boat: add module for rudder-steered boats

sv: rename rover parameters to surface vehicle
sv: extend rover control lib to surface vehicles
2026-06-08 19:40:06 +08:00 · 2025-09-05 13:48:57 +02:00 · 2025-09-05 13:48:17 +02:00 · 2025-09-05 13:28:30 +02:00 · 2025-09-05 08:41:59 +02:00 · 2025-09-05 08:27:58 +02:00
346 changed files with 7904 additions and 7518 deletions
@@ -100,6 +100,3 @@
 [submodule "src/drivers/ins/microstrain/mip_sdk"]
 	path = src/drivers/ins/microstrain/mip_sdk
 	url = https://github.com/PX4/LORD-MicroStrain_mip_sdk.git
-[submodule "src/drivers/ins/sbgecom/sbgECom"]
-	path = src/drivers/ins/sbgecom/sbgECom
-	url = https://github.com/PX4/sbgECom.git
@@ -43,7 +43,7 @@
        "files.watcherExclude": {
                "**/build/**": true
        },
-        "git.detectSubmodulesLimit": 25,
+        "git.detectSubmodulesLimit": 20,
        "git.ignoreLimitWarning": true,
        "githubPullRequests.defaultMergeMethod": "squash",
        "githubPullRequests.telemetry.enabled": false,
@@ -34,6 +34,7 @@ param set-default COM_LOW_BAT_ACT 0
 param set-default NAV_DLL_ACT 0
 param set-default GF_ACTION 1
 param set-default NAV_RCL_ACT 1
+param set-default COM_POSCTL_NAVL 2

 # disable attitude failure detection
 param set-default FD_FAIL_P 0
@@ -45,6 +45,7 @@ param set-default COM_LOW_BAT_ACT 0
 param set-default NAV_DLL_ACT 0
 param set-default GF_ACTION 1
 param set-default NAV_RCL_ACT 1
+param set-default COM_POSCTL_NAVL 2

 # disable attitude failure detection
 param set-default FD_FAIL_P 0
@@ -54,6 +54,13 @@ if(CONFIG_MODULES_AIRSHIP_ATT_CONTROL)
 	)
 endif()

+if(CONFIG_MODULES_BOAT_RUDDER)
+	px4_add_romfs_files(
+		rc.boat_rudder_apps
+		rc.boat_rudder_defaults
+	)
+endif()
+
 if(CONFIG_MODULES_FW_RATE_CONTROL)
 	px4_add_romfs_files(
 		rc.fw_apps
@@ -83,13 +90,6 @@ if(CONFIG_MODULES_ROVER_ACKERMANN)
 	)
 endif()

-if(CONFIG_MODULES_SPACECRAFT)
-	px4_add_romfs_files(
-		rc.sc_apps
-		rc.sc_defaults
-	)
-endif()
-
 if(CONFIG_MODULES_ROVER_MECANUM)
 	px4_add_romfs_files(
 		rc.rover_mecanum_apps
@@ -97,6 +97,13 @@ if(CONFIG_MODULES_ROVER_MECANUM)
 	)
 endif()

+if(CONFIG_MODULES_SPACECRAFT)
+	px4_add_romfs_files(
+		rc.sc_apps
+		rc.sc_defaults
+	)
+endif()
+
 if(CONFIG_MODULES_UUV_ATT_CONTROL)
 	px4_add_romfs_files(
 		rc.uuv_apps
@@ -45,6 +45,7 @@ param set-default COM_LOW_BAT_ACT 0
 param set-default NAV_DLL_ACT 0
 param set-default GF_ACTION 1
 param set-default NAV_RCL_ACT 1
+param set-default COM_POSCTL_NAVL 2

 # disable attitude failure detection
 param set-default FD_FAIL_P 0
@@ -35,6 +35,7 @@ param set-default COM_LOW_BAT_ACT 0
 param set-default NAV_DLL_ACT 0
 param set-default GF_ACTION 1
 param set-default NAV_RCL_ACT 1
+param set-default COM_POSCTL_NAVL 2

 # Set Mocap Vision frame
 param set EKF2_EV_CTRL 15
@@ -0,0 +1,8 @@
+#!/bin/sh
+# Standard apps for a boat rudder.
+
+# Start boat rudder module.
+boat_rudder start
+
+# Start Land Detector.
+land_detector start rover
@@ -0,0 +1,11 @@
+#!/bin/sh
+# Rudder-steered boats parameters.
+
+set VEHICLE_TYPE boat
+param set-default MAV_TYPE 10           # MAV_TYPE_GROUND_ROVER
+param set-default CA_AIRFRAME 5         # Rover (Ackermann)
+param set-default CA_R_REV 1            # Motor is assumed to be reversible
+param set-default EKF2_MAG_TYPE 1       # Make sure magnetometer is fused even when not flying
+param set-default NAV_ACC_RAD 0.5       # Waypoint acceptance radius
+param set-default EKF2_GBIAS_INIT 0.01
+param set-default EKF2_ANGERR_INIT 0.01
@@ -54,22 +54,6 @@ if [[ ! -f "${DIR}/${REQUIREMENTS_FILE}" ]]; then
 	return 1
 fi

-# Linux Mint compatibility: use upstream Ubuntu values
-if [ -r /etc/upstream-release/lsb-release ]; then
-    . /etc/upstream-release/lsb-release
-    UBUNTU_CODENAME="${DISTRIB_CODENAME:-${UBUNTU_CODENAME:-}}"
-    UBUNTU_RELEASE="${DISTRIB_RELEASE:-${UBUNTU_RELEASE:-}}"
-
-    lsb_release() {
-        if [ "$1" = "-cs" ]; then
-            printf '%s' "$UBUNTU_CODENAME"
-        elif [ "$1" = "-rs" ]; then
-            printf '%s' "$UBUNTU_RELEASE"
-        else
-            command lsb_release "$@"
-        fi
-    }
-fi

 # check ubuntu version
 # otherwise warn and point to docker?
@@ -36,6 +36,7 @@ param set-default EKF2_MULTI_IMU 0
 param set-default EKF2_OF_CTRL 1
 param set-default EKF2_OF_N_MIN 0.05
 param set-default EKF2_RNG_A_HMAX 25
+param set-default EKF2_RNG_QLTY_T 0.1

 param set-default SENS_FLOW_RATE 150
 param set-default SENS_IMU_MODE 1
@@ -71,15 +71,18 @@ add_custom_target(metadata_parameters

 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/parameters/px_process_params.py
 		--src-path `find ${PX4_SOURCE_DIR}/src -maxdepth 4 -type d` ${generated_params_dir}
+		--inject-xml ${PX4_SOURCE_DIR}/src/lib/parameters/parameters_injected.xml
 		--markdown ${PX4_BINARY_DIR}/docs/parameters.md

 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/parameters/px_process_params.py
 		--src-path `find ${PX4_SOURCE_DIR}/src -maxdepth 4 -type d` ${generated_params_dir}
+		--inject-xml ${PX4_SOURCE_DIR}/src/lib/parameters/parameters_injected.xml
 		--json ${PX4_BINARY_DIR}/docs/parameters.json
 		--compress

 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/parameters/px_process_params.py
 		--src-path `find ${PX4_SOURCE_DIR}/src -maxdepth 4 -type d` ${generated_params_dir}
+		--inject-xml ${PX4_SOURCE_DIR}/src/lib/parameters/parameters_injected.xml
 		--xml ${PX4_BINARY_DIR}/docs/parameters.xml

 	COMMENT "Generating full parameter metadata (markdown, xml, and json)"
@@ -1,8 +1,8 @@
 # Onboard parameters for Vehicle 1
 #
 # Stack: PX4 Pro
-# Vehicle: Multi-Rotor
-# Version: 1.15.4
+# Vehicle: śŕĐýŇí
+# Version: 1.15.4 
 # Git Revision: 99c40407ff000000
 #
 # Vehicle-Id Component-Id Name Value Type
@@ -318,6 +318,7 @@
 1	1	COM_OBS_AVOID	0	6
 1	1	COM_OF_LOSS_T	1.000000000000000000	9
 1	1	COM_PARACHUTE	0	6
+1	1	COM_POSCTL_NAVL	0	6
 1	1	COM_POS_FS_DELAY	1	6
 1	1	COM_POS_FS_EPH	5.000000000000000000	9
 1	1	COM_POS_LOW_EPH	-1.000000000000000000	9
@@ -157,7 +157,6 @@
        - [mRo (3DR) Pixhawk Wiring Quickstart](assembly/quick_start_pixhawk.md)
      - [Holybro Pixhawk Mini (FMUv3) - Discontinued](flight_controller/pixhawk_mini.md)
    - [Manufacturer-Supported Autopilots](flight_controller/autopilot_manufacturer_supported.md)
-      - [Accton Godwit GA1](flight_controller/accton-godwit_ga1.md)
      - [AirMind MindPX](flight_controller/mindpx.md)
      - [AirMind MindRacer](flight_controller/mindracer.md)
      - [ARK Electronics ARKV6X](flight_controller/ark_v6x.md)
@@ -282,7 +281,6 @@
      - [CubePilot Here+ (Discontined)](gps_compass/rtk_gps_hex_hereplus.md)
    - [INS (Inertial Navigation/GNSS)](sensor/inertial_navigation_systems.md)
      - [InertialLabs](sensor/inertiallabs.md)
-      - [sbgECom](sensor/sbgecom.md)
      - [VectorNav](sensor/vectornav.md)
    - [Optical Flow](sensor/optical_flow.md)
      - [ARK Flow](dronecan/ark_flow.md)
@@ -661,8 +659,6 @@
        - [RoverPositionSetpoint](msg_docs/RoverPositionSetpoint.md)
        - [RoverRateSetpoint](msg_docs/RoverRateSetpoint.md)
        - [RoverRateStatus](msg_docs/RoverRateStatus.md)
-        - [RoverSpeedSetpoint](msg_docs/RoverSpeedSetpoint.md)
-        - [RoverSpeedStatus](msg_docs/RoverSpeedStatus.md)
        - [RoverSteeringSetpoint](msg_docs/RoverSteeringSetpoint.md)
        - [RoverThrottleSetpoint](msg_docs/RoverThrottleSetpoint.md)
        - [RoverVelocitySetpoint](msg_docs/RoverVelocitySetpoint.md)
@@ -723,7 +719,6 @@
        - [YawEstimatorStatus](msg_docs/YawEstimatorStatus.md)
        - [AirspeedValidatedV0](msg_docs/AirspeedValidatedV0.md)
        - [ArmingCheckReplyV0](msg_docs/ArmingCheckReplyV0.md)
-        - [ArmingCheckRequestV0](msg_docs/ArmingCheckRequestV0.md)
        - [BatteryStatusV0](msg_docs/BatteryStatusV0.md)
        - [EventV0](msg_docs/EventV0.md)
        - [HomePositionV0](msg_docs/HomePositionV0.md)
@@ -1,9 +1,10 @@
 <!-- GENERATED CONTENT: DO NOT EDIT -->
-
 - [Introduction](/index.md)
+
  - [Basic Concepts](/getting_started/px4_basic_concepts.md)

 - [Multicopters](/frames_multicopter/index.md)
+
  - [Features](/features_mc/index.md)
    - [Flight Modes](/flight_modes_mc/index.md)
      - [Position Mode (MC)](/flight_modes_mc/position.md)
@@ -36,7 +37,7 @@
    - [Static Pressure Buildup](/advanced_config/static_pressure_buildup.md)
  - [Flying (Basics)](/flying/basic_flying_mc.md)
  - [Complete Vehicles](/complete_vehicles_mc/index.md)
-    - [ModalAI Starling (PX4 Dev Kit)](/complete_vehicles_mc/modalai_starling.md)
+    - [ModalAI Starling](/complete_vehicles_mc/modalai_starling.md)
    - [PX4 Vision Kit](/complete_vehicles_mc/px4_vision_kit.md)
    - [MindRacer BNF & RTF](/complete_vehicles_mc/mindracer_BNF_RTF.md)
      - [MindRacer 210](/complete_vehicles_mc/mindracer210.md)
@@ -57,6 +58,7 @@
    - [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)
@@ -84,6 +86,7 @@
    - [Wing Wing Z84 (Pixracer)](/frames_plane/wing_wing_z84.md)

 - [VTOL](/frames_vtol/index.md)
+
  - [Assembly](/assembly/assembly_vtol.md)
  - [VTOL Config/Tuning](/config_vtol/index.md)
    - [Auto-tune](/config/autotune_vtol.md)
@@ -108,6 +111,7 @@
  - [Complete Vehicles](/complete_vehicles_vtol/index.md)

 - [Operations](/config/operations.md)
+
  - [Safety](/config/safety_intro.md)
    - [Safety Configuration (Failsafes)](/config/safety.md)
    - [Failsafe Simulation](/config/safety_simulation.md)
@@ -128,6 +132,7 @@
    - [QGroundControl Flight-Readiness Status](/flying/pre_flight_checks.md)

 - [Hardware Selection & Setup](/hardware/drone_parts.md)
+
  - [Flight Controllers (Autopilots)](/flight_controller/index.md)
    - [Flight Controller Selection](/getting_started/flight_controller_selection.md)
    - [Pixhawk Series](/flight_controller/pixhawk_series.md)
@@ -159,18 +164,18 @@
        - [mRo (3DR) Pixhawk Wiring Quickstart](/assembly/quick_start_pixhawk.md)
      - [Holybro Pixhawk Mini (FMUv3) - Discontinued](/flight_controller/pixhawk_mini.md)
    - [Manufacturer-Supported Autopilots](/flight_controller/autopilot_manufacturer_supported.md)
-      - [Accton Godwit GA1](/flight_controller/accton-godwit_ga1.md)
      - [AirMind MindPX](/flight_controller/mindpx.md)
      - [AirMind MindRacer](/flight_controller/mindracer.md)
      - [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 Wiring Quickstart](/assembly/quick_start_cuav_v5_nano.md)
-      - [CUAV X25 EVO](/flight_controller/cuav_x25-evo.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)
@@ -183,8 +188,11 @@
        - [Wiring Quickstart](/assembly/quick_start_durandal.md)
      - [Holybro Pix32 v5](/flight_controller/holybro_pix32_v5.md)
        - [Wiring Quickstart](/assembly/quick_start_holybro_pix32_v5.md)
+      - [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)
-      - [mRo Control Zero F7](/flight_controller/mro_control_zero_f7.md)
+      - [mRobotics-X2.1 (FMUv2)](/flight_controller/mro_x2.1.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)
@@ -198,20 +206,18 @@
    - [Discontinued Autopilots/Vehicles](/flight_controller/autopilot_discontinued.md)
      - [Drotek Dropix (FMUv2)](/flight_controller/dropix.md)
      - [Omnibus F4 SD](/flight_controller/omnibus_f4_sd.md)
+      - [BetaFPV Beta75X 2S Brushless Whoop](/complete_vehicles_mc/betafpv_beta75x.md)
      - [Bitcraze Crazyflie 2.0 ](/complete_vehicles_mc/crazyflie2.md)
      - [Aerotenna OcPoC-Zynq Mini](/flight_controller/ocpoc_zynq.md)
-      - [CUAV X7](/flight_controller/cuav_x7.md)
      - [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)
-      - [ModalAI Flight Core v1](/flight_controller/modalai_fc_v1.md)
-      - [ModalAI VOXL Flight](/flight_controller/modalai_voxl_flight.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)
+      - [Snapdragon Flight](/flight_controller/snapdragon_flight.md)
+      - [Intel® Aero RTF Drone](/complete_vehicles_mc/intel_aero.md)
    - [Pixhawk Autopilot Bus (PAB) & Carriers](/flight_controller/pixhawk_autopilot_bus.md)
      - [ARK Electronics Pixhawk Autopilot Bus Carrier](/flight_controller/ark_pab.md)
    - [Mounting the Flight Controller](/assembly/mount_and_orient_controller.md)
@@ -235,7 +241,6 @@
      - [Compass Power Compensation](/advanced_config/compass_power_compensation.md)
    - [Airspeed Sensors](/sensor/airspeed.md)
      - [Calibration](/config/airspeed.md)
-      - [Airspeed Validation](/advanced_config/airspeed_validation.md)
      - [TFSlot Airspeed Sensor](/sensor/airspeed_tfslot.md)
    - [Barometers](/sensor/barometer.md)
    - [Distance Sensors \(Rangefinders\)](/sensor/rangefinders.md)
@@ -267,7 +272,6 @@
      - [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)
@@ -283,7 +287,6 @@
      - [Trimble MB-Two](/gps_compass/rtk_gps_trimble_mb_two.md)
      - [CubePilot Here+ (Discontined)](/gps_compass/rtk_gps_hex_hereplus.md)
    - [INS (Inertial Navigation/GNSS)](/sensor/inertial_navigation_systems.md)
-      - [InertialLabs](/sensor/inertiallabs.md)
      - [VectorNav](/sensor/vectornav.md)
    - [Optical Flow](/sensor/optical_flow.md)
      - [ARK Flow](/dronecan/ark_flow.md)
@@ -305,6 +308,7 @@
        - [Zubax Telega](/dronecan/zubax_telega.md)
        - [PX4 Sapog ESC Firmware](/dronecan/sapog.md)
          - [Holybro Kotleta](/dronecan/holybro_kotleta.md)
+          - [Zubax Orel](/dronecan/zubax_orel.md)
      - [Vertiq](/peripherals/vertiq.md)
      - [VESC](/peripherals/vesc.md)
  - [Radio Control (RC)](/getting_started/rc_transmitter_receiver.md)
@@ -316,7 +320,6 @@
    - [Telemetry Radios](/telemetry/index.md)
      - [SiK Radio](/telemetry/sik_radio.md)
        - [RFD900 (SiK) Telemetry Radio](/telemetry/rfd900_telemetry.md)
-        - [ThunderFly TFSIK01 Telemetry Radio](/telemetry/tfsik_telemetry.md)
        - [HolyBro (SIK) Telemetry Radio](/telemetry/holybro_sik_radio.md)
      - [Telemetry Wifi](/telemetry/telemetry_wifi.md)
        - [ESP8266 WiFi Module](/telemetry/esp8266_wifi_module.md)
@@ -332,7 +335,6 @@
    - [FrSky Telemetry](/peripherals/frsky_telemetry.md)
    - [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)
@@ -399,6 +401,7 @@
    - [Full Parameter Reference](/advanced_config/parameter_reference.md)

