From 8e0f223b3ac7bfdc6dc2961dbcfe0b1f6f87a90a Mon Sep 17 00:00:00 2001 From: Hamish Willee Date: Thu, 17 Jul 2025 15:30:56 +1000 Subject: [PATCH] Link fixes and removal of dead docs (#25239) * Remove Zubax Orel - not available and no other presence * Fix up zubax product links * Snapdragon flight - delete as no longer relevant hardware * Delete intel aero docs * Brushless whoop - remove docs except for link to old version * Many link fixes --- docs/en/SUMMARY.md | 4 - .../compass_power_compensation.md | 12 +-- .../sensor_thermal_calibration.md | 23 ++---- docs/en/advanced_config/tuning_the_ecl_ekf.md | 4 +- docs/en/advanced_features/precland.md | 4 +- docs/en/assembly/quick_start_cuav_v5_nano.md | 4 +- docs/en/assembly/quick_start_cuav_v5_plus.md | 4 +- docs/en/assembly/quick_start_pixhawk4.md | 6 +- docs/en/assembly/quick_start_pixhawk5x.md | 2 +- docs/en/assembly/quick_start_pixhawk6x.md | 2 +- docs/en/camera/fc_connected_camera.md | 2 +- .../companion_computer_peripherals.md | 4 +- .../complete_vehicles_mc/betafpv_beta75x.md | 58 -------------- docs/en/complete_vehicles_mc/crazyflie2.md | 6 +- docs/en/complete_vehicles_mc/crazyflie21.md | 4 +- docs/en/complete_vehicles_mc/intel_aero.md | 9 --- docs/en/concept/control_allocation.md | 2 +- docs/en/config/actuators.md | 2 +- docs/en/config/index.md | 2 +- .../config_mc/pid_tuning_guide_multicopter.md | 2 +- docs/en/dronecan/ark_mosaic__rtk_gps.md | 2 +- docs/en/dronecan/cuav_can_pmu.md | 2 +- docs/en/dronecan/escs.md | 1 - docs/en/dronecan/index.md | 18 ++--- docs/en/dronecan/sapog.md | 2 +- docs/en/dronecan/zubax_orel.md | 13 --- docs/en/dronecan/zubax_telega.md | 6 +- docs/en/flight_controller/ark_fpv.md | 4 +- docs/en/flight_controller/ark_v6x.md | 2 +- .../autopilot_discontinued.md | 6 +- docs/en/flight_controller/cuav_v5_plus.md | 2 - .../flight_controller/mro_control_zero_f7.md | 6 +- .../en/flight_controller/nxp_mr_vmu_rt1176.md | 6 +- .../flight_controller/nxp_rddrone_fmuk66.md | 8 +- docs/en/flight_controller/omnibus_f4_sd.md | 2 +- docs/en/flight_controller/pixfalcon.md | 8 +- docs/en/flight_controller/pixhawk.md | 2 +- docs/en/flight_controller/pixhawk3_pro.md | 9 +-- docs/en/flight_controller/pixhawk4_mini.md | 4 +- docs/en/flight_controller/pixhawk5x.md | 2 +- docs/en/flight_controller/pixhawk6x-rt.md | 6 +- docs/en/flight_controller/pixhawk6x.md | 3 +- docs/en/flight_controller/pixhawk6x_pro.md | 2 +- docs/en/flight_controller/pixracer.md | 4 +- docs/en/flight_controller/raccoonlab_fmu6x.md | 2 +- .../flight_controller/raspberry_pi_navio2.md | 2 +- .../raspberry_pi_pilotpi_ubuntu_server.md | 2 +- .../en/flight_controller/snapdragon_flight.md | 16 ---- .../en/flight_controller/spracingh7extreme.md | 2 +- docs/en/flight_modes/offboard.md | 8 +- docs/en/frames_autogyro/thunderfly_auto_g2.md | 79 +++++++++---------- .../frames_multicopter/dji_f450_cuav_5plus.md | 4 +- docs/en/frames_multicopter/omnicopter.md | 8 +- docs/en/frames_plane/reptile_dragon_2.md | 2 +- .../en/frames_plane/turbo_timber_evolution.md | 2 +- docs/en/frames_plane/wing_wing_z84.md | 26 +++--- docs/en/getting_started/px4_basic_concepts.md | 1 - docs/en/peripherals/parachute.md | 2 +- docs/en/releases/1.12.md | 4 +- docs/en/ros/external_position_estimation.md | 14 +--- 60 files changed, 151 insertions(+), 299 deletions(-) delete mode 100644 docs/en/complete_vehicles_mc/betafpv_beta75x.md delete mode 100644 docs/en/complete_vehicles_mc/intel_aero.md delete mode 100644 docs/en/dronecan/zubax_orel.md delete mode 100644 docs/en/flight_controller/snapdragon_flight.md diff --git a/docs/en/SUMMARY.md b/docs/en/SUMMARY.md index e5d59c6ff7..29d046ccef 100644 --- a/docs/en/SUMMARY.md +++ b/docs/en/SUMMARY.md @@ -194,7 +194,6 @@ - [Discontinued Autopilots/Vehicles](flight_controller/autopilot_discontinued.md) - [Drotek Dropix (FMUv2)](flight_controller/dropix.md) - [Omnibus F4 SD](flight_controller/omnibus_f4_sd.md) - - [BetaFPV Beta75X 2S Brushless Whoop](complete_vehicles_mc/betafpv_beta75x.md) - [Bitcraze Crazyflie 2.0 ](complete_vehicles_mc/crazyflie2.md) - [Aerotenna OcPoC-Zynq Mini](flight_controller/ocpoc_zynq.md) - [CUAV X7](flight_controller/cuav_x7.md) @@ -209,8 +208,6 @@ - [mRo AUAV-X2](flight_controller/auav_x2.md) - [NXP RDDRONE-FMUK66 FMU](flight_controller/nxp_rddrone_fmuk66.md) - [3DR Pixhawk 1](flight_controller/pixhawk.md) - - [Snapdragon Flight](flight_controller/snapdragon_flight.md) - - [Intel® Aero RTF Drone](complete_vehicles_mc/intel_aero.md) - [Pixhawk Autopilot Bus (PAB) & Carriers](flight_controller/pixhawk_autopilot_bus.md) - [ARK Electronics Pixhawk Autopilot Bus Carrier](flight_controller/ark_pab.md) - [Mounting the Flight Controller](assembly/mount_and_orient_controller.md) @@ -302,7 +299,6 @@ - [Zubax Telega](dronecan/zubax_telega.md) - [PX4 Sapog ESC Firmware](dronecan/sapog.md) - [Holybro Kotleta](dronecan/holybro_kotleta.md) - - [Zubax Orel](dronecan/zubax_orel.md) - [Vertiq](peripherals/vertiq.md) - [VESC](peripherals/vesc.md) - [Radio Control (RC)](getting_started/rc_transmitter_receiver.md) diff --git a/docs/en/advanced_config/compass_power_compensation.md b/docs/en/advanced_config/compass_power_compensation.md index 1eed3f56c3..de0b5abbf7 100644 --- a/docs/en/advanced_config/compass_power_compensation.md +++ b/docs/en/advanced_config/compass_power_compensation.md @@ -12,8 +12,6 @@ Moving the compass away from power-carrying cables is the easiest and most effec The process is demonstrated for a multicopter, but is equally valid for other vehicle types. ::: - - ## When is Power Compensation Applicable? Performing this power compensation is advisable only if all the following statements are true: @@ -25,8 +23,6 @@ Performing this power compensation is advisable only if all the following statem 1. The drone cables are all fixed in place/do not move (calculated compensation parameters will be invalid if the current-carrying cables can move). - - ## How to Compensate the Compass 1. Make sure your drone runs a Firmware version supporting power compensation (current master, or releases from v.1.11.0). @@ -39,7 +35,6 @@ Performing this power compensation is advisable only if all the following statem ![strap](../../assets/advanced_config/strap.png) 1. Power the vehicle and switch into [ACRO flight mode](../flight_modes_mc/acro.md) (using this mode ensures the vehicle won't attempt to compensate for movement resulting from the straps). - - Arm the vehicle and slowly raise the throttle to the maximum - Slowly lower the throttle down to zero - Disarm the vehicle @@ -54,10 +49,9 @@ Performing this power compensation is advisable only if all the following statem python mag_compensation.py ~/path/to/log/logfile.ulg [--instance ] ``` - where: - - - ``: `current` or `thrust` (power signal used for compensation) - - `--instance ` (optional): The number is `0` (default) or `1`, the instance of the current or thrust signal to use. + where: + - ``: `current` or `thrust` (power signal used for compensation) + - `--instance ` (optional): The number is `0` (default) or `1`, the instance of the current or thrust signal to use. ::: info If your log does not contain battery