Cleanup manual mode

Cleanup
Fix thrust scaling - working with tuning
2026-05-30 14:00:05 +08:00 · 2025-08-04 23:41:28 +09:00 · 2025-08-04 12:50:08 +09:00 · 2025-08-04 12:01:32 +09:00 · 2025-08-02 11:12:27 +02:00 · 2025-07-08 16:50:30 +09:00
709 changed files with 5940 additions and 2106 deletions
@@ -18,7 +18,7 @@ on:
      - 'docs/**'
  pull_request:
    branches:
-      - '*'
+      - '**'
    paths-ignore:
      - 'docs/**'

@@ -8,10 +8,14 @@ on:
      - 'docs/**'
  pull_request:
    branches:
-    - '*'
+      - '**'
    paths-ignore:
      - 'docs/**'

+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
 jobs:
  build:
    runs-on: ubuntu-latest
@@ -39,7 +43,7 @@ jobs:
      - name: Building [${{ matrix.check }}]
        uses: addnab/docker-run-action@v3
        with:
-          image: px4io/px4-dev-nuttx-focal:2022-08-12
+          image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
          options: -v ${{ github.workspace }}:/workspace
          run: |
            cd /workspace
@@ -8,7 +8,7 @@ on:
      - 'docs/**'
  pull_request:
    branches:
-    - '*'
+      - '**'
    paths-ignore:
      - 'docs/**'
 jobs:
@@ -8,10 +8,14 @@ on:
      - 'docs/**'
  pull_request:
    branches:
-    - '*'
+      - '**'
    paths-ignore:
      - 'docs/**'

+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
 jobs:
  build:
    runs-on: macos-latest
@@ -11,13 +11,17 @@ on:
      - 'docs/**'
  pull_request:
    branches:
-      - '*'
+      - '**'
    paths-ignore:
      - 'docs/**'

 env:
  RUNS_IN_DOCKER: true

+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
 jobs:
  build_and_test:
    name: Build and Test
@@ -11,7 +11,7 @@ on:
      - 'v*'
  pull_request:
    branches:
-      - '*'
+      - '**'
    paths:
      - '.github/workflows/dev_container.yml'
      - 'Tools/setup/ubuntu.sh'
@@ -30,6 +30,10 @@ on:
        type: boolean
        default: false

+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
 jobs:
  setup:
    name: Set Tags and Variables
@@ -9,7 +9,7 @@ on:
      - 'docs/en/**'
  pull_request:
    branches:
-      - '*'
+      - '**'
    paths:
      - 'docs/en/**'

@@ -80,7 +80,7 @@ jobs:
      - name: Deploy
        run: |
          git clone --single-branch --branch main --depth 1 https://${{ secrets.PX4BUILTBOT_PERSONAL_ACCESS_TOKEN }}@github.com/PX4/docs.px4.io.git
-          # make it an orphan branch      
+          # make it an orphan branch
          cd docs.px4.io
          CURRENT_DATETIME=$(date +'%Y%m%d_%H_%M')
          git checkout --orphan "${CURRENT_DATETIME}_main"
@@ -3,7 +3,7 @@ name: EKF Change Indicator
 on:
  pull_request:
    branches:
-    - '*'
+      - '**'
    paths-ignore:
      - 'docs/**'

@@ -8,10 +8,14 @@ on:
      - 'docs/**'
  pull_request:
    branches:
-    - '*'
+      - '**'
    paths-ignore:
      - 'docs/**'

+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
 jobs:
  build:
    runs-on: ubuntu-latest
@@ -13,7 +13,7 @@ on:
      - 'docs/**'
  pull_request:
    branches:
-      - '*'
+      - '**'
    paths-ignore:
      - 'docs/**'

@@ -11,10 +11,14 @@ on:
      - 'docs/**'
  pull_request:
    branches:
-      - '*'
+      - '**'
    paths-ignore:
      - 'docs/**'

+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
 jobs:
  check_itcm:
    name: Checking ${{ matrix.target }}
@@ -8,10 +8,14 @@ on:
      - 'docs/**'
  pull_request:
    branches:
-    - '*'
+      - '**'
    paths-ignore:
      - 'docs/**'

+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
 jobs:
  build:
    runs-on: ubuntu-latest
@@ -8,10 +8,14 @@ on:
      - 'docs/**'
  pull_request:
    branches:
-    - '*'
+      - '**'
    paths-ignore:
      - 'docs/**'

+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
 jobs:
  build:
    runs-on: ubuntu-latest
@@ -8,10 +8,14 @@ on:
      - 'docs/**'
  pull_request:
    branches:
-    - '*'
+      - '**'
    paths-ignore:
      - 'docs/**'

+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
 jobs:
  build:
    runs-on: ubuntu-latest
@@ -8,7 +8,7 @@ on:
      - 'docs/**'
  pull_request:
    branches:
-    - '*'
+      - '**'
    paths-ignore:
      - 'docs/**'

@@ -17,6 +17,10 @@ on:
    paths-ignore:
      - 'docs/**'

+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
 jobs:
  build:
    runs-on: [runs-on,runner=16cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
@@ -7,12 +7,17 @@ on:
      - 'docs/**'
  pull_request:
    branches:
-    - '*'
+      - '**'
    paths-ignore:
      - 'docs/**'
 defaults:
  run:
    shell: bash
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
 jobs:
  build_and_test:
    name: Build and test
@@ -13,10 +13,14 @@ on:
      - 'docs/**'
  pull_request:
    branches:
-    - '*'
+    - '**'
    paths-ignore:
      - 'docs/**'

+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
 jobs:
  build:
    name: Testing PX4 ${{ matrix.config.model }}
@@ -426,7 +426,6 @@ if(BUILD_TESTING)
 	set_target_properties(test_results PROPERTIES EXCLUDE_FROM_ALL TRUE)
 endif()

-
 #=============================================================================
 # subdirectories
 #
@@ -410,11 +410,18 @@ tests:
 	$(eval UBSAN_OPTIONS += color=always)
 	$(call cmake-build,px4_sitl_test)

+# work around lcov bug #316; remove once lcov is fixed (see https://github.com/linux-test-project/lcov/issues/316)
+LCOBUG = --ignore-errors mismatch
 tests_coverage:
 	@$(MAKE) clean
 	@$(MAKE) --no-print-directory tests PX4_CMAKE_BUILD_TYPE=Coverage
 	@mkdir -p coverage
-	@lcov --directory build/px4_sitl_test --base-directory build/px4_sitl_test --gcov-tool gcov --capture -o coverage/lcov.info
+	@lcov --directory build/px4_sitl_test \
+		--base-directory build/px4_sitl_test \
+		--gcov-tool gcov \
+		--capture \
+		$(LCOBUG) \
+		-o coverage/lcov.info


 rostest: px4_sitl_default
@@ -46,3 +46,22 @@ param set-default PWM_MAIN_FUNC3 203
 param set-default PWM_MAIN_FUNC4 101

 param set-default EKF2_GPS_DELAY 0
+
+# Rate controllers
+param set-default FW_RR_P 0.0500
+param set-default FW_RR_I 2.0000
+param set-default FW_RR_D 0.0000
+param set-default FW_RR_FF 0.0000
+param set-default FW_RR_IMAX 1.0000
+
+param set-default FW_PR_P 0.0800
+param set-default FW_PR_I 2.5000
+param set-default FW_PR_D 0.0000
+param set-default FW_PR_FF 0.0000
+param set-default FW_PR_IMAX 1.0000
+
+param set-default FW_YR_P 0.0500
+param set-default FW_YR_I 3.0000
+param set-default FW_YR_D 0.0000
+param set-default FW_YR_FF 0.0000
+param set-default FW_YR_IMAX 1.0000
@@ -13,6 +13,7 @@ control_allocator start
 #
 # Start attitude controller.
 #
+fw_dyn_soar_control start
 fw_rate_control start
 fw_att_control start
 fw_mode_manager start
@@ -224,7 +224,7 @@ else
 		# Look for airframe in ROMFS
 		. ${R}etc/init.d/rc.autostart

-		if [ ${VEHICLE_TYPE} == none ]
+		if [ ${VEHICLE_TYPE} = none ]
 		then
 			# Use external startup file
 			if [ $STORAGE_AVAILABLE = yes ]
@@ -235,7 +235,7 @@ else
 			fi
 		fi

-		if [ ${VEHICLE_TYPE} == none ]
+		if [ ${VEHICLE_TYPE} = none ]
 		then
 			echo "ERROR [init] No airframe file found for SYS_AUTOSTART value"
 			param set SYS_AUTOSTART 0
@@ -5,7 +5,7 @@
 set SERIAL_DEV none
 {% for serial_device in serial_devices -%}
 if param compare "$PRT" {{ serial_device.index }}; then
-	if [ "x$PRT_{{ serial_device.tag }}_" = "x" ]; then
+	if [ "$PRT_{{ serial_device.tag }}_" = "" ]; then
 		set SERIAL_DEV {{ serial_device.device }}
 		set BAUD_PARAM SER_{{ serial_device.tag }}_BAUD
 		set PRT_{{ serial_device.tag }}_ 1
@@ -17,6 +17,7 @@ CONFIG_MODULES_EKF2=y
 CONFIG_EKF2_VERBOSE_STATUS=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
+CONFIG_MODULES_FW_DYN_SOAR_CONTROL=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_MODE_MANAGER=y
@@ -36,6 +36,20 @@ find_program(GENHTML_PATH genhtml)

 message(STATUS "Building for code coverage")

+if (CMAKE_BUILD_TYPE STREQUAL Coverage)
+	# Coverage instrumentation plus atomic updates
+	set(COVERAGE_FLAGS
+		--coverage
+		-fprofile-update=atomic
+	)
+
+	# Apply to every compile and link invocation
+	add_compile_options(${COVERAGE_FLAGS})
+	add_link_options(${COVERAGE_FLAGS})
+
+	message(STATUS "Coverage instrumentation enabled with flags: ${COVERAGE_FLAGS}")
+endif()
+
 # add code coverage build type
 if (("${CMAKE_CXX_COMPILER_ID}" MATCHES "Clang") OR ("${CMAKE_CXX_COMPILER_ID}" MATCHES "AppleClang"))
 	set(CMAKE_C_FLAGS_COVERAGE "--coverage -ftest-coverage -fdiagnostics-absolute-paths -O0 -fprofile-arcs -fno-inline-functions"
@@ -18,4 +18,4 @@ Questions about these tools should be raised on the [discussion forums](../contr
 | [FlightGear](../sim_flightgear/index.md)            | <p>A simulator that provides physically and visually realistic simulations. In particular it can simulate many weather conditions, including thunderstorms, snow, rain and hail, and can also simulate thermals and different types of atmospheric flows. [Multi-vehicle simulation](../sim_flightgear/multi_vehicle.md) is also supported.</p> <p><strong>Supported Vehicles:</strong> Plane, Autogyro, Rover</p> |
 | [JMAVSim](../sim_jmavsim/index.md) | <p>A simple multirotor/quad simulator. This was previously part of the PX4 development toolchain but was removed in favour of [Gazebo](../sim_gazebo_gz/index.md).</p> <p><strong>Supported Vehicles:</strong> Quad</p>                                                                                                                                                                                                      |
 | [JSBSim](../sim_jsbsim/index.md)                    | <p>A simulator that provides advanced flight dynamics models. This can be used to model realistic flight dynamics based on wind tunnel data.</p> <p><strong>Supported Vehicles:</strong> Plane, Quad, Hex</p>                                                                                                                                                                                                      |
-| [AirSim](../sim_airsim/index.md)                    | <p>A cross platform simulator that provides physically and visually realistic simulations. This simulator is resource intensive, and requires a very significantly more powerful computer than the other simulators described here.</p><p><strong>Supported Vehicles:</strong> Iris (MultiRotor model and a configuration for PX4 QuadRotor in the X configuration).</p>                                           |
+| [AirSim](../sim_airsim/index.md)                    | <p>A cross platform simulator that provides physically and visually realistic simulations. This simulator is resource intensive, and requires a significantly more powerful computer than the other simulators described here.</p><p><strong>Supported Vehicles:</strong> Iris (MultiRotor model and a configuration for PX4 QuadRotor in the X configuration).</p>                                           |
@@ -1,9 +1,7 @@
 - [Introduction](index.md)
-
  - [기본 개념](getting_started/px4_basic_concepts.md)

 - [멀티콥터](frames_multicopter/index.md)
-
  - [Features](features_mc/index.md)
    - [비행 모드 ](flight_modes_mc/index.md)
      - [위치 모드 (멀티콥터)](flight_modes_mc/position.md)
@@ -57,7 +55,6 @@
    - [DJI F450 (CUAV v5 nano)](frames_multicopter/dji_f450_cuav_5nano.md)

 - [Planes (Fixed-Wing)](frames_plane/index.md)
-
  - [Assembly](assembly/assembly_fw.md)
  - [Config/Tuning](config_fw/index.md)
    - [Auto-tune](config/autotune_fw.md)
@@ -85,7 +82,6 @@
    - [Wing Wing Z84 (Pixracer)](frames_plane/wing_wing_z84.md)

 - [수직이착륙기(VTOL)](frames_vtol/index.md)
-
  - [Assembly](assembly/assembly_vtol.md)
  - [VTOL 설정 및 튜닝](config_vtol/index.md)
    - [Auto-tune](config/autotune_vtol.md)
@@ -110,7 +106,6 @@
  - [Complete Vehicles](complete_vehicles_vtol/index.md)

 - [Operations](config/operations.md)
-
  - [안전 설정](config/safety_intro.md)
    - [Safety Configuration (Failsafes)](config/safety.md)
    - [Failsafe Simulation](config/safety_simulation.md)
@@ -131,7 +126,6 @@
    - [QGroundControl Flight-Readiness Status](flying/pre_flight_checks.md)

 - [Hardware Selection & Setup](hardware/drone_parts.md)
-
  - [비행 컨트롤러 (오토파일럿)](flight_controller/index.md)
    - [Flight Controller Selection](getting_started/flight_controller_selection.md)
    - [Pixhawk Series](flight_controller/pixhawk_series.md)
@@ -168,13 +162,11 @@
      - [ARK Electronics ARKV6X](flight_controller/ark_v6x.md)
      - [ARK FPV Flight Controller](flight_controller/ark_fpv.md)
      - [ARK Pi6X Flow Flight Controller](flight_controller/ark_pi6x.md)
-      - [CUAV X7](flight_controller/cuav_x7.md)
      - [CUAV Nora](flight_controller/cuav_nora.md)
      - [CUAV V5+ (FMUv5)](flight_controller/cuav_v5_plus.md)
        - [Wiring Quickstart](assembly/quick_start_cuav_v5_plus.md)
      - [CUAV V5 nano (FMUv5)](flight_controller/cuav_v5_nano.md)
        - [CUAV V5 nano 배선 퀵 스타트](assembly/quick_start_cuav_v5_nano.md)
-      - [CUAV Pixhack v3 (FMUv3)](flight_controller/pixhack_v3.md)
      - [CubePilot Cube Orange+ (CubePilot)](flight_controller/cubepilot_cube_orangeplus.md)
      - [CubePilot Cube Orange (CubePilot)](flight_controller/cubepilot_cube_orange.md)
      - [CubePilot Cube Yellow (CubePilot)](flight_controller/cubepilot_cube_yellow.md)
@@ -190,8 +182,7 @@
      - [ModalAI Flight Core v1](flight_controller/modalai_fc_v1.md)
      - [ModalAI VOXL Flight](flight_controller/modalai_voxl_flight.md)
      - [ModalAI VOXL 2](flight_controller/modalai_voxl_2.md)
-      - [mRobotics-X2.1 (FMUv2)](flight_controller/mro_x2.1.md)
-      - [mRo Control Zero F7)](flight_controller/mro_control_zero_f7.md)
+      - [mRo Control Zero F7](flight_controller/mro_control_zero_f7.md)
      - [Sky-Drones AIRLink](flight_controller/airlink.md)
      - [SPRacing SPRacingH7EXTREME](flight_controller/spracingh7extreme.md)
      - [ThePeach FCC-K1](flight_controller/thepeach_k1.md)
@@ -208,10 +199,13 @@
      - [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)
      - [CUAV v5](flight_controller/cuav_v5.md)
+      - [CUAV Pixhack v3 (FMUv3)](flight_controller/pixhack_v3.md)
      - [Holybro Kakute F7](flight_controller/kakutef7.md)
      - [Holybro Pixfalcon](flight_controller/pixfalcon.md)
      - [Holybro pix32 (FMUv2)](flight_controller/holybro_pix32.md)
+      - [mRo X2.1 (FMUv2)](flight_controller/mro_x2.1.md)
      - [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)
@@ -228,7 +222,9 @@
    - [Bootloader Update](advanced_config/bootloader_update.md)
      - [Bootloader Update FMUv6X-RT via USB](advanced_config/bootloader_update_v6xrt.md)
      - [Bootloader Flashing onto Betaflight Systems](advanced_config/bootloader_update_from_betaflight.md)
+
  - [Airframe Selection](config/airframe.md)
+
  - [센서](sensor/index.md)
    - [가속도계](sensor/accelerometer.md)
      - [Calibration](config/accelerometer.md)
@@ -271,6 +267,7 @@
      - [CUAV C-RTK](gps_compass/rtk_gps_cuav_c-rtk.md)
      - [CUAV C-RTK2 PPK/RTK GNSS](gps_compass/rtk_gps_cuav_c-rtk2.md)
      - [CUAV C-RTK 9Ps](gps_compass/rtk_gps_cuav_c-rtk-9ps.md)
+      - [DATAGNSS NANO HRTK GNSS](gps_compass/rtk_gps_datagnss_nano_hrtk.md)
      - [DATAGNSS GEM1305 RTK GNSS](gps_compass/rtk_gps_gem1305.md)
      - [Femtones MINI2 Receiver](gps_compass/rtk_gps_fem_mini2.md)
      - [Freefly RTK GPS](gps_compass/rtk_gps_freefly.md)
@@ -296,6 +293,7 @@
      - [ThunderFly TFRPM01 타코미터 센서](sensor/thunderfly_tachometer.md)
    - [IMU Factory Calibration](advanced_config/imu_factory_calibration.md)
    - [센서 온도 보정](advanced_config/sensor_thermal_calibration.md)
+
  - [액츄에이터](actuators/index.md)
    - [ADSB/FLARM (트래픽 회피)](config/actuators.md)
    - [ESC 보정](advanced_config/esc_calibration.md)
@@ -310,10 +308,13 @@
          - [Zubax Orel](dronecan/zubax_orel.md)
      - [Vertiq](peripherals/vertiq.md)
      - [VESC](peripherals/vesc.md)
+
  - [Radio Control (RC)](getting_started/rc_transmitter_receiver.md)
    - [무선 조종기 설정](config/radio.md)
    - [비행 모드](config/flight_mode.md)
+
  - [Joysticks](config/joystick.md)
+
  - [Data Links](data_links/index.md)
    - [MAVLink 텔레메트리(OSD/GCS) ](peripherals/mavlink_peripherals.md)

