to 20pos adapter: [Digi-Key Link: 726-1193-ND](https://www.digikey.com/en/products/detail/texas-instruments/MDL-ADA2/1986451)
-  - JTAG Adapter Option #3: [Olimex ARM-TINY](https://www.olimex.com/wiki/ARM-USB-TINY) or any other OpenOCD-compatible ARM Cortex JTAG adapter, needs an ARM Mini JTAG to 20pos adapter: [Digi-Key Link: 726-1193-ND](https://www.digikey.com/en/products/detail/texas-instruments/MDL-ADA2/1986451)
- **USARTs**: Hirose DF13 6 pos ([Digi-Key Link: DF13A-6P-1.25H(20)](https://www.digikey.com/products/en?keywords=H3371-ND))
-  - Mates: Hirose DF13 6 pos housing ([Digi-Key Link: Hirose DF13-6S-1.25C](https://www.digikey.com/products/en?keywords=H2182-ND))
- **I2C and CAN**: Hirose DF13 4 pos ([Digi-Key Link: DF13A-4P-1.25H(20)](https://www.digikey.com/en/products/detail/hirose-electric-co-ltd/DF13A-4P-1-25H-20/530666) - discontinued)
-
-## 支持的平台/机身
-
-Any multicopter / airplane / rover or boat that can be controlled with normal RC servos or Futaba S-Bus servos.
+Doc removed 202604
+-->
@@ -1,87 +1,7 @@
+<Redirect to="../flight_controller/autopilot_discontinued" />
+
+<!--
 # Pixhawk 3 Pro (Discontinued)

-:::warning
-PX4 does not manufacture this (or any) autopilot.
-Contact the [manufacturer](https://store-drotek.com/) for hardware support or compliance issues.
-:::
-
-The Pixhawk<sup>&reg;</sup> 3 Pro is based on the FMUv4 hardware design (Pixracer) with some upgrades and additional features.
-The board was designed by [Drotek<sup>&reg;</sup>](https://drotek.com) and PX4.
-
-![Pixhawk 3 Pro hero image](../../assets/hardware/hardware-pixhawk3_pro.jpg)
-
-:::info
-The main hardware documentation is here: https://drotek.gitbook.io/pixhawk-3-pro/hardware
-:::
-
-:::tip
-This autopilot is [supported](../flight_controller/autopilot_pixhawk_standard.md) by the PX4 maintenance and test teams.
-:::
-
-## 总览
-
- Microcontroller: **STM32F469**; Flash size is **2MiB**, RAM size is **384KiB**
- **ICM-20608-G** gyro / accelerometer
- **MPU-9250** gyro / accelerometer / magnetometer
- **LIS3MDL** compass
- Sensors connected via two SPI buses (one high rate and one low-noise bus)
- Two I2C buses
- Two CAN buses
- Voltage / battery readings from two power modules
- FrSky<sup>&reg;</sup> Inverter
- 8 Main + 6 AUX PWM outputs (Separate IO chip, PX4IO)
- microSD (logging)
- S.BUS / Spektrum / SUMD / PPM input
- JST GH user-friendly connectors: same connectors and pinouts as Pixracer
-
-## Where to buy
-
-No longer available.
-
-## 编译固件
-
-:::tip
-Most users will not need to build this firmware!
-It is pre-built and automatically installed by _QGroundControl_ when appropriate hardware is connected.
-:::
-
-To [build PX4](../dev_setup/building_px4.md) for this target:
-
-```
-make px4_fmu-v4pro_default
-```
-
-## 调试接口
-
-The board has FMU and IO debug ports as shown below.
-
-![Debug Ports](../../assets/flight_controller/pixhawk3pro/pixhawk3_pro_debug_ports.jpg)
-
-The pinouts and connector comply with the [Pixhawk Debug Mini](../debug/swd_debug.md#pixhawk-debug-mini) interface defined in the [Pixhawk Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf) (JST SM06B connector).
-
-| 针脚   | 信号               | 电压                    |
-| ---- | ---------------- | --------------------- |
-| 1（红） | VCC TARGET SHIFT | +3.3V |
-| 2    | UART7 Tx         | +3.3V |
-| 3    | UART7 Rx         | +3.3V |
-| 4（黑） | SWDIO            | +3.3V |
-| 6    | SWCLK            | +3.3V |
-| 6    | GND              | GND                   |
-
-For information about wiring and using this port see:
-
- [SWD Debug Port](../debug/swd_debug.md)
- [PX4 System Console](../debug/system_console.md#pixhawk_debug_port) (Note, the FMU console maps to UART7).
-
-## 串口映射
-
-| UART   | 设备         | Port                           |
-| ------ | ---------- | ------------------------------ |
-| UART1  | /dev/ttyS0 | WiFi                           |
-| USART2 | /dev/ttyS1 | TELEM1 (流控) |
-| USART3 | /dev/ttyS2 | TELEM2 (流控) |
-| UART4  |            |                                |
-| UART7  | CONSOLE    |                                |
-| UART8  | SERIAL4    |                                |
-
-<!-- Note: Got ports using https://github.com/PX4/PX4-user_guide/pull/672#issuecomment-598198434 -->
+DOC REMOVED: 202603
+-->
@@ -51,7 +51,7 @@ This autopilot is [supported](../flight_controller/autopilot_pixhawk_standard.md

 Additional information can be found in the [Pixhawk 4 Technical Data Sheet](https://github.com/PX4/PX4-Autopilot/blob/main/docs/assets/flight_controller/pixhawk4/pixhawk4_technical_data_sheet.pdf).

-## 购买渠道
+## Where to Buy {#store}

 Order from [Holybro](https://holybro.com/products/pixhawk-4).