current measurements, you will need to comment out the respective lines in the Python script, such that it does the calculation for thrust only. diff --git a/docs/en/advanced_config/sensor_thermal_calibration.md b/docs/en/advanced_config/sensor_thermal_calibration.md index 45ba824042..2ad1cdbc9f 100644 --- a/docs/en/advanced_config/sensor_thermal_calibration.md +++ b/docs/en/advanced_config/sensor_thermal_calibration.md @@ -14,9 +14,7 @@ Any subsequent standard calibration will therefore update `TC_*` parameters and Releases up to PX4 v1.14, do not support thermal calibration of the magnetometer. ::: - - -## Test Setup/Best Practice +## Test Setup/Best Practice {#test_setup} The [calibration procedures](#calibration_procedures) described in the following sections are ideally run in an _environmental chamber_ (a temperature and humidity controlled environment) as the board is heated from the lowest to the highest operating/calibration temperature. Before starting the calibration, the board is first _cold soaked_ (cooled to the minimum temperature and allowed to reach equilibrium). @@ -46,9 +44,7 @@ If in doubt, check the safe operating range with your manufacturer. To check the status of the onboard thermal calibration use the MAVlink console (or NuttX console) to check the reported internal temp from the sensor. ::: - - -## Calibration Procedures +## Calibration Procedures {#calibration_procedures} PX4 supports two calibration procedures: @@ -57,9 +53,7 @@ PX4 supports two calibration procedures: The offboard approach is more complex and slower, but requires less knowledge of the test setup and is easier to validate. - - -### Onboard Calibration Procedure +### Onboard Calibration Procedure {#onboard_calibration} Onboard calibration is run entirely on the device. It require knowledge of the amount of temperature rise that is achievable with the test setup. @@ -76,9 +70,7 @@ To perform and onboard calibration: 9. Perform a 6-point accel calibration via the system console using `commander calibrate accel` or via _QGroundControl_. If the board is being set-up for the first time, the gyro and magnetometer calibration will also need to be performed. 10. The board should always be re-powered before flying after any sensor calibration, because sudden offset changes from calibration can upset the navigation estimator and some parameters are not loaded by the algorithms that use them until the next startup. - - -### Offboard Calibration Procedure +### Offboard Calibration Procedure {#offboard_calibration} Offboard calibration is run on a development computer using data collected during the calibration test. This method provides a way to visually check the quality of data and curve fit. @@ -104,9 +96,7 @@ To perform an offboard calibration: 1. After parameters have finished loading, set `SDLOG_MODE` to 1 to re-enable normal logging and remove power. 1. Power the board and perform a normal accelerometer sensor calibration using _QGroundControl_. It is important that this step is performed when board is within the calibration temperature range. The board must be repowered after this step before flying as the sudden offset changes can upset the navigation estimator and some parameters are not loaded by the algorithms that use them until the next startup. - - -## Implementation Detail +## Implementation Detail {#implementation} Calibration refers to the process of measuring the change in sensor value across a range of internal temperatures, and performing a polynomial fit on the data to calculate a set of coefficients (stored as parameters) that can be used to correct the sensor data. Compensation refers to the process of using the internal temperature to calculate an offset that is subtracted from the sensor reading to correct for changing offset with temperature @@ -133,7 +123,6 @@ Where: - `type`: is a single character indicating the type of sensor where `A` = accelerometer, `G` = rate gyroscope, `M` = magnetometer, and `B` = barometer. - `instance`: is an integer 0,1 or 2 allowing for calibration of up to three sensors of the same `type`. - `cal_name`: is a string identifying the calibration value. It has the following possible values: - - `Xn`: Polynomial coefficient where n is the order of the coefficient, e.g. `X3 * (temperature - reference temperature)**3`. - `SCL`: scale factor. - `TREF`: reference temperature (deg C). @@ -193,5 +182,7 @@ Scale factors are assumed to be temperature invariant due to the difficulty asso --- [^1]: The [SYS_CAL_ACCEL](../advanced_config/parameter_reference.md#SYS_CAL_ACCEL), [SYS_CAL_BARO](../advanced_config/parameter_reference.md#SYS_CAL_BARO) and [SYS_CAL_GYRO](../advanced_config/parameter_reference.md#SYS_CAL_GYRO) parameters are reset to 0 when the calibration is started. + [^2]: Calibration of the barometric pressure sensor offsets requires a stable air pressure environment. The air pressure will change slowly due to weather and inside buildings can change rapidly due to external wind fluctuations and HVAC system operation. + [^3]: Care must be taken when warming a cold soaked board to avoid formation of condensation on the board that can cause board damage under some circumstances. diff --git a/docs/en/advanced_config/tuning_the_ecl_ekf.md b/docs/en/advanced_config/tuning_the_ecl_ekf.md index 97ccc682c0..8a68bc05dc 100644 --- a/docs/en/advanced_config/tuning_the_ecl_ekf.md +++ b/docs/en/advanced_config/tuning_the_ecl_ekf.md @@ -441,9 +441,7 @@ Airspeed data will be used when it exceeds the threshold set by a positive value Fixed-wing platforms can take advantage of an assumed sideslip observation of zero to improve wind speed estimation and also enable wind speed estimation without an airspeed sensor. This is enabled by setting the [EKF2_FUSE_BETA](../advanced_config/parameter_reference.md#EKF2_FUSE_BETA) parameter to 1. - - -### Multicopter Wind Estimation using Drag Specific Forces +### Multicopter Wind Estimation using Drag Specific Forces {#mc_wind_estimation_using_drag} Multi-rotor platforms can take advantage of the relationship between airspeed and drag force along the X and Y body axes to estimate North/East components of wind velocity. This can be enabled using [EKF2_DRAG_CTRL](../advanced_config/parameter_reference.md#EKF2_DRAG_CTRL). diff --git a/docs/en/advanced_features/precland.md b/docs/en/advanced_features/precland.md index b46dc016de..2da2d5619b 100644 --- a/docs/en/advanced_features/precland.md +++ b/docs/en/advanced_features/precland.md @@ -56,9 +56,7 @@ A flow diagram showing the phases can be found in [landing phases flow Diagram]( Precision landing can be used in missions, during the landing phase in _Return mode_, or by entering the _Precision Land_ mode. - - -### Mission Precision Landing +### Mission Precision Landing {#mission} Precision landing can be initiated as part of a [mission](../flying/missions.md) using [MAV_CMD_NAV_LAND](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_LAND) with `param2` set appropriately: diff --git a/docs/en/assembly/quick_start_cuav_v5_nano.md b/docs/en/assembly/quick_start_cuav_v5_nano.md index d4f2bd8a04..0ccd8c5031 