 - [Other Vehicles](/airframes/index.md)
+
  - [Airships (experimental)](/frames_airship/index.md)
  - [Autogyros (experimental)](/frames_autogyro/index.md)
    - [ThunderFly Auto-G2 (Holybro pix32)](/frames_autogyro/thunderfly_auto_g2.md)
@@ -406,17 +409,17 @@
  - [Helicopter (experimental)](/frames_helicopter/index.md)
    - [Helicopter Config/Tuning](/config_heli/index.md)
  - [Rovers (experimental)](/frames_rover/index.md)
-    - [Drive Modes](/flight_modes_rover/index.md)
-      - [Manual](/flight_modes_rover/manual.md)
-      - [Auto](/flight_modes_rover/auto.md)
-    - [Configuration/Tuning](/config_rover/index.md)
-      - [Basic Setup](/config_rover/basic_setup.md)
-      - [Rate Tuning](/config_rover/rate_tuning.md)
-      - [Attitude Tuning](/config_rover/attitude_tuning.md)
-      - [Velocity Tuning](/config_rover/velocity_tuning.md)
-      - [Position Tuning](/config_rover/position_tuning.md)
-    - [Complete Vehicles](/complete_vehicles_rover/index.md)
-      - [Aion Robotics R1](/complete_vehicles_rover/aion_r1.md)
+    - [Ackermann Rovers](/frames_rover/ackermann.md)
+      - [Drive Modes](/flight_modes_rover/ackermann.md)
+      - [Configuration/Tuning](/config_rover/ackermann.md)
+    - [Differential Rovers](/frames_rover/differential.md)
+      - [Drive Modes](/flight_modes_rover/differential.md)
+      - [Configuration/Tuning](/config_rover/differential.md)
+      - [Aion Robotics R1](/frames_rover/aion_r1.md)
+    - [Mecanum Rovers](/frames_rover/mecanum.md)
+      - [Drive Modes](/flight_modes_rover/mecanum.md)
+      - [Configuration/Tuning](/config_rover/mecanum.md)
+    - [(Deprecated) Rover Position Control](/frames_rover/rover_position_control.md)
  - [Submarines (experimental)](/frames_sub/index.md)
    - [BlueROV2](/frames_sub/bluerov2.md)
  - [Airframes Reference](/airframes/airframe_reference.md)
@@ -528,7 +531,6 @@
        - [Airspeed](/msg_docs/Airspeed.md)
        - [AirspeedWind](/msg_docs/AirspeedWind.md)
        - [AutotuneAttitudeControlStatus](/msg_docs/AutotuneAttitudeControlStatus.md)
-        - [BatteryInfo](/msg_docs/BatteryInfo.md)
        - [ButtonEvent](/msg_docs/ButtonEvent.md)
        - [CameraCapture](/msg_docs/CameraCapture.md)
        - [CameraStatus](/msg_docs/CameraStatus.md)
@@ -547,7 +549,6 @@
        - [DifferentialPressure](/msg_docs/DifferentialPressure.md)
        - [DistanceSensor](/msg_docs/DistanceSensor.md)
        - [DistanceSensorModeChangeRequest](/msg_docs/DistanceSensorModeChangeRequest.md)
-        - [DronecanNodeStatus](/msg_docs/DronecanNodeStatus.md)
        - [Ekf2Timestamps](/msg_docs/Ekf2Timestamps.md)
        - [EscReport](/msg_docs/EscReport.md)
        - [EscStatus](/msg_docs/EscStatus.md)
@@ -622,7 +623,6 @@
        - [MountOrientation](/msg_docs/MountOrientation.md)
        - [NavigatorMissionItem](/msg_docs/NavigatorMissionItem.md)
        - [NavigatorStatus](/msg_docs/NavigatorStatus.md)
-        - [NeuralControl](/msg_docs/NeuralControl.md)
        - [NormalizedUnsignedSetpoint](/msg_docs/NormalizedUnsignedSetpoint.md)
        - [ObstacleDistance](/msg_docs/ObstacleDistance.md)
        - [OffboardControlMode](/msg_docs/OffboardControlMode.md)
@@ -662,8 +662,6 @@
        - [RoverPositionSetpoint](/msg_docs/RoverPositionSetpoint.md)
        - [RoverRateSetpoint](/msg_docs/RoverRateSetpoint.md)
        - [RoverRateStatus](/msg_docs/RoverRateStatus.md)
-        - [RoverSpeedSetpoint](/msg_docs/RoverSpeedSetpoint.md)
-        - [RoverSpeedStatus](/msg_docs/RoverSpeedStatus.md)
        - [RoverSteeringSetpoint](/msg_docs/RoverSteeringSetpoint.md)
        - [RoverThrottleSetpoint](/msg_docs/RoverThrottleSetpoint.md)
        - [RoverVelocitySetpoint](/msg_docs/RoverVelocitySetpoint.md)
@@ -723,13 +721,7 @@
        - [Wind](/msg_docs/Wind.md)
        - [YawEstimatorStatus](/msg_docs/YawEstimatorStatus.md)
        - [AirspeedValidatedV0](/msg_docs/AirspeedValidatedV0.md)
-        - [ArmingCheckReplyV0](/msg_docs/ArmingCheckReplyV0.md)
-        - [ArmingCheckRequestV0](/msg_docs/ArmingCheckRequestV0.md)
-        - [BatteryStatusV0](/msg_docs/BatteryStatusV0.md)
-        - [EventV0](/msg_docs/EventV0.md)
-        - [HomePositionV0](/msg_docs/HomePositionV0.md)
        - [VehicleAttitudeSetpointV0](/msg_docs/VehicleAttitudeSetpointV0.md)
-        - [VehicleLocalPositionV0](/msg_docs/VehicleLocalPositionV0.md)
        - [VehicleStatusV0](/msg_docs/VehicleStatusV0.md)
    - [MAVLink Messaging](/mavlink/index.md)
      - [Adding Messages](/mavlink/adding_messages.md)
@@ -769,7 +761,7 @@
    - [Debugging with GDB](/debug/gdb_debugging.md)
      - [SWD Debug Port](/debug/swd_debug.md)
      - [JLink Probe](/debug/probe_jlink.md)
-      - [Black Magic/Zubax BugFace BF1 Probe](/debug/probe_bmp.md)
+      - [Black Magic/DroneCode Probe](/debug/probe_bmp.md)
      - [STLink Probe](/debug/probe_stlink.md)
      - [MCU-Link Probe](/debug/probe_mculink.md)
      - [Hardfault Debugging](/debug/gdb_hardfault.md)
@@ -793,9 +785,6 @@
    - [Camera Integration/Architecture](/camera/camera_architecture.md)
    - [Computer Vision](/advanced/computer_vision.md)
      - [Motion Capture (VICON, Optitrack, NOKOV)](/tutorials/motion-capture.md)
-    - [Neural Networks](/advanced/neural_networks.md)
-      - [Neural Network Module Utilities](/advanced/nn_module_utilities.md)
-      - [TensorFlow Lite Micro (TFLM)](/advanced/tflm.md)
    - [Installing driver for Intel RealSense R200](/advanced/realsense_intel_driver.md)
    - [Switching State Estimators](/advanced/switching_state_estimators.md)
    - [Out-of-Tree Modules](/advanced/out_of_tree_modules.md)
@@ -827,12 +816,8 @@
      - [Test MC_02 - Full Autonomous](/test_cards/mc_02_full_autonomous.md)
      - [Test MC_03 - Auto Manual Mix](/test_cards/mc_03_auto_manual_mix.md)
      - [Test MC_04 - Failsafe Testing](/test_cards/mc_04_failsafe_testing.md)
-      - [Test MC_05 - Manual Modes (Inside)](/test_cards/mc_05_indoor_flight_manual_modes.md)
-      - [Test MC_06 - Optical Flow (Inside)](/test_cards/mc_06_optical_flow.md)
-      - [Test MC_07 - VIO (Inside)](/test_cards/mc_07_vio.md)
-      - [Test MC_08 - DSHOT ESC](/test_cards/mc_08_dshot.md)
+      - [Test MC_05 - Indoor Flight (Manual Modes)](/test_cards/mc_05_indoor_flight_manual_modes.md)
    - [Unit Tests](/test_and_ci/unit_tests.md)
-      - [Fuzz Tests](/test_and_ci/fuzz_tests.md)
    - [Continuous Integration](/test_and_ci/continous_integration.md)
    - [Integration Testing](/test_and_ci/integration_testing.md)
      - [MAVSDK Integration Testing](/test_and_ci/integration_testing_mavsdk.md)
@@ -692,16 +692,6 @@ to 0 and 4096. Other standard params follows the same rule.
 | ------ | -------- | -------- | --------- | ------- | ---- |
 | &nbsp; | 0        | 65535    |           | 0       |

-### PCA9685_EN_BUS (`INT32`) {#PCA9685_EN_BUS}
-
-Enable the PCA9685 output driver.
-
-The integer refers to the I2C bus number where PCA9685 is connected.
-
-| Reboot | minValue | maxValue | increment | default | unit |
-| ------ | -------- | -------- | --------- | ------- | ---- |
-| &nbsp; | 0        | 10       |           | 0       |
-
 ### PCA9685_FAIL1 (`INT32`) {#PCA9685_FAIL1}

 PCA9685 Output Channel 1 Failsafe Value.
@@ -14445,9 +14435,9 @@ Set bits in the following positions to enable:

 ### FW_AT_MAN_AUX (`INT32`) {#FW_AT_MAN_AUX}

-Enable/disable auto tuning using a manual control AUX input.
+Enable/disable auto tuning using an RC AUX input.

-Defines which RC_MAP_AUXn parameter maps the manual control channel used to enable/disable auto tuning.
+Defines which RC_MAP_AUXn parameter maps the RC channel used to enable/disable auto tuning.

 **Values:**

@@ -16252,6 +16242,21 @@ Expect and require a healthy MAVLink parachute system.
 | ------ | -------- | -------- | --------- | ------------ | ---- |
 | &nbsp; |          |          |           | Disabled (0) |

+### COM_POSCTL_NAVL (`INT32`) {#COM_POSCTL_NAVL}
+
+Position mode navigation loss response.
+
+This sets the flight mode that will be used if navigation accuracy is no longer adequate for position control in manual Position mode.
+
+**Values:**
+
+- `0`: Altitude mode
+- `1`: Land mode (descend)
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; |          |          |           | 0       |
+
 ### COM_POS_FS_EPH (`FLOAT`) {#COM_POS_FS_EPH}

 Horizontal position error threshold for hovering systems.
@@ -16358,7 +16363,7 @@ A negative value disables the check.

 ### COM_RCL_EXCEPT (`INT32`) {#COM_RCL_EXCEPT}

-Manual control loss exceptions.
+RC loss exceptions.

 Specify modes where manual control loss is ignored and no failsafe is triggered.
 External modes requiring stick input will still failsafe.
@@ -16376,7 +16381,7 @@ External modes requiring stick input will still failsafe.

 ### COM_RC_ARM_HYST (`INT32`) {#COM_RC_ARM_HYST}

-Manual control input arm/disarm command duration.
+RC input arm/disarm command duration.

 The default value of 1000 requires the stick to be held in the arm or disarm position for 1 second.

@@ -16424,9 +16429,9 @@ Ensure the value is not set lower than the update interval of the RC or Joystick

 ### COM_RC_OVERRIDE (`INT32`) {#COM_RC_OVERRIDE}

-Enable manual control stick override.
+Enable RC stick override of auto and/or offboard modes.

-When enabled, moving the sticks more than COM_RC_STICK_OV
+When RC stick override is enabled, moving the RC sticks more than COM_RC_STICK_OV
 immediately gives control back to the pilot by switching to Position mode and
 if position is unavailable Altitude mode.
 Note: Only has an effect on multicopters, and VTOLs in multicopter mode.
@@ -16442,7 +16447,7 @@ Note: Only has an effect on multicopters, and VTOLs in multicopter mode.

 ### COM_RC_STICK_OV (`FLOAT`) {#COM_RC_STICK_OV}

-Stick override threshold.
+RC stick override threshold.

 If COM_RC_OVERRIDE is enabled and the joystick input is moved more than this threshold
 the autopilot the pilot takes over control.
@@ -16586,10 +16591,11 @@ action will be executed.

 ### NAV_RCL_ACT (`INT32`) {#NAV_RCL_ACT}

-Set manual control loss failsafe mode.
+Set RC loss failsafe mode.

-The manual control loss failsafe will only be entered after a timeout,
-set by COM_RC_LOSS_T in seconds.
+The RC loss failsafe will only be entered after a timeout,
+set by COM_RC_LOSS_T in seconds. If RC input checks have been disabled
+by setting the COM_RC_IN_MODE param it will not be triggered.

 **Values:**

@@ -16870,7 +16876,7 @@ armed.

 | Reboot | minValue | maxValue | increment | default | unit |
 | ------ | -------- | -------- | --------- | ------- | ---- |
-| &nbsp; | 0        | 1        | 0.01      | 0.055   | norm |
+| &nbsp; | 0        | 1        | 0.01      | 0.055   | %    |

 ### DSHOT_TEL_CFG (`INT32`) {#DSHOT_TEL_CFG}

@@ -19923,7 +19929,7 @@ Yaw behaviour during orbit flight.
 - `1`: Hold Initial Heading
 - `2`: Uncontrolled
 - `3`: Hold Front Tangent to Circle
- `4`: Manually (yaw stick) Controlled
+- `4`: RC Controlled

 | Reboot | minValue | maxValue | increment | default | unit |
 | ------ | -------- | -------- | --------- | ------- | ---- |
@@ -20262,7 +20268,6 @@ Modes 1 and 2 require each F9P UART1 to be connected to the Autopilot. In additi
 F9P units are connected to each other.
 Modes 3 and 4 only require UART1 on each F9P connected to the Autopilot or Can Node. UART RX DMA is required.
 RTK is still possible with this setup.
-Mode 6 is intended for use with a ground control station (not necessarily an RTK correction base).