@@ -338,6 +339,7 @@
    - [TBS Crossfire (CRSF) Telemetry](telemetry/crsf_telemetry.md)

    - [Satellite Comms (Iridium/RockBlock)](advanced_features/satcom_roadblock.md)
+
  - [Power Systems](power_systems/index.md)
    - [Battery Estimation Tuning](config/battery.md)
    - [Battery Chemistry Overview](power_systems/battery_chemistry.md)
@@ -356,6 +358,7 @@
      - [Sky-Drones SmartAP PDB](power_module/sky-drones_smartap-pdb.md)
    - [Smart/MAVLink Batteries](smart_batteries/index.md)
      - [Rotoye Batmon 배터리 스마트 키트](smart_batteries/rotoye_batmon.md)
+
  - [탑재중량과 카메라](payloads/index.md)
    - [Use Cases](payloads/use_cases.md)
    - [Package Delivery Mission](flying/package_delivery_mission.md)
@@ -367,19 +370,25 @@
    - [Gimbal \(Mount\) Configuration](advanced/gimbal_control.md)
    - [Grippers](peripherals/gripper.md)
      - [Servo Gripper](peripherals/gripper_servo.md)
+
  - [Peripherals](peripherals/index.md)
    - [ADSB/FLARM/UTM (Traffic Avoidance)](peripherals/adsb_flarm.md)
    - [낙하산](peripherals/parachute.md)
    - [Remote ID](peripherals/remote_id.md)
+
  - [I2C Peripherals](sensor_bus/i2c_general.md)
    - [I2C bus accelerators](sensor_bus/i2c_general.md#i2c-bus-accelerators)
    - [TFI2CADT01 I2C address translator](sensor_bus/translator_tfi2cadt.md)
+
  - [CAN Peripherals](can/index.md)
+
  - [DroneCAN Peripherals](dronecan/index.md)
    - [PX4 DroneCAN Firmware](dronecan/px4_cannode_fw.md)
    - [ARK CANnode](dronecan/ark_cannode.md)
    - [RaccoonLab CAN Nodes](dronecan/raccoonlab_nodes.md)
+
  - [배선 개요](assembly/cable_wiring.md)
+
  - [보조 컴퓨터](companion_computer/index.md)
    - [Pixhawk + Companion Setup](companion_computer/pixhawk_companion.md)
      - [RPi Pixhawk Companion](companion_computer/pixhawk_rpi.md)
@@ -395,16 +404,19 @@
        - [리얼센스 T265 트래킹 카메라 (VIO)](camera/camera_intel_realsense_t265_vio.md)
    - [동영상 스트리밍](companion_computer/video_streaming.md)
      - [Video Streaming using WFB-ng Wifi (Long range)](companion_computer/video_streaming_wfb_ng_wifi.md)
+
  - [직렬 포트 설정 ](peripherals/serial_configuration.md)
+
  - [PX4 이더넷 설정](advanced_config/ethernet_setup.md)
+
  - [Standard Configuration](config/index.md)
+
  - [고급 설정](advanced_config/index.md)
    - [Using PX4's Navigation Filter (EKF2)](advanced_config/tuning_the_ecl_ekf.md)
    - [매개변수 검색 및 수정](advanced_config/parameters.md)
    - [전체 매개변수 정의서](advanced_config/parameter_reference.md)

 - [Other Vehicles](airframes/index.md)
-
  - [Airships (experimental)](frames_airship/index.md)
  - [Autogyros (experimental)](frames_autogyro/index.md)
    - [선더플라이 Auto-G2 (Holybro pix32)](frames_autogyro/thunderfly_auto_g2.md)
@@ -765,7 +777,7 @@
    - [Debugging with GDB](debug/gdb_debugging.md)
      - [SWD Debug Port](debug/swd_debug.md)
      - [JLink Probe](debug/probe_jlink.md)
-      - [Black Magic/DroneCode Probe](debug/probe_bmp.md)
+      - [Black Magic/Zubax BugFace BF1 Probe](debug/probe_bmp.md)
      - [STLink Probe](debug/probe_stlink.md)
      - [MCU-Link Probe](debug/probe_mculink.md)
      - [Hardfault Debugging](debug/gdb_hardfault.md)
@@ -41,7 +41,7 @@ The specifications of the host computer where the Virtual Box is running, the Vi

 ## ROS 인디고 설치

- Follow instructions given at [ROS indigo installation guide](http://wiki.ros.org/indigo/Installation/Ubuntu):
+- Follow instructions given at [ROS indigo installation guide](https://wiki.ros.org/indigo/Installation/Ubuntu):
  - 데스크톱 전체 버전을 설치하십시오.
  - "Initialize rosdep"과 "Environment setup" 부분에 설명한 단계를 실행하십시오.

@@ -54,7 +54,6 @@ The specifications of the host computer where the Virtual Box is running, the Vi
  ```

 - Download and install the driver:
-
  - Clone [RealSense_ROS repository](https://github.com/bestmodule/RealSense_ROS):

    ```sh
@@ -62,7 +61,6 @@ The specifications of the host computer where the Virtual Box is running, the Vi
    ```

 - Follow instructions given in [here](https://github.com/bestmodule/RealSense_ROS/tree/master/r200_install).
-
  - 패키지 설치할 지 여부를 물어보면 엔터키를 입력하십시오.

    ```sh
@@ -86,11 +84,9 @@ The specifications of the host computer where the Virtual Box is running, the Vi
 - 설치 과정이 끝나면, 가상 머신을 다시 시작하십시오.

 - 카메라 드라이버 시험:
-
  - 인텔 리얼센스 카메라 헤드를 USB3 케이블로 USB3 방식을 따르는 컴퓨터의 포트에 연결하십시오.
  - Click on Devices->USB-> Intel Corp Intel RealSense 3D Camera R200 in the menu bar of the Virtual Box, in order to forward the camera USB connection to the Virtual Machine.
  - [패키지 해제 폴더]/Bin/DSReadCameraInfo 파일을 실행하십시오:
-
    - 다음 오류 메시지가 나타나면 카메라 연결을 해제하십시오(컴퓨터에서 물리적으로 USB 케이블을 뽑아내십시오). Plug it in again + Click on Devices->USB-> Intel Corp Intel RealSense 3D Camera R200 in the menu bar of the Virtual Box again and execute again the file [unpacked folder]/Bin/DSReadCameraInfo.

      ```sh
@@ -39,7 +39,7 @@ The u-blox U-Center RTK module configuration tool is not needed/used!
 :::

 :::info
-Both _QGroundControl_ and the autopilot firmware share the same [PX4 GPS driver stack](https://github.com/PX4/GpsDrivers).
+Both _QGroundControl_ and the autopilot firmware share the same [PX4 GPS driver stack](https://github.com/PX4/PX4-GPSDrivers).
 실제로, 새 프로토콜 또는 메시지 지원시 한쪽에만 추가하면 됩니다.
 :::

@@ -25,7 +25,7 @@ On Windows, one option is to use _Melody Master_ within _Dosbox_.

 소프트웨어 사용 절차는 다음과 같습니다.

-1. Download [DosBox](http://www.dosbox.com/) and install the app
+1. Download [DosBox](https://www.dosbox.com/) and install the app

 2. Download [Melody Master](ftp://archives.thebbs.org/ansi_utilities/melody21.zip) and unzip into a new directory

@@ -78,7 +78,7 @@ arm-none-eabi-objcopy -O ihex build/px4_fmu-v6x_bootloader/px4_fmu-v6x_bootloade

 ### PX4 Bootloader FMUv5X and earlier

-PX4 boards up to FMUv5X (before STM32H7) used the [PX4 bootloader](https://github.com/PX4/Bootloader) repository.
+PX4 boards up to FMUv5X (before STM32H7) used the [PX4 bootloader](https://github.com/PX4/PX4-Bootloader) repository.

 The instructions in the repo README explain how to use it.

@@ -117,7 +117,7 @@ The following steps explain how you can "manually" update the bootloader using a

 :::

-4. The _gdb terminal_ appears and it should display the following output:
+4. The _gdb terminal_ appears and it should display (something like) the following output:

  ```sh
  GNU gdb (GNU Tools for Arm Embedded Processors 7-2017-q4-major) 8.0.50.20171128-git
@@ -129,9 +129,9 @@ The following steps explain how you can "manually" update the bootloader using a
  This GDB was configured as "--host=x86_64-linux-gnu --target=arm-none-eabi".
  Type "show configuration" for configuration details.
  For bug reporting instructions, please see:
-  <http://www.gnu.org/software/gdb/bugs/>.
+  <https://www.sourceware.org/gdb/bugs/>.
  Find the GDB manual and other documentation resources online at:
-  <http://www.gnu.org/software/gdb/documentation/>.
+  <https://www.sourceware.org/gdb/documentation/>.
  For help, type "help".
  Type "apropos word" to search for commands related to "word"...
  Reading symbols from px4fmuv5_bl.elf...done.
@@ -148,7 +148,7 @@ The following steps explain how you can "manually" update the bootloader using a
 7. Power on the Pixhawk with another USB cable and connect the probe to the `FMU-DEBUG` port.

  ::: info
-  If using a Dronecode probe you may need to remove the case in order to connect to the `FMU-DEBUG` port (e.g. on Pixhawk 4 you would do this using a T6 Torx screwdriver).
+  If using a Zubax BugFace BF1 you may need to remove the case in order to connect to the `FMU-DEBUG` port (e.g. on Pixhawk 4 you would do this using a T6 Torx screwdriver).

 :::

@@ -2,7 +2,7 @@

 This page documents how to flash the PX4 bootloader onto boards that are already flashed with Betaflight (e.g. [OmnibusF4 SD](../flight_controller/omnibus_f4_sd.md) or [Kakute F7](../flight_controller/kakutef7.md)).

-There are three tools that can be used to flash the PX4 bootloader: _Betaflight Configurator_, [dfu-util](http://dfu-util.sourceforge.net/) command line tool, or the graphical [dfuse](https://www.st.com/en/development-tools/stsw-stm32080.html) (Windows only).
+There are three tools that can be used to flash the PX4 bootloader: _Betaflight Configurator_, [dfu-util](https://dfu-util.sourceforge.net/) command line tool, or the graphical [dfuse](https://www.st.com/en/development-tools/stsw-stm32080.html) (Windows only).

 :::info
 The _Betaflight Configurator_ is easiest, but newer versions may not support non-betaflight bootloader update.
@@ -23,7 +23,7 @@ To install the PX4 bootloader using the _Betaflight Configurator_:
 2. Download the [Betaflight Configurator](https://github.com/betaflight/betaflight-configurator/releases) for your platform.

   :::tip
-   If using the _Chrome_ web browser, a simple cross-platform alternative is to install the configurator as an [extension from here](https://chrome.google.com/webstore/detail/betaflight-configurator/kdaghagfopacdngbohiknlhcocjccjao).
+   If using the _Chrome_ web browser, a simple cross-platform alternative is to install the configurator as an [extension from here](https://chromewebstore.google.com/detail/betaflight-configurator/kdaghagfopacdngbohiknlhcocjccjao?pli=1).

 :::

@@ -38,7 +38,7 @@ To install the PX4 bootloader using the _Betaflight Configurator_:

 ## DFU Bootloader Update

-This section explains how to flash the PX4 bootloader using the [dfu-util](http://dfu-util.sourceforge.net/) or the graphical [dfuse](https://www.st.com/en/development-tools/stsw-stm32080.html) tool (Windows only).
+This section explains how to flash the PX4 bootloader using the [dfu-util](https://dfu-util.sourceforge.net/) or the graphical [dfuse](https://www.st.com/en/development-tools/stsw-stm32080.html) tool (Windows only).

 You will first need to download or build [bootloader firmware](#bootloader-firmware) for the board you want to flash (below, this is referred to as `<target.bin>`).

@@ -118,10 +118,10 @@ cd PX4-Autopilot
 make <target> # For example: holybro_kakuteh7mini_bootloader
 ```

-For other flight controllers download the [PX4/Bootloader](https://github.com/PX4/Bootloader) repository and build the source code using the appropriate targets:
+For other flight controllers download the [PX4/Bootloader](https://github.com/PX4/PX4-Bootloader) repository and build the source code using the appropriate targets:

 ```
-git clone --recursive  https://github.com/PX4/Bootloader.git
+git clone --recursive  https://github.com/PX4/PX4-Bootloader.git
 cd Bootloader
 make <target> # For example: omnibusf4sd_bl or kakutef7_bl
 ```
@@ -108,7 +108,7 @@ You also need to [configure the Ethernet port](#px4-mavlink-serial-port-configur
 If you're using Ubuntu for your ground station (or companion computer) then you can use [netplan](https://netplan.io/) to configure the network.

 Below we show how you write a setup to the netplan configuration file "`/etc/netplan/01-network-manager-all.yaml`", which would run on the same network as used by the PX4 setup above.
-Note that there are many more [examples](https://netplan.io/examples/) and instructions in the [netplan](https://netplan.io/) documentation.
+Note that there are many more [examples](https://github.com/canonical/netplan/tree/main/examples) and instructions in the [netplan](https://netplan.io/) documentation.

 To setup the Ubuntu Computer:

@@ -109,7 +109,7 @@ Arming is prevented if:
 - The current mode requires an adequate global position estimate but the vehicle does not have GPS lock.
 - Many more (see [arming/disarming safety settings](../config/safety.md#arming-disarming-settings) for more information).

-The current failed checks can be viewed in QGroundControl (v4.2.0 and later) [Arming Check Report](../flying/pre_flight_checks.md#qgc-arming-check-report) (see also [Fly View > Arming and Preflight Checks](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/fly_view/fly_view.md#arm)).
+The current failed checks can be viewed in QGroundControl (v4.2.0 and later) [Arming Check Report](../flying/pre_flight_checks.md#qgc-arming-check-report) (see also [Fly View > Toolbar > Flight Status](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/fly_view/fly_view_toolbar.html#flight-status)).

 Note that internally PX4 runs arming checks at 10Hz.
 A list of the failed checks is kept, and if the list changes PX4 emits the current list using the [Events interface](../concept/events_interface.md).
@@ -159,7 +159,6 @@ It corresponds to: [COM_PREARM_MODE=1](#COM_PREARM_MODE) (safety switch) and [CB
  - 시스템이 시동전 상태로 전환: 추진 모터를 제외한 모든 액츄에이터 동작 가능(예: 보조익)
  - 시스템 안전 장치 꺼짐: 시동 가능
 3. 시동 명령 인가
-
  - 시스템에 시동이 걸림
  - 모든 모터와 액츄에이터를 움직일 수 있음

@@ -177,7 +176,6 @@ This corresponds to [COM_PREARM_MODE=0](#COM_PREARM_MODE) (Disabled) and [CBRK_I
  - _All actuators stay locked into disarmed position (same as disarmed)._
  - 시스템 안전 장치 꺼짐: 시동 가능
 3. 시동 명령 인가
-
  - 시스템에 시동이 걸림
  - 모든 모터와 액츄에이터를 움직일 수 있음

@@ -277,7 +277,7 @@ For more details about the configuration of height sources, [click here](#height

 #### 방향(Yaw) 측정

-Some GPS receivers such as the [Trimble MB-Two RTK GPS receiver](https://www.trimble.com/Precision-GNSS/MB-Two-Board.aspx) can be used to provide a heading measurement that replaces the use of magnetometer data.
+Some GPS receivers such as the [Trimble MB-Two RTK GPS receiver](https://oemgnss.trimble.com/en/products/receiver-modules/mb-two) can be used to provide a heading measurement that replaces the use of magnetometer data.
 This can be a significant advantage when operating in an environment where large magnetic anomalies are present, or at latitudes here the earth's magnetic field has a high inclination.
 Use of GPS yaw measurements is enabled by setting bit position 3 to 1 (adding 8) in the [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL) parameter.

@@ -542,9 +542,9 @@ When this has been done, the performance metadata files can be processed to prov

 ### 출력 데이터

- Attitude output data is found in the [VehicleAttitude](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleAttitude.msg) message.
- Local position output data is found in the [VehicleLocalPosition](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleLocalPosition.msg) message.
- Global \(WGS-84\) output data is found in the [VehicleGlobalPosition](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleGlobalPosition.msg) message.
+- Attitude output data is found in the [VehicleAttitude](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleAttitude.msg) message.
+- Local position output data is found in the [VehicleLocalPosition](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleLocalPosition.msg) message.
+- Global \(WGS-84\) output data is found in the [VehicleGlobalPosition](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleGlobalPosition.msg) message.
 - Wind velocity output data is found in the [Wind.msg](https://github.com/PX4/PX4-Autopilot/blob/main/msg/Wind.msg) message.

 ### 상태
@@ -103,10 +103,10 @@ At time of writing is no _convenient_ way to directly invoke precision landing (

 ### IR 센서/비콘 설정

-The IR sensor/landing beacon solution requires an [IR-LOCK Sensor](https://irlock.com/products/ir-lock-sensor-precision-landing-kit) and downward facing [distance sensor](../sensor/rangefinders.md) connected to the flight controller, and an IR beacon as a target (e.g. [IR-LOCK MarkOne](https://irlock.com/collections/markone)).
+The IR sensor/landing beacon solution requires an [IR-LOCK Sensor](https://irlock.com/products/ir-lock-sensor-precision-landing-kit) and downward facing [distance sensor](../sensor/rangefinders.md) connected to the flight controller, and an IR beacon as a target (e.g. [IR-LOCK MarkOne](https://irlock.com/collections/ir-markers)).
 정밀 착륙은 약 10 cm 이내의 오차로 착륙할 수 있게 합니다. GPS 착륙은 수 미터의 오차가 발생할 수 있습니다.

-Install the IR-LOCK sensor by following the [official guide](https://irlock.readme.io/v2.0/docs).
+Install the IR-LOCK sensor by following the [official guide](https://irlock.readme.io/docs/getting-started).
 센서의 x축이 기체의 y축과 정렬되어 있는지, 센서의 y축이 기체의 -x 방향과 정렬되어 있는지 확인하십시오 (카메라에서 전방으로 90도 기울인 경우).

 Install a [range/distance sensor](../sensor/rangefinders.md) (the _LidarLite v3_ has been found to work well).
@@ -9,7 +9,7 @@

 위성 통신에는 다음의 요소들이 필요합니다.

- A [RockBlock 9603 Iridium Satellite Modem](https://www.iridium.com/products/rock-seven-rockblock-9603/) module connected to a Pixhawk flashed with the PX4 Autopilot.
+- A [RockBlock 9603 Iridium Satellite Modem](https://www.iridium.com/products/ground-control-rockblock-9603/) module connected to a Pixhawk flashed with the PX4 Autopilot.
 - Ubuntu Linux를 실행하는 메시지 릴레이 서버
 - A ground station computer running _QGroundControl_ on Ubuntu Linux

@@ -21,7 +21,7 @@
 The setup was tested with the current release of _QGroundControl_ running on Ubuntu 14.04 and 16.04.

 - 다른 지상국 및 운영체제를 사용할 수 있지만, 아직 테스트되지 않았습니다.
- The [RockBlock MK2](https://www.groundcontrol.com/us/product/rockblock-9602-satellite-modem/) module can also be used.
+- The [RockBlock MK2](https://www.groundcontrol.com/product/rockblock-9602-satellite-modem/) module can also be used.
  RockBlock 9603 모듈은 크기가 작고 가볍우면서도 동일한 기능을 제공하기 때문에 권장됩니다.

 :::
@@ -34,7 +34,7 @@ The setup was tested with the current release of _QGroundControl_ running on Ubu
 - Each message transmitted over the system costs one _credit_ per 50 bytes.
  번들 크기에 따라 RockBlock에서 신용당 0.04파운드 0.11파운드에 신용대출을 구입할 수 있습니다.

-Refer to the [RockBlock Documentation](https://docs.rockblock.rock7.com/docs) for a detailed explanation of the modules, running costs and _RockBlock_ in general.
+Refer to the [RockBlock Documentation](https://docs.groundcontrol.com/iot/rockblock) for a detailed explanation of the modules, running costs and _RockBlock_ in general.

 ## 기체 설정

@@ -43,15 +43,15 @@ Refer to the [RockBlock Documentation](https://docs.rockblock.rock7.com/docs) fo
 RockBlock 모듈을 Pixhawk의 직렬 포트에 연결합니다.
 모듈의 전원 요구 사항으로 인하여 5V에서 최대 0.5A가 필요하므로 고출력 직렬 포트를 통해서만 전원을 공급할 수 있습니다.
 사용 가능한 별도의 전원을 사용시에는 Pixhawk와 동일한 접지이어야 합니다.
-The details of the [connectors](https://docs.rockblock.rock7.com/docs/connectors) and the [power requirements](https://docs.rockblock.rock7.com/docs/power-supply) can be found in the RockBlock documentation.
+The details of the [connectors](https://docs.groundcontrol.com/iot/rockblock/specification/connectors-wiring) and the [power requirements](https://docs.groundcontrol.com/iot/rockblock/electrical) can be found in the RockBlock documentation.

 ### 모듈

 모듈은 내부 안테나 또는 SMA 커넥터에 연결된 외부 안테나를 사용할 수 있습니다.
-To [switch between the two antennas modes](https://docs.rockblock.rock7.com/docs/switching-rockblock-9603-antenna-mode) the position of a small RF link cable needs to changed.
+To [switch between the two antennas modes](https://docs.groundcontrol.com/iot/rockblock/user-manual/9603-atenna-mode) the position of a small RF link cable needs to changed.
 외부 안테나를 사용하는 경우 모듈 손상을 방지하기 위해 안테나의 전원을 켜기 전에 항상 안테나가 모듈에 연결되어 있는 지 확인하십시오.

-모듈의 기본 보드 속도는 19200입니다. However, the PX4 _iridiumsbd_ driver requires a baud rate of 115200 so it needs to be changed using the [AT commands](https://www.groundcontrol.com/en/wp-content/uploads/2022/02/IRDM_ISU_ATCommandReferenceMAN0009_Rev2.0_ATCOMM_Oct2012.pdf).
+모듈의 기본 보드 속도는 19200입니다. However, the PX4 _iridiumsbd_ driver requires a baud rate of 115200 so it needs to be changed using the [AT commands](https://www.groundcontrol.com/wp-content/uploads/2022/02/IRDM_ISU_ATCommandReferenceMAN0009_Rev2.0_ATCOMM_Oct2012.pdf).

 1. Connect to the module with using a 19200/8-N-1 setting and check if the communication is working using the command: `AT`.
  The response should be: `OK`.
@@ -101,7 +101,6 @@ Log in to the [account](https://rockblock.rock7.com/Operations) and register the
 릴레이 서버는 Ubuntu 16.04 또는 14.04 버전에서 실행하여야 합니다.

 1. 메시지 릴레이로 작동하는 서버에는 고정 IP 주소와  열린 TCP 포트 2개가 있어야 합니다.
-
  - `5672` for the _RabbitMQ_ message broker (can be changed in the _rabbitmq_ settings)
  - `45679` for the HTTP POST interface (can be changed in the **relay.cfg** file)

@@ -124,7 +123,7 @@ Log in to the [account](https://rockblock.rock7.com/Operations) and register the
  sudo rabbitmqctl set_permissions iridiumsbd ".*" ".*" ".*"
  ```