100644 --- a/docs/en/assembly/quick_start_cuav_v5_nano.md +++ b/docs/en/assembly/quick_start_cuav_v5_nano.md @@ -110,9 +110,7 @@ The other radio is connected to your ground station computer or mobile device (u ![quickstart](../../assets/flight_controller/cuav_v5_nano/connection/v5_nano_quickstart_07.png) - - -## SD Card (Optional) +## SD Card (Optional) {#sd_card} An [SD card](../getting_started/px4_basic_concepts.md#sd-cards-removable-memory) is inserted in the factory (you do not need to do anything). diff --git a/docs/en/assembly/quick_start_cuav_v5_plus.md b/docs/en/assembly/quick_start_cuav_v5_plus.md index a4e49af604..6dfbbf4a57 100644 --- a/docs/en/assembly/quick_start_cuav_v5_plus.md +++ b/docs/en/assembly/quick_start_cuav_v5_plus.md @@ -110,9 +110,7 @@ The other radio is connected to your ground station computer or mobile device (u ![V5+ AutoPilot](../../assets/flight_controller/cuav_v5_plus/connection/v5+_quickstart_06.png) - - -## SD Card (Optional) +## SD Card (Optional) {#sd_card} An [SD card](../getting_started/px4_basic_concepts.md#sd-cards-removable-memory) is inserted in the factory (you do not need to do anything). diff --git a/docs/en/assembly/quick_start_pixhawk4.md b/docs/en/assembly/quick_start_pixhawk4.md index be33b3b171..64e02c6157 100644 --- a/docs/en/assembly/quick_start_pixhawk4.md +++ b/docs/en/assembly/quick_start_pixhawk4.md @@ -147,9 +147,7 @@ The vehicle-based radio should be connected to the **TELEM1** port as shown belo ![Pixhawk 4/Telemetry Radio](../../assets/flight_controller/pixhawk4/pixhawk4_telemetry_radio.jpg) - - -## SD Card (Optional) +## SD Card (Optional) {#sd_card} SD cards are highly recommended as they are needed to [log and analyse flight details](../getting_started/flight_reporting.md), to run missions, and to use UAVCAN-bus hardware. Insert the card (included in Pixhawk 4 kit) into _Pixhawk 4_ as shown below. @@ -193,4 +191,4 @@ QuadPlane specific configuration is covered here: [QuadPlane VTOL Configuration] - [Pixhawk 4](../flight_controller/pixhawk4.md) (Overview page) - [Pixhawk 4 Technical Data Sheet](https://github.com/PX4/PX4-Autopilot/blob/main/docs/assets/flight_controller/pixhawk4/pixhawk4_technical_data_sheet.pdf) - [Pixhawk 4 Pinouts](https://cdn.shopify.com/s/files/1/0604/5905/7341/files/Pixhawk4-Pinouts.pdf) (Holybro) -- [Pixhawk 4 Quick Start Guide (Holybro)](https://holybro.com/manual/Pixhawk4-quickstartguide.pdf) +- [Pixhawk 4 Quick Start Guide (Holybro)](https://cdn.shopify.com/s/files/1/0604/5905/7341/files/Pixhawk4-quickstartguide.pdf) diff --git a/docs/en/assembly/quick_start_pixhawk5x.md b/docs/en/assembly/quick_start_pixhawk5x.md index f71b8efbdc..10db57bbf5 100644 --- a/docs/en/assembly/quick_start_pixhawk5x.md +++ b/docs/en/assembly/quick_start_pixhawk5x.md @@ -52,7 +52,7 @@ You can press the safety switch again to enable safety and disarm the vehicle (t ## Power Connect the output of the _PM02D Power Module_ (PM board) that comes with the Standard Set to one of the **POWER** port of _Pixhawk 5X_ using the 6-wire cable. -The PM02D and Power ports on the Pixhawk 5X uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/molex/products/part-detail/pcb_receptacles/5024430670) & [Housing](https://www.molex.com/molex/products/part-detail/crimp_housings/5024390600). +The PM02D and Power ports on the Pixhawk 5X uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/en-us/products/part-detail/5024430670) & [Housing](https://www.molex.com/molex/products/part-detail/crimp_housings/5024390600). The PM02D Power Module supports **2~6S** battery, the board input should be connected to your LiPo battery. Note that the PM board does not supply power to the + and - pins of **FMU PWM OUT** and **I/O PWM OUT**. diff --git a/docs/en/assembly/quick_start_pixhawk6x.md b/docs/en/assembly/quick_start_pixhawk6x.md index 41e1c3c8cf..b7f35adb96 100644 --- a/docs/en/assembly/quick_start_pixhawk6x.md +++ b/docs/en/assembly/quick_start_pixhawk6x.md @@ -65,7 +65,7 @@ You can press the safety switch again to enable safety and disarm the vehicle (t ## Power Connect the output of the _PM02D Power Module_ (PM board) that comes with the Standard Set to one of the **POWER** port of _Pixhawk 6X_ using the 6-wire cable. -The PM02D and Power ports on the Pixhawk 6X uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/molex/products/part-detail/pcb_receptacles/5024430670) & [Housing](https://www.molex.com/molex/products/part-detail/crimp_housings/5024390600). +The PM02D and Power ports on the Pixhawk 6X uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/en-us/products/part-detail/5024430670) & [Housing](https://www.molex.com/molex/products/part-detail/crimp_housings/5024390600). The PM02D Power Module supports **2~6S** battery, the board input should be connected to your LiPo battery. Note that the PM board does not supply power to the + and - pins of **FMU PWM OUT** and **I/O PWM OUT**. diff --git a/docs/en/camera/fc_connected_camera.md b/docs/en/camera/fc_connected_camera.md index 0f729e7638..f3cee6de85 100644 --- a/docs/en/camera/fc_connected_camera.md +++ b/docs/en/camera/fc_connected_camera.md @@ -117,7 +117,7 @@ The camera trigger driver supports several backends - each for a specific applic | 1 | Enables the GPIO interface. The AUX outputs are pulsed high or low (depending on the `TRIG_POLARITY` parameter) every [TRIG_INTERVAL](../advanced_config/parameter_reference.md#TRIG_INTERVAL) duration. This can be used to trigger most standard machine vision cameras directly. Note that on PX4FMU series hardware (Pixhawk, Pixracer, etc.), the signal level on the AUX pins is 3.3v. | | 2 | Enables the Seagull MAP2 interface. This allows the use of the [Seagull MAP2](https://www.seagulluav.com/product/seagull-map2/) to interface to a multitude of supported cameras. Pin/Channel 1 (camera trigger) and Pin/Channel 2 (mode selector) of the MAP2 should be connected to the lower and higher mapped [camera trigger pins](#trigger-output-pin-configuration). Using Seagull MAP2, PX4 also supports automatic power control and keep-alive functionalities of Sony Multiport cameras like the QX-1. | | 3 | This mode enables MAVLink cameras that used the legacy [MAVLink interface listed above](#mavlink-command-interface). The messages are automatically emitted on the MAVLink `onboard` channel when found in missions. PX4 emits the `CAMERA_TRIGGER` MAVLink message when a camera is triggered, by default to the `onboard` channel (if this is not used, custom stream will need to be enabled). [Simple MAVLink cameras](../camera/mavlink_v1_camera.md) explains this use case in more detail. | -| 4 | Enables the generic PWM interface. This allows the use of [infrared triggers](https://hobbyking.com/en_us/universal-remote-control-infrared-shutter-ir-rc-1g.html) or servos to trigger your camera. | +| 4 | Enables the generic PWM interface. This allows the use of [infrared triggers](https://www.seagulluav.com/product/seagull-ir/) or servos to trigger your camera. | ### Trigger Output Pin Configuration diff --git a/docs/en/companion_computer/companion_computer_peripherals.md