 **Values:**

@@ -20272,7 +20277,6 @@ Mode 6 is intended for use with a ground control station (not necessarily an RTK
 - `3`: Heading (Rover With Moving Base UART1 Connected to Autopilot Or Can Node At 921600)
 - `4`: Moving Base (Moving Base UART1 Connected to Autopilot Or Can Node At 921600)
 - `5`: Rover with Static Base on UART2 (similar to Default, except coming in on UART2)
- `6`: Ground Control Station (UART2 outputs NMEA)

 | Reboot  | minValue | maxValue | increment | default | unit |
 | ------- | -------- | -------- | --------- | ------- | ---- |
@@ -29538,16 +29542,6 @@ Distance from the center of the right wheel to the center of the left wheel.
 | ------ | -------- | -------- | --------- | ------- | ---- |
 | &nbsp; | 0        | 100      | 0.001     | 0       | m    |

-### RD_YAW_STK_GAIN (`FLOAT`) {#RD_YAW_STK_GAIN}
-
-Yaw stick gain for Manual mode.
-
-Assign value <1.0 to decrease stick response for yaw control.
-
-| Reboot | minValue | maxValue | increment | default | unit |
-| ------ | -------- | -------- | --------- | ------- | ---- |
-| &nbsp; | 0.1      | 1        | 0.01      | 1       |
-
 ## Rover Mecanum

 ### RM_COURSE_CTL_TH (`FLOAT`) {#RM_COURSE_CTL_TH}
@@ -29573,16 +29567,6 @@ Distance from the center of the right wheel to the center of the left wheel.
 | ------ | -------- | -------- | --------- | ------- | ---- |
 | &nbsp; | 0        | 100      | 0.001     | 0       | m    |

-### RM_YAW_STK_GAIN (`FLOAT`) {#RM_YAW_STK_GAIN}
-
-Yaw stick gain for Manual mode.
-
-Assign value <1.0 to decrease stick response for yaw control.
-
-| Reboot | minValue | maxValue | increment | default | unit |
-| ------ | -------- | -------- | --------- | ------- | ---- |
-| &nbsp; | 0.1      | 1        | 0.01      | 1       |
-
 ## Rover Rate Control

 ### RO_YAW_ACCEL_LIM (`FLOAT`) {#RO_YAW_ACCEL_LIM}
@@ -29607,18 +29591,6 @@ Set to -1 to disable.
 | ------ | -------- | -------- | --------- | ------- | ------- |
 | &nbsp; | -1       | 10000    | 0.01      | -1.     | deg/s^2 |

-### RO_YAW_EXPO (`FLOAT`) {#RO_YAW_EXPO}
-
-Yaw rate expo factor.
-
-Exponential factor for tuning the input curve shape.
-0 Purely linear input curve
-1 Purely cubic input curve
-
-| Reboot | minValue | maxValue | increment | default | unit |
-| ------ | -------- | -------- | --------- | ------- | ---- |
-| &nbsp; | 0        | 1        |           | 0.      |
-
 ### RO_YAW_RATE_CORR (`FLOAT`) {#RO_YAW_RATE_CORR}

 Yaw rate correction factor.
@@ -29679,19 +29651,6 @@ Percentage of stick input range that will be interpreted as zero around the stic
 | ------ | -------- | -------- | --------- | ------- | ---- |
 | &nbsp; | 0        | 1        | 0.01      | 0.1     |

-### RO_YAW_SUPEXPO (`FLOAT`) {#RO_YAW_SUPEXPO}
-
-Yaw rate super expo factor.
-
-"Superexponential" factor for refining the input curve shape tuned using RO_YAW_EXPO.
-0 Pure Expo function
-0.7 reasonable shape enhancement for intuitive stick feel
-0.95 very strong bent input curve only near maxima have effect
-
-| Reboot | minValue | maxValue | increment | default | unit |
-| ------ | -------- | -------- | --------- | ------- | ---- |
-| &nbsp; | 0        | 0.95     |           | 0.      |
-
 ## Rover Velocity Control

 ### RO_ACCEL_LIM (`FLOAT`) {#RO_ACCEL_LIM}
@@ -29879,24 +29838,6 @@ Selects the algorithm used for logfile encryption
 | ------ | -------- | -------- | --------- | ------- | ---- |
 | &nbsp; |          |          |           | 2       |

-### SDLOG_BACKEND (`INT32`) {#SDLOG_BACKEND}
-
-Logging Backend (integer bitmask).
-
-If no logging is set the logger will not be started.
-Set bits true to enable:
-0: SD card logging
-1: Mavlink logging
-
-**Bitmask:**
-
- `0`: SD card logging
- `1`: Mavlink logging
-
-| Reboot  | minValue | maxValue | increment | default | unit |
-| ------- | -------- | -------- | --------- | ------- | ---- |
-| &check; | 0        | 3        |           | 3       |
-
 ### SDLOG_BOOT_BAT (`INT32`) {#SDLOG_BOOT_BAT}

 Battery-only Logging.
@@ -29983,12 +29924,10 @@ Logging Mode.

 Determines when to start and stop logging. By default, logging is started
 when arming the system, and stopped when disarming.
-Note: The logging start/end points that can be configured here only apply to
-SD logging. The mavlink backend is started/stopped independently
-of these points.

 **Values:**

+- `-1`: disabled
 - `0`: when armed until disarm (default)
 - `1`: from boot until disarm
 - `2`: from boot until shutdown
@@ -33079,31 +33018,6 @@ The mode will switch from long to short range when the distance is less than the
 | ------ | -------- | -------- | --------- | ------- | ---- |
 | &nbsp; | 1        | 50       |           | 4       | m    |

-### SENS_BAHRS_CFG (`INT32`) {#SENS_BAHRS_CFG}
-
-Serial Configuration for EULER-NAV BAHRS.
-
-Configure on which serial port to run EULER-NAV BAHRS.
-
-**Values:**
-
- `0`: Disabled
- `6`: UART 6
- `101`: TELEM 1
- `102`: TELEM 2
- `103`: TELEM 3
- `104`: TELEM/SERIAL 4
- `201`: GPS 1
- `202`: GPS 2
- `203`: GPS 3
- `300`: Radio Controller
- `301`: Wifi Port
- `401`: EXT2
-
-| Reboot  | minValue | maxValue | increment | default | unit |
-| ------- | -------- | -------- | --------- | ------- | ---- |
-| &check; |          |          |           | 0       |
-
 ### SENS_BARO_QNH (`FLOAT`) {#SENS_BARO_QNH}

 QNH for barometer.
@@ -35648,86 +35562,6 @@ Note: certain drivers such as the GPS can determine the Baudrate automatically.
 | ------- | -------- | -------- | --------- | ------- | ---- |
 | &check; |          |          |           | 1       |

-## Simulation
-
-### SIM_GZ_EN_ASPD (`INT32`) {#SIM_GZ_EN_ASPD}
-
-Enable airspeed sensor in Gazebo bridge.
-
-**Values:**
-
- `0`: Disabled
- `1`: Enabled
-
-| Reboot  | minValue | maxValue | increment | default     | unit |
-| ------- | -------- | -------- | --------- | ----------- | ---- |
-| &check; |          |          |           | Enabled (1) |
-
-### SIM_GZ_EN_BARO (`INT32`) {#SIM_GZ_EN_BARO}
-
-Enable barometer/air pressure sensor in Gazebo bridge.
-
-**Values:**
-
- `0`: Disabled
- `1`: Enabled
-
-| Reboot  | minValue | maxValue | increment | default     | unit |
-| ------- | -------- | -------- | --------- | ----------- | ---- |
-| &check; |          |          |           | Enabled (1) |
-
-### SIM_GZ_EN_FLOW (`INT32`) {#SIM_GZ_EN_FLOW}
-
-Enable optical flow sensor in Gazebo bridge.
-
-**Values:**
-
- `0`: Disabled
- `1`: Enabled
-
-| Reboot  | minValue | maxValue | increment | default     | unit |
-| ------- | -------- | -------- | --------- | ----------- | ---- |
-| &check; |          |          |           | Enabled (1) |
-
-### SIM_GZ_EN_GPS (`INT32`) {#SIM_GZ_EN_GPS}
-
-Enable GPS/NavSat sensor in Gazebo bridge.
-
-**Values:**
-
- `0`: Disabled
- `1`: Enabled
-
-| Reboot  | minValue | maxValue | increment | default     | unit |
-| ------- | -------- | -------- | --------- | ----------- | ---- |
-| &check; |          |          |           | Enabled (1) |
-
-### SIM_GZ_EN_LIDAR (`INT32`) {#SIM_GZ_EN_LIDAR}
-
-Enable laser/lidar sensors in Gazebo bridge.
-
-**Values:**
-
- `0`: Disabled
- `1`: Enabled
-
-| Reboot  | minValue | maxValue | increment | default     | unit |
-| ------- | -------- | -------- | --------- | ----------- | ---- |
-| &check; |          |          |           | Enabled (1) |
-
-### SIM_GZ_EN_ODOM (`INT32`) {#SIM_GZ_EN_ODOM}
-
-Enable odometry in Gazebo bridge.
-
-**Values:**
-
- `0`: Disabled
- `1`: Enabled
-
-| Reboot  | minValue | maxValue | increment | default     | unit |
-| ------- | -------- | -------- | --------- | ----------- | ---- |
-| &check; |          |          |           | Enabled (1) |
-
 ## Simulation In Hardware

 ### SIH_DISTSNSR_MAX (`FLOAT`) {#SIH_DISTSNSR_MAX}
@@ -41241,11 +41075,3 @@ SPC_VEHICLE_RESP.
 | Reboot | minValue | maxValue | increment | default | unit |
 | ------ | -------- | -------- | --------- | ------- | ---- |
 | &nbsp; |          |          |           | 0.5     |
-
-### ZENOH_DOMAIN_ID (`INT32`) {#ZENOH_DOMAIN_ID}
-
-ROS2 RMW_ZENOH_CPP Domain id.
-
-| Reboot | minValue | maxValue | increment | default | unit |
-| ------ | -------- | -------- | --------- | ------- | ---- |
-| &nbsp; | 0        | 232      |           | 0       |
@@ -628,16 +628,7 @@ div.frame_variant td, div.frame_variant th {
 ### Free-Flyer

 <div class="frame_common">
-<img src="../../assets/airframes/types/FreeFlyer.svg"/>
-<table>
- <thead>
-   <tr><th>Common Outputs</th></tr>
- </thead>
- <tbody>
-<tr>
- <td><ul><li><b>Motor1</b>: back left thruster, +x thrust</li><li><b>Motor2</b>: front left thruster, -x thrust</li><li><b>Motor3</b>: back right thruster, +x thrust</li><li><b>Motor4</b>: front right thruster, -x thrust</li><li><b>Motor5</b>: front left thruster, +y thrust</li><li><b>Motor6</b>: front right thruster, -y thrust</li><li><b>Motor7</b>: back left thruster, +y thrust</li><li><b>Motor8</b>: back right thruster, -y thrust</li></ul></td>
-</tr>
-</tbody></table>
+<img src="../../assets/airframes/types/AirframeUnknown.svg"/>
 </div>

 <div class="frame_variant">
@@ -647,7 +638,7 @@ div.frame_variant td, div.frame_variant th {
 </thead>
 <tbody>
 <tr id="spacecraft_free-flyer_kth-atmos">
- <td><a href="https://atmos.discower.io">KTH-ATMOS</a></td>
+ <td>KTH-ATMOS</td>
 <td>Maintainer: DISCOWER<p><code>SYS_AUTOSTART</code> = 70000</p></td>
 </tr>
 </tbody>
@@ -290,7 +290,7 @@ If you're using [DroneCAN ESC](../peripherals/esc_motors.md#dronecan) the contro
 ### Flight Controller Power

 Pixhawk FCs require a regulated power supply that can supply at around 5V/3A continuous (check your specific FC)!
-This is sufficient to power the controller itself and a few low-power peripherals, such as a GNSS module, RC receiver, and low power telemetry radio, but not for motors, actuators, and other peripherals.
+This is sufficient to power the controller itself and a few low-power peripherals, such as a GNSS module, RC transmitter, and low power telemetry radio, but not for motors, actuators, and other peripherals.

 [Power modules](../power_module/index.md) are commonly used to "split off" this regulated power supply for the FC and also to provide measurements of the battery voltage and total current to the whole system — which PX4 can use to estimate power levels.
 The power module is connected to the FC power port, which is normally labeled `POWER` (or `POWER 1` or `POWER 2` for FCs that have redundant power supply).
@@ -13,9 +13,9 @@ The first executed file is the [init.d/rcS](https://github.com/PX4/PX4-Autopilot

 The following sections are split according to the operating system that PX4 runs on.

-## POSIX (Linux/MacOS)
+## Posix (Linux/MacOS)

-On POSIX, the system shell is used as script interpreter (e.g. /bin/sh, being symlinked to dash on Ubuntu).
+On Posix, the system shell is used as script interpreter (e.g. /bin/sh, being symlinked to dash on Ubuntu).
 For that to work, a few things are required:

 - PX4 modules need to look like individual executables to the system.
@@ -54,7 +54,7 @@ cd <PX4-Autopilot>/build/px4_sitl_default/bin
 ### Dynamic Modules

 Normally, all modules are compiled into a single PX4 executable.
-However, on POSIX, there's the option of compiling a module into a separate file, which can be loaded into PX4 using the `dyn` command.
+However, on Posix, there's the option of compiling a module into a separate file, which can be loaded into PX4 using the `dyn` command.

 ```sh
 dyn ./test.px4mod
@@ -90,7 +90,7 @@ This is documented below.
 The best way to customize the system startup is to introduce a [new frame configuration](../dev_airframes/adding_a_new_frame.md).
 The frame configuration file can be included in the firmware or on an SD Card.

-#### Dynamic Customization
+#### Dynamic customization

 If you only need to "tweak" the existing configuration, such as starting one more application or setting the value of a few parameters, you can specify these by creating two files in the `/etc/` directory of the SD Card:

@@ -148,36 +148,27 @@ The following example shows how to start custom applications:
  mandatory_app start     # Will abort boot if mandatory_app is unknown or fails
  ```

-#### Additional Init-File Customization
+#### Additional customization

-In rare cases where the desired setup cannot be achieved through frame configuration or dynamic customization, you can add a script that will be compiled into the binary for a particular `make` target build variant.
+In rare cases where the desired setup cannot be achieved through frame configuration or dynamic customization,
+you can add a script that will be contained in the binary.

-::: warning
-In almost all cases, you should use a frame configuration.
-This method should only be used for edge-cases such as customizing `cannode` based boards.
-:::
-
-The steps are:
-
- Add a new init script in `boards/<vendor>/<board>/init` that will run during board startup.
-  For example:
+**Note**: In almost all cases, you should use a frame configuration. This method should only be used for
+edge-cases such as customizing `cannode` based boards.

+- Add a new init script in `boards/<vendor>/<board>/init` that will run during board startup. For example:
  ```sh
  # File: boards/<vendor>/<board>/init/rc.additional
  param set-default <param> <value>
  ```

- Add a new board variant in `boards/<vendor>/<board>/<variant>.px4board` that includes the additional script.
-  For example:
-
+- Add a new board variant in `boards/<vendor>/<board>/<variant>.px4board` that includes the additional script. For example:
  ```sh
  # File: boards/<vendor>/<board>/var.px4board
  CONFIG_BOARD_ADDITIONAL_INIT="rc.additional"
  ```

- Compile the firmware with your new variant by appending the variant name to the compile target.
-  For example:
-
+- Compile the firmware with your new variant by appending the variant name to the compile target. For example:
  ```sh
  make <target>_var
  ```
@@ -206,13 +206,23 @@ The relevant parameters shown below.

 ### Position Loss Failsafe Action

-Multicopters will switch to [Altitude mode](../flight_modes_mc/altitude.md) if a height estimate is available, otherwise [Stabilized mode](../flight_modes_mc/manual_stabilized.md).
- 
+The failure action is controlled by [COM_POSCTL_NAVL](../advanced_config/parameter_reference.md#COM_POSCTL_NAVL), based on whether RC control is assumed to be available (and altitude information):
+
+- `0`: Remote control available.
+  Switch to _Altitude mode_ if a height estimate is available, otherwise _Stabilized mode_.
+- `1`: Remote control _not_ available.
+  Switch to _Descend mode_ if a height estimate is available, otherwise enter flight termination.
+  _Descend mode_ is a landing mode that does not require a position estimate.
+
 Fixed-wing planes, and VTOLs not configured to land in hover ([NAV_FORCE_VT](../advanced_config/parameter_reference.md#NAV_FORCE_VT)), have a parameter ([FW_GPSF_LT](../advanced_config/parameter_reference.md#FW_GPSF_LT)) that defines how long they will loiter (circle with a constant roll angle ([FW_GPSF_R](../advanced_config/parameter_reference.md#FW_GPSF_R)) at the current altitude) after losing position before attempting to land.
 If VTOLs have are configured to switch to hover for landing ([NAV_FORCE_VT](../advanced_config/parameter_reference.md#NAV_FORCE_VT)) then they will first transition and then descend.

 The relevant parameters for all vehicles shown below.

+| Parameter                                                                                                | Description                                                                                                   |
+| -------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------- |
+| <a id="COM_POSCTL_NAVL"></a>[COM_POSCTL_NAVL](../advanced_config/parameter_reference.md#COM_POSCTL_NAVL) | Position control navigation loss response during mission. Values: `0` - assume use of RC, `1` - Assume no RC. |
+
 Parameters that only affect Fixed-wing vehicles:

 | Parameter                                                                                 | Description                                                                                                 |
@@ -33,7 +33,7 @@ _QGroundControl for Windows_ is additionally required if you need to:
  Note that you can also use it to monitor a simulation, but you must manually [connect to the simulation running in WSL](#qgroundcontrol-on-windows).