@@ -126,13 +126,11 @@ It is pre-built and automatically installed by _QGroundControl_ when appropriate

 To [build PX4](../dev_setup/building_px4.md) for this target:

-```
+```sh
 make px4_fmu-v5_default
 ```

-<a id="debug_port"></a>
-
-## 调试接口
+## Debug Port {#debug_port}

 The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debug/swd_debug.md) run on the **FMU Debug** port, while the I/O console and SWD interface can be accessed via **I/O Debug** port.
 In order to access these ports, the user must remove the _Pixhawk 4_ casing.
@@ -1,160 +1,7 @@
+<Redirect to="../flight_controller/autopilot_discontinued" />
+
+<!--
 # Holybro Pixhawk 4 Mini (Discontinued)

-<Badge type="info" text="Discontinued" px4_current="v1.15" year="2024"/>
-
-:::warning
-PX4 does not manufacture this (or any) autopilot.
-Contact the [manufacturer](https://holybro.com/) for hardware support or compliance issues.
-:::
-
-The _Pixhawk<sup>&reg;</sup> 4 Mini_ autopilot is designed for engineers and hobbyists who are looking to tap into the power of _Pixhawk 4_ but are working with smaller drones.
-_Pixhawk 4 Mini_ takes the FMU processor and memory resources from the _Pixhawk 4_ while eliminating interfaces that are normally unused.
-This allows the _Pixhawk 4 Mini_ to be small enough to fit in a 250mm racer drone.
-
-_Pixhawk 4 Mini_ was designed and developed in collaboration with Holybro<sup>&reg;</sup> and Auterion<sup>&reg;</sup>.
-It is based on the [Pixhawk](https://pixhawk.org/) **FMUv5** design standard and is optimized to run PX4 flight control software.
-
-![Pixhawk4 mini](../../assets/flight_controller/pixhawk4mini/pixhawk4mini_iso_1.png)
-
-:::tip
-This autopilot is [supported](../flight_controller/autopilot_pixhawk_standard.md) by the PX4 maintenance and test teams.
-:::
-
-## 总览
-
- 主处理器：STM32F765
-  - 32 位 Arm® Cortex®-M7，216MHz，2MB 储存，512KB RAM
- 内置传感器：
-  - 加速度计 / 陀螺仪：ICM-20689
-  - Accel/Gyro: BMI055 or ICM20602
-  - 磁力计：IST8310
-  - 气压计：MS5611
- GPS：ublox Neo-M8N GPS/GLONASS 接收器；集成磁力计 IST8310
- 接口：
-  - 8 PWM outputs
-  - 4 dedicated PWM/Capture inputs on FMU
-  - CPPM专用的RC输入
-  - 用于 Spektrum / DSM 与 有模拟 / PWM RSSI 的 S.Bus 的专用遥控输入
-  - 3个通用串行口
-  - 2 I2C ports
-  - 3 SPI buses
-  - 1 CANBuses for CAN ESC
-  - 电池电压 / 电流模拟输入口
-  - 2 个模拟输入接口
- 电源系统
-  - Power Brick Input: 4.75~5.5V
-  - USB 电源输入：4.75~5.25V
-  - Servo Rail Input: 0~24V
-  - 最大电流感应：120A
- 重量和尺寸:
-  - Weight: 37.2g
-  - Dimensions: 38x55x15.5mm
- 其它特性:
-  - 工作温度：-40 ~ 85°C
-
-Additional information can be found in the [_Pixhawk 4 Mini_ Technical Data Sheet](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/flight_controller/pixhawk4mini/pixhawk4mini_technical_data_sheet.pdf).
-
-## 购买渠道
-
-No longer available.
-
-## 接口
-
-![Pixhawk 4 Mini interfaces](../../assets/flight_controller/pixhawk4mini/pixhawk4mini_interfaces.png)
-
-:::warning
-The **RC IN** and **PPM** ports are for RC receivers only. These are powered! NEVER connect any servos, power supplies or batteries (or to any connected receiver).
-:::
-
-## 针脚定义
-
-Download _Pixhawk 4 Mini_ pinouts from [here](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/flight_controller/pixhawk4mini/pixhawk4mini_pinouts.pdf).
-
-## 尺寸
-
-![Pixhawk 4 Mini Dimensions](../../assets/flight_controller/pixhawk4mini/pixhawk4mini_dimensions.png)
-
-## 额定电压
-
-_Pixhawk 4 Mini_ can have power supply redundancy — if two power sources are supplied. The power rails are: **POWER** and **USB**.
-
-:::info
-The output power rail of **MAIN OUT** does not power the flight controller board (and is not powered by it).
-You must [supply power](../assembly/quick_start_pixhawk4_mini.md#power) to one of **POWER** or **USB** or the board will be unpowered.
-:::
-
-**Normal Operation Maximum Ratings**
-
-Under these conditions all power sources will be used in this order to power the system:
-
-1. **POWER** (4.75V to 5.5V)
-2. **USB** input (4.75V to 5.25V)
-
-**Absolute Maximum Ratings**
-
-Under these conditions the system will remain intact.
-
-1. **POWER** input (0V to 6V undamaged)
-2. **USB** input (0V to 6V undamaged)
-3. Servo input: VDD_SERVO pin of **MAIN OUT** (0V to 24V undamaged)
-
-## 组装 / 设置
-
-The [_Pixhawk 4 Mini_ Wiring Quick Start](../assembly/quick_start_pixhawk4_mini.md) provides instructions on how to assemble required/important peripherals including GPS, Power Management Board, etc.
-
-## 编译固件
-
-:::tip
-Most users will not need to build this firmware!
-It is pre-built and automatically installed by _QGroundControl_ when appropriate hardware is connected.
-:::
-
-To [build PX4](../dev_setup/building_px4.md) for this target:
-
-```
-make px4_fmu-v5_default
-```
-
-## 调试接口
-
-The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debug/swd_debug.md) run on the **FMU Debug** port.
-In order to access these ports, the user must remove the _Pixhawk 4 Mini_ casing.
-
-![Pixhawk 4 Mini FMU Debug](../../assets/flight_controller/pixhawk4mini/pixhawk4mini_fmu_debug.png)
-
-The port has a standard serial pinout and can be connected to a standard FTDI cable (3.3V, but it's 5V tolerant) or a [Zubax BugFace BF1](https://github.com/Zubax/bugface_bf1).
-The pinout uses the standard [Pixhawk debug connector](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf) pinout. Please refer to the [wiring](../debug/system_console.md) page for details of how to wire up this port.
-
-## 串口映射
-
-|  UART  |     设备     | QGC Parameter Description |               Port Label on FC              |
-| :----: | :--------: | :-----------------------: | :-----------------------------------------: |
-|  UART1 | /dev/ttyS0 |            GPS1           |                  GPS Module                 |
-| USART2 | /dev/ttyS1 |           TELEM1          |                    TELEM1                   |
-| USART3 | /dev/ttyS2 |           TELEM2          |                     N/A                     |
-|  UART4 | /dev/ttyS3 |       TELEM/SERIAL4       |                  UART/l2C B                 |
-| USART6 | /dev/ttyS4 |            N/A            |                    RC IN                    |
-|  UART7 | /dev/ttyS5 |            N/A            |                    Debug                    |
-|  UART8 | /dev/ttyS6 |            N/A            | Not connected (no PX4IO) |
-
-## 外部设备
-
- [Digital Airspeed Sensor](https://holybro.com/products/digital-air-speed-sensor-ms4525do)
- [Telemetry Radio Modules](../telemetry/index.md)
- [Rangefinders/Distance sensors](../sensor/rangefinders.md)
-
-## Supported Platforms
-
-Motors and servos are connected to the **MAIN OUT** ports in the order specified for your vehicle in the [Airframe Reference](../airframes/airframe_reference.md).
-This reference lists the output port to motor/servo mapping for all supported air and ground frames (if your frame is not listed in the reference then use a "generic" airframe of the correct type).
-
-:::warning
-_Pixhawk 4 Mini_ does not have AUX ports.
-The board cannot be used with frames that require more than 8 ports or which use AUX ports for motors or control surfaces.
-It can be used for airframes that use AUX for non-essential peripherals (e.g. "feed-through of RC AUX1 channel").
-:::
-
-## 更多信息
-
- [_Pixhawk 4 Mini_ Technical Data Sheet](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/flight_controller/pixhawk4mini/pixhawk4mini_technical_data_sheet.pdf)
- [FMUv5 reference design pinout](https://docs.google.com/spreadsheets/d/1-n0__BYDedQrc_2NHqBenG1DNepAgnHpSGglke-QQwY/edit#gid=912976165).
+DOC REMOVED: 202603
+-->
@@ -113,7 +113,7 @@ The Pixhawk® 5X is perfect for developers at corporate research labs, startups,
 - 其它特性:
  - Operating & storage temperature: -40 ~ 85°c

-## 购买渠道
+## Where to Buy {#store}

 Order from [Holybro](https://holybro.com/products/pixhawk-5x).

@@ -131,10 +131,10 @@ The [Pixhawk 5X Wiring Quick Start](../assembly/quick_start_pixhawk5x.md) provid

 :::info
 Connector pin assignments are left to right (i.e. Pin 1 is the left-most pin).
-::: infos:
+:::

 - The [camera capture pin](../camera/fc_connected_camera.md#camera-capture-configuration) (`PI0`) is pin 2 on the AD&IO port, marked above as `FMU_CAP1`.
- _Pixhawk 5X_ pinouts can be downloaded in PDF from from [here](https://github.com/PX4/PX4-user_guide/blob/main/assets/flight_controller/pixhawk5x/pixhawk5x_pinout.pdf) or [here](https://cdn.shopify.com/s/files/1/0604/5905/7341/files/Holybro_Pixhawk5X_Pinout.pdf).
+- _Pixhawk 5X_ pinouts can be downloaded in PDF from [here](https://github.com/PX4/PX4-user_guide/blob/main/assets/flight_controller/pixhawk5x/pixhawk5x_pinout.pdf) or [here](https://cdn.shopify.com/s/files/1/0604/5905/7341/files/Holybro_Pixhawk5X_Pinout.pdf).

 ## 串口映射

@@ -177,7 +177,7 @@ Under these conditions the system will not draw any power (will not be operation

 Digital I2C battery monitoring is enabled by default (see [Quickstart > Power](../assembly/quick_start_pixhawk5x.md#power)).

-::: info
+:::info
 Analog battery monitoring via an ADC is not supported on this particular board, but may be supported in variations of this flight controller with a different baseboard.
 :::

@@ -190,13 +190,11 @@ It is pre-built and automatically installed by _QGroundControl_ when appropriate

 To [build PX4](../dev_setup/building_px4.md) for this target:

-```
+```sh
 make px4_fmu-v5x_default
 ```