-5. Clone the [SatComInfrastructure](https://github.com/acfloria/SatComInfrastructure.git) repository:
+5. Clone the [SatComInfrastructure](https://github.com/acfloria/SatComInfrastructure) repository:

  ```sh
  git clone https://github.com/acfloria/SatComInfrastructure.git
@@ -240,7 +239,6 @@ If in the terminal where the `udp2rabbit.py` script is running within a couple o
  링크 표시기는 항상 우선 순위 링크의 이름을 표시합니다.

 5. 이제 위성 통신 시스템을 사용할 준비가 되었습니다.우선 순위 링크(명령 전송 링크)는 다음 방법으로 결정됩니다.
-
  - 사용자가 링크를 명령하지 않으면, 지연 시간이 큰 링크보다 일반적인 텔레메트리 링크가 선호됩니다.
  - 기체가 시동을 켜고 텔레메트리 링크가 끊어지면(특정 시간 동안 MAVLink 메시지가 수신되지 않을 경우), 오토파일럿과 QGC는 일반 텔레메트리에서 긴 대기 시간 링크로 되돌아갑니다.
    텔레메트리 링크가 복구되는 즉시 QGC와 자동 조종기가 다시 이 링크로 전환됩니다.
@@ -255,7 +253,6 @@ If in the terminal where the `udp2rabbit.py` script is running within a couple o
  - 릴레이 서버의 설정을 확인하고 해당 설정이 올바른지 확인합니다(특히 IMEI).

 - 비행기의 위성 통신 메시지는 지상국에 도착하지 않습니다.
-
  - Check using the system console if the _iridiumsbd_ driver started and if it did that a signal from any satellite is received by the module:

    ```sh
@@ -267,7 +264,6 @@ If in the terminal where the `udp2rabbit.py` script is running within a couple o
  - 링크가 연결되어 있고 설정이 정확한 지  확인하십시오.

 - IridiumSBD 드라이버가 시작되지 않음:
-
  - 기체를 재부팅합니다.
    If that helps increase the sleep time in the `extras.txt` before the driver is started.
    그래도 Pixhawk와 모듈이 동일한 접지 레벨을 유지하는지 확인할 수 있습니다. 모듈의 보레이트가 115200으로 설정되어 있는 지 확인하십시오.
@@ -54,7 +54,7 @@ The GPS/Compass module should be [mounted on the frame](../assembly/mount_gps_co
 케이블을 사용하여 비행 제어 GPS에 연결합니다.

 :::info
-If you use the [NEO V2 PRO GNSS (CAN GPS)](http://doc.cuav.net/gps/neo-series-gnss/en/neo-v2-pro.html), please use the cable to connect to the flight control CAN interface.
+If you use the [NEO V2 PRO GNSS (CAN GPS)](https://doc.cuav.net/gps/neo-series-gnss/en/neo-v2-pro.html), please use the cable to connect to the flight control CAN interface.
 :::

 ![V5+ AutoPilot](../../assets/flight_controller/cuav_v5_plus/connection/v5+_quickstart_03.png)
@@ -134,7 +134,7 @@ Download **V5+** pinouts from [here](http://manual.cuav.net/V5-Plus.pdf).

 - [Airframe build-log using CUAV v5+ on a DJI FlameWheel450](../frames_multicopter/dji_f450_cuav_5plus.md)
 - [CUAV V5+ Manual](http://manual.cuav.net/V5-Plus.pdf) (CUAV)
- [CUAV V5+ docs](http://doc.cuav.net/flight-controller/v5-autopilot/en/v5+.html) (CUAV)
+- [CUAV V5+ docs](https://doc.cuav.net/controller/v5-autopilot/en/v5+.html) (CUAV)
 - [FMUv5 reference design pinout](https://docs.google.com/spreadsheets/d/1-n0__BYDedQrc_2NHqBenG1DNepAgnHpSGglke-QQwY/edit#gid=912976165) (CUAV)
 - [CUAV Github](https://github.com/cuav) (CUAV)
 - [Base board design reference](https://github.com/cuav/hardware/tree/master/V5_Autopilot/V5%2B/V5%2BBASE) (CUAV)
@@ -13,7 +13,7 @@ This quick start guide shows how to power the _Cube_<sup>&reg;</sup> flight cont

 :::tip
 The instructions apply to all Cube variants, including [Cube Black](../flight_controller/pixhawk-2.md), [Cube Yellow](../flight_controller/cubepilot_cube_yellow.md) and [Cube Orange](../flight_controller/cubepilot_cube_orange.md).
-Further/updated information may be available in the [Cube User Manual](https://docs.cubepilot.org/user-guides/autopilot/the-cube-user-manual) (Cube Docs).
+Further/updated information may be available in the [Cube User Manual](https://docs.cubepilot.org/user-guides/autopilot/the-cube) (Cube Docs).
 :::

 ## 소품
@@ -195,7 +195,7 @@ If connecting peripherals to the port labeled `GPS2`, assign the PX4 [serial por

 ## 설정

-Configuration is performed using [QGroundContro](http://qgroundcontrol.com/).
+Configuration is performed using [QGroundContro](https://qgroundcontrol.com/).

 After downloading, installing and running _QGroundControl_, connect the board to your computer as shown.

@@ -220,6 +220,5 @@ PX4 펌웨어를 플래시한 후 [Program PX4IO(../getting_started/tunes.md#pro
 - [Cube Yellow](../flight_controller/cubepilot_cube_yellow.md)
 - [Cube Orange](../flight_controller/cubepilot_cube_orange.md)
 - Cube 문서 (제조사) :
-  - [Cube Module Overview](https://docs.cubepilot.org/user-guides/autopilot/the-cube-module-overview)
-  - [Cube User Manual](https://docs.cubepilot.org/user-guides/autopilot/the-cube-user-manual)
+  - [Cube User Guide](https://docs.cubepilot.org/user-guides/autopilot/the-cube)
  - [Mini Carrier Board](https://docs.cubepilot.org/user-guides/carrier-boards/mini-carrier-board)
@@ -148,7 +148,7 @@ The instructions below show how to connect the different types of receivers to _

  ![Durandal - Back Pinouts (Schematic)](../../assets/flight_controller/durandal/durandal_pinouts_back.jpg)

- PPM and PWM receivers that have an _individual wire for each channel_ must connect to the **PPM RC** port _via a PPM encoder_ [like this one](http://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html) (PPM-Sum receivers use a single signal wire for all channels).
+- PPM and PWM receivers that have an _individual wire for each channel_ must connect to the **PPM RC** 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).

@@ -214,6 +214,6 @@ QuadPlane specific configuration is covered here: [QuadPlane VTOL Configuration]

 - [Durandal Overview](../flight_controller/durandal.md)
 - [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) (Holybro)
- [Durandal Pinouts](https://holybro.com/collections/autopilot-flight-controllers/products/Durandal-Pinouts) (Holybro)
- [Durandal_MB_H743sch.pdf](https://github.com/PX4/PX4-user_guide/raw/main/assets/flight_controller/durandal/Durandal_MB_H743sch.pdf) (Durandal Schematics)
- [STM32H743IIK_pinout.pdf](https://github.com/PX4/PX4-user_guide/raw/main/assets/flight_controller/durandal/STM32H743IIK_pinout.pdf) (Durandal Pinmap)
+- [Durandal Pinouts](https://cdn.shopifycdn.net/s/files/1/0604/5905/7341/files/Durandal_Pinouts_v1.0.pdf?v=1693983344) (Holybro)
+- [Durandal_MB_H743sch.pdf](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/flight_controller/durandal/Durandal_MB_H743sch.pdf) (Durandal Schematics)
+- [STM32H743IIK_pinout.pdf](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/flight_controller/durandal/STM32H743IIK_pinout.pdf) (Durandal Pinmap)
@@ -124,7 +124,7 @@ The instructions below show how to connect the different types of receivers to _

  ![Pinouts](../../assets/flight_controller/holybro_pix32_v5/pix32_v5_pinouts_back_label.png)

- PPM and PWM receivers that have an _individual wire for each channel_ must connect to the **PPM RC** port _via a PPM encoder_ [like this one](http://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html) (PPM-Sum receivers use a single signal wire for all channels).
+- PPM and PWM receivers that have an _individual wire for each channel_ must connect to the **PPM RC** 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).

@@ -182,5 +182,5 @@ QuadPlane specific configuration is covered here: [QuadPlane VTOL Configuration]
 - [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)
 - [Pix32 v5 Pinouts](https://cdn.shopify.com/s/files/1/0604/5905/7341/files/Holybro_Pix32-V5-Base-Mini-Pinouts.pdf)
 - [Pix32 v5 Base Schematic Diagram](https://cdn.shopify.com/s/files/1/0604/5905/7341/files/Holybro_PIX32-V5-BASE-Schematic_diagram.pdf)
- [Pix32 v5 Base Components Layout](https://holybro.com/manual/Holybro_PIX32-V5-BASE-ComponentsLayout.pdf)
+- [Pix32 v5 Base Components Layout](https://cdn.shopify.com/s/files/1/0604/5905/7341/files/Holybro_PIX32-V5-BASE-RC02-ComponentsLayout.pdf)
 - [FMUv5 reference design pinout](https://docs.google.com/spreadsheets/d/1-n0__BYDedQrc_2NHqBenG1DNepAgnHpSGglke-QQwY/edit#gid=912976165).
@@ -83,7 +83,7 @@ You will need to [select a compatible transmitter/receiver](../getting_started/r
 - PPM-SUM and S.BUS receivers connect to the **RC** ground, power and signal pins as shown.
  ![Pixhawk - Radio port for PPM/S.BUS receivers](../../assets/flight_controller/pixhawk1/pixhawk_3dr_receiver_ppm_sbus.jpg)

- PPM and PWM receivers that have an _individual wire for each channel_ must connect to the **RC** port _via a PPM encoder_ [like this one](http://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html) (PPM-Sum receivers use a single signal wire for all channels).
+- PPM and PWM receivers that have an _individual wire for each channel_ must connect to the **RC** 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).

@@ -136,7 +136,7 @@ The instructions below show how to connect the different types of receivers to _

  ![Pixhawk 4 - Radio port for PPM receivers](../../assets/flight_controller/pixhawk4/pixhawk_4_receiver_ppm.png)

- PPM and PWM receivers that have an _individual wire for each channel_ must connect to the **PPM RC** port _via a PPM encoder_ [like this one](http://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html) (PPM-Sum receivers use a single signal wire for all channels).
+- PPM and PWM receivers that have an _individual wire for each channel_ must connect to the **PPM RC** 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).

@@ -179,7 +179,7 @@ The wiring and configuration of optional/less common components is covered withi

 ## 핀배열

-[Pixhawk 4 Pinouts](https://holybro.com/manual/Pixhawk4-Pinouts.pdf) (Holybro)
+[Pixhawk 4 Pinouts](https://cdn.shopify.com/s/files/1/0604/5905/7341/files/Pixhawk4-Pinouts.pdf) (Holybro)

 ## 설정

@@ -192,6 +192,6 @@ QuadPlane specific configuration is covered here: [QuadPlane VTOL Configuration]
 ## 추가 정보

 - [Pixhawk 4](../flight_controller/pixhawk4.md) (Overview page)
- [Pixhawk 4 Technical Data Sheet](https://github.com/PX4/PX4-user_guide/raw/main/assets/flight_controller/pixhawk4/pixhawk4_technical_data_sheet.pdf)
- [Pixhawk 4 Pinouts](https://holybro.com/manual/Pixhawk4-Pinouts.pdf) (Holybro)
+- [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)
@@ -108,7 +108,7 @@ The instructions below show how to connect the different types of receivers to _

  ![Pixhawk 4 Mini - Radio port for PPM receivers](../../assets/flight_controller/pixhawk4mini/pixhawk4mini_rc_ppm.png)

- PPM and PWM receivers that have an _individual wire for each channel_ must connect to the **PPM RC** port _via a PPM encoder_ [like this one](http://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html) (PPM-Sum receivers use a single signal wire for all channels).
+- PPM and PWM receivers that have an _individual wire for each channel_ must connect to the **PPM RC** 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).

@@ -93,7 +93,7 @@ You will need to [select a compatible transmitter/receiver](../getting_started/r
 - Spektrum/DSM receivers connect to the **DSM/SBUS RC** input.
 - PPM or SBUS receivers connect to the **RC IN** input port.

-PPM and PWM receivers that have an _individual wire for each channel_ must connect to the **RC IN** port _via a PPM encoder_ [like this one](http://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html) (PPM-Sum receivers use a single signal wire for all channels).
+PPM and PWM receivers that have an _individual wire for each channel_ must connect to the **RC IN** 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).

@@ -82,7 +82,7 @@ You will need to [select a compatible transmitter/receiver](../getting_started/r
 - Spektrum/DSM receivers connect to the **DSM** input.
 - PPM or SBUS receivers connect to the **PPM/SBUS** input port.

-PPM and PWM receivers that have an _individual wire for each channel_ must connect to the \*PPM/SBUS\*\* port \*via a PPM encoder\* [like this one](http://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html) (PPM-Sum receivers use a single signal wire for all channels).
+PPM and PWM receivers that have an _individual wire for each channel_ must connect to the \*PPM/SBUS\*\* 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).

@@ -106,7 +106,7 @@ You will need to [select a compatible transmitter/receiver](../getting_started/r
 - Spektrum/DSM receivers connect to the **DSM/SBUS RC** input.
 - PPM or SBUS receivers connect to the **RC IN** input port.

-PPM and PWM receivers that have an _individual wire for each channel_ must connect to the **RC IN** port _via a PPM encoder_ [like this one](http://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html) (PPM-Sum receivers use a single signal wire for all channels).
+PPM and PWM receivers that have an _individual wire for each channel_ must connect to the **RC IN** 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).

@@ -41,7 +41,7 @@ You will need to [select a compatible transmitter/receiver](../getting_started/r

  ![Radio Connection](../../assets/flight_controller/pixracer/grau_setup_pixracer_radio.jpg)

- 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](http://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html) (PPM-Sum receivers use a single signal wire for all channels).
+- 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).

 ### 전원 모듈 (ACSP4)

@@ -31,5 +31,5 @@

 유용한 참고사항들입니다.

- [An Introduction to Shock & Vibration Response Spectra, Tom Irvine](http://www.vibrationdata.com/tutorials2/srs_intr.pdf) (free paper)
+- [An Introduction to Shock & Vibration Response Spectra, Tom Irvine](https://www.vibrationdata.com/tutorials2/srs_intr.pdf) (free paper)
 - [Structural Dynamics and Vibration in Practice - An Engineering Handbook, Douglas Thorby](https://books.google.ch/books?id=PwzDuWDc8AgC&printsec=frontcover) (preview).
@@ -1,16 +1,18 @@
 # Intel® RealSense™ Tracking Camera T265 (VIO)

-The [Intel® RealSense™ Tracking Camera T265](https://www.intelrealsense.com/tracking-camera-t265/) provides odometry information that can be used for [VIO](../computer_vision/visual_inertial_odometry.md), augmenting or replacing other positioning systems on PX4.
-
 :::tip
-This camera is recommended, and is used in the [Visual Inertial Odometry (VIO) > Suggested Setup](../computer_vision/visual_inertial_odometry.md#suggested-setup).
+This camera is discontinued.
 :::

+The _Intel® RealSense™ Tracking Camera T265_ provides odometry information that can be used for [VIO](../computer_vision/visual_inertial_odometry.md), augmenting or replacing other positioning systems on PX4.
+
+It is used in the [Visual Inertial Odometry (VIO) > Suggested Setup](../computer_vision/visual_inertial_odometry.md#suggested-setup).
+
 ![Intel® RealSense™ Tracking Camera T265 - Angled Image](../../assets/peripherals/camera_vio/t265_intel_realsense_tracking_camera_photo_angle.jpg)

 ## 구매처

-[Intel® RealSense™ Tracking Camera T265](https://www.intelrealsense.com/tracking-camera-t265/) (store.intelrealsense.com)
+No longer available.

 ## Setup Instructions

@@ -113,12 +113,12 @@ If it is your first time enabling the camera trigger app, remember to reboot aft

 The camera trigger driver supports several backends - each for a specific application, controlled by the [TRIG_INTERFACE](../advanced_config/parameter_reference.md#TRIG_INTERFACE) parameter:

-| Number | 설명                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                     |
-| ------ | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| 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](http://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.                                                                                                                                                                                                                                                                                                                                                                                   |
+| Number | 설명                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      |
+| ------ | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| 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.                                                                                                                                                                                                                                                                                                                                                                                    |

 ### Trigger Output Pin Configuration

@@ -137,9 +137,9 @@ Generic/extensible camera managers:
 - [MAVLink Camera Manager](https://github.com/mavlink/mavlink-camera-manager) - Extensible cross-platform MAVLink Camera Server built on top of GStreamer and Rust-MAVLink.
 - [Dronecode Camera Manager](https://camera-manager.dronecode.org/en/) - Adds Camera Protocol interface for cameras connected to Linux computer.

-Camera-specfic camera managers:
+Camera-specific camera managers:

- [SIYI A8 mini camera manager](https://github.com/julianoes/siyi-a8-mini-camera-manager) - MAVSDK-plugin based camera manager for the [SIYI A8 mini](https://shop.siyi.biz/products/siyi-a8-mini) (includes tutorial).
+- [SIYI A8 mini camera manager](https://github.com/julianoes/siyi-a8-mini-camera-manager) - MAVSDK-plugin based camera manager for the [SIYI A8 mini](https://shop.siyi.biz/products/siyi-a8-mini-gimbal-camera) (includes tutorial).

  ::: tip
  This is a good example of how MAVSDK can be used to create a MAVLink camera protocol interface for a particular camera.
@@ -150,6 +150,6 @@ When using a camera manager you connect the companion computer to the flight con

 More information about camera manager and companion computer setups can be found in:

- [SIYI A8 mini camera manager](https://github.com/julianoes/siyi-a8-mini-camera-manager) - Tutorial for integrating with the [SIYI A8 mini](https://shop.siyi.biz/products/siyi-a8-mini) using a MAVSDK-based camera manager running on a Raspberry Pi companion computer.
+- [SIYI A8 mini camera manager](https://github.com/julianoes/siyi-a8-mini-camera-manager) - Tutorial for integrating with the [SIYI A8 mini](https://shop.siyi.biz/products/siyi-a8-mini-gimbal-camera) using a MAVSDK-based camera manager running on a Raspberry Pi companion computer.
 - [Using a Companion Computer with Pixhawk Controllers](../companion_computer/pixhawk_companion.md)
 - [Companion Computers > Companion Computer Software](../companion_computer/index.md#companion-computer-software): In particular note [MAVLink-Router](https://github.com/mavlink-router/mavlink-router), which you can setup to route MAVLink traffic between a serial port and an IP link (or other camera manager interface).
@@ -38,7 +38,7 @@ The following diagram shows an example of a CAN bus connecting a flight controll
 The diagram does not show any power wiring.
 Refer to your manufacturer instructions to confirm whether components require separate power or can be powered from the CAN bus itself.

-For more information, see [Cyphal/CAN device interconnection](https://kb.zubax.com/pages/viewpage.action?pageId=2195476) (kb.zubax.com).
+For more information, see [Cyphal/CAN device interconnection](https://wiki.zubax.com/public/cyphal/CyphalCAN-device-interconnection?pageId=2195476) (kb.zubax.com).
 While the article is written with the Cyphal protocol in mind, it applies equally to DroneCAN hardware and any other CAN setup.
 For more advanced scenarios, consult with [On CAN bus topology and termination](https://forum.opencyphal.org/t/on-can-bus-topology-and-termination/1685).

@@ -1,6 +1,6 @@
-# Auterion Skynode
+# Auterion Skynode X

-[Skynode](https://auterion.com/product/skynode/) is a powerful flight computer that combines a mission computer, flight controller, video streaming, networking, and cellular connection, in a single tightly integrated device.
+[Skynode](https://auterion.com/product/skynode-x/) is a powerful flight computer that combines a mission computer, flight controller, video streaming, networking, and cellular connection, in a single tightly integrated device.

 ![Auterion Skynode (Enterprise)](../../assets/companion_computer/auterion_skynode/skynode_small.png)

@@ -12,10 +12,11 @@ Auterion OS and Skynode allow seamless integration with Auterion's other softwar
 For information about Auterion and Skynode:

 - [auterion.com](https://auterion.com/)
- [Skynode](https://auterion.com/product/skynode/) (auterion.com)
+- [Skynode X](https://auterion.com/product/skynode-x/) (auterion.com)
 - Skynode Guides:
-  - [Manufacturer's Guide](https://docs.auterion.com/manufacturers/getting-started/readme)
-  - [App Developer's Guide](https://docs.auterion.com/developers/getting-started/readme)
+  - [Vehicle Operation](https://docs.auterion.com/vehicle-operation/auterion-sign-up)
+  - [App Development](https://docs.auterion.com/app-development/app-development)
+  - [Hardware Integration](https://docs.auterion.com/app-development/app-development)

 ## Skynode with Vanilla PX4

@@ -34,7 +35,7 @@ Upstream PX4 will generally work, with the following caveats:

 PX4 `px4_fmu-v5x` binaries for Skynode are built from source using the normal [developer environment](../dev_setup/dev_env.md) and [build commands](../dev_setup/building_px4.md), and are uploaded using either `upload_skynode_usb` or `upload_skynode_wifi` upload targets.

-`upload_skynode_usb` and `upload_skynode_wifi` connect to Skynode via SSH over a network interface using the default (fixed) IP addresses for [USB](https://docs.auterion.com/manufacturers/avionics/skynode/advanced-configuration/connecting-to-skynode) and [WiFi](https://docs.auterion.com/manufacturers/avionics/skynode/advanced-configuration/configuration), and upload a TAR compressed binary to the mission computer.
+`upload_skynode_usb` and `upload_skynode_wifi` connect to Skynode via SSH over a network interface using the default (fixed) IP addresses for USB and WiFi, respectively (see [AuterionOS System Guide > Building and Flashing PX4 Firmware](https://docs.auterion.com/hardware-integration/auterionos-system-guide/flashing-px4-upstream-firmware)), and upload a TAR compressed binary to the mission computer.
 The mission computer then decompresses the binary and installs it to the flight controller.

 :::info
@@ -30,7 +30,7 @@ A few "turnkey" options are listed below:
 [mro_usb_ftdi_serial_to_jst_gh]: https://store.mrobotics.io/USB-FTDI-Serial-to-JST-GH-p/mro-ftdi-jstgh01-mr.htm
 [sparkfun_ftdi basic_breakout]: https://www.sparkfun.com/products/9873

-You can also use an off-the-shelf FTDI cable [like this one](https://www.sparkfun.com/products/9717) and connect it to flight controller using the appropriate header adaptor
+You can also use an off-the-shelf FTDI cable [like this one](https://www.sparkfun.com/ftdi-cable-5v-vcc-3-3v-i-o.html) and connect it to flight controller using the appropriate header adaptor
 (JST-GH connectors are specified in the Pixhawk standard, but you should confirm the connectors for your flight controller).

 ### Logic Level Shifters
@@ -40,7 +40,7 @@ In order to resolve this, a level shifter can be implemented to safely convert t

 Options include:

- [SparkFun Logic Level Converter - Bi-Directional](https://www.sparkfun.com/products/12009)
+- [SparkFun Logic Level Converter - Bi-Directional](https://www.sparkfun.com/sparkfun-logic-level-converter-bi-directional.html)
 - [4-channel I2C-safe Bi-directional Logic Level Converter - BSS138](https://www.adafruit.com/product/757)

 ## Cameras
@@ -78,7 +78,7 @@ However NAT has no way to know where to direct the traffic from an arbitrary ext
 :::

 A common approach is to set up a virtual private network between the companion and GCS computer (i.e. install a VPN system like [zerotier](https://www.zerotier.com/) on both computers).
-The companion then uses [mavlink-router](https://github.com/intel/mavlink-router) to route traffic between the serial interface (flight controller) and GCS computer on the VPN network.
+The companion then uses [mavlink-router](https://github.com/mavlink-router/mavlink-router) to route traffic between the serial interface (flight controller) and GCS computer on the VPN network.

 This method has the benefit that the GCS computer address can be static within the VPN, so the configuration of the _mavlink router_ does not need to change over time.
 In addition, the communication link is secure because all VPN traffic is encrypted (MAVLink 2 itself does not support encryption).
@@ -90,5 +90,6 @@ This approach means that you do not need to know the IP address of the GCS compu

 Some USB modules that are known to work include:

- [Huawei E8372](https://consumer.huawei.com/en/mobile-broadband/e8372/) and [Huawei E3372](https://consumer.huawei.com/en/mobile-broadband/e3372/)
-  - The _E8372_ includes WiFi which you can use to configure the SIM while it is plugged into the companion (making the development workflow a little easier). The _E3372_ lacks WiFi, so you have to configure it by plugging the stick into a laptop.
+- [Huawei E8372](https://consumer.huawei.com/au/support/routers/e8372/) and [Huawei E3372](https://consumer.huawei.com/au/support/routers/e3372/)
+  - The _E8372_ includes WiFi which you can use to configure the SIM while it is plugged into the companion (making the development workflow a little easier).
+    The _E3372_ lacks WiFi, so you have to configure it by plugging the stick into a laptop.
@@ -4,7 +4,7 @@ The [Holybro Pixhawk Jetson Baseboard](https://holybro.com/products/pixhawk-jets

 ![Jetson Carrier with Pixhawk](../../assets/companion_computer/holybro_pixhawk_jetson_baseboard/hero_image.png)

-The board comes with either the [Jetson Orin NX (16GB RAM)](https://holybro.com/products/nvidia-jetson-orin-nx-16g) or [Jetson Orin Nano (4GB RAM)](https://holybro.com/products/nvidia-jetson-orin-nx-16g?variant=44391410598077).
+The board comes with either the _Jetson Orin NX_ (16GB RAM) or _Jetson Orin Nano_ (4GB RAM) (see [NVIDIA Jetson Orin™](https://www.nvidia.com/en-us/autonomous-machines/embedded-systems/jetson-orin/)).
 It can be used with any Pixhawk Autopilot Bus (PAB) specification-compliant Pixhawk flight controller, such as the Pixhawk 6 or Pixhawk 6X.

 This guide walks through the process of setting up the board and connecting to PX4, including:
@@ -44,7 +44,6 @@ This information comes from the [Holybro Pixhawk-Jetson Baseboard Documentation]
 [Dimensions and weight](https://docs.holybro.com/autopilot/pixhawk-baseboards/pixhawk-jetson-baseboard/dimension-and-weight) (Holybro)

 - 크기
-
  - 126 x 80 x 45mm (with Jetson Orin NX + Heatsink/Fan & FC Module)
  - 126 x 80 x 22.9mm (without Jetson and FC Module)

@@ -56,37 +55,30 @@ This information comes from the [Holybro Pixhawk-Jetson Baseboard Documentation]
 :::tab Jetson connectors

 - 2x Gigabit Ethernet Port
-
  - Connected to both Jetson & Autopilot via Ethernet switch (RTL8367S)
  - Ethernet Switch powered by the same circuit as the Pixhawk
  - 8-pin JST-GH
  - RJ45

 - 2x MIPI CSI Camera Inputs
-
  - 4 Lanes each
  - 22-Pin Raspberry Pi Cam FFC

 - 2x USB 3.0 Host Port
-
  - USB A
  - 5A Current Limit

 - 2x USB 2.0 Host Port
-
  - 5-Pin JST-GH
  - 0A Current Limit

 - USB 2.0 for Programming/Debugging
-
  - USB-C

 - 2 Key M 2242/2280 for NVMe SSD
-
  - PCIEx4

 - 2 Key E 2230 for WiFi/BT
-
  - PCIEx2
  - USB
  - UART
@@ -95,27 +87,21 @@ This information comes from the [Holybro Pixhawk-Jetson Baseboard Documentation]
 - Mini HDMI Out

 - 4x GPIO
-
  - 6-pin JST-GH

 - CAN Port
-
  - Connected to Autopilot's CAN2 (4 Pin JST-GH)

 - SPI Port
-
  - 7-Pin JST-GH

 - I2C Port
-
  - 4-Pin JST-GH

 - I2S Port
-
  - 7-Pin JST-GH

 - 2x UART Port
-
  - 1 for debug
  - 1 connected to Autopilot's telem2

@@ -128,12 +114,10 @@ This information comes from the [Holybro Pixhawk-Jetson Baseboard Documentation]
 :::tab Autopilot connectors

 - Pixhawk Autopilot Bus Interface
-
  - 100 Pin Hirose DF40
  - 50 Pin Hirose DF40

 - Redundant Digital Power Module Inputs
-
  - I2C Power Monitor Support
  - 2x 6-Pin Molex CLIK-Mate

@@ -142,66 +126,52 @@ This information comes from the [Holybro Pixhawk-Jetson Baseboard Documentation]
 - Overvoltage Protection

 - 정격 전압
-
  - 최대 입력 전압: 6V
  - USB 전원 입력: 4.75~5.25V

 - Full GPS Plus Safety Switch Port
-
  - 10-Pin JST-GH

 - Secondary (GPS2) Port
-
  - 6-Pin JST-GH

 - 2x CAN Ports
-
  - 4-Pin JST-GH

 - 3x Telemetry Ports with Flow Control
-
  - 2x 6-Pin JST-GH
  - 1 is connected to Jetson's `UART1` Port

 - 16 PWM Outputs
-
  - 2x 10-Pin JST-GH

 - UART4 & I2C Port
-
  - 6-Pin JST-GH

 - 2x Gigabit Ethernet Port
-
  - Connected to both Jetson & Autopilot via Ethernet switch (RTL8367S)
  - 8-Pin JST-GH
  - RJ45

 - AD & IO
-
  - 8-Pin JST-GH

 - USB 2.0
-
  - USB-C
  - 4-Pin JST-GH

 - DSM Input
-
  - 3-Pin JST-ZH 1.5mm Pitch

 - RC In
-
  - PPM/SBUS
  - 5-Pin JST-GH

 - SPI Port
-
  - External Sensor Bus (SPI5)
  - 11-Pin JST-GH

 - 2x Debug Port
-
  - 1 for FMU
  - 1 for IO
  - 10-Pin JST-SH
@@ -1333,7 +1303,7 @@ You can now start your ROS2 nodes and continue the development.
 You can test the Client and agent by using the `sensor_combined` example in [Build ROS 2 Workspace](../ros2/user_guide.md#build-ros-2-workspace) (ROS2 User Guide).

 :::tip
-[VSCode over SSH](https://code.visualstudio.com/learn/develop-cloud/ssh-lab-machines) enables faster development and application of changes to your ROS 2 code!
+[VSCode over SSH](https://code.visualstudio.com/docs/remote/ssh) enables faster development and application of changes to your ROS 2 code!
 :::

 After getting to the point of running the example:
@@ -42,7 +42,7 @@ Larger high power examples:
 - [NXP NavQPlus](https://nxp.gitbook.io/navqplus/user-contributed-content/ros2/microdds)
 - [Nvidia Jetson TX2](https://developer.nvidia.com/embedded/jetson-tx2)

-* [Intel NUC](https://www.intel.com/content/www/us/en/products/details/nuc.html)
+* [Intel NUC](https://www.asus.com/au/content/nuc-overview/)
 * [Gigabyte Brix](https://www.gigabyte.com/Mini-PcBarebone/BRIX)

 Small/lower power examples:
@@ -78,7 +78,7 @@ You can also write your own custom MAVLink libraries from scratch:

 You will need a router if you need to bridge MAVLink from the vehicle to a ground station or IP network, or if you need multiple connections:

- [MAVLink Router](https://github.com/intel/mavlink-router) (recommended)
+- [MAVLink Router](https://github.com/mavlink-router/mavlink-router) (recommended)
 - [MAVProxy](https://ardupilot.org/mavproxy/)

 ## Ethernet Setup
@@ -20,7 +20,7 @@ The high level benefits of _WFB-ng_ include:
 - Bidirectional telemetry link (MAVLink).
 - TCP/IP tunnel.
 - Automatic TX diversity - use multiple cards on the ground to avoid antenna tracker.
- Full link encryption and authentication (using [libsodium](https://download.libsodium.org/doc/)).
+- Full link encryption and authentication (using [libsodium](https://doc.libsodium.org/)).
 - Aggregation of MAVLink packets (pack small packets into batches before transmitting).
 - Enhanced [OSD](https://github.com/svpcom/wfb-ng-osd) for Raspberry PI or generic linux desktop with gstreamer.

@@ -36,21 +36,19 @@ The vehicle setup consists of:

 - A camera.
  These have been tested:
-
  - [Raspberry Pi camera](https://www.raspberrypi.org/products/camera-module-v2/) connected via CSI.
-  - [Logitech camera C920](https://www.logitech.com/en-us/product/hd-pro-webcam-c920?crid=34) connected via USB
+  - [Logitech camera C920](https://support.logi.com/hc/en-us/articles/360024326953-Getting-started-HD-Pro-Webcam-C920) connected via USB

- WiFi module [ALPHA AWUS036ACH](https://www.alfa.com.tw/products_detail/1.htm) or any other **RTL8812au** card.
+- WiFi module [ALPHA AWUS036ACH](https://www.alfa.com.tw/products/awus036ach_1?variant=40319795789896) or any other **RTL8812au** card.

 ### Ground Station

 - Ground Station Computer.
  These options have been tested:
-
  - Any Linux computer with a USB port (tested on Ubuntu 18.04 x86-64)
  - A computer with any OS running QGround control and Raspberry PI connected via Ethernet (RPi provides the wifi connection).

- WiFi module [ALPHA AWUS036ACH](https://www.alfa.com.tw/products_detail/1.htm) or any other **RTL8812au** card.
+- WiFi module [ALPHA AWUS036ACH](https://www.alfa.com.tw/products/awus036ach_1?variant=40319795789896) or any other **RTL8812au** card.
  See [WFB-ng wiki > WiFi hardware](https://github.com/svpcom/wfb-ng/wiki/WiFi-hardware) for more information on supported modules.

 ## Hardware Modification
@@ -125,7 +123,7 @@ If you need a higher bandwidth you can use other MCS index (for example 2 or gre

 ## Antennas and Diversity

-For simple cases you can use omnidirectional antennas with linear (that bundled with wifi cards) or circular leaf ([circularly polarized Coverleaf Antenna](http://www.antenna-theory.com/antennas/cloverleaf.php)) polarization.
+For simple cases you can use omnidirectional antennas with linear (that bundled with wifi cards) or circular leaf ([circularly polarized Coverleaf Antenna](https://www.antenna-theory.com/antennas/cloverleaf.php)) polarization.
 If you want to setup long distance link you can use multiple wifi adapters with directional and omnidirectional antennas. TX/RX diversity for multiple adapters supported out of box (just add multiple NICs to `/etc/default/wifibroadcast`).
 If your WiFi adapter has two antennas (like Alfa AWU036ACH) TX diversity is implemented via [STBC](https://en.wikipedia.org/wiki/Space%E2%80%93time_block_code).
 Cards with 4 ports (like Alfa AWUS1900) are currently not supported.
@@ -12,7 +12,7 @@ You can find others on [px4.io](https://px4.io/ecosystem/commercial-systems/) an
 This section contains consumer vehicles that run a _custom_ version of PX4 (supported by their vendors).
 These may or may not be updatable to run "vanilla" PX4.

- [Sentera PXH](https://sentera.com/products/fieldcapture/ag-drones/phx/)
+- [Sentera PXH](https://senterasensors.com/phx/)

 <!--
 ## Drone Development Kits/Reference Platforms
@@ -104,7 +104,7 @@ It is pre-installed with PX4 v1.15.4 at time of writing (a more recent version m

 ## Tutorials

- Tutorials [English](https://docs.amovlab.com/f450-v6c-wiki/#/en/)/[Chinese](https://docs.amovlab.com/F450-V6C-wiki/#/src/%E8%A7%84%E6%A0%BC%E5%8F%82%E6%95%B0/%E8%A7%84%E6%A0%BC%E5%8F%82%E6%95%B0) (docs.amovlab.com/)
+- Tutorials [English](https://docs.amovlab.com/f450-v6c-wiki/#/en/)/[Chinese](https://docs.amovlab.com/f450-v6c-wiki/#/) (docs.amovlab.com/)

 ## Upgrading

@@ -52,7 +52,7 @@ After setting up the PX4 development environment, follow these steps to install
 1. Download the source code of the PX4 Bootloader:

  ```sh
-  git clone https://github.com/PX4/Bootloader.git
+  git clone https://github.com/PX4/PX4-Bootloader.git
  ```

 2. Navigate into the top directory of the source code and compile it using:
@@ -257,7 +257,7 @@ Crazyflie is able to fly in _Altitude_ mode if you use a [Z-ranger deck](https:/
 According to the datasheet, the maximum height (above ground) the range finder can sense is 2 m. However, when tested on dark surfaces this value decreases to 0.5 m. On a light floor, it goes up to max 1.3 m. This means you cannot hold altitudes above this value in _Altitude_ or _Position_ flight modes.

 :::tip
-If the Crazyflie 2.0 height drifts at mid-throttle command in _Altitude mode_ or _Position mode_, first try rebooting the vehicle. If this does not fix the problem, recalibrate the accel and mag (compass).\
+If the Crazyflie 2.0 height drifts at mid-throttle command in _Altitude mode_ or _Position mode_, first try rebooting the vehicle. If this does not fix the problem, recalibrate the accel and mag (compass).
 :::

 :::info
@@ -65,7 +65,7 @@ After setting up the PX4 development environment, follow these steps to install
 1. Download the source code of the PX4 Bootloader:

  ```sh
-  git clone https://github.com/PX4/Bootloader.git --recurse-submodules
+  git clone https://github.com/PX4/PX4-Bootloader.git --recurse-submodules
  ```

 2. Navigate into the top directory of the source code and compile it using:
@@ -19,12 +19,12 @@ They may come either fully assembled or in parts.

 This section lists vehicles that are sold fully assembled and ready to fly (RTF), with PX4 installed.

- [Teal One](https://tealdrones.com/teal-one/)
 - [ModalAI Starling](../complete_vehicles_mc/modalai_starling.md)
 - [ModalAI Sentinel](https://www.modalai.com/sentinel)
 - [MindRacer 210](../complete_vehicles_mc/mindracer210.md)
 - [NanoMind 110](../complete_vehicles_mc/nanomind110.md)
 - [Amovlab F410](../complete_vehicles_mc/amov_F410_drone.md)
+- [Teal One](https://px4.io/project/teal-one/) ([superseded](https://tealdrones.com/solutions/teal-2/))

 ## PX4 Compatible

@@ -42,7 +42,7 @@ These may or may not be updatable to run "vanilla" PX4.
 - [Yuneec Typhoon H Plus](https://us.yuneec.com/typhoon-h-plus/)
 - [Yuneec Mantis Q](https://px4.io/portfolio/yuneec-mantis-q/)
 - [Yuneec H520](https://px4.io/portfolio/yuneec-h520-hexacopter/)
- [AeroSense Aerobo (AS-MC02-P)](https://px4.io/portfolio/aerosense-aerobo/)
+- [AeroSense Aerobo (AS-MC02-P)](https://px4.io/project/aerosense-aerobo/)

 ## See Also

@@ -75,7 +75,6 @@ What's inside the PX4 Vision V1 can be found here in the [PX4 v1.13 Docs here](h
 The PX4 Vision DevKit contains following components:

 - Core Components:
-
  - 1x Pixhawk 4 or Pixhawk 6C (for v1.5) flight controller
  - 1x PMW3901 optical flow sensor
  - 1x TOF Infrared distance sensor (PSK‐CM8JL65‐CC5)
@@ -96,7 +95,6 @@ The PX4 Vision DevKit contains following components:
    - WiFi 802.11 b/g/n @ 2.4 GHz (attached to external antenna #1). Allows computer to access home WiFi network for Internet access/updates.

 - Mechanical Specification:
-
  - Frame: Full 5mm 3k carbon fiber twill
  - Motors: T-MOTOR KV1750
  - ESC: BEHEli-S 20A ESC
@@ -107,7 +105,6 @@ The PX4 Vision DevKit contains following components:
  - Telemetry: ESP8266 connected to flight controller (attached to external antenna #2). Enables wireless connection to the ground station.

 - A USB2.0 stick with pre-flashed software that bundles:
-
  - Ubuntu 18.04 LTS
  - ROS Melodic
  - Occipital Structure Core ROS driver
@@ -135,7 +132,6 @@ In addition, users will need ground station hardware/software:
 ## First-time Setup

 1. Attach a [compatible RC receiver](../getting_started/rc_transmitter_receiver.md#connecting-receivers) to the vehicle (not supplied with kit):
-
  - Remove/unscrew the top plate (where the battery goes) using an H2.0 hex key tool.
  - [Connect the receiver to the flight controller](../assembly/quick_start_pixhawk4.md#radio-control).
  - Re-attach the top plate.
@@ -222,7 +218,6 @@ When the vehicle setup described above is complete:
 :::

 3. Check that the avoidance system has started properly:
-
  - The _QGroundControl_ notification log displays the message: **Avoidance system connected**.

    ![QGC Log showing avoidance system has started](../../assets/hardware/px4_vision_devkit/qgc_console_vision_system_started.jpg)
@@ -339,7 +334,6 @@ To login to the companion computer:
  The Ubuntu login screen should then appear on the monitor.

 3. Login to the _UP Core_ using the credentials:
-
  - **Username:** px4vision
  - **Password:** px4vision

@@ -391,7 +385,7 @@ To integrate a different planner, this needs to be disabled.
  ```

 The ROS workspace is placed in `~/catkin_ws`.
-For reference on developing in ROS and using the catkin workspace, see the [ROS catkin tutorials](http://wiki.ros.org/catkin/Tutorials).
+For reference on developing in ROS and using the catkin workspace, see the [ROS catkin tutorials](https://wiki.ros.org/catkin/Tutorials).

 ### Developing PX4 Firmware

@@ -46,9 +46,7 @@ To setup ROS and PX4:

 - [Verify that VIO is set up correctly](#verify_estimate) before your first flight!

-<a id="vio_ros_node"></a>
-
-### ROS VIO node
+### ROS VIO node {#vio_ros_node}

 In this suggested setup, a ROS node is required to

@@ -58,17 +56,16 @@ In this suggested setup, a ROS node is required to

 The implementation of the ROS node will be specific to the camera used and will need to be developed to use the interface and drivers appropriate for the camera.

-The odometry messages should be of the type [`nav_msgs/Odometry`](http://docs.ros.org/en/noetic/api/nav_msgs/html/msg/Odometry.html) and published to the topic `/mavros/odometry/out`.
+The odometry messages should be of the type [`nav_msgs/Odometry`](https://docs.ros.org/en/noetic/api/nav_msgs/html/msg/Odometry.html) and published to the topic `/mavros/odometry/out`.

-System status messages of the type [`mavros_msgs/CompanionProcessStatus`](https://github.com/mavlink/mavros/blob/master/mavros_msgs/msg/CompanionProcessStatus.msg) should be published to the topic `/mavros/companion_process/status`. These should identify the component as `MAV_COMP_ID_VISUAL_INERTIAL_ODOMETRY` (197) and indicate the `state` of the system. Recommended status values are:
+System status messages of the type [`mavros_msgs/CompanionProcessStatus`](https://github.com/mavlink/mavros/blob/master/mavros_msgs/msg/CompanionProcessStatus.msg) should be published to the topic `/mavros/companion_process/status`.
+These should identify the component as `MAV_COMP_ID_VISUAL_INERTIAL_ODOMETRY` (197) and indicate the `state` of the system. Recommended status values are:

 - `MAV_STATE_ACTIVE` when the VIO system is functioning as expected,
 - `MAV_STATE_CRITICAL` when the VIO system is functioning, but with low confidence, and
 - `MAV_STATE_FLIGHT_TERMINATION` when the system has failed or the estimate confidence is unacceptably low.

-<a id="ekf2_tuning"></a>
-
-### PX4 튜닝
+### PX4 Tuning {#ekf2_tuning}

 EKF2에서 외부 위치 정보를 사용하려면 다음 매개 변수를 설정하여야 합니다.

@@ -83,9 +80,7 @@ These can be set in _QGroundControl_ > **Vehicle Setup > Parameters > EKF2** (re

 For more detailed/additional information, see: [Using PX4's Navigation Filter (EKF2) > External Vision System](../advanced_config/tuning_the_ecl_ekf.md#external-vision-system).

-<a id="tuning-EKF2_EV_DELAY"></a>
-
-#### EKF2_EV_DELAY 튜닝
+#### 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_.
 즉, 비전 시스템 타임스탬프와 IMU 클록 (EKF2의 "기본 클록")에 의해 기록된 "실제" 캡처 시간 간의 차이입니다.
@@ -104,9 +99,7 @@ A plot of external data vs. onboard estimate (as above) can be generated using [

 이 값은 동적 기동 중에 가장 낮은 EKF 혁신을 산출하는 값을 찾기 위하여, 매개변수를 변경하여 추가 튜닝할 수 있습니다.

-<a id="verify_estimate"></a>
-
-## VIO 예상치 확인
+## Check/Verify VIO Estimate {#verify_estimate}

 :::info
 The [MAV_ODOM_LP](../advanced_config/parameter_reference.md#MAV_ODOM_LP) parameter mentioned below was removed in PX4 v1.14.
@@ -153,11 +146,9 @@ First, make sure MAVROS is able to connect successfully to the flight controller
 제대로 연결되는 경우 일반적인 문제 해결 방법은 다음과 같습니다.