 ::: info
-Connecting to an USB device from within WSL is not natively supported, however it can still be achieved by using the [USBIPD-WIN](https://learn.microsoft.com/en-us/windows/wsl/connect-usb) project. With this you can automatically upload firmware from the command line in WSL using the [`upload`](../dev_setup/building_px4.md#uploading-firmware-flashing-the-board) function.
+Connecting to an USB device from within WSL is not natively supported, however it can still be achieved by using the [USBIPD-WIN](https://learn.microsoft.com/en-us/windows/wsl/connect-usb) project. With this you can automatically upload firmware from the command line in WSL using the  [`upload`](../dev_setup/building_px4.md#uploading-firmware-flashing-the-board) function.
 :::

 ::: info
@@ -325,9 +325,3 @@ sudo add-apt-repository ppa:kisak/kisak-mesa
 sudo apt update
 sudo apt upgrade
 ```
-
-### QGroundControl not connecting to PX4 SITL
-
- The connection between PX4 SITL on WSL2 and QGroundControl on Windows requires [broadcasting](../simulation/index.md#enable-udp-broadcasting) or [streaming to a specific address](../simulation/index.md#enable-streaming-to-specific-address) to be enabled.
-  Streaming to a specific address should be enabled by default, but is something to check if a connection can't be established.
- Network traffic might be blocked by firewall or antivirus on you system.
@@ -1,153 +0,0 @@
-# Accton Godwit G-A1
-
-:::warning
-PX4 does not manufacture this (or any) autopilot.
-Contact the [manufacturer](https://cubepilot.org/#/home) for hardware support or compliance issues.
-:::
-
-The G-A1 is a state-of-the-art flight controller developed derived from the [Pixhawk Autopilot v6X Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-012%20Pixhawk%20Autopilot%20v6X%20Standard.pdf).
-
-It includes an STM32H753 double-precision floating-point FMU processor and an STM32F103 IO coprocessor, multiple IMUs with 6-axis inertial sensors, two pressure/temperature sensors, and a geomagnetic sensor.
-It also has independent buses and power supplies, and is designed for safety and rich expansion capabilities.
-
-With an integrated 10/100M Ethernet Physical Layer (PHY), the G-A1 can also communicate with a mission computer (airborne computer), high-end surveying and mapping cameras, and other UxV-mounted equipment for high-speed communications, meeting the needs of advanced UxV systems.
-
-:::tip
-Visit [Accton-IoT Godwit](https://www.accton-iot.com/godwit/) for more information.
-:::
-
-![AccGodwitGA1](../../assets/flight_controller/accton-godwit/ga1/outlook.png "Accton Godwit G-A1")
-
-![AccGodwitGA1 Top View](../../assets/flight_controller/accton-godwit/ga1/orientation.png "Accton Godwit G-A1 Top View")
-
-::: info
-This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
-:::
-
-## Specifications
-
-### Processor
-
- STM32H753IIK (Arm® Cortex®-M7 480MHz)
- STM32F103 (Arm® Cortex®-M3, 72MHz)
-
-### Sensors
-
- Bosch BMI088 (vibration isolated)
- TDK InvenSense ICM-42688-P x 2 (one vibration isolated)
- TDK Barometric Pressure and Temperature Sensor CP-20100 x 2 (one vibration isolated)
- PNI RM3100 Geomagnetic Sensor (vibration isolated)
-
-### Power
-
- 4.6V to 5.7V
-
-### External ports
-
- 2 CAN Buses (CAN1 and CAN2)
- 3 TELEM Ports (TELEM1, TELEM2 and TELEM3)
- 2 GPS Ports (GPS1 with safety switch, LED, buzzer, and GPS2)
- 1 PPM IN
- 1 SBUS OUT
- 2 USB Ports (1 TYPE-C and 1 JST GH1.25)
- 1 10/100Base-T Ethernet Port
- 1 DSM/SBUS RC
- 1 UART 4
- 1 AD&IO Port
- 2 Debug Ports (1 IO Debug and 1 FMU Debug)
- 1 SPI6 Bus
- 4 Power Inputs (Power 1, Power 2, Power C1 and Power C2)
- 16 PWM Servo Outputs (A1-A8 from FMU and M1-M8 from IO)
- Micro SD Socket (supports SD 4.1 & SDIO 4.0 in two databus modes: 1 bit (default) and 4 bits)
-
-### Size and Dimensions
-
- 92.2 (L) x 51.2 (W) x 28.3 (H) mm
- 77.6g (carrier board with IMU)
-
-## Where to Buy
-
- [Accton-IoT Godwit](https://www.accton-iot.com/godwit/)
- [sales@accton-iot.com](sales@accton-iot.com)
-
-## Pinout
-
-![G-A1 Pin definition](../../assets/flight_controller/accton-godwit/ga1/pin_definition.png "G-A1 Pin definition")
-
-## UART Mapping
-
-| Serial# | Protocol  | Port   | Notes      |
-| ------- | --------- | ------ | ---------- |
-| SERIAL1 | Telem1    | UART7  | /dev/ttyS6 |
-| SERIAL2 | Telem2    | UART5  | /dev/ttyS4 |
-| SERIAL3 | GPS1      | USART1 | /dev/ttyS0 |
-| SERIAL4 | GPS2      | UART8  | /dev/ttyS7 |
-| SERIAL5 | Telem3    | USART2 | /dev/ttyS1 |
-| SERIAL6 | UART4     | UART4  | /dev/ttyS3 |
-| SERIAL7 | FMU Debug | USART3 |            |
-| SERIAL8 | OTG2      | USB    |            |
-
-## Wiring Diagram
-
-![G-A1 Wiring](../../assets/flight_controller/accton-godwit/ga1/wiring.png "G-A1 Wiring")
-
-## PWM Output
-
-PWM M1-M8 (IO Main PWM), A1-A8(FMU PWM).
-All these 16 support normal PWM output formats.
-FMU PWM A1-A6 can support DShot and B-Directional DShot.
-A1-A8(FMU PWM) are grouped as:
-
- Group 1: A1, A2, A3, A4
- Group 2: A5, A6
- Group 3: A7, A8
-
-The motor and servo system should be connected to these ports according to the order outlined in the fuselage reference for your carrier.
-
-![G-A1 PWM Motor Servo](../../assets/flight_controller/accton-godwit/ga1/motor_servo.png "G-A1 PWM Motor Servo")
-
-## RC Input
-
-For DSM/SBUS receivers, connect them to the DSM/SBUS interface which provides dedicated 3.3V and 5V power pins respectively, and check above "Pinout" for detailed pin definition.
-PPM receivers should be connected to the PPM interface. And other RC systems can be connected via other spare telemetry ports.
-
-![G-A1 Radio](../../assets/flight_controller/accton-godwit/ga1/radio.png "G-A1 Radio")
-
-## GPS/Compass
-
-The Godwit G-A1 has a built-in compass
-Due to potential interference, the autopilot is usually used with an external I2C compass as part of a GPS/Compass combination.
-
-![G-A1 GPS](../../assets/flight_controller/accton-godwit/ga1/gps.png "G-A1 GPS")
-
-## Power Connection and Battery Monitor
-
-This universal controller features a CAN PMU module that supports 3 to 14s lithium batteries.
-To ensure proper connection, attach the module's 6-pin connector to the flight control Power C1 and/or Power C2 interface.
-
-This universal controller does not provide power to the servos.
-To power them, an external BEC must be connected to the positive and negative terminals of any A1–A8 or M1–M8 port.
-
-![G-A1 Power](../../assets/flight_controller/accton-godwit/ga1/power.png "G-A1 Power")
-
-## SD Card
-
-The SD card is NOT included in the package, you need to prepare the SD card and insert it into the slot.
-
-![G-A1 SD Card](../../assets/flight_controller/accton-godwit/ga1/sdcard.png "G-A1 SD Card")
-
-## Firmware
-
-The autopilot is compatible with PX4 firmware. And G-A1 can be detected by QGroundControl automatically. Users can also build it with target "accton-godwit_ga1"
-
-To [build PX4](../dev_setup/building_px4.md) for this target, open up the terminal and enter:
-
-```sh
-make accton-godwit_ga1
-```
-
-## More Information and Support
-
- [Accton-IoT Godwit](https://www.accton-iot.com/godwit/)
- [sales@accton-iot.com](sales@accton-iot.com)
- [support@accton-iot.com](mailto:support@accton-iot.com)
@@ -12,7 +12,6 @@ This category includes boards that are not fully compliant with the pixhawk stan

 The boards in this category are:

- [Accton Godwit GA1](../flight_controller/accton-godwit_ga1.md)
 - [AirMind MindPX](../flight_controller/mindpx.md)
 - [AirMind MindRacer](../flight_controller/mindracer.md)
 - [ARK Electronics ARKV6X](../flight_controller/ark_v6x.md) (and [ARK Electronics Pixhawk Autopilot Bus Carrier](../flight_controller/ark_pab.md))
@@ -45,41 +45,6 @@ MicroStrain <command> [arguments...]
   status        Driver status
 ```

-## eulernav_bahrs
-
-Source: [drivers/ins/eulernav_bahrs](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/ins/eulernav_bahrs)
-
-### Description
-
-Serial bus driver for the EULER-NAV Baro-Inertial AHRS.
-
-### Examples
-
-Attempt to start driver on a specified serial device.
-
-```
-eulernav_bahrs start -d /dev/ttyS1
-```
-
-Stop driver
-
-```
-eulernav_bahrs stop
-```
-
-### Usage {#eulernav_bahrs_usage}
-
-```
-eulernav_bahrs <command> [arguments...]
- Commands:
-   start         Start driver
-     -d <val>    Serial device
-
-   status        Print driver status
-
-   stop          Stop driver
-```
-
 ## ilabs

 Source: [drivers/ins/ilabs](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/ins/ilabs)
@@ -15,25 +15,25 @@ Request are published by `manual_control` and subscribed by the `commander` and
 # It allows mapping triggers from various external interfaces like RC channels or MAVLink to cause an action.
 # Request are published by `manual_control` and subscribed by the `commander` and `vtol_att_control` modules.

-uint64 timestamp  # [us] Time since system start
+uint64 timestamp # [us] Time since system start

-uint8 action                                     # [@enum ACTION] Requested action
-uint8 ACTION_DISARM = 0                          # Disarm vehicle
-uint8 ACTION_ARM = 1                             # Arm vehicle
-uint8 ACTION_TOGGLE_ARMING = 2                   # Toggle arming
-uint8 ACTION_UNKILL = 3                          # Revert a kill action
-uint8 ACTION_KILL = 4                            # Kill vehicle (instantly stop the motors)
-uint8 ACTION_SWITCH_MODE = 5                     # Switch mode. The target mode is set in the `mode` field.
-uint8 ACTION_VTOL_TRANSITION_TO_MULTICOPTER = 6  # Transition to hover flight
-uint8 ACTION_VTOL_TRANSITION_TO_FIXEDWING = 7    # Transition to fast forward flight
-uint8 ACTION_TERMINATION = 8                     # Irreversibly output failsafe values on all outputs, trigger parachute
+uint8 action # [@enum ACTION] Requested action
+uint8 ACTION_DISARM = 0 # Disarm vehicle
+uint8 ACTION_ARM = 1 # Arm vehicle
+uint8 ACTION_TOGGLE_ARMING = 2 # Toggle arming
+uint8 ACTION_UNKILL = 3 # Revert a kill action
+uint8 ACTION_KILL = 4 # Kill vehicle (instantly stop the motors)
+uint8 ACTION_SWITCH_MODE = 5 # Switch mode. The target mode is set in the `mode` field.
+uint8 ACTION_VTOL_TRANSITION_TO_MULTICOPTER = 6 # Transition to hover flight
+uint8 ACTION_VTOL_TRANSITION_TO_FIXEDWING = 7 # Transition to fast forward flight
+uint8 ACTION_TERMINATION = 8 # Irreversably output failsafe values on all outputs, trigger parachute

-uint8 source                    # [@enum SOURCE] Request trigger type, such as a switch, button or gesture
-uint8 SOURCE_STICK_GESTURE = 0  # Triggered by holding the sticks in a certain position
-uint8 SOURCE_RC_SWITCH = 1      # Triggered by an RC switch moving into a certain position
-uint8 SOURCE_RC_BUTTON = 2      # Triggered by a momentary button on the RC being pressed or held
-uint8 SOURCE_RC_MODE_SLOT = 3   # Mode change through the RC mode selection mechanism
+uint8 source # [@enum SOURCE] Request trigger type, such as a switch, button or gesture
+uint8 SOURCE_STICK_GESTURE = 0 # Triggered by holding the sticks in a certain position
+uint8 SOURCE_RC_SWITCH = 1 # Triggered by an RC switch moving into a certain position
+uint8 SOURCE_RC_BUTTON = 2 # Triggered by a momentary button on the RC being pressed or held
+uint8 SOURCE_RC_MODE_SLOT = 3 # Mode change through the RC mode selection mechanism

-uint8 mode  # Requested mode. Only applies when `action` is `ACTION_SWITCH_MODE`. Values for this field are defined by the `vehicle_status_s::NAVIGATION_STATE_*` enumeration.
+uint8 mode # Requested mode. Only applies when `action` is `ACTION_SWITCH_MODE`. Values for this field are defined by the `vehicle_status_s::NAVIGATION_STATE_*` enumeration.

 ```
@@ -15,14 +15,14 @@ Published by the vehicle's allocation and consumed by the ESC protocol drivers e

 uint32 MESSAGE_VERSION = 0

-uint64 timestamp         # [us] Time since system start
-uint64 timestamp_sample  # [us] Sampling timestamp of the data this control response is based on
+uint64 timestamp # [us] Time since system start
+uint64 timestamp_sample # [us] Sampling timestamp of the data this control response is based on

-uint16 reversible_flags  # Bitset indicating which motors are configured to be reversible
+uint16 reversible_flags # Bitset indicating which motors are configured to be reversible

-uint8 ACTUATOR_FUNCTION_MOTOR1 = 101 #
+uint8 ACTUATOR_FUNCTION_MOTOR1 = 101

-uint8 NUM_CONTROLS = 12  #
-float32[12] control                  # [@range -1, 1] Normalized thrust. where 1 means maximum positive thrust, -1 maximum negative (if not supported by the output, <0 maps to NaN). NaN maps to disarmed (stop the motors)
+uint8 NUM_CONTROLS = 12
+float32[12] control # [@range -1, 1] Normalized thrust. where 1 means maximum positive thrust, -1 maximum negative (if not supported by the output, <0 maps to NaN). NaN maps to disarmed (stop the motors)

 ```
@@ -15,10 +15,10 @@ Published by the vehicle's allocation and consumed by the actuator output driver

 uint32 MESSAGE_VERSION = 0

-uint64 timestamp         # [us] Time since system start
-uint64 timestamp_sample  # [us] Sampling timestamp of the data this control response is based on
+uint64 timestamp # [us] Time since system start
+uint64 timestamp_sample # [us] Sampling timestamp of the data this control response is based on

-uint8 NUM_CONTROLS = 8  #
-float32[8] control      # [@range -1, 1] Normalized output. 1 means maximum positive position. -1 maximum negative position (if not supported by the output, <0 maps to NaN). NaN maps to disarmed.
+uint8 NUM_CONTROLS = 8
+float32[8] control # [@range -1, 1] Normalized output. 1 means maximum positive position. -1 maximum negative position (if not supported by the output, <0 maps to NaN). NaN maps to disarmed.

 ```
@@ -13,10 +13,10 @@ It is subscribed by the airspeed selector module, which validates the data from
 # This is published by airspeed sensor drivers, CAN airspeed sensors, simulators.
 # It is subscribed by the airspeed selector module, which validates the data from multiple sensors and passes on a single estimation to the EKF, controllers and telemetry providers.

-uint64 timestamp                 # [us] Time since system start
-uint64 timestamp_sample          # [us] Timestamp of the raw data
-float32 indicated_airspeed_m_s   # [m/s] Indicated airspeed
-float32 true_airspeed_m_s        # [m/s] True airspeed
-float32 confidence               # [@range 0,1] Confidence value for this sensor
+uint64 timestamp # [us] Time since system start
+uint64 timestamp_sample # [us] Timestamp of the raw data
+float32 indicated_airspeed_m_s # [m/s] Indicated airspeed
+float32 true_airspeed_m_s # [m/s] True airspeed
+float32 confidence # [@range 0,1] Confidence value for this sensor

 ```
@@ -21,39 +21,39 @@ The message is not used by internal/FMU components, as their mode requirements a
 # Note that the external component is identified by its registration_id, which is allocated to the component during registration (arming_check_id in RegisterExtComponentReply).
 # The message is not used by internal/FMU components, as their mode requirements are known at compile time.

-uint32 MESSAGE_VERSION  = 1
+uint32 MESSAGE_VERSION = 1

 uint64 timestamp # [us] Time since system start.

-uint8 request_id       # Id of ArmingCheckRequest for which this is a response.
-uint8 registration_id  # Id of external component emitting this response.
+uint8 request_id # Id of ArmingCheckRequest for which this is a response.
+uint8 registration_id # Id of external component emitting this response.

-uint8 HEALTH_COMPONENT_INDEX_NONE = 0  # Index of health component for which this response applies.
+uint8 HEALTH_COMPONENT_INDEX_NONE = 0 # Index of health component for which this response applies.

-uint8 health_component_index      # [@enum HEALTH_COMPONENT_INDEX]
-bool health_component_is_present  # Unused. Intended for use with health events interface (health_component_t in events.json).
-bool health_component_warning     # Unused. Intended for use with health events interface (health_component_t in events.json).
-bool health_component_error       # Unused. Intended for use with health events interface (health_component_t in events.json).
+uint8 health_component_index # [@enum HEALTH_COMPONENT_INDEX]
+bool health_component_is_present # Unused. Intended for use with health events interface (health_component_t in events.json).
+bool health_component_warning # Unused. Intended for use with health events interface (health_component_t in events.json).
+bool health_component_error # Unused. Intended for use with health events interface (health_component_t in events.json).