-<a id="debug_port"></a>
-
-## 调试接口
+## Debug Port {#debug_port}

 The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debug/swd_debug.md) run on the **FMU Debug** port.

@@ -96,7 +96,7 @@ The Pixhawk® 6C is perfect for developers at corporate research labs, startups,
 - 其它特性:
  - Operating & storage temperature: -40 ~ 85°c

-## 购买渠道
+## Where to Buy {#store}

 Order from [Holybro](https://holybro.com/products/pixhawk-6c).

@@ -162,13 +162,11 @@ It is pre-built and automatically installed by _QGroundControl_ when appropriate

 To [build PX4](../dev_setup/building_px4.md) for this target:

-```
+```sh
 make px4_fmu-v6c_default
 ```

-<a id="debug_port"></a>
-
-## 调试接口
+## Debug Port {#debug_port}

 The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debug/swd_debug.md) run on the **FMU Debug** port.

@@ -58,7 +58,7 @@ The Pixhawk® 6C Mini is perfect for developers at corporate research labs, star
  - USB Power Input: 4.75\~5.25V
  - Servo Rail Input: 0\~36V
 - Current Ratings:
-  - \`TELEM1\`\` Max output current limiter: 1A
+  - `TELEM1` Max output current limiter: 1A
  - All other port combined output current limiter: 1A

 ### **Mechanical data**
@@ -94,7 +94,7 @@ The Pixhawk® 6C Mini is perfect for developers at corporate research labs, star
 - 其它特性:
  - Operating & storage temperature: -40 ~ 85°c

-## 购买渠道
+## Where to Buy {#store}

 Order from [Holybro](https://holybro.com/products/pixhawk-6c-mini).

@@ -165,13 +165,11 @@ It is pre-built and automatically installed by _QGroundControl_ when appropriate

 To [build PX4](../dev_setup/building_px4.md) for this target:

-```
+```sh
 make px4_fmu-v6c_default
 ```

-<a id="debug_port"></a>
-
-## 调试接口
+## Debug Port {#debug_port}

 The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debug/swd_debug.md) run on the **FMU Debug** port.

@@ -130,9 +130,9 @@ The Pixhawk® 6X-RT is perfect for developers at corporate research labs, sta
 - 其它特性:
  - Operating & storage temperature: -40 ~ 85°c

-## 购买渠道
+## Where to Buy {#store}

-Order from [Holybro](https://holybro.com/products/fmuv6x-rt-developer-edition).
+Order from [Holybro](https://holybro.com/products/pixhawk-6x-rt).

 ## 组装 / 设置

@@ -207,13 +207,11 @@ It is pre-built and automatically installed by _QGroundControl_ when appropriate

 To [build PX4](../dev_setup/building_px4.md) for this target:

-```
+```sh
 make px4_fmu-v6xrt_default
 ```

-<a id="debug_port"></a>
-
-## 调试接口
+## Debug Port {#debug_port}

 The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debug/swd_debug.md) run on the **FMU Debug** port.

@@ -160,7 +160,7 @@ The Pixhawk® 6X is perfect for developers at corporate research labs, startu
 - 其它特性:
  - Operating & storage temperature: -40 ~ 85°c

-## 购买渠道
+## Where to Buy {#store}

 Order from [Holybro](https://holybro.com/products/pixhawk-6x).

@@ -215,7 +215,7 @@ Under these conditions, all power sources will be used in this order to power th

 **Absolute Maximum Ratings**

-Under these conditions, the system will not draw any power (will not be operational) but will remain intact.
+Under these conditions, the system will not draw any power (will not be operational), but will remain intact.

 1. **POWER1** and **POWER2** inputs (operational range 4.1V to 5.7V, 0V to 10V undamaged)
 2. **USB** input (operational range 4.1V to 5.7V, 0V to 6V undamaged)
@@ -238,13 +238,11 @@ It is pre-built and automatically installed by _QGroundControl_ when appropriate

 To [build PX4](../dev_setup/building_px4.md) for this target:

-```
+```sh
 make px4_fmu-v6x_default
 ```

-<a id="debug_port"></a>
-
-## 调试接口
+## Debug Port {#debug_port}

 The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debug/swd_debug.md) run on the **FMU Debug** port.

@@ -115,7 +115,7 @@ Mechanical data

 :::

-## 购买渠道
+## Where to Buy {#store}

 Order from [Holybro](https://holybro.com/products/pixhawk-6x-pro).

@@ -199,7 +199,7 @@ It is pre-built and automatically installed by _QGroundControl_ when appropriate

 To [build PX4](../dev_setup/building_px4.md) for this target:

-```
+```sh
 make px4_fmu-v6x_default
 ```

@@ -1,327 +1,7 @@
+<Redirect to="../flight_controller/autopilot_discontinued" />
+
+<!--
 # Holybro Pixhawk Mini (Discontinued)

-:::warning
-PX4 does not manufacture this (or any) autopilot.
-Contact the [manufacturer](https://holybro.com/) for hardware support or compliance issues.
-:::
-
-The Holybro _Pixhawk<sup>&reg;</sup> Mini_ autopilot is a next-generation evolution of the Pixhawk.
-It is about 1/3rd the size of the original Pixhawk and has more powerful processors and sensors.
-
-The Pixhawk Mini is based on the PX4 open-hardware project and has been optimized for the PX4 flight stack.
-
-![Pixhawk Mini](../../assets/flight_controller/pixhawk_mini/pixhawk_mini_hero.jpg)
-
-Wiring information is available [below](#wiring).
-
-:::info
-This flight controller was designed by 3DR in collaboration with HobbyKing<sup>&reg;</sup>.
-It was formerly known as the 3DR Pixhawk Mini.
-:::
-
-:::tip
-This autopilot is [supported](../flight_controller/autopilot_pixhawk_standard.md) by the PX4 maintenance and test teams.
-:::
-
-## 产品规格
-
-**Processors:**
-
- **Main Processor:** STM32F427 Rev 3
- **IO Processor:** STM32F103
-
-**Sensors:**
-
- **Accel/Gyro/Mag:** MPU9250
-  - [deprecated](https://github.com/PX4/PX4-Autopilot/pull/7618) by the PX4 firmware
- **Accel/Gyro:** ICM20608
- **Barometer:** MS5611
-
-**Voltage ratings:**
-
- **Power module output:** 4.1\~5.5V
- **Max input voltage:** 45V (10S LiPo)
- **Max current sensing:** 90A
- **USB Power Input:** 4.1\\`5.5V
- **Servo Rail Input:** 0\~10V
-
-**Interfaces:**
-
- 1 x UART Serial Port (for GPS)
- Spektrum DSM/DSM2/DSM-X® Satellite Compatible RC input
- Futaba S BUS® Compatible RC input
- PPM Sum Signal RC Input
- I2C (for digital sensors)
- CAN (for digital motor control with compatible controllers)
- ADC (for analog sensors)
- Micro USB Port
-
-**Weight and dimensions:**
-
- **Dimensions:** 38x43x12mm
- **Weight:** 15.8g
-
-**GPS module (supplied with kit):**
-
- **GNSS receiver:** u-blox<sup>&reg;</sup> Neo-M8N; compass HMC5983
- **Weight:** 22.4g
- **Dimensions:** 37x37x12mm
-
-## 购买渠道
-
-Discontinued.
-
-## Connector assignments
-
-`<To be added>`
-
-## 特性
-
-Key features of the Pixhawk Mini are:
-
- Advanced 32 bit ARM Cortex® M4 Processor running NuttX RTOS
- 8 PWM/servo outputs
- Multiple connectivity options for additional peripherals (UART, I2C, CAN)
- Redundant power supply inputs and automatic failover
- Integrated safety switch and optional external safety button for easy motor activation
- Multicolor LED indicator
- Integrated multi-tone piezo audio indicator
- microSD card for long-time high-rate logging
- Easy-to-use Micro JST connectors
-
-The Pixhawk Mini is shipped with new **GPS module**:
-
- Based on the u-blox M8N
- Concurrent reception of up to 3 GNSS (GPS, Galileo, GLONASS, BeiDou)
- Industry leading -167 dBm navigation sensitivity
- Security and integrity protection
- Supports all satellite augmentation systems
- Advanced jamming and spoofing detection
- Product variants to meet performance and cost requirements
-
-## Kit package
-
-The _Pixhawk Mini_ is shipped with the following contents:
-
-| Component                                                                                                | Image                                                                                                                                |
-| -------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------ |
-| Pixhawk Mini Autopilot                                                                                   | ![Pixhawk Mini](../../assets/flight_controller/pixhawk_mini/pixhawk_mini_drawing.png)                                                |
-| GPS module                                                                                               | ![Compass+GPS module](../../assets/flight_controller/pixhawk_mini/pixhawk_mini_compass_drawing.png)                                  |
-| Quad Power Distribution Board                                                                            | ![Quad Power Distribution Board](../../assets/flight_controller/pixhawk_mini/pixhawk_mini_quad_power_distribution_board_drawing.png) |
-| 8 Channel PWM Breakout board                                                                             | ![8 Channel PWM Breakout board](../../assets/flight_controller/pixhawk_mini/pixhawk_mini_8_channel_pwm_breakout_board_drawing.png)   |
-| 4-pin cable (for I2C)                                                                 | ![4-pin cable (for I2C)](../../assets/flight_controller/pixhawk_mini/pixhawk_mini_4_pin_cable_drawing.png)        |
-| RC-in cable for PPM/SBUS                                                                                 | ![RC-in cable for PPM/SBUS](../../assets/flight_controller/pixhawk_mini/pixhawk_mini_rc_in_cable_drawing.png)                        |
-| 6 to 6/4 ‘Y’ adapter for GPS and additional I2C devices                                                  | ![6 to 6/4 ‘Y’ adapter](../../assets/flight_controller/pixhawk_mini/pixhawk_mini_6_to_6_and_4_pin_Y_cable_drawing.png)               |
-| 6 pin cable (2) (for power distribution board and for compass/gps) | ![6 pin cable](../../assets/flight_controller/pixhawk_mini/pixhawk_mini_6_pin_cable_drawing.png)                                     |
-| 6 pin JST to DF13 for legacy telemetry radio                                                             | ![6 pin JST to DF13](../../assets/flight_controller/pixhawk_mini/pixhawk_mini_6pin_JST_to_DF13_cable_drawing.png)                    |
-| Safety switch                                                                                            | ![Safety switch](../../assets/flight_controller/pixhawk_mini/pixhawk_mini_safety_switch_drawing.png)                                 |