b/docs/en/companion_computer/companion_computer_peripherals.md index 4069e07c29..481603109a 100644 --- a/docs/en/companion_computer/companion_computer_peripherals.md +++ b/docs/en/companion_computer/companion_computer_peripherals.md @@ -54,8 +54,8 @@ They are in no way guaranteed to be plug and play with your companion computer. Popular stereo cameras include: -- [Intel® RealSense™ Depth Camera D435](https://www.intelrealsense.com/depth-camera-d435/) -- [Intel® RealSense™ Depth Camera D415](https://www.intelrealsense.com/depth-camera-d415/) +- [Intel® RealSense™ Depth Camera D435](https://realsenseai.com/stereo-depth-cameras/stereo-depth-camera-d435/) +- [Intel® RealSense™ Depth Camera D415](https://realsenseai.com/stereo-depth-cameras/stereo-depth-camera-d415/) - [DUO MLX](https://duo3d.com/product/duo-minilx-lv1) ### VIO Cameras/Sensors diff --git a/docs/en/complete_vehicles_mc/betafpv_beta75x.md b/docs/en/complete_vehicles_mc/betafpv_beta75x.md deleted file mode 100644 index 230dd09097..0000000000 --- a/docs/en/complete_vehicles_mc/betafpv_beta75x.md +++ /dev/null @@ -1,58 +0,0 @@ -# BetaFPV Beta75X 2S Brushless Whoop - - - -:::warning -This frame has been [discontinued](../flight_controller/autopilot_experimental.md) and is no longer commercially available. -::: - -The [BetaFPV Beta75X](https://betafpv.com/products/beta75x-2s-whoop-quadcopter) is a very small quadrotor that can be flown indoors or outdoors, FPV or line-of-sight. - -![BetaFPV Beta75X](../../assets/hardware/betafpv_beta75x.jpg) - -## Where to Buy - -The _Beta75X_ can be bought from a number of vendors, including: - -- [GetFPV](https://www.getfpv.com/beta75x-2s-brushless-whoop-micro-quadcopter-xt30-frsky.html) -- [Amazon](https://www.amazon.com/BETAFPV-Beta75X-Brushless-Quadcopter-Smartaudio/dp/B07H86XSPW) - -In addition you will need: - -- An RC transmitter. _Beta75X_ can ship with a number of receivers. PX4 is compatible with all of them, but make sure to select the version that matches your transmitter. -- LiPo battery charger (vehicle ships with one battery, but you may want spares). -- FPV goggles if you want to fly FPV. - There are many compatible options, including these ones from [Fatshark](https://www.fatshark.com/product-page/dominator-v3). - - ::: info - FPV support is completely independent of PX4/flight controller. - ::: - -## Flashing PX4 Bootloader - -The _Beta75X_ comes preinstalled with Betaflight. - -Before loading PX4 firmware you must first install the PX4 bootloader. -Instructions for installing the bootloader can be found in the [Omnibus F4](../flight_controller/omnibus_f4_sd.md#bootloader) topic (this is the flight controller board on the _Beta75X_). - -:::tip -You can always [reinstall Betaflight](../advanced_config/bootloader_update_from_betaflight.md#reinstall-betaflight) later if you want! -::: - -## Installation/Configuration - -Once the bootloader is installed, you should be able to connect the vehicle to _QGroundControl_ via a USB cable. - -::: info -At time of writing _Omnibus F4_ is supported on the QGroundControl _Daily Build_, and prebuilt firmware is provided for the master branch only (stable releases are not yet available). -::: - -To install and configure PX4: - -- [Load PX4 Firmware](../config/firmware.md). -- [Set the Airframe](../config/airframe.md) to _BetaFPV Beta75X 2S Brushless Whoop_. -- Continue with [basic configuration](../config/index.md), including sensor calibration and radio setup. - -## Video - - diff --git a/docs/en/complete_vehicles_mc/crazyflie2.md b/docs/en/complete_vehicles_mc/crazyflie2.md index ea1dd7c584..5be15394fb 100644 --- a/docs/en/complete_vehicles_mc/crazyflie2.md +++ b/docs/en/complete_vehicles_mc/crazyflie2.md @@ -37,7 +37,7 @@ The main hardware documentation is here: https://wiki.bitcraze.io/projects:crazy - [Crazyflie 2.0](https://store.bitcraze.io/collections/kits/products/crazyflie-2-0). - [Crazyradio PA 2.4 GHz USB dongle](https://store.bitcraze.io/products/crazyradio-pa): used for wireless communication between _QGroundControl_ and Crazyflie 2.0. - [Breakout deck](https://store.bitcraze.io/collections/decks/products/breakout-deck): breakout expansion board for connecting new peripherals. -- [Flow deck](https://store.bitcraze.io/collections/decks/products/flow-deck): contains an optical flow sensor to measure movements of the ground and a distance sensor to measure the distance to the ground. +- [Flow deck](https://store.bitcraze.io/products/flow-deck): contains an optical flow sensor to measure movements of the ground and a distance sensor to measure the distance to the ground. This will be useful for precise altitude and position control. - [Z-ranger deck](https://store.bitcraze.io/collections/decks/products/z-ranger-deck) has the same distance sensor as the Flow deck to measure the distance to the ground. This will be useful for precise altitude control. @@ -225,7 +225,7 @@ This is the rate at which Joystick commands are sent from QGroundControl to Craz Crazyflie 2.0 is able to fly with precise control in [Stabilized mode](../flight_modes_mc/manual_stabilized.md), [Altitude mode](../flight_modes_mc/altitude.md) and [Position mode](../flight_modes_mc/position.md). - You will need the [Z-ranger deck](https://store.bitcraze.io/collections/decks/products/z-ranger-deck) to fly in _Altitude_ mode. - If you also want to fly in the _Position_ mode, it is recommended you buy the [Flow deck](https://store.bitcraze.io/collections/decks/products/flow-deck) which also has the integrated Z-ranger sensor. + If you also want to fly in the _Position_ mode, it is recommended you buy the [Flow deck](https://store.bitcraze.io/products/flow-deck) which also has the integrated Z-ranger sensor. - The onboard barometer is highly susceptible to any external wind disturbances including those created by Crazyflie's own propellers. Hence, we isolated the barometer with a piece of foam, and then mounted the distance sensor on top of it as shown below: ![Crazyflie barometer](../../assets/flight_controller/crazyflie/crazyflie_barometer.jpg) @@ -257,7 +257,7 @@ Since the onboard barometer is highly susceptible to wind disturbances created b ## Position Control -With [Flow deck](https://store.bitcraze.io/collections/decks/products/flow-deck), you can fly Crazyflie 2.0 in _Position mode_. +With [Flow deck](https://store.bitcraze.io/products/flow-deck), you can fly Crazyflie 2.0 in _Position mode_. Unlike [PX4FLOW](../sensor/px4flow.md), the flow deck does not house a gyro, hence the onboard gyro is used for flow fusion to find the local position estimates. Moreover, the flow deck shares the same SPI bus as the SD card deck, therefore logging at high rate on SD card is not recommended when flying in _Position mode_. diff --git a/docs/en/complete_vehicles_mc/crazyflie21.md b/docs/en/complete_vehicles_mc/crazyflie21.md index c26edbab58..9c118a2572 100644 --- a/docs/en/complete_vehicles_mc/crazyflie21.md +++ b/docs/en/complete_vehicles_mc/crazyflie21.md @@ -12,7 +12,7 @@ Crazyflie 2.1 is only able to fly in [Stabilized mode](../flight_modes_mc/manual ::: The Crazyflie line of micro quads was created by Bitcraze AB. -An