-bool can_arm_and_run  # True if the component can arm. For navigation mode components, true if the component can arm in the mode or switch to the mode when already armed.
+bool can_arm_and_run # True if the component can arm. For navigation mode components, true if the component can arm in the mode or switch to the mode when already armed.

-uint8 num_events  # Number of queued failure messages (Event) in the events field.
+uint8 num_events # Number of queued failure messages (Event) in the events field.

-Event[5] events  # Arming failure reasons (Queue of events to report to GCS).
+Event[5] events # Arming failure reasons (Queue of events to report to GCS).

 # Mode requirements
-bool mode_req_angular_velocity         # Requires angular velocity estimate (e.g. from gyroscope).
-bool mode_req_attitude                 # Requires an attitude estimate.
-bool mode_req_local_alt                # Requires a local altitude estimate.
-bool mode_req_local_position           # Requires a local position estimate.
-bool mode_req_local_position_relaxed   # Requires a more relaxed global position estimate.
-bool mode_req_global_position          # Requires a global position estimate.
-bool mode_req_global_position_relaxed  # Requires a relaxed global position estimate.
-bool mode_req_mission                  # Requires an uploaded mission.
-bool mode_req_home_position            # Requires a home position (such as RTL/Return mode).
-bool mode_req_prevent_arming           # Prevent arming (such as in Land mode).
-bool mode_req_manual_control           # Requires a manual controller
+bool mode_req_angular_velocity # Requires angular velocity estimate (e.g. from gyroscope).
+bool mode_req_attitude # Requires an attitude estimate.
+bool mode_req_local_alt # Requires a local altitude estimate.
+bool mode_req_local_position # Requires a local position estimate.
+bool mode_req_local_position_relaxed # Requires a more relaxed global position estimate.
+bool mode_req_global_position # Requires a global position estimate.
+bool mode_req_global_position_relaxed # Requires a relaxed global position estimate.
+bool mode_req_mission # Requires an uploaded mission.
+bool mode_req_home_position # Requires a home position (such as RTL/Return mode).
+bool mode_req_prevent_arming # Prevent arming (such as in Land mode).
+bool mode_req_manual_control # Requires a manual controller

-uint8 ORB_QUEUE_LENGTH  = 4
+uint8 ORB_QUEUE_LENGTH = 4 #

 ```
@@ -21,12 +21,10 @@ The reply will also include the registration_id for each external component, pro
 # The reply will include the published request_id, allowing correlation of all arming check information for a particular request.
 # The reply will also include the registration_id for each external component, provided to it during the registration process (RegisterExtComponentReply).

-uint32 MESSAGE_VERSION = 1
+uint32 MESSAGE_VERSION = 0

-uint64 timestamp  # [us] Time since system start.
+uint64 timestamp # [us] Time since system start.

-uint8 request_id  # Id of this request. Allows correlation with associated ArmingCheckReply messages.
-
-uint32 valid_registrations_mask # Bitmask of valid registration ID's (the bit is also cleared if flagged as unresponsive)
+uint8 request_id # Id of this request. Allows correlation with associated ArmingCheckReply messages.

 ```
@@ -1,30 +0,0 @@
-# ArmingCheckRequestV0 (UORB message)
-
-Arming check request.
-
-Broadcast message to request arming checks be reported by all registered components, such as external ROS 2 navigation modes.
-All registered components should respond with an ArmingCheckReply message that indicates their current mode requirements, and any arming failure information.
-The request is sent regularly, even while armed, so that the FMU always knows the current arming state for external modes, and can forward it to ground stations.
-
-The reply will include the published request_id, allowing correlation of all arming check information for a particular request.
-The reply will also include the registration_id for each external component, provided to it during the registration process (RegisterExtComponentReply).
-
-[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/ArmingCheckRequestV0.msg)
-
-```c
-# Arming check request.
-#
-# Broadcast message to request arming checks be reported by all registered components, such as external ROS 2 navigation modes.
-# All registered components should respond with an ArmingCheckReply message that indicates their current mode requirements, and any arming failure information.
-# The request is sent regularly, even while armed, so that the FMU always knows the current arming state for external modes, and can forward it to ground stations.
-#
-# The reply will include the published request_id, allowing correlation of all arming check information for a particular request.
-# The reply will also include the registration_id for each external component, provided to it during the registration process (RegisterExtComponentReply).
-
-uint32 MESSAGE_VERSION = 0
-
-uint64 timestamp  # [us] Time since system start.
-
-uint8 request_id  # Id of this request. Allows correlation with associated ArmingCheckReply messages.
-
-```
@@ -11,39 +11,39 @@ This is currently used only for logging cell status from MAVLink.
 #
 # This is currently used only for logging cell status from MAVLink.

-uint64 timestamp  # [us] Time since system start
+uint64 timestamp # [us] Time since system start

-uint16 status                            # [@enum STATUS_FLAG] Status bitmap
-uint16 STATUS_FLAG_UNKNOWN = 1           # State unknown or not reportable
-uint16 STATUS_FLAG_FAILED = 2            # Modem is unusable
-uint16 STATUS_FLAG_INITIALIZING = 4      # Modem is being initialized
-uint16 STATUS_FLAG_LOCKED = 8            # Modem is locked
-uint16 STATUS_FLAG_DISABLED = 16         # Modem is not enabled and is powered down
-uint16 STATUS_FLAG_DISABLING = 32        # Modem is currently transitioning to the STATUS_FLAG_DISABLED state
-uint16 STATUS_FLAG_ENABLING = 64         # Modem is currently transitioning to the STATUS_FLAG_ENABLED state
-uint16 STATUS_FLAG_ENABLED = 128         # Modem is enabled and powered on but not registered with a network provider and not available for data connections
-uint16 STATUS_FLAG_SEARCHING = 256       # Modem is searching for a network provider to register
-uint16 STATUS_FLAG_REGISTERED = 512      # Modem is registered with a network provider, and data connections and messaging may be available for use
-uint16 STATUS_FLAG_DISCONNECTING = 1024  # Modem is disconnecting and deactivating the last active packet data bearer. This state will not be entered if more than one packet data bearer is active and one of the active bearers is deactivated
-uint16 STATUS_FLAG_CONNECTING = 2048     # Modem is activating and connecting the first packet data bearer. Subsequent bearer activations when another bearer is already active do not cause this state to be entered
-uint16 STATUS_FLAG_CONNECTED = 4096      # One or more packet data bearers is active and connected
+uint16 status # [@enum STATUS_FLAG] Status bitmap
+uint16 STATUS_FLAG_UNKNOWN = 1 # State unknown or not reportable
+uint16 STATUS_FLAG_FAILED = 2 # Modem is unusable
+uint16 STATUS_FLAG_INITIALIZING = 4 # Modem is being initialized
+uint16 STATUS_FLAG_LOCKED = 8 # Modem is locked
+uint16 STATUS_FLAG_DISABLED = 16 # Modem is not enabled and is powered down
+uint16 STATUS_FLAG_DISABLING = 32 # Modem is currently transitioning to the STATUS_FLAG_DISABLED state
+uint16 STATUS_FLAG_ENABLING = 64 # Modem is currently transitioning to the STATUS_FLAG_ENABLED state
+uint16 STATUS_FLAG_ENABLED = 128 # Modem is enabled and powered on but not registered with a network provider and not available for data connections
+uint16 STATUS_FLAG_SEARCHING = 256 # Modem is searching for a network provider to register
+uint16 STATUS_FLAG_REGISTERED = 512 # Modem is registered with a network provider, and data connections and messaging may be available for use
+uint16 STATUS_FLAG_DISCONNECTING = 1024 # Modem is disconnecting and deactivating the last active packet data bearer. This state will not be entered if more than one packet data bearer is active and one of the active bearers is deactivated
+uint16 STATUS_FLAG_CONNECTING = 2048 # Modem is activating and connecting the first packet data bearer. Subsequent bearer activations when another bearer is already active do not cause this state to be entered
+uint16 STATUS_FLAG_CONNECTED = 4096 # One or more packet data bearers is active and connected

-uint8 failure_reason                  # [@enum FAILURE_REASON] Failure reason
-uint8 FAILURE_REASON_NONE = 0         # No error
-uint8 FAILURE_REASON_UNKNOWN = 1      # Error state is unknown
-uint8 FAILURE_REASON_SIM_MISSING = 2  # SIM is required for the modem but missing
-uint8 FAILURE_REASON_SIM_ERROR = 3    # SIM is available, but not usable for connection
+uint8 failure_reason # [@enum FAILURE_REASON] Failure reason
+uint8 FAILURE_REASON_NONE = 0 # No error
+uint8 FAILURE_REASON_UNKNOWN = 1 # Error state is unknown
+uint8 FAILURE_REASON_SIM_MISSING = 2 # SIM is required for the modem but missing
+uint8 FAILURE_REASON_SIM_ERROR = 3 # SIM is available, but not usable for connection

-uint8 type                                   # [@enum CELLULAR_NETWORK_RADIO_TYPE] Cellular network radio type
-uint8 CELLULAR_NETWORK_RADIO_TYPE_NONE = 0   # None
-uint8 CELLULAR_NETWORK_RADIO_TYPE_GSM = 1    # GSM
-uint8 CELLULAR_NETWORK_RADIO_TYPE_CDMA = 2   # CDMA
-uint8 CELLULAR_NETWORK_RADIO_TYPE_WCDMA = 3  # WCDMA
-uint8 CELLULAR_NETWORK_RADIO_TYPE_LTE = 4    # LTE
+uint8 type # [@enum CELLULAR_NETWORK_RADIO_TYPE] Cellular network radio type
+uint8 CELLULAR_NETWORK_RADIO_TYPE_NONE = 0 # None
+uint8 CELLULAR_NETWORK_RADIO_TYPE_GSM = 1 # GSM
+uint8 CELLULAR_NETWORK_RADIO_TYPE_CDMA = 2 # CDMA
+uint8 CELLULAR_NETWORK_RADIO_TYPE_WCDMA = 3 # WCDMA
+uint8 CELLULAR_NETWORK_RADIO_TYPE_LTE = 4 # LTE

-uint8 quality  # [dBm] Cellular network RSSI/RSRP, absolute value
-uint16 mcc     # [@invalid UINT16_MAX] Mobile country code
-uint16 mnc     # [@invalid UINT16_MAX] Mobile network code
-uint16 lac     # [@invalid 0] Location area code
+uint8 quality # [dBm] Cellular network RSSI/RSRP, absolute value
+uint16 mcc # [@invalid UINT16_MAX] Mobile country code
+uint16 mnc # [@invalid UINT16_MAX] Mobile network code
+uint16 lac # [@invalid 0] Location area code

 ```
@@ -1,14 +0,0 @@
-# RoverSpeedSetpoint (UORB message)
-
-Rover Speed Setpoint
-
-[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RoverSpeedSetpoint.msg)
-
-```c
-# Rover Speed Setpoint
-
-uint64 timestamp # [us] Time since system start
-float32 speed_body_x # [m/s] [@range -inf (Backwards), inf (Forwards)] [@frame Body] Speed setpoint in body x direction
-float32 speed_body_y # [m/s] [@range -inf (Left), inf (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Speed setpoint in body y direction
-
-```
@@ -1,18 +0,0 @@
-# RoverSpeedStatus (UORB message)
-
-Rover Velocity Status
-
-[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RoverSpeedStatus.msg)
-
-```c
-# Rover Velocity Status
-
-uint64 timestamp # [us] Time since system start
-float32 measured_speed_body_x # [m/s] [@range -inf (Backwards), inf (Forwards)] [@frame Body] Measured speed in body x direction
-float32 adjusted_speed_body_x_setpoint # [m/s] [@range -inf (Backwards), inf (Forwards)] [@frame Body] Speed setpoint in body x direction that is being tracked (Applied slew rates)
-float32 pid_throttle_body_x_integral # [] [@range -1, 1] Integral of the PID for the closed loop controller of the speed in body x direction
-float32 measured_speed_body_y # [m/s] [@range -inf (Left), inf (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Measured speed in body y direction
-float32 adjusted_speed_body_y_setpoint # [m/s] [@range -inf (Left), inf (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Speed setpoint in body y direction that is being tracked (Applied slew rates)
-float32 pid_throttle_body_y_integral # [] [@range -1, 1] [@invalid NaN If not mecanum] Mecanum only: Integral of the PID for the closed loop controller of the speed in body y direction
-
-```
@@ -1,26 +1,24 @@
 # VehicleAirData (UORB message)

-Vehicle air data

-Data from the currently selected barometer (plus ambient temperature from the source specified in temperature_source).
-Includes calculated data such as barometric altitude and air density.

 [source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleAirData.msg)

 ```c
-# Vehicle air data
-#
-# Data from the currently selected barometer (plus ambient temperature from the source specified in temperature_source).
-# Includes calculated data such as barometric altitude and air density.