-| 8 Channel PWM Breakout cable                                                                             | ![8 Channel PWM Breakout cable](../../assets/flight_controller/pixhawk_mini/pixhawk_mini_8channel_pwm_breakout_cable_drawing.png)    |
-| Mounting foam                                                                                            | ![Mounting foam](../../assets/hardware/mounting/3dr_anti_vibration_mounting_foam.png)                                                |
-| I2C breakout board ? - not listed parts on handout                                                       | -                                                                                                                                    |
-
-## Optional accessories
-
- Telemetry Radio Sets: 915 MHz (USA), 433 MHz (European)
-  ::: info
-  When installing the 3DR telemetry radios, use the connectors that come with Pixhawk Mini, rather than those that come with the radios.
-
-:::
-
- 3DR 10S Power Module
-
- WiFi 数传电台
-
- 数字空速传感器
-
-## Compatibility
-
-### RC radio
-
- PPM output RC receivers
- Spektrum DSM RC receivers
- Futaba S BUS RC receivers
-
-### ESCs
-
- All standard PWM input ESCs
-
-## Connector pin assignments (pin outs)
-
-![Pixhawk Mini - Connector Pinouts](../../assets/flight_controller/pixhawk_mini/pixhawk_mini_pinout.png)
-
-## Product comparisons
-
-### Pixhawk Mini vs Pixhawk (original)
-
- One-third the size - from 50x81.5x15.5mm to 38x43x12mm.
- Rev 3 processor for full utilization of 2MB flash memory.
- Improved sensors, both primary and secondary IMU MPU9250 and ICM20608 respectively.
-  The result is more stable, more reliable flight and navigation.
- GPS+Compass module included. Features the Neo M8N with GLONASS support; compass HMC5983.
-  Expect faster and stronger GPS lock.
- Micro JST connectors instead of DF-13.
-  These are much easier to work with.
- Integrated piezo speaker and safety switch.
- Natively supports 4S batteries with the included PDB.
-
-### Pixhawk Mini vs Pixfalcon
-
- Improved sensors, both primary and secondary IMU MPU9250 and ICM20608 respectively.
-  Expect better vibration handling and reliability.
- CAN interface for UAVCAN support.
- Includes 8-channel breakout servo rail for planes and other vehicles requiring powered PWM output.
- Includes I2C breakout board for a total of 5 I2C connections.
- Similar size.
-
-Pixhawk Mini features an advanced processor and sensor technology from ST Microelectronics® and a NuttX real-time operating system, delivering excellent performance, flexibility, and reliability for controlling any autonomous vehicle.
-
-## Known issues
-
- Some Pixhawk Minis have a [hardware defect](https://github.com/PX4/PX4-Autopilot/issues/7327#issuecomment-317132917) that makes the internal MPU9250 IMU unreliable.
-  - The problem is only present in older hardware revisions, because [it was fixed at some point by the manufacturer](https://github.com/PX4/PX4-Autopilot/issues/7327#issuecomment-372393609).
-  - To check whether a specific board is affected or not, leave the board disconnected for some time, then power it on and try to start the mpu9250 driver from the PX4 command line. If the board is affected, the driver will not start.
-  - The MPU9250 is [disabled by default](https://github.com/PX4/PX4-Autopilot/pull/7618) on the PX4 firmware.
-  - The defective Pixhawk Minis will not calibrate without an external magnetometer or an attached GPS, even indoor.
-  - When using an external GPS, [this is not a problem](https://github.com/PX4/PX4-Autopilot/pull/7618#issuecomment-320270082) because the secondary ICM20608 provides the accelerometer and the gyro, while the external GPS provides the magnetometer.
-
-<a id="wiring"></a>
-
-## Wiring Quick Start
-
-:::warning
-The _Pixhawk Mini_ is no longer manufactured or available from 3DR.
-:::
-
-This quick start guide shows how power the [Pixhawk Mini](../flight_controller/pixhawk_mini.md) and connect its most important peripherals.
-
-### Standard Wiring Chart
-
-The image below shows standard _quadcopter_ wiring using the _Pixhawk Mini Kit_ and 3DR Telemetry Radios (along with ESC, motor, battery and a ground control station running on a phone).
-We'll go through each main part in the following sections.
-
-![Pixhawk Mini Electronics Wiring for QAV250 (off frame)](../../assets/airframes/multicopter/lumenier_qav250_pixhawk_mini/qav250_wiring_image_pixhawk_mini.jpg)
-
-:::info
-The output wiring/powering is slightly different for other types of vehicles. This is covered in more detail below for VTOL, Plane, Copter.
-:::
-
-### 飞控的安装和方向
-
-The _Pixhawk Mini_ should be mounted on the frame using
-vibration-damping foam pads (included in the kit). It should be
-positioned as close to your vehicle's center of gravity as possible, oriented top-side up
-with the arrow points towards the front of the vehicle.
-
-![Pixhawk Mini recommended orientation](../../assets/flight_controller/pixhawk_mini/pixhawk_mini_mounting_arrow.jpg)
-
-![Mounting foam](../../assets/hardware/mounting/3dr_anti_vibration_mounting_foam.png)
-
-:::info
-If the controller cannot be mounted in the recommended/default orientation (e.g. due to space constraints) you will need to configure the autopilot software with the orientation that you actually used: [Flight Controller Orientation](../config/flight_controller_orientation.md).
-:::
-
-### GPS + Compass
-
-Attach the 3DR GPS + Compass to the Pixhawk Mini's **GPS&I2C** port (top right) using the supplied 6 pin cable.