overview of the Crazyflie 2.1 can be [found here](https://www.bitcraze.io/products/crazyflie-2-1/). +An overview of the Crazyflie 2.1 can be [found here](https://www.bitcraze.io/products/crazyflie-2-1-brushless/). ![Crazyflie2 Image](../../assets/flight_controller/crazyflie21/crazyflie_2.1.jpg) @@ -42,7 +42,7 @@ Useful peripheral hardware includes: - [Crazyradio PA 2.4 GHz USB dongle](https://store.bitcraze.io/products/crazyradio-pa): Wireless communication between _QGroundControl_ and Crazyflie 2.0 - [Breakout deck](https://store.bitcraze.io/collections/decks/products/breakout-deck): Breakout expansion board for connecting new peripherals. -- [Flow deck v2](https://store.bitcraze.io/collections/decks/products/flow-deck-v2): Optical flow sensor and a distance sensor for altitude and position control. +- [Flow deck v2](https://store.bitcraze.io/products/flow-deck-v2): Optical flow sensor and a distance sensor for altitude and position control. - [Z-ranger deck v2](https://store.bitcraze.io/collections/decks/products/z-ranger-deck-v2): Distance sensor for altitude control (same sensor as the Flow deck). - [Multi-ranger deck](https://store.bitcraze.io/collections/decks/products/multi-ranger-deck) Multi-direction object detection - [Buzzer deck](https://store.bitcraze.io/collections/decks/products/buzzer-deck) Audio feedback on system events, like low battery or charging completed. diff --git a/docs/en/complete_vehicles_mc/intel_aero.md b/docs/en/complete_vehicles_mc/intel_aero.md deleted file mode 100644 index 8d5d86ca1f..0000000000 --- a/docs/en/complete_vehicles_mc/intel_aero.md +++ /dev/null @@ -1,9 +0,0 @@ -# Intel Aero Ready to Fly Drone - - - -:::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 supports this platform ([see here for legacy docs](https://docs.px4.io/v1.12/en/complete_vehicles/intel_aero.html)). -::: diff --git a/docs/en/concept/control_allocation.md b/docs/en/concept/control_allocation.md index 7447b22b5d..d6e60189f2 100644 --- a/docs/en/concept/control_allocation.md +++ b/docs/en/concept/control_allocation.md @@ -46,7 +46,7 @@ Notes: The driver defines a parameter prefix, e.g. `PWM_MAIN` that the library then uses for configuration. Its main task is to select from the input topics and assign the right data to the outputs based on the user set `_FUNCx` parameter values. For example if `PWM_MAIN_FUNC3` is set to **Motor 2**, the 3rd output is set to the 2nd motor from `actuator_motors`. - - output functions are defined under [src/lib/mixer_module/output_functions.yaml](https://github.com/PX4/PX4-Autopilot/tree/main/src/lib/mixer_module/output_functions.yaml). + - output functions are defined under [src/lib/mixer_module/output_functions.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/lib/mixer_module/output_functions.yaml). - if you want to control an output from MAVLink, set the relevant output function to **Offboard Actuator Set x**, and then send the [MAV_CMD_DO_SET_ACTUATOR](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_SET_ACTUATOR) MAVLink command. ## Adding a new Geometry or Output Function diff --git a/docs/en/config/actuators.md b/docs/en/config/actuators.md index 4bf7abad48..3eec8f2dd2 100644 --- a/docs/en/config/actuators.md +++ b/docs/en/config/actuators.md @@ -377,7 +377,7 @@ The following functions can only be applied to FMU outputs: Enabled when [`PPS_CAP_ENABLE==0`](../advanced_config/parameter_reference.md#PPS_CAP_ENABLE) ::: info -The functions are defined in source at [/src/lib/mixer_module/output_functions.yaml](https://github.com/PX4/PX4-Autopilot/tree/main/src/lib/mixer_module/output_functions.yaml). +The functions are defined in source at [/src/lib/mixer_module/output_functions.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/lib/mixer_module/output_functions.yaml). This list is correct at PX4 v1.15. ::: diff --git a/docs/en/config/index.md b/docs/en/config/index.md index 216b8baf85..603df7ec47 100644 --- a/docs/en/config/index.md +++ b/docs/en/config/index.md @@ -69,7 +69,7 @@ The video below shows most of the calibration process (it uses an older version ## Support -If you need help with the configuration you can ask for help on the [QGroundControl Support forum](https://discuss.px4.io//c/qgroundcontrol/qgroundcontrol-usage). +If you need help with the configuration you can ask for help on the [QGroundControl Support forum](https://discuss.px4.io/c/qgroundcontrol/qgroundcontrol-usage/18). ## See Also diff --git a/docs/en/config_mc/pid_tuning_guide_multicopter.md b/docs/en/config_mc/pid_tuning_guide_multicopter.md index 41fad102e0..652a9835f5 100644 --- a/docs/en/config_mc/pid_tuning_guide_multicopter.md +++ b/docs/en/config_mc/pid_tuning_guide_multicopter.md @@ -64,7 +64,7 @@ The derivative term (**D**) is on the feedback path in order to avoid an effect :::tip For more information see: -- [Not all PID controllers are the same](https://www.controleng.com/articles/not-all-pid-controllers-are-the-same/) (www.controleng.com) +- [Not all PID controllers are the same](https://www.controleng.com/not-all-pid-controllers-are-the-same/) (www.controleng.com) - [PID controller > Standard versus parallel (ideal) PID form]() (Wikipedia) ::: diff --git a/docs/en/dronecan/ark_mosaic__rtk_gps.md b/docs/en/dronecan/ark_mosaic__rtk_gps.md index 1e260d28f1..7d1f477d57 100644 --- a/docs/en/dronecan/ark_mosaic__rtk_gps.md +++ b/docs/en/dronecan/ark_mosaic__rtk_gps.md @@ -12,7 +12,7 @@ Order this module from: ## Hardware Specifications -- [Open Source Schematic and BOM](https://github.com/ARK-Electronics/ARK_MosaicX5_GPS) +- [Open Source Schematic and BOM](https://github.com/ARK-Electronics/ARK_MOSAIC-X5_GPS) - Sensors - [Septentrio Mosaic-X5 GPS](https://www.septentrio.com/en/products/gnss-receivers/gnss-receiver-modules/mosaic-x5) - Triple Band L1/L2/L5 diff --git a/docs/en/dronecan/cuav_can_pmu.md b/docs/en/dronecan/cuav_can_pmu.md index 02b993cebd..1ab2c5fc41 100644 --- a/docs/en/dronecan/cuav_can_pmu.md +++ b/docs/en/dronecan/cuav_can_pmu.md @@ -9,7 +9,7 @@ It is recommended for use in large commercial vehicles, but might also be used f ## Where to Buy -- [CUAV store](https://store.cuav.net/index.php) +- [CUAV store](https://store.cuav.net/) - [CUAV aliexpress ](https://www.aliexpress.com/item/4000369700535.html) ## Hardware Specifications diff --git a/docs/en/dronecan/escs.md b/docs/en/dronecan/escs.md index 44b4a4acc3..9742e3739e 100644 --- a/docs/en/dronecan/escs.md +++ b/docs/en/dronecan/escs.md @@ -4,7 +4,6 @@ PX4 supports DroneCAN compliant ESCs. For more information, see the following articles for specific hardware/firmware: - [PX4 Sapog ESC Firmware](sapog.md) - - [Zubax Orel 20/21](zubax_orel.md) - [Holybro Kotleta 20](holybro_kotleta.md) - [Zubax Telega](zubax_telega.md) - [Vertiq](../peripherals/vertiq.md) (larger modules) diff --git a/docs/en/dronecan/index.md b/docs/en/dronecan/index.md index 1b796f5817..75a211b927 100644 --- a/docs/en/dronecan/index.md +++ b/docs/en/dronecan/index.md @@ -134,8 +134,8 @@ Sensor parameters may not exist (be visible in QGC) until you have enabled the a For example, [SENS_FLOW_MINHGT](../advanced_config/parameter_reference.md#SENS_FLOW_MINHGT) does