-uint64 timestamp             # [us] Time since system start
-uint64 timestamp_sample      # [us] Timestamp of the raw data
-uint32 baro_device_id        # Unique device ID for the selected barometer
-float32 baro_alt_meter       # [m] [@frame MSL] Altitude above MSL calculated from temperature compensated baro sensor data using an ISA corrected for sea level pressure SENS_BARO_QNH
-float32 baro_pressure_pa     # [Pa] Absolute pressure
-float32 ambient_temperature  # [degC] Ambient temperature
-uint8 temperature_source     # Source of temperature data: 0: Default Temperature (15°C), 1: External Baro, 2: Airspeed
-float32 rho                  # [kg/m^3] Air density
-uint8 calibration_count      # Calibration changed counter. Monotonically increases whenever calibration changes.
+uint64 timestamp            # time since system start (microseconds)
+
+uint64 timestamp_sample     # the timestamp of the raw data (microseconds)
+
+uint32 baro_device_id       # unique device ID for the selected barometer
+
+float32 baro_alt_meter			# Altitude above MSL calculated from temperature compensated baro sensor data using an ISA corrected for sea level pressure SENS_BARO_QNH.
+float32 baro_pressure_pa		# Absolute pressure in Pascals
+float32 ambient_temperature		# Abient temperature in degrees Celsius
+uint8 temperature_source		# Source of temperature data: 0: Default Temperature (15°C), 1: External Baro, 2: Airspeed
+
+float32 rho				# air density
+
+uint8 calibration_count     # Calibration changed counter. Monotonically increases whenever calibration changes.

 ```
@@ -229,10 +229,10 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
 - [RoverPositionSetpoint](RoverPositionSetpoint.md) — Rover Position Setpoint
 - [RoverRateSetpoint](RoverRateSetpoint.md) — Rover Rate setpoint
 - [RoverRateStatus](RoverRateStatus.md) — Rover Rate Status
- [RoverSpeedSetpoint](RoverSpeedSetpoint.md) — Rover Speed Setpoint
- [RoverSpeedStatus](RoverSpeedStatus.md) — Rover Velocity Status
 - [RoverSteeringSetpoint](RoverSteeringSetpoint.md) — Rover Steering setpoint
 - [RoverThrottleSetpoint](RoverThrottleSetpoint.md) — Rover Throttle setpoint
+- [RoverVelocitySetpoint](RoverVelocitySetpoint.md) — Rover Velocity Setpoint
+- [RoverVelocityStatus](RoverVelocityStatus.md) — Rover Velocity Status
 - [Rpm](Rpm.md)
 - [RtlStatus](RtlStatus.md)
 - [RtlTimeEstimate](RtlTimeEstimate.md)
@@ -281,7 +281,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
 - [UlogStreamAck](UlogStreamAck.md) — Ack a previously sent ulog_stream message that had
  the NEED_ACK flag set
 - [VehicleAcceleration](VehicleAcceleration.md)
- [VehicleAirData](VehicleAirData.md) — Vehicle air data
+- [VehicleAirData](VehicleAirData.md)
 - [VehicleAngularAccelerationSetpoint](VehicleAngularAccelerationSetpoint.md)
 - [VehicleConstraints](VehicleConstraints.md) — Local setpoint constraints in NED frame
  setting something to NaN means that no limit is provided
@@ -301,7 +301,6 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
 - [YawEstimatorStatus](YawEstimatorStatus.md)
 - [AirspeedValidatedV0](AirspeedValidatedV0.md)
 - [ArmingCheckReplyV0](ArmingCheckReplyV0.md)
- [ArmingCheckRequestV0](ArmingCheckRequestV0.md) — Arming check request.
 - [BatteryStatusV0](BatteryStatusV0.md) — Battery status
 - [EventV0](EventV0.md) — this message is required here in the msg_old folder because other msg are depending on it
  Events interface
@@ -52,7 +52,7 @@ Please continue reading for [upgrade instructions](#upgrade-guide).

 ### Sensors

- Add [sbgECom INS driver](../sensor/sbgecom.md) ([PX4-Autopilot#24137](https://github.com/PX4/PX4-Autopilot/pull/24137))
+- TBD

 ### Simulation

@@ -5,7 +5,7 @@ PX4 uses accelerometer data for velocity estimation.
 You should not need to attach an accelometer as a stand-alone external device:

 - Most flight controllers, such as those in the [Pixhawk Series](../flight_controller/pixhawk_series.md), include an accelerometer as part of the flight controller's [Inertial Motion Unit (IMU)](https://en.wikipedia.org/wiki/Inertial_measurement_unit).
- Gyroscopes are present as part of an [external INS, AHRS or INS-enhanced GNSS system](../sensor/inertial_navigation_systems.md).
+- Gyroscopes are present as part of an [external INS, ARHS or INS-enhanced GNSS system](../sensor/inertial_navigation_systems.md).

 The accelerometer must be calibrated before first use of the vehicle:

@@ -9,7 +9,6 @@ However PX4 can also use some INS devices as either sources of raw data, or as a
 INS systems that can be used as a replacement for EKF2 in PX4:

 - [InertialLabs](../sensor/inertiallabs.md)
- [SBG Systems](../sensor/sbgecom.md): IMU/AHRS, GNSS/INS, Dual GNSS/INS systems that can be used as an external INS or as a source of raw sensor data.
 - [VectorNav](../sensor/vectornav.md): IMU/AHRS, GNSS/INS, Dual GNSS/INS systems that can be used as an external INS or as a source of raw sensor data.

 ## PX4 Firmware
@@ -1,150 +0,0 @@
-# SBG Systems INS/AHRS (Pulse, Ellipse, etc.)
-
-[SBG-Systems](https://www.sbg-systems.com/) designs, manufactures, and support an extensive range of state-of-the-art inertial sensors such as Inertial Measurement Units (IMU), Attitude and Heading Reference Systems (AHRS), Inertial Navigation Systems with embedded GNSS (INS/GNSS), and so on.
-
-PX4 supports [all SBG Systems products](https://www.sbg-systems.com/products/) and can use these as an [external INS](../sensor/inertial_navigation_systems.md) (bypassing/replacing the EKF2 estimator), or as a source of raw sensor data provided to the navigation estimator.
-
-![Ellipse](../../assets/hardware/sensors/inertial/ellipse-inertial-navigation-system.png)
-
-## Overview
-
-SBG Systems products provide a range of benefits to PX4 users and can be integrated for:
-
- Higher accuracy heading, pitch, and roll estimates
- More robust and reliable GNSS positioning
- Improved positioning and attitude performance in GNSS-contested environments
- Performance under challenging dynamic conditions (e.g. catapult launches, VTOL operations, high-g or high angular rate operations)
-
-The sbgECom PX4 driver is streamlined to provide a simple plug-and-play architecture, removing engineering obstacles and allowing the acceleration of the design, development, and launch of platforms to keep pace with the rapid rate of innovation.
-
-The driver supports [all SBG Systems products](https://www.sbg-systems.com/products/).
-In particular the following systems are recommended:
-
- **Pulse:** Recommended for fixed-wing systems without hovering, where static heading is not necessary.
- **Ellipse:** Recommended for multicopter systems where hovering and low dynamics requires the use of static heading.
-
-## Where to Buy
-
-SBG Systems solutions are available directly from [MySBG](https://my.sbg-systems.com) (FR) or through their Global Sales Representatives. For more information on their solutions or for international orders, please contact contact@sbg-systems.com.
-
-## Hardware Setup
-
-### Wiring
-
-Connect any unused flight controller serial interface, such as a spare `GPS` or `TELEM` port, to the SBG Systems product MAIN port (required by PX4).
-
-### Mounting
-
-The SBG Systems product sensor can be mounted in any orientation, in any position on the vehicle, without regard to center of gravity.
-All SBG Systems product sensors default to a coordinate system of x-forward, y-right, and z-down, making the default mounting as connector-back, base down.
-This can be changed to any rigid rotation using the sbgECom Reference Frame Rotation register.
-
-If using a GNSS-enabled product, the GNSS antenna must be mounted rigidly with respect to the inertial sensor and with an unobstructed sky view. If using a dual-GNSS-enabled product (Ellipse-D), the secondary antenna must be mounted rigidly with respect to the primary antenna and the inertial sensor with an unobstructed sky view.
-
-For more mounting and configuration requirements and recommendations, see the relevant [SBG SUPPORT CENTER](https://support.sbg-systems.com/sc).
-
-## Firmware Configuration
-
-### PX4 Configuration
-
-To use the sbgECom driver:
-
-1. Include the module in firmware in the [kconfig board configuration](../hardware/porting_guide_config.md#px4-board-configuration-kconfig) by setting the kconfig variables: `CONFIG_DRIVERS_INS_SBGECOM` or `CONFIG_COMMON_INS`.
-2. [Set the parameter](../advanced_config/parameters.md) [SENS_SBG_CFG](../advanced_config/parameter_reference.md#SENS_SBG_CFG) to the hardware port connected to the SBG Systems product (for more information see [Serial Port Configuration](../peripherals/serial_configuration.md)).
-
-   ::: warning
-   Disable or change port of other sensors that are using the same one, for example [GPS_1_CONFIG](../advanced_config/parameter_reference.md#GPS_1_CONFIG) if using GPS1 port.
-   :::
-
-3. Set [SBG_BAUDRATE](../advanced_config/parameter_reference.md#SBG_BAUDRATE) to the desired default baudrate value.
-4. Allow the sbgECom driver to initialize by restarting PX4.
-5. Configure driver to provide IMU data, GNSS data and INS :
-
-   1. Set [SBG_MODE](../advanced_config/parameter_reference.md#SBG_MODE) to the desired mode.
-   2. Make sensor module select sensors by enabling [SENS_IMU_MODE](../advanced_config/parameter_reference.md#SENS_IMU_MODE).
-   3. Prioritize SBG Systems sensors using [CAL_GYROn_PRIO](../advanced_config/parameter_reference.md#CAL_GYRO0_PRIO), [CAL_ACCn_PRIO](../advanced_config/parameter_reference.md#CAL_ACC0_PRIO), [CAL_BAROn_PRIO](../advanced_config/parameter_reference.md#CAL_BARO0_PRIO), [CAL_MAGn_PRIO](../advanced_config/parameter_reference.md#CAL_MAG0_PRIO), where _n_ is the instance number of the IMU component (0, 1, etc.).
-
-   ::: tip
-   In most cases the external IMU (SBG) is the highest-numbered.
-   You can get a list of the IMU components available using [`uorb top -1`](../middleware/uorb.md#uorb-top-command), you can differentiate between them using the [`listener`](../modules/modules_command.md#listener) command and looking through the data, or just the rates.
-
-   Alternatively, you can check [CAL_GYROn_ID](../advanced_config/parameter_reference.md#CAL_GYRO0_ID) to see the device id.
-   The priority is 0-255, where 0 is entirely disabled and 255 is highest priority.
-   :::
-
-   ::: warning
-   When configuring both SBG Systems and Pixhawk sensors to have non-zero priority, if the selected sensor is errored (timeout), it can change during operation without being notified.
-   In this case, MAVLink messages will be updated with the newly selected sensor.
-
-   If you don't want to have this fallback mechanism, you must disable unwanted sensors.
-   :::
-
-   4. If using the sbgECom as an INS, disable EKF2 using [EKF2_EN](../advanced_config/parameter_reference.md#EKF2_EN).
-
-6. Restart PX4.
-
-Once enabled, the module will be detected on boot.
-IMU data should be published at 200Hz.
-
-## SBG Systems Configuration
-
-All High Performance and Ellipse 3.0 and higher SBG Systems INS can be configured directly from PX4 firmware:
-
-1. Enable [SBG_CONFIGURATION_EN](../advanced_config/parameter_reference.md#SBG_CONFIGURATION_EN)
-2. Provide a JSON file `sbg_settings.json` containing SBG Systems INS settings to be applied in your PX4 board `extras` directory (ex: `boards/px4/fmu-v5/extras`). The settings JSON file will be installed in `/etc/extras/sbg_settings.json` on the board.
-
-   ::: tip
-   The settings can be retrieved using [sbgEComAPI](https://github.com/SBG-Systems/sbgECom/tree/main/tools/sbgEComApi) or [sbgInsRestApi](https://developer.sbg-systems.com/sbgInsRestApi/1.3/#tag/Settings) and then modified as a JSON file.
-   :::
-
-   ::: tip
-   The settings file can be provided in the SD card in q`/fs/microsd/etc/extras/sbg_settings.json` to avoid rebuilding a new firmware to change JSON settings file.
-   :::
-
-3. For testing purpose, it's also possible to modify SBG Systems INS settings on the fly:
-
-   - By passing a JSON file path as argument when starting sbgecom driver (ex: `sbgecom start -f /fs/microsd/new_sbg_settings.json`)
-   - By passing a JSON string as argument when starting sbgecom driver: (ex: `sbgecom start -s {"output":{"comA":{"messages":{"airData":"onChange"}}}}`)
-
-For older Ellipse SBG Systems INS or to configure any SBG Systems INS directly, all commands and registers can be found in the [SBG SUPPORT CENTER](https://support.sbg-systems.com/sc).
-
-::: warning
-If the baudrate of the serial port on the INS product (used to communicate with PX4) is changed, the parameter [SBG_BAUDRATE](../advanced_config/parameter_reference.md#SBG_BAUDRATE) must be changed to match.
-:::
-
-## Published Data
-
-Upon initialization, the driver should print the following information to console (printed using `PX4_INFO`)
-
- Unit model number
- Unit hardware version
- Unit serial number
- Unit firmware number
-
-This should be accessible using the [`dmesg`](../modules/modules_system.md#dmesg) command.
-
-The sbgECom driver always publishes the unit's data to the following uORB topics:
-
- [sensor_accel](../msg_docs/SensorAccel.md)
- [sensor_gyro](../msg_docs/SensorGyro.md)
- [sensor_mag](../msg_docs/SensorMag.md)
-
-if configured as a GNSS, publishes:
-
- [sensor_gps](../msg_docs/SensorGps.md)
-
-and, if configured as an INS, publishes:
-
- [estimator_status](../msg_docs/EstimatorStatus.md)