-The GPS/Compass should be mounted on the frame as far away from other electronics as possible, facing the front of the vehicle (separating the compass from other electronics will reduce interference).
-
-![Connecting compass/GPS to Pixhawk Mini](../../assets/flight_controller/pixhawk_mini/pixhawk_mini_with_compass.jpg)
-
-NOTE - INSERT IMAGE SHOWING BOTH PORTS? OR FRONT-FACING image of GPS&I2C
-
-The compass must be calibrated before it is first used: [Compass Calibration](../config/compass.md)
-
-### 电源
-
-The image below shows typical power-supply wiring when using _Pixhawk Mini_ in a Quadcopter.
-This uses the _Quad Power Distribution Board_ that comes in the kit to supply both the Pixhawk Mini and the ESC/Motor from the battery (and can also power other accessories).
-
-:::info
-The _Quad Power Distribution Board_ includes a power module (PM) that is suitable for batteries <= 4S.
-The _3DR 10S Power Module_ (Discontinued) is recommended if you need more power.
-:::
-
-![Pixhawk Mini - Powering](../../assets/flight_controller/pixhawk_mini/pixhawk_mini_powering_quad_board.jpg)
-
-The _Pixhawk Mini_ is powered through the **PM** port.
-When using a power module (as in this case) the port will also read analog voltage and current measurements.
-
-Up to 4 ESCs can be separately powered from the power distribution board (though in this case we only have one connected).
-
-The control signals come from MAIN OUT. In this case there is only one control channel, which is connected to the ESC via the _8 Channel PWM Breakout Board_.
-
-The Pixhawk Mini output rail (MAIN OUT) cannot power attached devices (and does not need to in the circuit as shown).
-For vehicles where MAIN OUT is attached to devices that draw power (e.g. a servo used in a plane) then you will need to power the rail using a BEC (battery elimination circuit).
-The included breakout board allows one channel to provide power on the other outputs.
-
-### 遥控器
-
-Pixhawk Mini supports many different radio receiver models:
-
- Spektrum and DSM receivers connect to the **SPKT/DSM** input.
-
-  <img src="../../assets/flight_controller/pixhawk_mini/pixhawk_mini_port_spkt_dsm.png" width="350px" title="Pixhawk Mini - Radio port for Spektrum receivers" />
-
- PPM-SUM and S.BUS receivers connect to the **RCIN** port.
-
-  <img src="../../assets/flight_controller/pixhawk_mini/pixhawk_mini_port_rcin.png" width="350px" title="Pixhawk Mini - Radio port for PPM receivers" />
-
- PPM and PWM receivers that have an _individual wire for each channel_ must connect to the **RCIN** port _via a PPM encoder_ [like this one](https://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html) (PPM-Sum receivers use a single signal wire for all channels).
-
-For more information about selecting a radio system, receiver compatibility, and binding your transmitter/receiver pair, see: [Remote Control Transmitters & Receivers](../getting_started/rc_transmitter_receiver.md).
-
-### Safety switch (optional)
-
-The controller has an integrated safety switch that you can use for motor activation once the autopilot is ready to take off.
-If this switch is hard to access on a particular vehicle you can attach the (optional) external safety button, as shown below.
-
-![Pixhawk Mini - Optional Switch](../../assets/flight_controller/pixhawk_mini/pixhawk_mini_safety_switch_wiring.jpg)
-
-### 数传电台
-
-### 电机
-
-The mappings between MAIN/AUX output ports and motor/servos for all supported air and ground frames are listed in the [Airframe Reference](../airframes/airframe_reference.md).
-
-:::warning
-The mapping is not consistent across frames (e.g. you can't rely on the throttle being on the same output for all plane frames).
-Make sure to use the correct mapping for your vehicle.
-:::
-
-:::tip
-If your frame is not listed in the reference then use a "generic" airframe of the correct type.
-::: infos:
-
- The output rail must be separately powered, as discussed in the [Power](#power) section above.
- Pixhawk Mini cannot be used for QuadPlane VTOL airframes. This is because QuadPlane requires 9 outputs (4 Main, 5 AUX) and the Pixhawk Mini only has 8 outputs (8 Main).
-
-<img src="../../assets/flight_controller/pixhawk_mini/pixhawk_mini_port_main_out.png" width="350px" title="Pixhawk Mini - port for motors/servos" />
-
-### 其它外设
-
-The wiring and configuration of other components is covered within the topics for individual [peripherals](../peripherals/index.md).
-
-### 配置
-
-General configuration information is covered in: [Autopilot Configuration](../config/index.md).
-
-QuadPlane specific configuration is covered here: [QuadPlane VTOL Configuration](../config_vtol/vtol_quad_configuration.md)
-
-## 编译固件
-
-:::tip
-Most users will not need to build this firmware!
-It is pre-built and automatically installed by _QGroundControl_ when appropriate hardware is connected.
-:::
-
-To [build PX4](../dev_setup/building_px4.md) for this target:
-
-```
-make px4_fmu-v3_default
-```
-
-## 调试接口
-
-This board does not have a debug port (i.e it does not have a port for accessing the [System Console](../debug/system_console.md) or [SWD interface](../debug/swd_debug.md)).
-
-Developers will need to solder wires to the board test pads for SWD, and to the STM32F4 (IC) TX and RX to get a console.
+Doc removed 202603
+-->
@@ -30,7 +30,7 @@ This autopilot is [supported](../flight_controller/autopilot_pixhawk_standard.md
 - OneShot PWM out (configurable)
 - Optional: Safety switch and buzzer

-## 购买渠道
+## Where to Buy {#store}

 Pixracer Pro is available from the [store.3dr.com](https://store.3dr.com/pixracer-pro/).

@@ -217,7 +217,7 @@ It is pre-built and automatically installed by _QGroundControl_ when appropriate

 To [build PX4](../dev_setup/building_px4.md) for this target:

-```
+```sh
 make px4_fmu-v4_default
 ```