not exist until [UAVCAN_SUB_FLOW](../advanced_config/parameter_reference.md#UAVCAN_SUB_FLOW) is enabled. ::: -For example, to use a connected DroneCAN smart battery you would enable the [UAVCAN_SUB_BAT](../advanced_config/parameter_reference.md#UAVCAN_SUB_BAT) parameter, which would subscribe PX4 to receive [BatteryInfo](https://dronecan.github.io/Specification/1._Introduction//7._List_of_standard_data_types/#batteryinfo) DroneCAN messages. -If using a peripheral that needs to know if PX4 is armed, you would need to set the [UAVCAN_PUB_ARM](../advanced_config/parameter_reference.md#UAVCAN_PUB_ARM) parameter so that PX4 starts publishing [ArmingStatus](https://dronecan.github.io/Specification/1._Introduction//7._List_of_standard_data_types/#armingstatus) messages. +For example, to use a connected DroneCAN smart battery you would enable the [UAVCAN_SUB_BAT](../advanced_config/parameter_reference.md#UAVCAN_SUB_BAT) parameter, which would subscribe PX4 to receive [BatteryInfo](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#batteryinfo) DroneCAN messages. +If using a peripheral that needs to know if PX4 is armed, you would need to set the [UAVCAN_PUB_ARM](../advanced_config/parameter_reference.md#UAVCAN_PUB_ARM) parameter so that PX4 starts publishing [ArmingStatus](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#armingstatus) messages. The parameter names are prefixed with `UAVCAN_SUB_` and `UAVCAN_PUB_` to indicate whether they enable PX4 subscribing or publishing. The remainder of the name indicates the specific message/feature being set. @@ -159,7 +159,7 @@ The DroneCAN sensor parameters/subscriptions that you can enable are (in PX4 v1. - [UAVCAN_SUB_DPRES](../advanced_config/parameter_reference.md#UAVCAN_SUB_DPRES): Differential pressure - [UAVCAN_SUB_FLOW](../advanced_config/parameter_reference.md#UAVCAN_SUB_FLOW): Optical flow - [UAVCAN_SUB_GPS](../advanced_config/parameter_reference.md#UAVCAN_SUB_GPS): GPS -- [UAVCAN_SUB_GPS_R](../advanced_config/parameter_reference.md#UAVCAN_SUB_GPS_R): Subscribes to GNSS relative message ([RelPosHeading](https://dronecan.github.io/Specification/1._Introduction//7._List_of_standard_data_types/#relposheading)). +- [UAVCAN_SUB_GPS_R](../advanced_config/parameter_reference.md#UAVCAN_SUB_GPS_R): Subscribes to GNSS relative message ([RelPosHeading](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#relposheading)). Only used for logging in PX4 v1.15. - [UAVCAN_SUB_HYGRO](../advanced_config/parameter_reference.md#UAVCAN_SUB_HYGRO): Hygrometer - [UAVCAN_SUB_ICE](../advanced_config/parameter_reference.md#UAVCAN_SUB_ICE): Internal combustion engine (ICE). @@ -195,15 +195,15 @@ Position of rover is established using RTCM messages from the RTK base module (t PX4 DroneCAN parameters: - [UAVCAN_PUB_RTCM](../advanced_config/parameter_reference.md#UAVCAN_PUB_RTCM): - - Makes PX4 publish RTCM messages ([RTCMStream](https://dronecan.github.io/Specification/1._Introduction//7._List_of_standard_data_types/#rtcmstream)) to the bus (which it gets from the RTK base module via QGC). + - Makes PX4 publish RTCM messages ([RTCMStream](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#rtcmstream)) to the bus (which it gets from the RTK base module via QGC). Rover module parameters (also [set using QGC](#qgc-cannode-parameter-configuration)): -- [CANNODE_SUB_RTCM](../advanced_config/parameter_reference.md#CANNODE_SUB_RTCM) tells the rover that it should subscribe to [RTCMStream](https://dronecan.github.io/Specification/1._Introduction//7._List_of_standard_data_types/#rtcmstream) RTCM messages on the bus (from the moving base). +- [CANNODE_SUB_RTCM](../advanced_config/parameter_reference.md#CANNODE_SUB_RTCM) tells the rover that it should subscribe to [RTCMStream](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#rtcmstream) RTCM messages on the bus (from the moving base). ::: info You could instead use [UAVCAN_PUB_MBD](../advanced_config/parameter_reference.md#UAVCAN_PUB_MBD) and [CANNODE_SUB_MBD](../advanced_config/parameter_reference.md#CANNODE_SUB_MBD), which also publish RTCM messages (these are newer). -Using the [RTCMStream](https://dronecan.github.io/Specification/1._Introduction//7._List_of_standard_data_types/#rtcmstream) message means that you can implement moving base (see below) at the same time. +Using the [RTCMStream](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#rtcmstream) message means that you can implement moving base (see below) at the same time. ::: ##### Rover and Moving Base @@ -213,8 +213,8 @@ In this setup the vehicle has a _moving base_ RTK GPS and a _rover_ RTK GPS. These parameters can be [set on moving base and rover RTK CAN nodes](#qgc-cannode-parameter-configuration), respectively: -- [CANNODE_PUB_MBD](../advanced_config/parameter_reference.md#CANNODE_PUB_MBD) causes a moving base GPS unit to publish [MovingBaselineData](https://dronecan.github.io/Specification/1._Introduction//7._List_of_standard_data_types/#movingbaselinedata)RTCM messages onto the bus (for the rover) -- [CANNODE_SUB_MBD](../advanced_config/parameter_reference.md#CANNODE_SUB_MBD) tells the rover that it should subscribe to [MovingBaselineData](https://dronecan.github.io/Specification/1._Introduction//7._List_of_standard_data_types/#movingbaselinedata) RTCM messages on the bus (from the moving base). +- [CANNODE_PUB_MBD](../advanced_config/parameter_reference.md#CANNODE_PUB_MBD) causes a moving base GPS unit to publish [MovingBaselineData](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#movingbaselinedata)RTCM messages onto the bus (for the rover) +- [CANNODE_SUB_MBD](../advanced_config/parameter_reference.md#CANNODE_SUB_MBD) tells the rover that it should subscribe to [MovingBaselineData](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#movingbaselinedata) RTCM messages on the bus (from the moving base). For PX4 you will also need to set [GPS_YAW_OFFSET](../advanced_config/parameter_reference.md#GPS_YAW_OFFSET) to indicate the relative position of the moving base and rover: 0 if your Rover is in front of your Moving Base, 90 if Rover is right of Moving Base, 180 if Rover is behind Moving Base, or 270 if Rover is left of Moving Base. @@ -264,7 +264,7 @@ If the rangefinder is connected via DroneCAN (whether inbuilt or separate), you PX4 DroneCAN parameters: -- [UAVCAN_PUB_ARM](../advanced_config/parameter_reference.md#UAVCAN_PUB_ARM) ([Arming Status](https://dronecan.github.io/Specification/1._Introduction//7._List_of_standard_data_types/#armingstatus)): Publish when using DroneCAN components that require the PX4 arming status as a precondition for use. +- [UAVCAN_PUB_ARM](../advanced_config/parameter_reference.md#UAVCAN_PUB_ARM) ([Arming Status](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#armingstatus)): Publish when using DroneCAN components that require the PX4 arming status as a precondition for use. ### ESC & Servos diff --git a/docs/en/dronecan/sapog.md b/docs/en/dronecan/sapog.md index d86cd0d9ad..924601069c 100644 --- a/docs/en/dronecan/sapog.md +++ b/docs/en/dronecan/sapog.md @@ -100,4 +100,4 @@ See [DroneCAN Troubleshooting](index.md#troubleshooting) - [PX4/Sapog](https://github.com/PX4/sapog#px4-sapog) (Github) - [Sapog v2 Reference Manual](https://files.zubax.com/products/io.px4.sapog/Sapog_v2_Reference_Manual.pdf) -- [Using Sapog based ESC with PX4](https://kb.zubax.com/display/MAINKB/Using+Sapog-based+ESC+with+PX4) (Zubax KB) +- [Using Telega-based controllers with PX4 autopilots](https://wiki.zubax.com/public/telega/telega-v0-legacy/Using-Telega-based-controllers-with-PX4-autopilots) (Zubax KB) diff --git a/docs/en/dronecan/zubax_orel.md b/docs/en/dronecan/zubax_orel.md deleted file mode 100644 index 19b218e141..0000000000 --- a/docs/en/dronecan/zubax_orel.md +++ /dev/null @@ -1,13 +0,0 @@ -# Zubax Orel 20/21 - -The Zubax Orel 20 is an CAN ESC designed to run the open source [PX4 Sapog ESC Firmware](../dronecan/sapog.md). - -While it can be controlled using traditional PWM input, it is designed to operate over CAN bus using [DroneCAN](index.md). - -## Where to Buy - -[Zubax Orel](https://zubax.com/products/orel_20) - -## Setup - -Follow the [Sapog ESC Setup](../dronecan/sapog.md) instructions. diff --git a/docs/en/dronecan/zubax_telega.md b/docs/en/dronecan/zubax_telega.md index 1d13ff522d..6e842f38a3 100644 --- a/docs/en/dronecan/zubax_telega.md +++ b/docs/en/dronecan/zubax_telega.md @@ -15,9 +15,9 @@ Questions on this matter should be addressed to: [support@zubax.com](mailto:supp ## Where to Buy -- [Zubax Myxa](https://shop.zubax.com/products/zubax-myxa): High-end PMSM/BLDC motor controller (FOC ESC) for light unmanned aircraft and watercraft. -- [Zubax Mitochondrik](https://shop.zubax.com/products/mitochondrik): Integrated sensorless PMSM/BLDC motor controller chip (used in ESCs and integrated drives) -- [Zubax Komar](https://shop.zubax.com/products/zubax-ad0510-komar-esc?variant=32931555868771): Open hardware reference design for Mitochondrik +- [Zubax AmpDrive AD0505A/B "Myxa" ESC](https://shop.zubax.com/products/zubax-myxa): High-end PMSM/BLDC motor controller (FOC ESC) for light unmanned aircraft and watercraft. +- [Zubax BoolDrive BD1D50 "Mitochondrik"](https://shop.zubax.com/products/mitochondrik): Integrated sensorless PMSM/BLDC motor controller chip (used in ESCs and integrated drives) +- [Zubax AmpDrive AD0510 "Komar" ESC](https://shop.zubax.com/products/zubax-ad0510-komar-esc): Open hardware reference design for Mitochondrik ## Hardware Setup diff --git a/docs/en/flight_controller/ark_fpv.md b/docs/en/flight_controller/ark_fpv.md index 40578112c2..e975b46b55 100644 --- a/docs/en/flight_controller/ark_fpv.md +++ b/docs/en/flight_controller/ark_fpv.md @@ -23,9 +23,9 @@ See the documentation [Ark Electronics GitBook](https://arkelectron.gitbook.io/a ## Sensors -- [Invensense IIM-42653 Industrial IMU](https://invensense.tdk.com/products/motion-tracking/6-axis/iim-42653/) +- [Invensense IIM-42653 Industrial IMU](https://invensense.tdk.com/products/smartindustrial/iim-42653/) - [Bosch BMP390 Barometer](https://www.bosch-sensortec.com/products/environmental-sensors/pressure-sensors/bmp390/) -- [ST IIS2MDC Magnetometer](https://www.st.com/en/magnetic-sensors/iis2mdc.html) +- [ST IIS2MDC Magnetometer](https://www.st.com/en/mems-and-sensors/iis2mdc.html) ## Microprocessor diff --git a/docs/en/flight_controller/ark_v6x.md b/docs/en/flight_controller/ark_v6x.md index 08dd9593e5..a4272fd806 100644 --- a/docs/en/flight_controller/ark_v6x.md +++ b/docs/en/flight_controller/ark_v6x.md @@ -25,7 +25,7 @@ Order From [Ark Electronics](https://arkelectron.com/product/arkv6x/) (US) - [Dual Invensense ICM-42688-P IMUs](https://invensense.tdk.com/products/motion-tracking/6-axis/icm-42688-p/) - [Invensense IIM-42652 Industrial IMU](https://invensense.tdk.com/products/smartindustrial/iim-42652/) - [Bosch BMP390 Barometer](https://www.bosch-sensortec.com/products/environmental-sensors/pressure-sensors/bmp390/) -- [Bosch BMM150 Magnetometer](https://www.bosch-sensortec.com/products/motion-sensors/magnetometers/bmm150/) +- [Bosch BMM150 Magnetometer](https://www.bosch-sensortec.com/media/boschsensortec/downloads/datasheets/bst-bmm150-ds001.pdf) ## Microprocessor diff --git a/docs/en/flight_controller/autopilot_discontinued.md b/docs/en/flight_controller/autopilot_discontinued.md index 91e1090b93..2ae824c9a2 100644 --- a/docs/en/flight_controller/autopilot_discontinued.md +++ b/docs/en/flight_controller/autopilot_discontinued.md @@ -26,6 +26,6 @@ They are listed because you may be using them in an existing drone, and because ## Complete Vehicles -- [BetaFPV Beta75X 2S Brushless Whoop](../complete_vehicles_mc/betafpv_beta75x.md) -- [Intel® Aero RTF Drone](../complete_vehicles_mc/intel_aero.md) ([Complete Vehicle](../complete_vehicles_mc/index.md)) -- [Qualcomm Snapdragon Flight](../flight_controller/snapdragon_flight.md) ([Complete Vehicle](../complete_vehicles_mc/index.md)) +- [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) diff --git a/docs/en/flight_controller/cuav_v5_plus.md b/docs/en/flight_controller/cuav_v5_plus.md index 401d972dc7..5c2eee9468 100644 --- a/docs/en/flight_controller/cuav_v5_plus.md +++ b/docs/en/flight_controller/cuav_v5_plus.md @@ -60,8 +60,6 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo ## Where to Buy - - [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) [CUAV Taobao](https://item.taobao.com/item.htm?spm=a1z10.5-c.w4002-21303114052.37.a28f697aeYzQx9&id=594262853015) (China Mainland users) diff --git a/docs/en/flight_controller/mro_control_zero_f7.md b/docs/en/flight_controller/mro_control_zero_f7.md index 6f82d28a96..8364326cf2 100644 --- a/docs/en/flight_controller/mro_control_zero_f7.md +++ b/docs/en/flight_controller/mro_control_zero_f7.md @@ -29,8 +29,8 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo - Sensors: - [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://www.invensense.com/products/motion-tracking/9-axis/icm-20948/) 3-axis accelerometer/gyroscope/magnetometer - - [Infineon DPS310 barometer](https://www.infineon.com/cms/en/product/sensor/pressure-sensors/pressure-sensors-for-iot/dps310/) (So smooth and NO more light sensitivity) + - [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) - Interfaces: - 6x UART (serial ports total), 3x with HW flow control, 1x FRSky Telemetry (D or X types), 1x Console and 1x GPS+I2C @@ -92,7 +92,7 @@ The [SWD port](../debug/swd_debug.md) (JTAG) for FMU debugging is a TC2030 debug ![mro swd port](../../assets/flight_controller/mro_control_zero_f7/mro_control_zero_f7_swd.jpg) -You can use the [Tag Connect](https://www.tag-connect.com/) cable [TC2030 IDC NL](https://www.tag-connect.com/product/tc2030-idc-nl) below (with associated [retaining clip](https://www.tag-connect.com/product/tc2030-clip-retaining-clip-board-for-tc2030-nl-cables)) to attach to either a BlackMagic probe or a ST-LINK V2 debugger. +You can use the [Tag Connect](https://www.tag-connect.com/) cable [TC2030 IDC NL](https://www.tag-connect.com/product/tc2030-idc-nl) below (with associated [retaining clip](https://www.tag-connect.com/product/tc2030-retaining-clip-board-3-pack)) to attach to either a BlackMagic probe or a ST-LINK V2 debugger. ![tc2030 