- [vehicle_local_position](../msg_docs/VehicleLocalPosition.md)
- [vehicle_global_positon](../msg_docs/VehicleGlobalPosition.md)
- [vehicle_attitude](../msg_docs/VehicleAttitude.md)
-
-::: tip
-Published topics can be viewed using the `listener` command.
-:::
-
-## Hardware Specifications
-
- [Product Briefs](https://www.sbg-systems.com/products/)
- [Datasheets](https://www.sbg-systems.com/contact/#products)
@@ -843,8 +843,6 @@
      - [시험 MC_04 - 안전 장치 시험](test_cards/mc_04_failsafe_testing.md)
      - [Test MC_05 - Manual Modes (Inside)](test_cards/mc_05_indoor_flight_manual_modes.md)
      - [Test MC_06 - Optical Flow (Inside)](test_cards/mc_06_optical_flow.md)
-      - [Test MC_07 - VIO (Inside)](test_cards/mc_07_vio.md)
-      - [Test MC_08 - DSHOT ESC](test_cards/mc_08_dshot.md)
    - [단위 테스트](test_and_ci/unit_tests.md)
      - [Fuzz Tests](test_and_ci/fuzz_tests.md)
    - [지속 통합](test_and_ci/continous_integration.md)
@@ -1,8 +1,10 @@
 <!-- GENERATED CONTENT: DO NOT EDIT -->
 - [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)
@@ -35,7 +37,7 @@
    - [정압 축적](/advanced_config/static_pressure_buildup.md)
  - [Flying (Basics)](/flying/basic_flying_mc.md)
  - [완성 기체](/complete_vehicles_mc/index.md)
-    - [ModalAI Starling (PX4 Dev Kit)](/complete_vehicles_mc/modalai_starling.md)
+    - [ModalAI Starling](/complete_vehicles_mc/modalai_starling.md)
    - [PX4 비전 키트](/complete_vehicles_mc/px4_vision_kit.md)
    - [마인드레이서 BNF & RTF](/complete_vehicles_mc/mindracer_BNF_RTF.md)
      - [마인드레이서 210](/complete_vehicles_mc/mindracer210.md)
@@ -56,6 +58,7 @@
    - [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)
@@ -83,6 +86,7 @@
    - [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)
@@ -107,6 +111,7 @@
  - [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)
@@ -127,6 +132,7 @@
    - [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)
@@ -163,12 +169,13 @@
      - [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 X25 EVO](/flight_controller/cuav_x25-evo.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)
@@ -181,8 +188,11 @@
        - [Wiring Quickstart](/assembly/quick_start_durandal.md)
      - [Holybro Pix32 v5](/flight_controller/holybro_pix32_v5.md)
        - [Wiring Quickstart](/assembly/quick_start_holybro_pix32_v5.md)
+      - [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)
-      - [mRo Control Zero F7](/flight_controller/mro_control_zero_f7.md)
+      - [mRobotics-X2.1 (FMUv2)](/flight_controller/mro_x2.1.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)
@@ -196,20 +206,18 @@
    - [Discontinued Autopilots/Vehicles](/flight_controller/autopilot_discontinued.md)
      - [Drotek Dropix (FMUv2)](/flight_controller/dropix.md)
      - [Omnibus F4 SD](/flight_controller/omnibus_f4_sd.md)
+      - [BetaFPV Beta75X 2S Brushless Whoop](/complete_vehicles_mc/betafpv_beta75x.md)
      - [Bitcraze Crazyflie 2.0 ](/complete_vehicles_mc/crazyflie2.md)
      - [Aerotenna OcPoC-Zynq Mini](/flight_controller/ocpoc_zynq.md)
-      - [CUAV X7](/flight_controller/cuav_x7.md)
      - [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)
-      - [ModalAI Flight Core v1](/flight_controller/modalai_fc_v1.md)
-      - [ModalAI VOXL Flight](/flight_controller/modalai_voxl_flight.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)
+      - [Snapdragon Flight](/flight_controller/snapdragon_flight.md)
+      - [Intel® Aero RTF Drone](/complete_vehicles_mc/intel_aero.md)
    - [Pixhawk Autopilot Bus (PAB) & Carriers](/flight_controller/pixhawk_autopilot_bus.md)
      - [ARK Electronics Pixhawk Autopilot Bus Carrier](/flight_controller/ark_pab.md)
    - [Mounting the Flight Controller](/assembly/mount_and_orient_controller.md)
@@ -221,9 +229,7 @@
    - [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)
@@ -235,7 +241,6 @@
      - [나침반 전력 보정](/advanced_config/compass_power_compensation.md)
    - [항속 센서](/sensor/airspeed.md)
      - [Calibration](/config/airspeed.md)
-      - [Airspeed Validation](/advanced_config/airspeed_validation.md)
      - [TFSlot Airspeed Sensor](/sensor/airspeed_tfslot.md)
    - [Barometers](/sensor/barometer.md)
    - [거리 센서](/sensor/rangefinders.md)
@@ -267,7 +272,6 @@
      - [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)
@@ -283,7 +287,6 @@
      - [Trimble MB-Two](/gps_compass/rtk_gps_trimble_mb_two.md)
      - [CubePilot Here+ (Discontined)](/gps_compass/rtk_gps_hex_hereplus.md)
    - [INS (Inertial Navigation/GNSS)](/sensor/inertial_navigation_systems.md)
-      - [InertialLabs](/sensor/inertiallabs.md)
      - [VectorNav](/sensor/vectornav.md)
    - [광류 센서](/sensor/optical_flow.md)
      - [ARK Flow](/dronecan/ark_flow.md)
@@ -294,7 +297,6 @@
      - [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)
@@ -306,22 +308,19 @@
        - [Zubax Telega](/dronecan/zubax_telega.md)
        - [PX4 Sapog ESC Firmware](/dronecan/sapog.md)
          - [Holybro Kotleta](/dronecan/holybro_kotleta.md)
+          - [Zubax Orel](/dronecan/zubax_orel.md)
      - [Vertiq](/peripherals/vertiq.md)
      - [VESC](/peripherals/vesc.md)
-
  - [Radio Control (RC)](/getting_started/rc_transmitter_receiver.md)
    - [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)

    - [텔레메트리 무선통신](/telemetry/index.md)
      - [SiK 무선통신](/telemetry/sik_radio.md)
        - [RFD900 (SiK) 텔레메트리](/telemetry/rfd900_telemetry.md)
-        - [ThunderFly TFSIK01 Telemetry Radio](/telemetry/tfsik_telemetry.md)
        - [HolyBro (SIK) Telemetry Radio](/telemetry/holybro_sik_radio.md)
      - [Wifi 텔레메트리](/telemetry/telemetry_wifi.md)
        - [ESP8266 WiFi 모듈](/telemetry/esp8266_wifi_module.md)
@@ -339,7 +338,6 @@
    - [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)
@@ -358,7 +356,6 @@
      - [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)
@@ -370,25 +367,19 @@
    - [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)
@@ -404,19 +395,16 @@
        - [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)
@@ -424,17 +412,17 @@
  - [Helicopter (experimental)](/frames_helicopter/index.md)
    - [Helicopter Config/Tuning](/config_heli/index.md)
  - [Rovers (experimental)](/frames_rover/index.md)
-    - [Drive Modes](/flight_modes_rover/index.md)
-      - [Manual](/flight_modes_rover/manual.md)
-      - [Auto](/flight_modes_rover/auto.md)
-    - [Configuration/Tuning](/config_rover/index.md)
-      - [Basic Setup](/config_rover/basic_setup.md)
-      - [Rate Tuning](/config_rover/rate_tuning.md)
-      - [Attitude Tuning](/config_rover/attitude_tuning.md)
-      - [Velocity Tuning](/config_rover/velocity_tuning.md)
-      - [Position Tuning](/config_rover/position_tuning.md)
-    - [Complete Vehicles](/complete_vehicles_rover/index.md)
-      - [Aion Robotics R1](/complete_vehicles_rover/aion_r1.md)
+    - [Ackermann Rovers](/frames_rover/ackermann.md)
+      - [Drive Modes](/flight_modes_rover/ackermann.md)
+      - [Configuration/Tuning](/config_rover/ackermann.md)
+    - [Differential Rovers](/frames_rover/differential.md)
+      - [Drive Modes](/flight_modes_rover/differential.md)
+      - [Configuration/Tuning](/config_rover/differential.md)
+      - [Aion Robotics R1](/frames_rover/aion_r1.md)
+    - [Mecanum Rovers](/frames_rover/mecanum.md)
+      - [Drive Modes](/flight_modes_rover/mecanum.md)
+      - [Configuration/Tuning](/config_rover/mecanum.md)
+    - [(Deprecated) Rover Position Control](/frames_rover/rover_position_control.md)
  - [Submarines (experimental)](/frames_sub/index.md)
    - [블루로브2](/frames_sub/bluerov2.md)
  - [기체 프레임 정의서](/airframes/airframe_reference.md)
@@ -546,7 +534,6 @@
        - [Airspeed](/msg_docs/Airspeed.md)
        - [AirspeedWind](/msg_docs/AirspeedWind.md)
        - [AutotuneAttitudeControlStatus](/msg_docs/AutotuneAttitudeControlStatus.md)
-        - [BatteryInfo](/msg_docs/BatteryInfo.md)
        - [ButtonEvent](/msg_docs/ButtonEvent.md)
        - [CameraCapture](/msg_docs/CameraCapture.md)
        - [CameraStatus](/msg_docs/CameraStatus.md)
@@ -565,7 +552,6 @@
        - [DifferentialPressure](/msg_docs/DifferentialPressure.md)
        - [DistanceSensor](/msg_docs/DistanceSensor.md)
        - [DistanceSensorModeChangeRequest](/msg_docs/DistanceSensorModeChangeRequest.md)
-        - [DronecanNodeStatus](/msg_docs/DronecanNodeStatus.md)
        - [Ekf2Timestamps](/msg_docs/Ekf2Timestamps.md)
        - [EscReport](/msg_docs/EscReport.md)
        - [EscStatus](/msg_docs/EscStatus.md)
@@ -640,7 +626,6 @@
        - [MountOrientation](/msg_docs/MountOrientation.md)
        - [NavigatorMissionItem](/msg_docs/NavigatorMissionItem.md)
        - [NavigatorStatus](/msg_docs/NavigatorStatus.md)
-        - [NeuralControl](/msg_docs/NeuralControl.md)
        - [NormalizedUnsignedSetpoint](/msg_docs/NormalizedUnsignedSetpoint.md)
        - [ObstacleDistance](/msg_docs/ObstacleDistance.md)
        - [OffboardControlMode](/msg_docs/OffboardControlMode.md)
@@ -739,12 +724,7 @@
        - [Wind](/msg_docs/Wind.md)
        - [YawEstimatorStatus](/msg_docs/YawEstimatorStatus.md)
        - [AirspeedValidatedV0](/msg_docs/AirspeedValidatedV0.md)
-        - [ArmingCheckReplyV0](/msg_docs/ArmingCheckReplyV0.md)
-        - [BatteryStatusV0](/msg_docs/BatteryStatusV0.md)
-        - [EventV0](/msg_docs/EventV0.md)
-        - [HomePositionV0](/msg_docs/HomePositionV0.md)
        - [VehicleAttitudeSetpointV0](/msg_docs/VehicleAttitudeSetpointV0.md)
-        - [VehicleLocalPositionV0](/msg_docs/VehicleLocalPositionV0.md)
        - [VehicleStatusV0](/msg_docs/VehicleStatusV0.md)
    - [MAVLink Messaging](/mavlink/index.md)
      - [Adding Messages](/mavlink/adding_messages.md)
@@ -754,7 +734,6 @@
      - [Protocols/Microservices](/mavlink/protocols.md)
        - [Standard Modes Protocol](/mavlink/standard_modes.md)
    - [uXRCE-DDS (PX4-ROS 2/DDS Bridge)](/middleware/uxrce_dds.md)
-      - [UORB Bridged to ROS 2](/middleware/dds_topics.md)
  - [모듈과 명령어](/modules/modules_main.md)
    - [자동 튜닝](/modules/modules_autotune.md)
    - [명령어](/modules/modules_command.md)
@@ -784,7 +763,7 @@
    - [Debugging with GDB](/debug/gdb_debugging.md)
      - [SWD Debug Port](/debug/swd_debug.md)
      - [JLink Probe](/debug/probe_jlink.md)
-      - [Black Magic/Zubax BugFace BF1 Probe](/debug/probe_bmp.md)
+      - [Black Magic/DroneCode Probe](/debug/probe_bmp.md)
      - [STLink Probe](/debug/probe_stlink.md)
      - [MCU-Link Probe](/debug/probe_mculink.md)
      - [Hardfault Debugging](/debug/gdb_hardfault.md)
@@ -808,9 +787,6 @@
    - [Camera Integration/Architecture](/camera/camera_architecture.md)
    - [컴퓨터 비전](/advanced/computer_vision.md)
      - [Motion Capture (VICON, Optitrack, NOKOV)](/tutorials/motion-capture.md)
-    - [Neural Networks](/advanced/neural_networks.md)
-      - [Neural Network Module Utilities](/advanced/nn_module_utilities.md)
-      - [TensorFlow Lite Micro (TFLM)](/advanced/tflm.md)
    - [Intel RealSense R200용 드라이버 설치](/advanced/realsense_intel_driver.md)
    - [상태 추정기 전환](/advanced/switching_state_estimators.md)
    - [트리 외부 모듈](/advanced/out_of_tree_modules.md)
@@ -842,12 +818,8 @@
      - [시험 MC_02 - 완전 자동](/test_cards/mc_02_full_autonomous.md)
      - [시험 MC_03 - 자동 / 수동 혼합](/test_cards/mc_03_auto_manual_mix.md)
      - [시험 MC_04 - 안전 장치 시험](/test_cards/mc_04_failsafe_testing.md)
-      - [Test MC_05 - Manual Modes (Inside)](/test_cards/mc_05_indoor_flight_manual_modes.md)
-      - [Test MC_06 - Optical Flow (Inside)](/test_cards/mc_06_optical_flow.md)
-      - [Test MC_07 - VIO (Inside)](/test_cards/mc_07_vio.md)
-      - [Test MC_08 - DSHOT ESC](/test_cards/mc_08_dshot.md)
+      - [시험 MC_05 - 실내 비행 (수동 모드)](/test_cards/mc_05_indoor_flight_manual_modes.md)
    - [단위 테스트](/test_and_ci/unit_tests.md)
-      - [Fuzz Tests](/test_and_ci/fuzz_tests.md)
    - [지속 통합](/test_and_ci/continous_integration.md)
    - [Integration Testing](/test_and_ci/integration_testing.md)
      - [MAVSDK 통합 테스트](/test_and_ci/integration_testing_mavsdk.md)
@@ -890,8 +862,8 @@

 - [출시](/releases/index.md)
  - [main (alpha)](/releases/main.md)
-  - [1.16 (stable)](/releases/1.16.md)
-  - [1.15](/releases/1.15.md)
+  - [1.16 (release candidate)](/releases/1.16.md)
+  - [1.15 (stable)](/releases/1.15.md)
  - [1.14](/releases/1.14.md)
  - [1.13](/releases/1.13.md)
  - [1.12](/releases/1.12.md)
@@ -95,8 +95,6 @@ This is documented below.
 The best way to customize the system startup is to introduce a [new frame configuration](../dev_airframes/adding_a_new_frame.md).
 The frame configuration file can be included in the firmware or on an SD Card.

-#### Dynamic customization
-
 If you only need to "tweak" the existing configuration, such as starting one more application or setting the value of a few parameters, you can specify these by creating two files in the `/etc/` directory of the SD Card:

 - [/etc/config.txt](#customizing-the-configuration-config-txt): modify parameter values
@@ -113,7 +111,7 @@ Windows에서 편집하는 경우 적절한 편집기를 사용하여야 합니
 These files are referenced in PX4 code as `/fs/microsd/etc/config.txt` and `/fs/microsd/etc/extras.txt`, where the root folder of the microsd card is identified by the path `/fs/microsd`.
 :::

-##### 구성 사용자 정의(config.txt)
+#### 구성 사용자 정의(config.txt)

 The `config.txt` file can be used to modify parameters.
 It is loaded after the main system has been configured and _before_ it is booted.
@@ -125,7 +123,7 @@ param set-default PWM_MAIN_DIS3 1000
 param set-default PWM_MAIN_MIN3 1120
 ```