@@ -130,7 +130,7 @@ The manufacturer [RaccoonLab Docs](https://docs.raccoonlab.co/guide/autopilot/RC
 They should be used by preference as they contain the most complete and up to date information.
 :::

-## 购买渠道
+## Where to Buy {#store}

 [RaccoonLab Store](https://raccoonlab.co/store)

@@ -27,7 +27,7 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo
  - 32KB FRAM - FM25V02A
  - AT7456E OSD
 - 传感器
-  - Bosh BMI088 IMU (accel, gyro)
+  - Bosch BMI088 IMU (accel, gyro)
  - InvenSense ICM-42688 IMU (accel, gyro)
  - SPA06 barometer
  - IST8310 magnetometer
@@ -48,7 +48,7 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo
  - Weight 80g
  - Size 94mm x 51.5mm x 14.5mm

-## 购买渠道
+## Where to Buy {#store}

 [Radiolink Amazon](https://www.radiolink.com.cn/pix6_where_to_buy)（International users）

@@ -278,7 +278,7 @@ In addition to the [basic configuration](../config/index.md), the following para
 ### Powering the PIX6

 The PIX6 has 2 dedicated power monitor ports, each with a 6 pin connector.
-One is the Analog power monitor (`POWER1`), and the others is the I2C power monitor (`POWER2`).
+One is the Analog power monitor (`POWER1`), and the other is the I2C power monitor (`POWER2`).