 - **Problem:** I get drift / flyaways when the drone flies, but not when I carry it around with the props off.
-
  - If using the [T265](../peripherals/camera_t265_vio.md) try soft-mounting it (this camera is very sensitive to high-frequency vibrations).

 - **Problem:** I get toilet-bowling when VIO is enabled.
-
  - 카메라의 방향이 시작 파일의 변환과 일치하는 지 확인합니다.
    Use the _QGroundControl_ [MAVLink Inspector](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/analyze_view/mavlink_inspector.html) to verify that the velocities in the `ODOMETRY` message coming from MAVROS are aligned to the FRD coordinate system.

@@ -3,7 +3,7 @@
 PX4 consists of two main layers: the [flight stack](#flight-stack) is an estimation and flight control system,
 and the [middleware](#middleware) is a general robotics layer that can support any type of autonomous robot, providing internal/external communications and hardware integration.

-All PX4 [airframes](../airframes/index.md) share a single codebase (this includes other robotic systems like boats, rovers, submarines etc.). The complete system design is [reactive](http://www.reactivemanifesto.org), which means that:
+All PX4 [airframes](../airframes/index.md) share a single codebase (this includes other robotic systems like boats, rovers, submarines etc.). The complete system design is [reactive](https://www.reactivemanifesto.org), which means that:

 - 모든 기능은 대체 가능한 구성 요소와 재사용 가능한 구성 요소로 나누어 집니다.
 - 통신은 비동기 메시지 전달에 의해 수행됩니다.
@@ -42,7 +42,7 @@ Overview of the mixing pipeline in terms of modules and uORB topics (press to sh
  - publishes the servo trims separately so they can be added as an offset when [testing actuators](../config/actuators.md#actuator-testing) (using the test sliders).
 - the output drivers:
  - handle the hardware initialization and update
-  - use a shared library [src/libs/mixer_module](https://github.com/PX4/PX4-Autopilot/blob/main/src/lib/mixer_module/).
+  - use a shared library [src/libs/mixer_module](https://github.com/PX4/PX4-Autopilot/blob/main/src/lib/mixer_module).
    The driver defines a parameter prefix, e.g. `PWM_MAIN` that the library then uses for configuration.
    Its main task is to select from the input topics and assign the right data to the outputs based on the user set `<param_prefix>_FUNCx` parameter values.
    For example if `PWM_MAIN_FUNC3` is set to **Motor 2**, the 3rd output is set to the 2nd motor from `actuator_motors`.
@@ -78,7 +78,6 @@ Explanations and requirements:
    This means as long as the event name stays the same, so will the ID.

 - **Log Level**:
-
  - valid log levels are the same as used in the MAVLink [MAV_SEVERITY](https://mavlink.io/en/messages/common.html#MAV_SEVERITY) enum.
    In order of descending importance these are:

@@ -117,7 +116,7 @@ Valid types: `uint8_t`, `int8_t`, `uint16_t`, `int16_t`, `uint32_t`, `int32_t`,
 You can also use enumerations as arguments:

 - PX4-specific/custom enumerations for events should be defined in [src/lib/events/enums.json](https://github.com/PX4/PX4-Autopilot/blob/main/src/lib/events/enums.json), and can then be used as event argument in the form of `events::send<events::px4::enums::my_enum_t>(...)`.
- MAVLink "common" events are defined in [mavlink/libevents/events/common.json](https://github.com/mavlink/libevents/blob/master/events/common.json) and can be used as event argument in the form of `events::send<events::common::enums::my_enum_t>(...)`.
+- MAVLink "common" events are defined in [mavlink/libevents/events/common.json](https://github.com/mavlink/libevents/blob/main/events/common.json) and can be used as event argument in the form of `events::send<events::common::enums::my_enum_t>(...)`.

 #### Text format

@@ -128,7 +127,6 @@ Text format for event message description:
  These have to be escaped: '\\\\', '\\<', '\\{'.

 - supported tags:
-
  - Profiles: `<profile name="[!]NAME">CONTENT</profile>`

    `CONTENT` will only be shown if the name matches the configured profile.
@@ -142,7 +140,6 @@ Text format for event message description:
  - no nested tags of the same type are allowed

 - arguments: template placeholders that follow python syntax, with 1-based indexing (instead of 0)
-
  - general form: `{ARG_IDX[:.NUM_DECIMAL_DIGITS][UNIT]}`

    UNIT:
@@ -5,7 +5,7 @@ On NuttX they reside in the [ROMFS/px4fmu_common/init.d](https://github.com/PX4/
 The scripts that are only used on Posix are located in [ROMFS/px4fmu_common/init.d-posix](https://github.com/PX4/PX4-Autopilot/tree/main/ROMFS/px4fmu_common/init.d-posix).

 All files starting with a number and underscore (e.g. `10000_airplane`) are predefined airframe configurations.
-They are exported at build-time into an `airframes.xml` file which is parsed by [QGroundControl](http://qgroundcontrol.com) for the airframe selection UI.
+They are exported at build-time into an `airframes.xml` file which is parsed by [QGroundControl](https://qgroundcontrol.com) for the airframe selection UI.
 Adding a new configuration is covered [here](../dev_airframes/adding_a_new_frame.md).

 나머지 파일은 공통 시작 로직의 일부입니다.
@@ -33,7 +33,7 @@ Posix에서 시스템 셸은 스크립트 인터프리터로 사용됩니다(예

 - 쉘은 각 모듈을 새로운(클라이언트) 프로세스로 시작합니다.
  각 클라이언트 프로세스는 실제 모듈이 스레드로 실행되는 px4(서버)의 기본 인스턴스와 통신합니다.
-  This is done through a [UNIX socket](http://man7.org/linux/man-pages/man7/unix.7.html).
+  This is done through a [UNIX socket](https://man7.org/linux/man-pages/man7/unix.7.html).
  서버는 클라이언트가 연결하고 명령을 보낼 수 있는 소켓으로 수신 대기합니다.
  그런 다음 서버는 출력과 반환 코드를 다시 클라이언트로 전송합니다.

@@ -7,7 +7,7 @@ Most other steps can be done out of order, except for [tuning](#tuning), which m

 ## 전제 조건

-Before starting you should [Download QGroundControl](http://qgroundcontrol.com/downloads/) and install it on your **desktop** computer.
+Before starting you should [Download QGroundControl](https://qgroundcontrol.com/downloads/) and install it on your **desktop** computer.
 Then open the QGC application menu ("Q" icon in the top-left corner) and choose **Vehicle Setup** in the _Select Tool_ popup:

 ![QGC Main Menu Popup: highlighting Vehicle Setup](../../assets/qgc/setup/menu_setup.png)
@@ -77,7 +77,6 @@ If you need help with the configuration you can ask for help on the [QGroundCont
 - [Flight Controller Peripherals](../peripherals/index.md) - Setup specific sensors, optional sensors, actuators, and so on.
 - [Advanced Configuration](../advanced_config/index.md) - Factory/OEM calibration, configuring advanced features, less-common configuration.
 - Vehicle-Centric Config/Tuning:
-
  - [Multicopter Config/Tuning](../config_mc/index.md)
  - [Helicopter Config/Tuning](../config_heli/index.md)
  - [Fixed-wing Config/Tuning](../config_fw/index.md)
@@ -12,7 +12,7 @@ This approach may be used by manual control units that have an integrated ground
 :::

 :::info
-_QGroundControl_ uses the cross-platform [SDL2](http://www.libsdl.org/index.php) library to convert joystick movements to MAVLink [MANUAL_CONTROL](https://mavlink.io/en/messages/common.html#MANUAL_CONTROL) messages, which are then sent to PX4 over the telemetry channel.
+_QGroundControl_ uses the cross-platform [SDL2](https://www.libsdl.org/index.php) library to convert joystick movements to MAVLink [MANUAL_CONTROL](https://mavlink.io/en/messages/common.html#MANUAL_CONTROL) messages, which are then sent to PX4 over the telemetry channel.
 결과적으로 조이스틱 기반 제어 시스템은 차량이 조이스틱 움직임에 반응하기 위해 안정적인 고대역폭 원격 채널이 필요합니다.
 :::

@@ -58,7 +58,7 @@ Users can select the form that is used by setting the proportional gain for the
 두 가지 형식이 아래에 기술되어 있습니다.

 :::info
-The derivative term (**D**) is on the feedback path in order to avoid an effect known as the [derivative kick](http://brettbeauregard.com/blog/2011/04/improving-the-beginner%E2%80%99s-pid-derivative-kick/).
+The derivative term (**D**) is on the feedback path in order to avoid an effect known as the [derivative kick](http://brettbeauregard.com/blog/2011/04/improving-the-beginners-pid-derivative-kick/).
 :::

 :::tip
@@ -14,7 +14,7 @@ We try to retain a [linear history through rebases](https://www.atlassian.com/gi
 To contribute new functionality, [sign up for Github](https://docs.github.com/en/get-started/signing-up-for-github/signing-up-for-a-new-github-account), then [fork](https://docs.github.com/en/get-started/quickstart/fork-a-repo) the repository, [create a new branch](https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/proposing-changes-to-your-work-with-pull-requests/creating-and-deleting-branches-within-your-repository), add your [changes as commits](#commits-and-commit-messages), and finally [send a pull request](#pull-requests).
 Changes will be merged when they pass our [continuous integration](https://en.wikipedia.org/wiki/Continuous_integration) tests.

-All code contributions have to be under the permissive [BSD 3-clause license](https://opensource.org/licenses/BSD-3-Clause) and all code must not impose any further constraints on the use.
+All code contributions have to be under the permissive [BSD 3-clause license](https://opensource.org/license/BSD-3-Clause) and all code must not impose any further constraints on the use.

 ## Code Style

@@ -114,7 +114,7 @@ Source-code documentation standards are not enforced, and the code is currently
  - Do not add documentation that can trivially be inferred from C++ entity names.
  - ALWAYS specify units of variables, constants, and input/return parameters where they are defined.
  - 일반적으로 특이 사항이나 오류 처리에 대한 정보를 추가할 수 있습니다.
-  - [Doxgyen](http://www.doxygen.nl/) tags should be used if documentation is needed: `@class`, `@file`, `@param`, `@return`, `@brief`, `@var`, `@see`, `@note`.
+  - [Doxgyen](https://www.doxygen.nl/) tags should be used if documentation is needed: `@class`, `@file`, `@param`, `@return`, `@brief`, `@var`, `@see`, `@note`.
    A good example of usage is [src/modules/events/send_event.h](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/events/send_event.h).

 Please avoid "magic numbers", for example, where does this number in the conditional come from? What about the multiplier on yaw stick input?
@@ -29,11 +29,11 @@ The Community Q&A call is open to all interested community members.

 ## 회의 목적

-We publish a forum post per meeting a week before the call on [PX4 Discuss - weekly-dev-call](https://discuss.px4.io/c/weekly-dev-call) and track the agenda write down the discussion for the day. We welcome any topics that you, as a community member may have questions about / want to discuss!
+We publish a forum post per meeting a week before the call on [PX4 Discuss - weekly-dev-call](https://discuss.px4.io/c/weekly-dev-call/14) and track the agenda write down the discussion for the day. We welcome any topics that you, as a community member may have questions about / want to discuss!

 Please add your topics for discussion to the agenda before the meeting begins, by replying to the meeting note. This will help you formulate your questions more clearly, and allow us to think about them in advance.

 ## 일정

- TIME: Wednesday 17h00 CET ([subscribe to calendar](https://www.dronecode.org/calendar/))
+- TIME: Wednesday 17h00 CET ([subscribe to calendar](https://dronecode.org/calendar/))
 - **Join the call**: [https://discord.gg/BDYmr6FA6Q](https://discord.gg/BDYmr6FA6Q)
@@ -38,7 +38,7 @@ For these kinds of changes we suggest using the same approach as for _code_:
 1. Use the _git_ toolchain to get the PX4 source code onto your local computer.
 2. 필요한 문서를 수정합니다(추가, 변경, 삭제).
 3. _Test_ that it builds properly using Vitepress.
-4. Create a branch for your changes and create a pull request (PR) to pull it back into the [PX4-Autopilot](https://github.com/PX4/PX4-Autopilot.git) repo.
+4. Create a branch for your changes and create a pull request (PR) to pull it back into the [PX4-Autopilot](https://github.com/PX4/PX4-Autopilot) repo.

 다음에는 소스 코드를 가져오고, 로컬에서 빌드(테스트용)하고, 코드를 수정하는 방법을 설명합니다.

@@ -58,7 +58,7 @@ If you already have a clone of the [PX4-Autopilot](https://github.com/PX4/PX4-Au

 1. Download git for your computer from [https://git-scm.com/downloads](https://git-scm.com/downloads)

-2. [Sign up](https://github.com/join) for Github if you haven't already
+2. [Sign up](https://github.com/signup) for Github if you haven't already

 3. Create a copy (Fork) of the [PX4-Autopilot repo](https://github.com/PX4/PX4-Autopilot) on Github ([instructions here](https://docs.github.com/en/get-started/quickstart/fork-a-repo)).

@@ -135,7 +135,6 @@ Within the repository you created above:
  새 분기가 분기된 저장소로 푸시되었다는 메시지가 표시되어야 합니다.

 7. 풀 요청(PR) 생성:
-
  - On the right hand side of the "new branch message" (see one step before), you should see a green button saying "Compare & Create Pull Request".
    클릭합니다.
  - 풀 요청 템플릿이 생성됩니다.
@@ -153,7 +152,6 @@ Within the repository you created above:
 로컬에서 라이브러리를 빌드하여, 변경 사항이 제대로 반영되었는 지를 테스트합니다.

 1. Install the [Vitepress prerequisites](https://vitepress.dev/guide/getting-started#prerequisites):
-
  - [Nodejs 18+](https://nodejs.org/en)
  - [Yarn classic](https://classic.yarnpkg.com/en/docs/install)

@@ -234,7 +232,6 @@ The guide uses the [Vitepress](https://vitepress.dev/) toolchain.
  - 이렇게 하면 다른 페이지와 이미지가 항상 동일한 상대 수준이므로 연결이 더 용이해집니다.

 - The _structure_ of the book is defined in `SUMMARY.md`.
-
  - If you add a new page to the guide you must also add an entry to this file!

    :::tip
@@ -260,7 +257,6 @@ When you add a new page you must also add it to `en/SUMMARY.md`!
 ## 스타일 가이드

 1. 파일/파일명
-
  - Put new markdown files in an appropriate sub-folder of `/en/`, such as `/en/contribute/`.
    폴더를 중첩하지 마십시오.
  - Put new image files in an appropriate nested sub-folder of `/assets/`.
@@ -270,14 +266,12 @@ When you add a new page you must also add it to `en/SUMMARY.md`!
  - Use lower case filenames and separate words using underscores (`_`).

 2. 이미지
-
  - 이미지는 최대한 가장 작은 크기와 가장 낮은 해상도를 사용합니다(이렇게 하면 대역폭이 좋지 않은 사용자의 다운로드 비용이 줄어듭니다).
  - New images should be created in a sub-folder of `/assets/` (so they can be shared between translations).
  - SVG files are preferred for diagrams.
    PNG files are preferred over JPG for screenshots.

 3. 내용
-
  - Use "style" (**bold**, _emphasis_, etc.) consistently and sparingly (as little as possible).
    - **Bold** for button presses and menu definitions.
    - _Emphasis_ for tool names such as _QGroundControl_ or _prettier_.
@@ -292,7 +286,6 @@ When you add a new page you must also add it to `en/SUMMARY.md`!
  - Format using _prettier_ (_VSCode_ is a has extensions can be used for this).

 4. Videos:
-
  - Youtube videos can be added using the format `<lite-youtube videoid="<youtube-video-id>" title="your title"/>` (supported via the [https://www.npmjs.com/package/lite-youtube-embed](https://www.npmjs.com/package/lite-youtube-embed) custom element, which has other parameters you can pass).
    - Use instructional videos sparingly as they date badly, and are hard to maintain.
    - Cool videos of airframes in flight are always welcome.
@@ -6,7 +6,7 @@

 PX4 기능 추가 절차는 다음과 같습니다. 다음 예제를 따라 PX4에 기여 결과를 공유할 수 있습니다.