idc nl cable](../../assets/flight_controller/mro_control_zero_f7/tc2030_idc_nl.jpg) diff --git a/docs/en/flight_controller/nxp_mr_vmu_rt1176.md b/docs/en/flight_controller/nxp_mr_vmu_rt1176.md index 415b0c9ce7..972823967c 100644 --- a/docs/en/flight_controller/nxp_mr_vmu_rt1176.md +++ b/docs/en/flight_controller/nxp_mr_vmu_rt1176.md @@ -51,8 +51,8 @@ Similar variants will be available from our licensees. ## Key Design Points -- High performance [NXP i.MX RT1170 1GHz Crossover MCU](https://www.nxp.com/products/processors-and-microcontrollers/arm-microcontrollers/i-mx-rt-crossover-mcus/i-mx-rt1170-1-ghz-crossover-mcu-with-arm-cortex-cores:i.MX-RT1170) with Arm® Cortex® cores -- Hardware secure element [NXP EdgeLock SE051](https://www.nxp.com/products/security-and-authentication/authentication/edgelock-se051-proven-easy-to-use-iot-security-solution-with-support-for-updatability-and-custom-applets:SE051). +- High performance [NXP i.MX RT1170 1GHz Crossover MCU](https://www.nxp.com/products/i.MX-RT1170) with Arm® Cortex® cores +- Hardware secure element [NXP EdgeLock SE051](https://www.nxp.com/products/SE051). This is an extension to the widely trusted EdgeLock SE050 Plug & Trust secure element family, supports applet updates in the field and delivers proven security certified to CC EAL 6+, with AVA_VAN.5 up to the OS level, for strong protection against the most recent attack scenarios. This can be used, for example, to securely store operator ID or certificates. - Modular flight controller: separated IMU, FMU, and Base system connected by a 100-pin & a 50-pin Pixhawk® Autopilot Bus connector. @@ -187,7 +187,7 @@ TBD _MR-VMU-RT1176_ can be triple-redundant on the power supply if three power sources are supplied. The three power rails are: **POWER1**, **POWER2** and **USB**. -The **POWER1** & **POWER2** ports on the MR-VMU-RT1176 uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/molex/products/part-detail/pcb_receptacles/5024430670). +The **POWER1** & **POWER2** ports on the MR-VMU-RT1176 uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/en-us/products/part-detail/5024430670). ### Normal Operation Maximum Ratings diff --git a/docs/en/flight_controller/nxp_rddrone_fmuk66.md b/docs/en/flight_controller/nxp_rddrone_fmuk66.md index fe16f2df0e..863254bd67 100644 --- a/docs/en/flight_controller/nxp_rddrone_fmuk66.md +++ b/docs/en/flight_controller/nxp_rddrone_fmuk66.md @@ -45,21 +45,21 @@ Telemetry radios ([HGD-TELEM433](https://www.nxp.com/part/HGD-TELEM433) and [HGD ![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/designs/px4-robotic-drone-fmu-rddrone-fmuk66:RDDRONE-FMUK66#buy) +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/designs/px4-robotic-drone-fmu-rddrone-fmuk66:RDDRONE-FMUK66). +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). ## Where to Buy **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/designs/px4-robotic-drone-fmu-rddrone-fmuk66:RDDRONE-FMUK66#buy) (www.nxp.com) +- [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/applications/solutions/industrial/aerospace-and-mobile-robotics/uavs-drones-and-rovers/nxp-hovergames-drone-kit-including-rddrone-fmuk66-and-peripherals:KIT-HGDRONEK66#buy) +_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) ::: ## Payloads diff --git a/docs/en/peripherals/parachute.md b/docs/en/peripherals/parachute.md index 43c9cbc7a5..6760760abe 100644 --- a/docs/en/peripherals/parachute.md +++ b/docs/en/peripherals/parachute.md @@ -66,7 +66,7 @@ You then need to ensure that the parachute pin will be set to a value that will The output is automatically set to the maximum PWM value when a failsafe is triggered. ::: info - For the spring-loaded launcher from [Fruity Chutes](https://fruitychutes.com/buyachute/drone-and-uav-parachute-recovery-c-21/harrier-drone-parachute-launcher-c-21_33/) the minimum PWM value should be between 700 and 1000ms, and the maximum value between 1800 and 2200ms. + For the spring-loaded launcher from [Fruity Chutes](https://fruitychutes.com/uav_rpv_drone_recovery_parachutes/drone_multicopter_quadcopter_recovery_parachutes#Harrier) the minimum PWM value should be between 700 and 1000ms, and the maximum value between 1800 and 2200ms. ::: ### MAVLink Parachute Setup diff --git a/docs/en/releases/1.12.md b/docs/en/releases/1.12.md index 91fb7570c4..0c1f8dcb35 100644 --- a/docs/en/releases/1.12.md +++ b/docs/en/releases/1.12.md @@ -54,8 +54,8 @@ The release includes new hardware support for the following boards, peripherals, - CUAV X7 / X7Pro - CUAV Nora - CUAV CAN GPS (Neo-3-2) -- SP Racing H7 Extreme ([Read more about this product on the manufacturers site](http://seriouslypro.com/spracingh7extreme)) -- Bitcraze Crazyflie v2.1 ([Read more about this product on the manufacturers site](https://www.bitcraze.io/products/crazyflie-2-1/)) +- SP Racing H7 Extreme ([Read more about this product on the manufacturers site](http://seriouslypro.com/products/spracingh7extreme)) +- Bitcraze Crazyflie v2.1 ([Read more about this product on the manufacturers site](https://www.bitcraze.io/products/crazyflie-2-1-brushless/)) - ARK CAN Flow ([Read more about this product on the manufacturers site](https://arkelectron.com/product/ark-flow/)) - mRo Ctrl Zero H7 (Experimental) ([Read more about this product on the manufacturers site](https://store.mrobotics.io/mRo-Control-Zero-F7-p/mro-ctrl-zero-f7.htm)) diff --git a/docs/en/ros/external_position_estimation.md b/docs/en/ros/external_position_estimation.md index 81c259563a..6ba9c11cdd 100644 --- a/docs/en/ros/external_position_estimation.md +++ b/docs/en/ros/external_position_estimation.md @@ -90,9 +90,7 @@ You can also disable GNSS, baro and range finder fusion using [EKF2_GPS_CTRL](.. Reboot the flight controller in order for parameter changes to take effect. ::: - - -#### Tuning EKF2_EV_DELAY +#### Tuning EKF2_EV_DELAY {#tuning-EKF2_EV_DELAY} [EKF2_EV_DELAY](../advanced_config/parameter_reference.md#EKF2_EV_DELAY) is the _Vision Position Estimator delay relative to IMU measurements_. @@ -171,9 +169,7 @@ VIO and MoCap systems have different ways of obtaining pose data, and have their The setup for specific systems is covered [below](#setup_specific_systems). For other systems consult the vendor setup documentation. - - -### Relaying Pose Data to PX4 +### Relaying Pose Data to PX4 {#relaying_pose_data_to_px4} MAVROS has plugins to relay a visual estimation from a VIO or MoCap system using the following pipelines: @@ -253,13 +249,11 @@ When using the MAVROS _odom_ plugin, it is important that no other node is publi This might break the _tf_ tree. ::: - - -## Specific System Setups +## Specific System Setups {#setup_specific_systems} ### OptiTrack MoCap -The following steps explain how to feed position estimates from an [OptiTrack](https://optitrack.com/motion-capture-robotics/) system to PX4. +The following steps explain how to feed position estimates from an [OptiTrack](https://optitrack.com/applications/robotics/) system to PX4. It is assumed that the MoCap system is calibrated. See [this video](https://www.youtube.com/watch?v=cNZaFEghTBU) for a tutorial on the calibration process.