docs:Fix in-source broken links in modules and airframes ref (#26611)

src/modules/ekf2/EKF2.cpp

@@ -2945,7 +2945,7 @@ int EKF2::print_usage(const char *reason)
 ### Description
 Attitude and position estimator using an Extended Kalman Filter. It is used for Multirotors and Fixed-Wing.
 
-The documentation can be found on the [ECL/EKF Overview & Tuning](https://docs.px4.io/main/en/advanced_config/tuning_the_ecl_ekf.html) page.
+The documentation can be found on the [ECL/EKF Overview & Tuning](../advanced_config/tuning_the_ecl_ekf.md) page.
 
 ekf2 can be started in replay mode (`-r`): in this mode, it does not access the system time, but only uses the
 timestamps from the sensor topics.

src/modules/gimbal/gimbal.cpp

@@ -618,7 +618,7 @@ static void usage()
 Mount/gimbal Gimbal control driver. It maps several different input methods (eg. RC or MAVLink) to a configured
 output (eg. AUX channels or MAVLink).
 
-Documentation how to use it is on the [gimbal_control](https://docs.px4.io/main/en/advanced/gimbal_control.html) page.
+Documentation how to use it is on the [gimbal_control](../advanced/gimbal_control.md) page.
 
 ### Examples
 Test the output by setting a angles (all omitted axes are set to 0):

src/modules/replay/Replay.cpp

@@ -1259,7 +1259,7 @@ The module is typically used together with uORB publisher rules, to specify whic
 The replay module will just publish all messages that are found in the log. It also applies the parameters from
 the log.
 
-The replay procedure is documented on the [System-wide Replay](https://docs.px4.io/main/en/debug/system_wide_replay.html)
+The replay procedure is documented on the [System-wide Replay](../debug/system_wide_replay.md)
 page.
 )DESCR_STR");