- [Sign up](https://github.com/join) for github if you haven't already
+- [Sign up](https://github.com/signup) for github if you haven't already

 - Fork the PX4-Autopilot repo (see [here](https://docs.github.com/en/get-started/quickstart/fork-a-repo))

@@ -49,7 +49,7 @@ PX4 기능 추가 절차는 다음과 같습니다. 다음 예제를 따라 PX4
  git add <file name>
  ```

-  If you prefer having a GUI to add your files see [Gitk](https://git-scm.com/book/en/v2/Git-in-Other-Environments-Graphical-Interfaces) or [`git add -p`](http://nuclearsquid.com/writings/git-add/).
+  If you prefer having a GUI to add your files see [Gitk](https://git-scm.com/book/en/v2/Git-in-Other-Environments-Graphical-Interfaces) or [`git add -p`](https://nuclearsquid.com/writings/git-add/).

 - 변경 사항을 설명하는 메시지와 함께 추가된 파일을 커밋합니다.

@@ -292,7 +292,7 @@ If a conflict occurs during a `git rebase`, please refer to [this guide](https:/

 ### 풀 병합 충돌

-If a conflict occurs during a `git pull`, please refer to [this guide](https://help.github.com/articles/resolving-a-merge-conflict-using-the-command-line/#competing-line-change-merge-conflicts).
+If a conflict occurs during a `git pull`, please refer to [this guide](https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/addressing-merge-conflicts/resolving-a-merge-conflict-using-the-command-line#competing-line-change-merge-conflicts).

 ### 오래된 git 태그로 인한 빌드 오류

@@ -1,12 +1,12 @@
 # 라이센스

 :::info
-All code contributions must be made under the permissive [BSD 3-clause license](https://opensource.org/licenses/BSD-3-Clause) and must not impose any further constraints on its use.
+All code contributions must be made under the permissive [BSD 3-clause license](https://opensource.org/license/BSD-3-Clause) and must not impose any further constraints on its use.
 :::

 시스템의 구성요소들에 대한 라이선스를 문서로 정리합니다.

 - [PX4 Flight Stack](https://github.com/PX4/PX4-Autopilot) &mdash; BSD
 - [PX4 Middleware](https://github.com/PX4/PX4-Autopilot) &mdash; BSD
- [Pixhawk Hardware](https://github.com/PX4/Hardware) &mdash; CC-BY-SA 3.0
+- [Pixhawk Hardware](https://github.com/pixhawk/Hardware) &mdash; CC-BY-SA 3.0
 - [PX4 User Guide](https://github.com/PX4/PX4-user_guide) (Documentation) &mdash; [CC BY 4.0](https://creativecommons.org/licenses/by/4.0/).
@@ -10,7 +10,7 @@ PX4 enables terminal access to the system through the [MAVLink Shell](../debug/m

 The PX4 _System Console_ provides low-level access to the system, debug output and analysis of the system boot process.

-There is just one _System Console_, which runs on one specific UART (the debug port, as configured in NuttX), and is commonly attached to a computer via an FTDI cable (or some other debug adapter like a [Dronecode probe](https://kb.zubax.com/display/MAINKB/Dronecode+Probe+documentation)).
+There is just one _System Console_, which runs on one specific UART (the debug port, as configured in NuttX), and is commonly attached to a computer via an FTDI cable (or some other debug adapter like a [Zubax BugFace BF1](https://github.com/Zubax/bugface_bf1)).

 - Used for _low-level debugging/development_: bootup, NuttX, startup scripts, board bringup, development on central parts of PX4 (e.g. uORB).
 - 특히, 모든 부팅 출력(부팅 시 자동으로 시작되는 응용 프로그램에 대한 정보 포함)이 인쇄되는 유일한 장소입니다.
@@ -52,7 +52,6 @@ For more information, see: [https://gnu-mcu-eclipse.github.io/debug/jlink/instal
   ![Eclipse: Segger J-Link Path](../../assets/debug/eclipse_segger_jlink_path.png)

 7. 패키지를 업데이트합니다.
-
   - Click the small icon on the top right called _Open Perspective_ and open the _Packs_ perspective.
      ![Eclipse: Workspace](../../assets/debug/eclipse_workspace_perspective.png)

@@ -107,7 +106,6 @@ This is quite useful since PX4 tends to run many different tasks.
 To enable this feature for use in Eclipse:

 1. You first need to enable `CONFIG_DEBUG_TCBINFO` in the NuttX configuration for your build (to expose the TCB offsets).
-
   - Open a terminal in the root of your PX4-Autopilot source code

   - In the terminal, open `menuconfig` using the appropriate make target for the build.
@@ -149,7 +147,7 @@ Adding missing SVD files for the _Peripheral View_:

   ![Eclipse: MCU Packages](../../assets/debug/eclipse_mcu_packages.png)

-2. http://www.keil.com/dd2/Pack/ 에서 누락된 패키지를 다운로드하십시오
+2. Download missing packages from: https://www.keil.arm.com/devices/

 3. Open downloaded pack with a decompression tool, and extract the **.SVD** files from: **/CMSIS/SVD**.

@@ -1,13 +1,13 @@
-# Black Magic Probe (and Dronecode Probe)
+# Black Magic Probe (and Zubax BugFace BF1)

 The [Black Magic Probe](https://black-magic.org) is an easy to use, mostly plug-and-play, JTAG/SWD debugger for embedded microcontrollers.
 Since the Black Magic Probe is a generic debug probe, you will need an adapter to connect to Pixhawk flight controllers, which can be purchased here:

 - [Drone Code Debug Adapter](https://1bitsquared.com/products/drone-code-debug-adapter) (1 BIT SQUARED).

-## Dronecode Probe
+## Zubax BugFace BF1 {#dronecode-probe}

-The [Dronecode Probe](https://kb.zubax.com/display/MAINKB/Dronecode+Probe+documentation) is a specialization of the Black Magic Probe for debugging PX4 autopilots.
+The [Zubax BugFace BF1](https://github.com/Zubax/bugface_bf1) (formerly known as "Dronecode Probe") is a specialization of the Black Magic Probe for debugging PX4 autopilots.

 The probe's USB interface exposes two separate virtual serial port interfaces: one for connecting to the [System Console](system_console.md) (UART) and the other for an embedded GDB server (SWD interface).

@@ -20,17 +20,17 @@ The _6-pos DF13_ connector that comes with the probe cannot be used for SWD debu
 ## Using the Probe

 :::info
-To debug STM32F7 or later (FMUv5 and newer) the Dronecode probe / Blackmagic probe likely requires a firmware update.
+To debug STM32F7 or later (FMUv5 and newer) the Zubax BugFace BF1 / Blackmagic probe likely requires a firmware update.
 You can find how to update the [blackmagic probe here](https://github.com/blacksphere/blackmagic/wiki/Upgrading-Firmware).
 :::

-GDB와 함께 Dronecode 프로브를 사용하려면, 현재 자동조종장치에서 플래싱된 정확한 ELF 파일로 GDB를 시작하십시오.
+To use a Zubax BugFace BF1 with GDB, start GDB with the exact ELF file that is currently flashed on the autopilot:

 ```sh
 arm-none-eabi-gdb build/px4_fmu-v5_default/px4_fmu-v5_default.elf
 ```

-그런 다음, Dronecode 프로브 인터페이스를 선택하여야 합니다. Linux에서는 다음과 같습니다.
+Then, you have to select the Zubax BugFace BF1 interface, on Linux this is e.g.:

 ```sh
 target ext /dev/serial/by-id/usb-Black_Sphere_Technologies_Black_Magic_Probe_f9414d5_7DB85DAC-if00
@@ -9,7 +9,7 @@ PMSP는 현재 스택 추적을 샘플링하기 위하여, 주기적으로 펌
 샘플링된 스택 추적은 텍스트 파일에 추가됩니다.
 Once sampling is finished (which normally takes about an hour or more), the collected stack traces are _folded_.
 The result of _folding_ is another text file that contains the same stack traces, except that all similar stack traces (i.e. those that were obtained at the same point in the program) are joined together, and the number of their occurrences is recorded.
-The folded stacks are then fed into the visualization script, for which purpose we employ [FlameGraph - an open source stack trace visualizer](http://www.brendangregg.com/flamegraphs.html).
+The folded stacks are then fed into the visualization script, for which purpose we employ [FlameGraph - an open source stack trace visualizer](https://www.brendangregg.com/flamegraphs.html).

 ## 기본 사용법

@@ -17,14 +17,14 @@ The folded stacks are then fed into the visualization script, for which purpose

 프로파일러는 GDB에서 임베디드 대상에서 PX4를 실행합니다.
 따라서, 대상을 프로파일링하기 전에 프로파일링할 하드웨어가 있어야 하고, 해당 하드웨어에 펌웨어를 컴파일하고 업로드하여야 합니다.
-You will then need a [debug probe](../debug/swd_debug.md#debug-probes) (such as the DroneCode Probe), to run the GDB server and interact with the board.
+You will then need a [debug probe](../debug/swd_debug.md#debug-probes) (such as the Zubax BugFace BF1), to run the GDB server and interact with the board.

 ### 디버거 장치 결정

-The `poor-mans-profiler.sh` automatically detects and uses the correct USB device if you use it with a [DroneCode Probe](../debug/probe_bmp.md#dronecode-probe).
+The `poor-mans-profiler.sh` automatically detects and uses the correct USB device if you use it with a [Zubax BugFace BF1](../debug/probe_bmp.md#dronecode-probe).
 If you use a different kind of probe you may need to pass in the specific _device_ on which the debugger is located.
 You can use the bash command `ls -alh /dev/serial/by-id/` to enumerate the possible devices on Ubuntu.
-예를 들어, 다음 장치는 USB를 통해 연결된 Pixhawk 4 및 DroneCode Probe로 열거됩니다.
+For example the following devices are enumerated with a Pixhawk 4 and Zubax BugFace BF1 connected over USB:

 ```sh
 user@ubuntu:~/PX4-Autopilot$ ls -alh /dev/serial/by-id/
@@ -48,7 +48,7 @@ Then pass in the appropriate device using the `--gdbdev` argument like this:
 ### 실행

 프로파일러의 기본 사용법은 빌드 시스템을 통하여 사용할 수 있습니다.
-For example, the following command builds and profiles px4_fmu-v4pro target with 10000 samples (fetching _FlameGraph_ and adding it to the path as needed).
+For example, the following command builds and profiles px4_fmu-v4pro target with 10000 samples (fetching \_FlameGraph_ and adding it to the path as needed).

 ```sh
 make px4_fmu-v4pro_default profile
@@ -187,7 +187,7 @@ The cable used to connect the M2 and the STLinkv3-MINIE comes with the adaptor.
 Some SWD [debug probes](#debug-probes) come with adapters/cables for connecting to common Pixhawk [debug ports](#debug-ports).
 Probes that are known to come with connectors are listed below:

- [DroneCode Probe](../debug/probe_bmp.md#dronecode-probe): comes with a connector for attaching to the [Pixhawk Debug Mini](#pixhawk-debug-mini)
+- [Zubax BugFace BF1](../debug/probe_bmp.md#dronecode-probe): comes with a connector for attaching to the [Pixhawk Debug Mini](#pixhawk-debug-mini)

 ### Board-specific Adapters

@@ -72,7 +72,7 @@ screen /dev/ttyXXX BAUDRATE 8N1

 ### 윈도우: PuTTY

-Download [PuTTY](http://www.chiark.greenend.org.uk/~sgtatham/putty/download.html) and start it.
+Download [PuTTY](https://www.chiark.greenend.org.uk/~sgtatham/putty/latest.html) and start it.

 '직렬 연결'을 선택하고, 포트 매개변수를 다음과 같이 설정합니다.

@@ -28,7 +28,7 @@ logger help

 ## 설정

-The logging system is configured by default to collect sensible logs for [flight reporting](../getting_started/flight_reporting.md) with [Flight Review](http://logs.px4.io).
+The logging system is configured by default to collect sensible logs for [flight reporting](../getting_started/flight_reporting.md) with [Flight Review](https://logs.px4.io/).

 Logging may further be configured using the [SD Logging](../advanced_config/parameter_reference.md#sd-logging) parameters.
 변경할 가능성이 높은 매개변수가 아래에 설명되어 있습니다.
@@ -24,5 +24,5 @@ This section is for software developers and (new) hardware integrators.

 - [Support](../contribute/support.md): Get help using the [discussion boards](https://discuss.px4.io//) and other support channels.
 - [Weekly Dev Call](../contribute/dev_call.md): A great opportunity to meet the PX4 dev team and discuss platform technical details (including pull requests, major issues, general Q&A).
- [Licences](../contribute/licenses.md): What you can do with the code (free to use and modify under terms of the permissive [BSD 3-clause license](https://opensource.org/licenses/BSD-3-Clause)!)
+- [Licences](../contribute/licenses.md): What you can do with the code (free to use and modify under terms of the permissive [BSD 3-clause license](https://opensource.org/license/BSD-3-Clause)!)
 - [Contributing](../contribute/index.md): How to work with our [source code](../contribute/code.md).
@@ -71,4 +71,4 @@ Set the following parameters in _QGroundControl_ [Vehicle Setup > Parameters](..

 [CAN PMU Manual](http://manual.cuav.net/power-module/CAN-PMU.pdf)

-[CAN PMU Power detection module > Enable CAN PMU > PX4 firmware](http://doc.cuav.net/power-module/can-pmu/en/) (CUAV docs)
+[CAN PMU Power detection module > Enable CAN PMU > PX4 firmware](https://doc.cuav.net/power-module/can-pmu/en/) (CUAV docs)
@@ -8,6 +8,6 @@ Additional documentation on how to use Babel/other SLCAN adapters, the DroneCAN

 ## Debugging with Zubax Babel

-A great tool to debug the transmission on the CAN bus is the [Zubax Babel](https://zubax.com/products/babel) in combination with the [GUI tool](http://dronecan.github.io/GUI_Tool/Overview/).
+A great tool to debug the transmission on the CAN bus is the [Zubax Babel](https://zubax.com/products/babel) in combination with the [GUI tool](https://dronecan.github.io/GUI_Tool/Overview/).

 They can also be used independently from Pixhawk hardware in order to test a node or manually control DroneCAN enabled ESCs.
@@ -55,7 +55,7 @@ Supported hardware includes (this is not an exhaustive list):
  - [Holybro DroneCAN H-RTK F9P Rover](https://holybro.com/products/dronecan-h-rtk-f9p-rover)
  - [Holybro DroneCAN H-RTK F9P Helical](https://holybro.com/products/dronecan-h-rtk-f9p-helical)
  - [RaccoonLab GNSS Modules](https://docs.raccoonlab.co/guide/gps_mag_baro/)
-  - [Zubax GNSS](https://zubax.com/products/gnss_2)
+  - [Zubax GNSS](https://shop.zubax.com/products/zubax-gnss-2)

 - Power monitors
  - [Pomegranate Systems Power Module](../dronecan/pomegranate_systems_pm.md)
@@ -70,7 +70,7 @@ Supported hardware includes (this is not an exhaustive list):
  - [ARK Flow](ark_flow.md)
  - [Ark Flow MR](ark_flow_mr.md)
  - [Avionics Anonymous Laser Altimeter UAVCAN Interface](../dronecan/avanon_laser_interface.md)
-  - [RaccoonLab uRangefidner and Rangefinders Adapter](https://docs.raccoonlab.co/guide/rangefinder)
+  - [RaccoonLab uRangefidner and Rangefinders Adapter](https://docs.raccoonlab.co/guide/rangefinder/)

 - 광류 센서
  - [Ark Flow](ark_flow.md)
@@ -326,4 +326,4 @@ If successful, the firmware binary will be removed from the root directory and t
 - [Home Page](https://dronecan.github.io) (dronecan.github.io)
 - [Protocol Specification](https://dronecan.github.io/Specification) (dronecan.github.io)
 - [Implementations](https://dronecan.github.io/Implementations/) (dronecan.github.io)
- [Cyphal/CAN Device Interconnection](https://kb.zubax.com/pages/viewpage.action?pageId=2195476) (kb.zubax.com)
+- [Cyphal/CAN Device Interconnection](https://wiki.zubax.com/public/cyphal/CyphalCAN-device-interconnection?pageId=2195476) (kb.zubax.com)
@@ -11,13 +11,13 @@ PX4 does not manufacture this (or any) autopilot.
 Contact the [manufacturer](https://store.mrobotics.io/) for hardware support or compliance issues.
 :::

-The [AUAV<sup>&reg;</sup>](http://www.auav.com/) _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.
+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)

 ## 요약

- Main System-on-Chip: [STM32F427](http://www.st.com/web/en/catalog/mmc/FM141/SC1169/SS1577/LN1789)
+- Main System-on-Chip: [STM32F427](https://www.st.com/en/microcontrollers-microprocessors/stm32f427-437.html)
  - CPU : STM32F427VIT6 ARM 마이크로 컨트롤러 - 개정판 3
  - IO: STM32F100C8T6 ARM 마이크로 컨트롤러
 - 센서:
@@ -58,7 +58,7 @@ mRobotics is the distributor for the AUAV Products from August 2017.
 ## 주요 링크

 - [User Manual](http://arsovtech.com/wp-content/uploads/2015/08/AUAV-X2-user-manual-EN.pdf)
- [DIY Drones Post](http://diydrones.com/profiles/blogs/introducing-the-auav-x2-1-flight-controller)
+- [DIY Drones Post](https://diydrones.com/profiles/blogs/introducing-the-auav-x2-1-flight-controller)

 ## 배선 가이드

@@ -77,7 +77,7 @@ The board is based on the [Pixhawk project](https://pixhawk.org/) **FMUv2** open
 - [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/PX4/Hardware).
+As a CC-BY-SA 3.0 licensed Open Hardware design, all schematics and design files are [available](https://github.com/pixhawk/Hardware).
 :::

 ## 시리얼 포트 매핑
@@ -1,9 +1,5 @@
 # 단종 자동비행장치와 기종

-:::tip
-For more information about PX4 project autopilot board support levels see: [px4.io/autopilots/](https://px4.io/autopilots/).
-:::
-
 이 카테고리는 단종된 자동조종장치와 완제품에 대하여 설명합니다.
 These are no longer being manufactured, and may not be supported by their manufacturer.
 They are listed because you may be using them in an existing drone, and because they **may** still work with the head revision of PX4.
@@ -12,13 +8,16 @@ They are listed because you may be using them in an existing drone, and because

 - [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)
+- [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)
@@ -17,11 +17,9 @@ This category includes boards that are not fully compliant with the pixhawk stan
 - [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 X7](../flight_controller/cuav_x7.md)
 - [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 Pixhack v3](../flight_controller/pixhack_v3.md) (FMUv3)
 - [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)
@@ -34,7 +32,6 @@ This category includes boards that are not fully compliant with the pixhawk stan
 - [ModalAI Flight Core v1](../flight_controller/modalai_fc_v1.md)
 - [ModalAI VOXL Flight](../flight_controller/modalai_voxl_flight.md)
 - [ModalAI VOXL 2](../flight_controller/modalai_voxl_2.md)
- [mRobotics-X2.1](../flight_controller/mro_x2.1.md) (FMUv2)
 - [mRo Control Zero](../flight_controller/mro_control_zero_f7.md)
 - [Sky-Drones AIRLink](../flight_controller/airlink.md)
 - [SPRacing SPRacingH7EXTREME](../flight_controller/spracingh7extreme.md)
@@ -9,7 +9,7 @@ Contact the [manufacturer](https://beagleboard.org/blue) for hardware support or

 [BeagleBone Blue](https://beagleboard.org/blue) is an all-in-one Linux-based computer.
 로봇 공학에 최적화되어 있지만, 이 작고 저렴한 보드에는 비행 콘트롤러에 필요한 모든 센서와 주변 장치가 있습니다.
-This topic shows how to set up the board to run PX4 with [librobotcontrol](https://github.com/StrawsonDesign/librobotcontrol) robotics package.
+This topic shows how to set up the board to run PX4 with [librobotcontrol](https://github.com/beagleboard/librobotcontrol) robotics package.