 The power module that comes with the flight controller with a wide voltage input range of 2-12S (7.4-50.4V), a maximum detection current of 90A (single ESC maximum detection current is 22.5A), a BEC output voltage of 5.3±0.2V, and a BEC output current of 2A.

@@ -175,7 +175,7 @@ This switch is connected to Pin22(BCM25).
 System rc script will check its value and decide whether PX4 should start alongside with system booting or not.

 - 开启：开机自启 PX4
- 关闭：不启动 PX4
+- Off: don't start PX4

 ## 开发者快速指南

@@ -125,7 +125,7 @@ Don't forget to turn off the switch when it is not needed.
 #### CSI 相机

 :::info
-Enable CSI camera will stop anything works on I2C-0.
+Enabling CSI camera will stop anything that works on I2C-0.
 :::

 ```sh
@@ -16,13 +16,13 @@ Design for better heat dissipation and high power consumption when using this ha
 - [Ubuntu Server 18.04.5 for RPi2](https://cdimage.ubuntu.com/releases/18.04.5/release/ubuntu-18.04.5-preinstalled-server-armhf+raspi2.img.xz)
 - [Ubuntu Server 18.04.5 for RPi3](https://cdimage.ubuntu.com/releases/18.04.5/release/ubuntu-18.04.5-preinstalled-server-armhf+raspi3.img.xz)
 - [Ubuntu Server 18.04.5 for RPi4](https://cdimage.ubuntu.com/releases/18.04.5/release/ubuntu-18.04.5-preinstalled-server-armhf+raspi4.img.xz)
- [Ubuntu Server 20.04.1 for RPi 2/3/4](https://cdimage.ubuntu.com/releases/20.04.1/release/ubuntu-20.04.2-preinstalled-server-arm64+raspi.img.xz)
+- [Ubuntu Server 20.04.1 for RPi 2/3/4](https://old-releases.ubuntu.com/releases/focal/ubuntu-20.04.2-preinstalled-server-arm64+raspi.img.xz)

 #### arm64

 - [Ubuntu Server 18.04.5 for RPi3](https://cdimage.ubuntu.com/releases/18.04.5/release/ubuntu-18.04.5-preinstalled-server-arm64+raspi3.img.xz)
 - [Ubuntu Server 18.04.5 for RPi4](https://cdimage.ubuntu.com/releases/18.04.5/release/ubuntu-18.04.5-preinstalled-server-arm64+raspi4.img.xz)
- [Ubuntu Server 20.04.1 for RPi 3/4](https://cdimage.ubuntu.com/releases/20.04.1/release/ubuntu-20.04.2-preinstalled-server-arm64+raspi.img.xz)
+- [Ubuntu Server 20.04.1 for RPi 3/4](https://old-releases.ubuntu.com/releases/focal/ubuntu-20.04.2-preinstalled-server-arm64+raspi.img.xz)

 #### 最新操作系统

@@ -206,7 +206,7 @@ Don't forget to turn off the switch when it is not needed!
 #### CSI 相机

 :::warning
-Enable CSI camera will stop anything works on I2C-0.
+Enabling CSI camera will stop anything that works on I2C-0.
 :::

 ```sh
@@ -72,7 +72,7 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo
  - 36x36mm with 30.5\*30.5 mouting pattern, M4 holes.
  - Soft-mount M4 to M3 grommets supplied.

-## 购买渠道
+## Where to Buy {#store}

 The SPRacingH7EXTREME is available from the [Seriously Pro shop](https://shop.seriouslypro.com/sp-racing-h7-extreme).

@@ -58,7 +58,7 @@ These flight controllers are [manufacturer supported](../flight_controller/autop
 - 1x Dedicated Debug Port
  - FMU Debug

-## Purchase Channels
+## Purchase Channels {#store}

 Order from [S-Vehicle](https://svehicle.cn/).

@@ -11,6 +11,10 @@ It is based on the **Pixhawk-project FMUv3** open hardware design and runs **PX4

 ![ThePeach FCC-K1](../../assets/flight_controller/thepeach_k1/main.png)

+:::info
+This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
+:::
+
 ## 产品规格

 - Main Processor: STM32F427VIT6
@@ -11,6 +11,10 @@ It is based on the **Pixhawk-project FMUv3** open hardware design and runs **PX4

 ![ThePeach_R1](../../assets/flight_controller/thepeach_r1/main.png)

+:::info
+This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
+:::
+
 ## 产品规格

 - Main Processor: STM32F427VIT6
@@ -45,7 +45,7 @@ These flight controllers are [manufacturer supported](../flight_controller/autop
  - FMU Debug
  - IO Debug

-## Purchase Channels
+## Purchase Channels {#store}

 Order from [X-MAV](https://www.x-mav.cn/).

@@ -91,7 +91,7 @@ The 7 FMU PWM outputs are in 3 groups:

 - A1 - A4 are in one group.
 - A5, A6 are in a 2nd group.
- A7 is in a 3nd group.
+- A7 is in a 3rd group.

 Channels within the same group need to use the same output rate.
 If any channel in a group uses DShot then all channels in the group need to use DShot.
@@ -131,7 +131,7 @@ make x-mav_ap-h743r1_default
 Any multirotor/airplane/rover or boat that can be controlled using normal RC servos or Futaba S-Bus servos.
 The complete set of supported configurations can be found in the [Airframe Reference](../airframes/airframe_reference.md).

-## 调试接口
+## Debug Port {#debug_port}

 ### SWD