 ![BeagleBone - labelled diagram](../../assets/hardware/BeagleBone_Blue_balloons.jpg)

@@ -77,7 +77,6 @@ echo "PermitRootLogin yes" >>  /etc/ssh/sshd_config && systemctl restart sshd

 1. First set up _rsync_ (this is used to transfer files from the development computer to the target board over a network - WiFi or Ethernet).
   For _rsync_ over SSH with key authentication, follow the steps here (on the development machine):
-
   1. 이전에 생성하지 않은 경우 SSH 키를 생성합니다.

      ```
@@ -105,9 +104,7 @@ echo "PermitRootLogin yes" >>  /etc/ssh/sshd_config && systemctl restart sshd
   5. 루트 비밀번호 입력

 2. 크로스 컴파일러 설정
-
   1. 툴체인 다운로드
-
      1. First install the toolchain into _/opt/bbblue_toolchain/gcc-arm-linux-gnueabihf_.
         Here is an example of using soft link to select which version of the toolchain you want to use:

@@ -127,7 +124,7 @@ echo "PermitRootLogin yes" >>  /etc/ssh/sshd_config && systemctl restart sshd

         Download and unpack [gcc-linaro-13.0.0-2022.06-x86_64_arm-linux-gnueabihf.tar.xz](https://snapshots.linaro.org/gnu-toolchain/13.0-2022.06-1/arm-linux-gnueabihf/gcc-linaro-13.0.0-2022.06-x86_64_arm-linux-gnueabihf.tar.xz) to the bbblue_toolchain folder.

-         Different ARM Cross Compiler versions for _BeagleBone Blue_ can be found at [Linaro Toolchain Binaries site](http://www.linaro.org/downloads/).
+         Different ARM Cross Compiler versions for _BeagleBone Blue_ can be found at [Linaro Toolchain Binaries site](https://www.linaro.org/downloads/).

         ```sh
         wget https://snapshots.linaro.org/gnu-toolchain/13.0-2022.06-1/arm-linux-gnueabihf/gcc-linaro-13.0.0-2022.06-x86_64_arm-linux-gnueabihf.tar.xz
@@ -212,7 +209,9 @@ Run the following commands on the BeagleBone Blue (i.e. via SSH):
   sudo apt-get update
   sudo apt-get install cmake python3-empy=3.3.4-2
   ```
+
 2. PX4 펌웨어를 BeagleBone Blue에 복제합니다.
+
 3. Continue with the [standard build system installation](../dev_setup/dev_env_linux.md).

 ## Changes in config
@@ -40,7 +40,6 @@ The manufacturer [CUAV Docs](https://doc.cuav.net/flight-controller/x7/en/nora.h
 - 메인 FMU 프로세서: STM32H743

 - 내장 센서 :
-
  - 가속도계/자이로스코프 : ICM-20689
  - 가속도계/자이로스코프 : ICM-20649
  - 가속도계/자이로스코프 : BMI088
@@ -173,5 +172,5 @@ The complete set of supported configurations can be seen in the [Airframes Refer
 ## 추가 정보

 - [Quick start](https://doc.cuav.net/flight-controller/x7/en/quick-start/quick-start-nora.html)
- [CUAV docs](http://doc.cuav.net)
+- [CUAV docs](https://doc.cuav.net/)
 - [nora schematic](https://github.com/cuav/hardware/tree/master/X7_Autopilot)
@@ -1,6 +1,6 @@
 # CUAV v5 (단종)

-<Badge type="info" text="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.
@@ -27,7 +27,6 @@ It is intended primarily for academic and commercial developers.
  - 32 비트 Arm® Cortex®-M3, 24MHz, 8KB SRAM

 - 내장 센서 :
-
  - 가속도계/자이로스코프 : ICM-20689
  - 가속도계/자이로스코프 : BMI055
  - 자력계 : IST8310
@@ -147,5 +146,4 @@ The complete set of supported configurations can be seen in the [Airframes Refer
 ## 추가 정보

 - [FMUv5 reference design pinout](https://docs.google.com/spreadsheets/d/1-n0__BYDedQrc_2NHqBenG1DNepAgnHpSGglke-QQwY/edit#gid=912976165).
- [CUAV v5 docs](http://doc.cuav.net/flight-controller/v5-autopilot/en/v5.html)
 - [CUAV Github](https://github.com/cuav)
@@ -17,7 +17,7 @@ The V5 nano is similar to the [CUAV V5+](../flight_controller/cuav_v5_plus.md),

 주요 기능은 다음과 같습니다.

- Full compatibility with the [Pixhawk project](https://pixhawk.org/) **FMUv5** design standard and uses the [Pixhawk Connector Standard](https://pixhawk.org/pixhawk-connector-standard/) for all external interfaces.
+- Full compatibility with the [Pixhawk project](https://pixhawk.org/) **FMUv5** design standard and uses the [Pixhawk Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf) for all external interfaces.
 - 더 안정적이고 신뢰할 수 있는 센서와 함께 FMU v3보다 고급 프로세서, RAM 및 플래시 메모리.
 - PX4와 펌웨어 호환.
 - I/O 핀을 위한 넉넉한 2.6mm 간격으로 모든 인터페이스를 더 쉽게 사용할 수 있습니다.
@@ -31,7 +31,6 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo
 메인 FMU 프로세서: STM32F765◦32 비트 Arm® Cortex®-M7, 216MHz, 2MB 메모리, 512KB RAM

 - 내장 센서 :
-
  - 가속도/자이로: ICM-20689
  - 가속도/자이로: ICM-20602
  - 가속/자이로: BMI055
@@ -39,7 +38,6 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo
  - 기압계: MS5611

 - 인터페이스 : 8개의 PWM 출력
-
  - FMU의 전용 PWM/캡처 입력 3 개
  - CPPM 전용 RC 입력
  - Spektrum/DSM 및 S.Bus 전용 R/C 입력
@@ -186,7 +184,7 @@ CUAV는 몇 가지 차별화된 디자인을 채택하고, 아래에서 설명

 The _Neo v2.0 GPS_ that is recommended for use with _CUAV V5+_ and _CUAV V5 nano_ is not fully compatible with other Pixhawk flight controllers (specifically, the buzzer part is not compatible and there may be issues with the safety switch).

-The UAVCAN [NEO V2 PRO GNSS receiver](http://doc.cuav.net/gps/neo-series-gnss/en/neo-v2-pro.html) can also be used, and is compatible with other flight controllers.
+The UAVCAN [NEO V2 PRO GNSS receiver](https://doc.cuav.net/gps/neo-series-gnss/en/neo-v2-pro.html) can also be used, and is compatible with other flight controllers.

 <a id="compatibility_jtag"></a>

@@ -14,7 +14,7 @@ CUAV<sup>&reg;</sup>와 PX4팀이 공동으로 설계하였습니다.

 주요 기능은 다음과 같습니다.

- Full compatibility with the [Pixhawk project](https://pixhawk.org/) **FMUv5** design standard and uses the [Pixhawk Connector Standard](https://pixhawk.org/pixhawk-connector-standard/) for all external interfaces.
+- Full compatibility with the [Pixhawk project](https://pixhawk.org/) **FMUv5** design standard and uses the [Pixhawk Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf) for all external interfaces.
 - 더 안정적이고 신뢰할 수 있는 센서와 함께 FMU v3보다 고급 프로세서, RAM 및 플래시 메모리.
 - PX4와 펌웨어 호환.
 - 모듈식 설계를 통해 사용자는 자신의 캐리어 보드를 설정할 수 있습니다.
@@ -34,7 +34,6 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo
  - 32 비트 Arm® Cortex®-M3, 24MHz, 8KB SRAM

 - 내장 센서 :
-
  - 가속도계/자이로스코프 : ICM-20689
  - 가속도계/자이로스코프 : BMI055
  - 자력계 : IST8310
@@ -62,7 +61,6 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo
  - Dimensions: 85.5\*42\*33mm

 - 기타 특성:
-
  - 작동 온도: -20 ~ 80°c (측정 값)

 ## 구매처
@@ -206,7 +204,7 @@ CUAV는 몇 가지 차별화된 디자인을 채택하고, 아래에서 설명

 The _Neo v2.0 GPS_ recommended for use with _CUAV V5+_ and _CUAV V5 nano_ is not fully compatible with other Pixhawk flight controllers (specifically, the buzzer part is not compatible and there may be issues with the safety switch).

-The UAVCAN [NEO V2 PRO GNSS receiver](http://doc.cuav.net/gps/neo-series-gnss/en/neo-v2-pro.html) can also be used, and is compatible with other flight controllers.
+The UAVCAN [NEO V2 PRO GNSS receiver](https://doc.cuav.net/gps/neo-series-gnss/en/neo-v2-pro.html) can also be used, and is compatible with other flight controllers.

 <a id="compatibility_jtag"></a>

@@ -240,7 +238,7 @@ SBUS/DSM/RSSI 인터페이스에 다른 장비(RC 수신기 제외)를 연결하
 ## 추가 정보

 - [CUAV V5+ Manual](http://manual.cuav.net/V5-Plus.pdf)
- [CUAV V5+ docs](http://doc.cuav.net/flight-controller/v5-autopilot/en/v5+.html)
+- [CUAV V5+ docs](https://doc.cuav.net/controller/v5-autopilot/en/v5+.html)
 - [FMUv5 reference design pinout](https://docs.google.com/spreadsheets/d/1-n0__BYDedQrc_2NHqBenG1DNepAgnHpSGglke-QQwY/edit#gid=912976165)
 - [CUAV Github](https://github.com/cuav)
 - [Base board design reference](https://github.com/cuav/hardware/tree/master/V5_Autopilot/V5%2B/V5%2BBASE)
@@ -1,4 +1,11 @@
-# CUAV X7 비행 컨트롤러
+# 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.
@@ -41,7 +48,6 @@ The manufacturer [CUAV Docs](https://doc.cuav.net/flight-controller/x7/en/) are
 - 메인 FMU 프로세서: STM32H743

 - 내장 센서 :
-
  - 가속도계/자이로스코프 : ICM-20689
  - 가속도계/자이로스코프 : ICM-20649
  - 가속도계/자이로스코프 : BMI088
@@ -85,7 +91,7 @@ When it runs PX4 firmware, only 8 pwm works, the remaining 6 pwm are still being

 ## 배선

-[CUAV X7 Wiring Quickstart](http://doc.cuav.net/flight-controller/x7/en/quick-start/quick-start-x7.html)
+[CUAV X7 Wiring Quickstart](https://doc.cuav.net/controller/x7/en/quick-start/quick-start-x7-plus.html)

 ## 크기와 핀배열

@@ -177,5 +183,5 @@ The complete set of supported configurations can be seen in the [Airframes Refer
 ## 추가 정보

 - [Quick start](http://doc.cuav.net/flight-controller/x7/en/quick-start/quick-start-x7.html)
- [CUAV docs](http://doc.cuav.net)
+- [CUAV docs](https://doc.cuav.net/)
 - [x7 schematic](https://github.com/cuav/hardware/tree/master/X7_Autopilot)
@@ -19,7 +19,7 @@ This is automatically configured and enabled in the default PX4 firmware.
 Cube에는 2 개의 IMU에 진동 차단이 포함되어 있으며, 세 번째 고정 IMU는 참조 백업용으로 사용됩니다.

 :::tip
-The manufacturer [Cube Docs](https://docs.cubepilot.org/user-guides/autopilot/the-cube-module-overview) contain detailed information, including an overview of the [Differences between Cube Colours](https://docs.cubepilot.org/user-guides/autopilot/the-cube-module-overview#differences-between-cube-colours).
+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).
 :::

 ## 주요 특징
@@ -53,7 +53,7 @@ The manufacturer [Cube Docs](https://docs.cubepilot.org/user-guides/autopilot/th
  - 400 MHz
  - 1 MB RAM
  - 2MB 플래시 \(완전 액세스 가능\)
- **Failsafe co-processor:** <!-- inconsistent info on failsafe processor: 32 bit STM32F103 failsafe co-processor http://www.proficnc.com/all-products/191-pixhawk2-suite.html -->
+- **Failsafe co-processor:** <!-- inconsistent info on failsafe processor: 32 bit STM32F103 failsafe co-processor -->
  - STM32F103 (32bit _ARM Cortex-M3_)
  - 24 MHz
  - 8 KB SRAM
@@ -244,6 +244,5 @@ Board schematics and other documentation can be found here: [The Cube Project](h

 - [Cube Wiring Quickstart](../assembly/quick_start_cube.md)
 - Cube 문서 (제조사) :
-  - [Cube Module Overview](https://docs.cubepilot.org/user-guides/autopilot/the-cube-module-overview)
-  - [Cube User Manual](https://docs.cubepilot.org/user-guides/autopilot/the-cube-user-manual)
+  - [Cube User Guide](https://docs.cubepilot.org/user-guides/autopilot/the-cube)
  - [Mini Carrier Board](https://docs.cubepilot.org/user-guides/carrier-boards/mini-carrier-board)
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
JaeyoungLim	45dc5f1e8e	Cleanup manual mode	2025-08-04 23:41:28 +09:00
JaeyoungLim	4266ecc124	Cleanup	2025-08-04 12:50:08 +09:00
JaeyoungLim	b01e3e50d4	Fix thrust scaling - working with tuning	2025-08-04 12:01:32 +09:00
JaeyoungLim	c92bde66fb	Fix issues with nans	2025-08-02 11:12:27 +02:00
JaeyoungLim	10d094ae97	Switch origin to SITL position TODO: Fix problems with NANs	2025-07-08 16:50:30 +09:00
JaeyoungLim	f4a2e0db40	Rebase fixes Initialize local origin F F Disable manual switch	2025-07-08 16:12:07 +09:00
JaeyoungLim	b67cc482d4	Copy implementation Add msgs	2025-07-08 15:40:05 +09:00
Silvan Fuhrer	5a2b26f931	FW land detector: only force to landed if launch detection is STATE_WAITING_FOR_LAUNCH (#25167 ) Signed-off-by: Silvan <silvan@auterion.com>	2025-07-07 16:09:15 +02:00
Ramon Roche	dcde7b47d1	ci: remove paths ignore Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2025-07-07 10:25:40 +02:00
Ramon Roche	a54bbe0b24	coverage: move coverage flags within its own cmake Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2025-07-07 10:25:40 +02:00
Ramon Roche	5faa46fa0a	cmake: use atomic profile updates for coverage Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2025-07-07 10:25:40 +02:00
Ramon Roche	f01e589010	make: lcov ignore mismatch errors Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2025-07-07 10:25:40 +02:00
Ramon Roche	6bd66d50e9	shellcheck: fix SC2268 Avoid x-prefix if [ "x$PRT_GPS1_" = "x" ]; then ^-----------^ SC2268 (style): Avoid x-prefix in comparisons as it no longer serves a purpose. Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2025-07-07 10:25:40 +02:00
Ramon Roche	58dcfb0a02	shellcheck: fix SC3014 == in place of = Fixes SC3014 (error): In dash, == in place of = is not supported. Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2025-07-07 10:25:40 +02:00
Ramon Roche	83606cb0fc	ci: concurrency cancel in progress save compute time Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2025-07-07 10:25:40 +02:00
Ramon Roche	8a44f10cf9	ci: trigger on pull request for .github/workflows Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2025-07-07 10:25:40 +02:00
Ramon Roche	13f3a7ec6d	ci: fix branch trigger strategy Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2025-07-07 10:25:40 +02:00
Ramon Roche	d46420e1dc	ci: check with updated container Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2025-07-07 10:25:40 +02:00
Marco Hauswirth	6ee6a3a578	GNSS: Don't send 'spoofing' warnings form driver (#25160 ) * removing logic from driver to send warnings when state-change to spoofing is detected, handled in estimatorChecks * also remove jamming warnings from drivers, those are handled in the estimator checks as well	2025-07-07 09:44:26 +02:00
Crowdin Bot	588fd9d684	New Crowdin translations - zh-CN	2025-07-07 09:04:54 +10:00
Hamish Willee	8aecc7e588	Incorrect URLS for dronecan/cyphaal in params	2025-07-07 09:04:39 +10:00
Crowdin Bot	29a40f37e2	New Crowdin translations - ko	2025-07-07 09:03:49 +10:00
PX4 Build Bot	389b76bd3a	New Crowdin translations - uk (#25163 ) Co-authored-by: Crowdin Bot <support+bot@crowdin.com>	2025-07-07 09:03:31 +10:00
bresch	d35c5f4a4e	SIH-plane: tune angular rate controllers	2025-07-04 16:14:27 +02:00
Connor Denihan	33fed67c07	Update community_supported_simulators.md (#25155 ) Fixed wording	2025-07-04 09:01:37 +10:00