-##### Starting Additional Applications (extras.txt)
+#### Starting Additional Applications (extras.txt)

 The `extras.txt` can be used to start additional applications after the main system boot.
 일반적으로, 페이로드 콘트롤러나 유사한 선택적 사용자 지정 구성 요소들입니다.
@@ -152,28 +150,3 @@ Calling an unknown command in system boot files may result in boot failure.

  mandatory_app start     # Will abort boot if mandatory_app is unknown or fails
  ```
-
-#### Additional customization
-
-In rare cases where the desired setup cannot be achieved through frame configuration or dynamic customization,
-you can add a script that will be contained in the binary.
-
-**Note**: In almost all cases, you should use a frame configuration. This method should only be used for
-edge-cases such as customizing `cannode` based boards.
-
- Add a new init script in `boards/<vendor>/<board>/init` that will run during board startup. 예:
-  ```sh
-  # File: boards/<vendor>/<board>/init/rc.additional
-  param set-default <param> <value>
-  ```
-
- Add a new board variant in `boards/<vendor>/<board>/<variant>.px4board` that includes the additional script. 예:
-  ```sh
-  # File: boards/<vendor>/<board>/var.px4board
-  CONFIG_BOARD_ADDITIONAL_INIT="rc.additional"
-  ```
-
- Compile the firmware with your new variant by appending the variant name to the compile target. 예:
-  ```sh
-  make <target>_var
-  ```
@@ -27,18 +27,10 @@

 That is the minimum setup to use the rover in [Manual mode](../flight_modes_rover/manual.md#manual-mode).

-:::info
-The rest of the tuning on this page is not mandatory for [Manual mode](../flight_modes_rover/manual.md#manual-mode), but it will have an effect on the behaviour of the rover.
-:::
-
-:::warning
-Do not skip the rest of this setup if you intend to use more sophisticated modes!
-All parameters will be mandatory for all subsequent modes, except those tagged as `(Optional)`.
-:::
-
 ## Geometric Parameters

-First, we set up the geometric parameters of the rover:
+Manual mode is also affected by (optional) acceleration/deceleration limits set using the geometric described below.
+These limits are mandatory for all other modes.

 ![Geometric parameters](../../assets/config/rover/geometric_parameters.png)

@@ -50,7 +42,7 @@ Navigate to [Parameters](../advanced_config/parameters.md) in QGroundControl and
 2. [RA_MAX_STR_ANG](#RA_MAX_STR_ANG) [deg]: Measure the maximum steering angle.
 3. (Optional) [RA_STR_RATE_LIM](#RA_STR_RATE_LIM) [deg/s]: Maximum steering rate you want to allow for your rover.

-   ::: tip
+   :::tip
   This value depends on your rover and use case.
   For bigger rovers there might be a mechanical limit that is easy to identify by steering the rover at a standstill and increasing
   [RA_STR_RATE_LIM](#RA_STR_RATE_LIM) until you observe the steering rate to no longer be limited by the parameter.
@@ -59,7 +51,7 @@ Navigate to [Parameters](../advanced_config/parameters.md) in QGroundControl and

 :::

-   ::: warning
+   :::warning
   A low maximum steering rate makes the rover worse at tracking steering setpoints, which can lead to a poor performance in the subsequent modes.

 :::
@@ -84,7 +76,7 @@ Navigate to [Parameters](../advanced_config/parameters.md) in QGroundControl and

 2. (Optional) [RO_ACCEL_LIM](#RO_ACCEL_LIM) [m/s^2]: Maximum acceleration you want to allow for your rover.

-         <a id="RO_ACCEL_LIM_CONSIDERATIONS"></a>
+   <a id="RO_ACCEL_LIM_CONSIDERATIONS"></a>

   :::tip
   Your rover has a maximum possible acceleration which is determined by the maximum torque the motor can supply.
@@ -117,39 +109,6 @@ Navigate to [Parameters](../advanced_config/parameters.md) in QGroundControl and

 :::

-## (Optional) Stick Input Mapping
-
-Input shaping can be used to adjust the default linear mapping from stick inputs $\in [-1, 1]$ to normalized setpoints $\in [-1, 1]$. Applying this specifically to the steering input, can provide a smoother driving experience, by enabling the user to make small adjustments when the stick is close to the center, but still send large inputs when moving them to the edges.
-We provide this input shaping through the super exponential function:
-
-$$
-\delta = \frac{(f \cdot x^3 + x(1-f)) \cdot (1-g)}{1-g \cdot |x|}
-$$
-
-with:
-
- - $\delta \in [-1, 1]=$ Normalized steering setpoint.
- - $x \in [-1, 1]=$ Normalized stick input.
- - $f=$ [RO_YAW_EXPO](#RO_YAW_EXPO): `0` Purely linear input curve, `1` Purely cubic input curve.
- - $g=$ [RO_YAW_SUPEXPO](#RO_YAW_SUPEXPO): `0` Pure Expo function, `0.7` reasonable shape enhancement for intuitive stick feel, `0.95` very strong bent input curve only near maxima have effect.
-
-In [Manual mode](../flight_modes_rover/manual.md#manual-mode) we can additionally scale $\delta$ with an additional parameter $r$:
-
- - Differential Rover: $r=$ [RD_YAW_STK_GAIN](#RD_YAW_STK_GAIN), which enables adjusting the slope of the input mapping. This leads to a normalized steering input $\hat{\delta} = \delta \cdot r \in$ [-[RD_YAW_STK_GAIN](#RD_YAW_STK_GAIN), [RD_YAW_STK_GAIN](#RD_YAW_STK_GAIN)].
- - Mecanum Rover: $r=$ [RM_YAW_STK_GAIN](#RM_YAW_STK_GAIN), which enables adjusting the slope of the input mapping. This leads to a normalized steering input $\hat{\delta} = \delta \cdot r \in$ [-[RM_YAW_STK_GAIN](#RM_YAW_STK_GAIN), [RM_YAW_STK_GAIN](#RM_YAW_STK_GAIN)].
-
-This scaling is useful to limit the normalized steering setpoint, if it is too aggresive for your rover in manual mode.
-
-You can experiment with the relationships graphically using the [PX4 SuperExpo Rover calculator](https://www.desmos.com/calculator/gwm8lrlanx).
-
-:::info
-In [Acro](../flight_modes_rover/manual.md#acro-mode), [Stabilized](../flight_modes_rover/manual.md#stabilized-mode) and [Position](../flight_modes_rover/manual.md#position-mode) Mode, $\delta$ is instead scaled by $r=$ [RO_YAW_RATE_LIM](../advanced_config/parameter_reference.md#RO_MAX_THR_SPEED) for all rovers. This leads to a yaw rate setpoint $\dot{\psi} = \delta \cdot r \in$ [-[RO_YAW_RATE_LIM](../advanced_config/parameter_reference.md#RO_MAX_THR_SPEED), [RO_YAW_RATE_LIM](../advanced_config/parameter_reference.md#RO_MAX_THR_SPEED)]. This parameter is setup during [rate tuning](rate_tuning.md).
-:::
-
-:::info
-The input shaping through [RO_YAW_EXPO](#RO_YAW_EXPO) and [RO_YAW_SUPEXPO](#RO_YAW_SUPEXPO) applies for all manual modes, while [RD_YAW_STK_GAIN](#RD_YAW_STK_GAIN)/[RM_YAW_STK_GAIN](#RM_YAW_STK_GAIN) only affects full manual mode.
-:::
-
 You can now continue the configuration process with [rate tuning](rate_tuning.md).

 ## Parameter Overview
@@ -159,8 +118,6 @@ You can now continue the configuration process with [rate tuning](rate_tuning.md
 | <a id="RO_MAX_THR_SPEED"></a>[RO_MAX_THR_SPEED](../advanced_config/parameter_reference.md#RO_MAX_THR_SPEED) | Speed the rover drives at maximum throttle                 | $m/s$   |
 | <a id="RO_ACCEL_LIM"></a>[RO_ACCEL_LIM](../advanced_config/parameter_reference.md#RO_ACCEL_LIM)                                  | (Optional) Maximum allowed acceleration | $m/s^2$ |
 | <a id="RO_DECEL_LIM"></a>[RO_DECEL_LIM](../advanced_config/parameter_reference.md#RO_DECEL_LIM)                                  | (Optional) Maximum allowed deceleration | $m/s^2$ |
-| <a id="RO_YAW_EXPO"></a>[RO_YAW_EXPO](../advanced_config/parameter_reference.md#RO_YAW_EXPO)                                     | (Optional) Yaw rate expo factor         | $-$     |
-| <a id="RO_YAW_SUPEXPO"></a>[RO_YAW_SUPEXPO](../advanced_config/parameter_reference.md#RO_YAW_SUPEXPO)                            | (Optional) Yaw rate super expo factor   | $-$     |

 ### Ackermann Specific

@@ -172,14 +129,12 @@ You can now continue the configuration process with [rate tuning](rate_tuning.md

 ### Differential Specific

-| 매개변수                                                                                                                                                                    | 설명                                                           | Unit |
-| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------ | ---- |
-| <a id="RD_WHEEL_TRACK"></a>[RD_WHEEL_TRACK](../advanced_config/parameter_reference.md#RD_WHEEL_TRACK)                         | Wheel track                                                  | $m$  |
-| <a id="RD_YAW_STK_GAIN"></a>[RD_YAW_STK_GAIN](../advanced_config/parameter_reference.md#RD_YAW_STK_GAIN) | (Optional) Yaw stick gain for Manual mode | $-$  |
+| 매개변수                                                                                                                                            | 설명          | Unit |
+| ----------------------------------------------------------------------------------------------------------------------------------------------- | ----------- | ---- |
+| <a id="RD_WHEEL_TRACK"></a>[RD_WHEEL_TRACK](../advanced_config/parameter_reference.md#RD_WHEEL_TRACK) | Wheel track | m    |

 ### Mecanum Specific

-| 매개변수                                                                                                                                                                    | 설명                                                           | Unit |
-| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------ | ---- |
-| <a id="RM_WHEEL_TRACK"></a>[RM_WHEEL_TRACK](../advanced_config/parameter_reference.md#RM_WHEEL_TRACK)                         | Wheel track                                                  | $m$  |
-| <a id="RM_YAW_STK_GAIN"></a>[RM_YAW_STK_GAIN](../advanced_config/parameter_reference.md#RM_YAW_STK_GAIN) | (Optional) Yaw stick gain for Manual mode | $-$  |
+| 매개변수                                                                                                                                            | 설명          | Unit |
+| ----------------------------------------------------------------------------------------------------------------------------------------------- | ----------- | ---- |
+| <a id="RM_WHEEL_TRACK"></a>[RM_WHEEL_TRACK](../advanced_config/parameter_reference.md#RM_WHEEL_TRACK) | Wheel track | m    |
@@ -20,7 +20,7 @@ To tune the velocity controller configure the following [parameters](../advanced
 2. [RO_MAX_THR_SPEED](#RO_MAX_THR_SPEED) [m/s]: This parameter is used to calculate the feed-forward term of the closed loop speed control which linearly maps desired speeds to normalized motor commands.
   As mentioned in the [Manual mode](../flight_modes_rover/manual.md#manual-mode) configuration , a good starting point is the observed ground speed when the rover drives at maximum throttle in [Manual mode](../flight_modes_rover/manual.md#manual-mode).

-         <a id="RA_SPEED_TUNING"></a>
+   <a id="RA_SPEED_TUNING"></a>

   ::: tip
   To further tune this parameter:
@@ -94,7 +94,7 @@ These steps are only necessary if you are tuning/want to unlock the manual [Posi

 The rover is now ready to drive in [Position mode](../flight_modes_rover/manual.md#position-mode) and the configuration can be continued with [position tuning](position_tuning.md).

-## Velocity Controller Structure (Info Only)
+## Attitude Controller Structure (Info Only)

 This section provides additional information for developers and people with experience in control system design.

@@ -33,17 +33,16 @@ The logging system is configured by default to collect sensible logs for [flight
 Logging may further be configured using the [SD Logging](../advanced_config/parameter_reference.md#sd-logging) parameters.
 변경할 가능성이 높은 매개변수가 아래에 설명되어 있습니다.

-| 매개변수                                                                                          | 설명                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                   |
-| --------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| [SDLOG_MODE](../advanced_config/parameter_reference.md#SDLOG_MODE)       | Logging Mode. Defines when logging starts and stops.<br />- `0`: Log when armed until disarm (default).<br />- `1`: Log from boot until disarm.<br />- `2`: Log from boot until shutdown.<br />- `3`: Log based on the [AUX1 RC channel](../advanced_config/parameter_reference.md#RC_MAP_AUX1).<br />- `4`: Log from first armed until shutdown. |
-| [SDLOG_BACKEND](../advanced_config/parameter_reference.md#SDLOG_BACKEND) | Logging Backend (bitmask). Setting a bit enables the corresponding backend. If no backend is selected, the logger is disabled.<br />- bit `0`: SD card logging.</br >- bit `1`: Mavlink logging.                                                                                                                                                                                                                                  |
-| [SDLOG_PROFILE](../advanced_config/parameter_reference.md#SDLOG_PROFILE) | 로깅 프로파일. Use this to enable less common logging/analysis (e.g. for EKF2 replay, high rate logging for PID & filter tuning, thermal temperature calibration).                                                                                                                                                                                                                                                                                                  |
-| [SDLOG_MISSION](../advanced_config/parameter_reference.md#SDLOG_MISSION) | Create very small additional "Mission Log".<br>This log can _not_ be used with [Flight Review](../log/flight_log_analysis.md#flight-review-online-tool), but is useful when you need a small log for geotagging or regulatory compliance.                                                                                                                                                                                                                                                                                            |
+| 매개변수                                                                                          | 설명                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  |
+| --------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| [SDLOG_MODE](../advanced_config/parameter_reference.md#SDLOG_MODE)       | Logging Mode. Defines when logging starts and stops.<br />- `-1`: Logging disabled.<br />- `0`: Log when armed until disarm (default).<br />- `1`: Log from boot until disarm.<br />- `2`: Log from boot until shutdown.<br />- `3`: Log based on the [AUX1 RC channel](../advanced_config/parameter_reference.md#RC_MAP_AUX1).<br />- `4`: Log from first armed until shutdown. |
+| [SDLOG_PROFILE](../advanced_config/parameter_reference.md#SDLOG_PROFILE) | 로깅 프로파일. Use this to enable less common logging/analysis (e.g. for EKF2 replay, high rate logging for PID & filter tuning, thermal temperature calibration).                                                                                                                                                                                                                                                                                                                                                                 |
+| [SDLOG_MISSION](../advanced_config/parameter_reference.md#SDLOG_MISSION) | Create very small additional "Mission Log".<br>This log can _not_ be used with [Flight Review](../log/flight_log_analysis.md#flight-review-online-tool), but is useful when you need a small log for geotagging or regulatory compliance.                                                                                                                                                                                                                                                                                                                                                           |

 Useful settings for specific cases:

 - Raw sensor data for comparison: [SDLOG_MODE=1](../advanced_config/parameter_reference.md#SDLOG_MODE) and [SDLOG_PROFILE=64](../advanced_config/parameter_reference.md#SDLOG_PROFILE).
- Disabling logging altogether: [SDLOG_BACKEND=`0`](../advanced_config/parameter_reference.md#SDLOG_BACKEND)
+- Disabling logging altogether: [SDLOG_MODE=`-1`](../advanced_config/parameter_reference.md#SDLOG_MODE)

 ### Logger module

@@ -2,32 +2,13 @@

 PX4 typically runs on flight controllers that include an IMU, such as the Pixhawk series, and fuse the sensor data along with GNSS information in the EKF2 estimator to determine vehicle attitude, heading, position, and velocity.

-However PX4 can also use some INS devices as either sources of raw data, or as an external estimator, replacing EKF2.
+However PX4 can also use some INS devices as either sources of raw data, or as an external estimator, replacing the EKF.

-## Supported INS Systems
-
-INS systems that can be used as a replacement for EKF2 in PX4:
+Systems that can be used in this way include:

 - [InertialLabs](../sensor/inertiallabs.md)
 - [VectorNav](../sensor/vectornav.md): IMU/AHRS, GNSS/INS, Dual GNSS/INS systems that can be used as an external INS or as a source of raw sensor data.

-## PX4 Firmware
-
-The driver module for your INS system may not be included in the PX4 firmware for your flight controller by default.
-
-You can check by searching the [default.px4board](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v6c/default.px4board#L25) configuration file for your target board for either:
-
- `CONFIG_COMMON_INS`, which includes drivers for [all INS systems](https://github.com/PX4/PX4-Autopilot/blob/main/src/drivers/ins/Kconfig).
- The key for the particular INS system you are using, such as:
-  - `CONFIG_DRIVERS_INS_ILABS`
-  - `CONFIG_DRIVERS_INS_MICROSTRAIN`
-  - `CONFIG_DRIVERS_INS_VECTORNAV`
-
-If the required key is not present you can include the module in firmware by adding the key to the `default.px4board` file, or using the [kconfig board configuration tool](../hardware/porting_guide_config.md#px4-board-configuration-kconfig) and then select the driver you want (`Drivers -> INS`).
-Note that if you're working on a flight controller where flash memory is limited, you're better off installing just the modules you need.
-
-You will then need to rebuild the firmware.
-
 ## Glossary

 ### Inertial Measurement Unit (IMU)
@@ -71,24 +71,24 @@ To check that these are present on your flight controller:

 3. Enter the following commands in the console:

-   ```sh
-   pwm_out_sim status
-   ```
+  ```sh
+  pwm_out_sim status
+  ```

-   ```sh
-   sensor_baro_sim status
-   ```
+  ```sh
+  sensor_baro_sim status
+  ```

-   ```sh
-   sensor_gps_sim status
-   ```
+  ```sh
+  sensor_gps_sim status
+  ```

-   ```sh
-   sensor_mag_sim status
-   ```
+  ```sh
+  sensor_mag_sim status
+  ```

-   ::: tip
-   Note that when using SIH on real hardware you do not need to additionally enable the modules using their corresponding parameters ([SENS_EN_GPSSIM](../advanced_config/parameter_reference.md#SENS_EN_GPSSIM), [SENS_EN_BAROSIM](../advanced_config/parameter_reference.md#SENS_EN_BAROSIM), [SENS_EN_MAGSIM](../advanced_config/parameter_reference.md#SENS_EN_MAGSIM)).
+  ::: tip
+  Note that when using SIH on real hardware you do not need to additionally enable the modules using their corresponding parameters ([SENS_EN_GPSSIM](../advanced_config/parameter_reference.md#SENS_EN_GPSSIM), [SENS_EN_BAROSIM](../advanced_config/parameter_reference.md#SENS_EN_BAROSIM), [SENS_EN_MAGSIM](../advanced_config/parameter_reference.md#SENS_EN_MAGSIM)).

 :::

@@ -141,12 +141,12 @@ To set up/start SIH:
 1. Connect the flight controller to the desktop computer with a USB cable.
 2. Open QGroundControl and wait for the flight controller too boot and connect.
 3. Open [Vehicle Setup > Airframe](../config/airframe.md) then select the desired frame:
-   - [SIH Quadcopter X](../airframes/airframe_reference.md#copter_simulation_sih_quadcopter_x)
-   - **SIH Hexacopter X** (currently only has an airframe for SITL to safe flash so on flight control hardware it has to be manually configured equivalently).
-   - [SIH plane AERT](../airframes/airframe_reference.md#plane_simulation_sih_plane_aert)
-   - [SIH Tailsitter Duo](../airframes/airframe_reference.md#vtol_simulation_sih_tailsitter_duo)
-   - [SIH Standard VTOL QuadPlane](../airframes/airframe_reference.md#vtol_simulation_sih_standard_vtol_quadplane)
-   - [SIH Ackermann Rover](../airframes/airframe_reference.md#rover_rover_sih_rover_ackermann)
+  - [SIH Quadcopter X](../airframes/airframe_reference.md#copter_simulation_sih_quadcopter_x)
+  - **SIH Hexacopter X** (currently only has an airframe for SITL to safe flash so on flight control hardware it has to be manually configured equivalently).
+  - [SIH plane AERT](../airframes/airframe_reference.md#plane_simulation_sih_plane_aert)
+  - [SIH Tailsitter Duo](../airframes/airframe_reference.md#vtol_simulation_sih_tailsitter_duo)
+  - [SIH Standard VTOL QuadPlane](../airframes/airframe_reference.md#vtol_simulation_sih_standard_vtol_quadplane)
+  - [SIH Ackermann Rover](../airframes/airframe_reference.md#rover_rover_sih_rover_ackermann)

 The autopilot will then reboot.
 The `sih` module is started on reboot, and the vehicle should be displayed on the ground control station map.
@@ -172,19 +172,19 @@ To display the simulated vehicle:

 3. Start jMAVSim by calling the script **jmavsim_run.sh** from a terminal:

-   ```sh
-   ./Tools/simulation/jmavsim/jmavsim_run.sh -q -d /dev/ttyACM0 -b 2000000 -o
-   ```
+  ```sh
+  ./Tools/simulation/jmavsim/jmavsim_run.sh -q -d /dev/ttyACM0 -b 2000000 -o
+  ```

-   where the flags are:
+  where the flags are:

-   - `-q` to allow the communication to _QGroundControl_ (optional).
-   - `-d` to start the serial device `/dev/ttyACM0` on Linux.
-     On macOS this would be `/dev/tty.usbmodem1`.
-   - `-b` to set the serial baud rate to `2000000`.
-   - `-o` to start jMAVSim in _display Only_ mode (i.e. the physical engine is turned off and jMAVSim only displays the trajectory given by the SIH in real-time).
-   - add a flag `-a` to display an aircraft or `-t` to display a tailsitter.
-     If this flag is not present a quadrotor will be displayed by default.
+  - `-q` to allow the communication to _QGroundControl_ (optional).
+  - `-d` to start the serial device `/dev/ttyACM0` on Linux.
+    On macOS this would be `/dev/tty.usbmodem1`.
+  - `-b` to set the serial baud rate to `2000000`.
+  - `-o` to start jMAVSim in _display Only_ mode (i.e. the physical engine is turned off and jMAVSim only displays the trajectory given by the SIH in real-time).
+  - add a flag `-a` to display an aircraft or `-t` to display a tailsitter.
+    If this flag is not present a quadrotor will be displayed by default.

 4. After few seconds, _QGroundControl_ can be opened again.

@@ -201,41 +201,41 @@ To run SIH as SITL:

 1. Install the [PX4 Development toolchain](../dev_setup/dev_env.md).
 2. Run the appropriate make command for each vehicle type (at the root of the PX4-Autopilot repository):
-   - Quadcopter
+  - Quadcopter

-     ```sh
-     make px4_sitl sihsim_quadx
-     ```
+    ```sh
+    make px4_sitl sihsim_quadx
+    ```

-   - Hexacopter
+  - Hexacopter

-     ```sh
-     make px4_sitl sihsim_hex
-     ```
+    ```sh
+    make px4_sitl sihsim_hex
+    ```

-   - Fixed-wing (plane)
+  - Fixed-wing (plane)

-     ```sh
-     make px4_sitl sihsim_airplane
-     ```
+    ```sh
+    make px4_sitl sihsim_airplane
+    ```

-   - XVert VTOL tailsitter
+  - XVert VTOL tailsitter

-     ```sh
-     make px4_sitl sihsim_xvert
-     ```
+    ```sh
+    make px4_sitl sihsim_xvert
+    ```

-   - 표준 VTOL
+  - 표준 VTOL

-     ```sh
-     make px4_sitl sihsim_standard_vtol
-     ```
+    ```sh
+    make px4_sitl sihsim_standard_vtol
+    ```

-   - Ackermann Rover
+  - Ackermann Rover

-     ```sh
-     make px4_sitl sihsim_rover_ackermann
-     ```
+    ```sh
+    make px4_sitl sihsim_rover_ackermann
+    ```

 ### Change Simulation Speed

@@ -328,44 +328,6 @@ For SIH as SITL (no FC):

 For specific examples see the `_sihsim_` airframes in [ROMFS/px4fmu_common/init.d-posix/airframes](https://github.com/PX4/PX4-Autopilot/blob/main/ROMFS/px4fmu_common/init.d-posix/airframes/) (SIH as SITL) and [ROMFS/px4fmu_common/init.d/airframes](https://github.com/PX4/PX4-Autopilot/tree/main/ROMFS/px4fmu_common/init.d/airframes) (SIH on FC).

-## Controlling Actuators in SIH
-
-:::warning
-If you want to control throttling actuators in SIH, make sure to remove propellers for safety.
-:::
-
-In some scenarios, it may be useful to control an actuator while running SIH. For example, you might want to verify that winches or grippers are functioning correctly by checking the servo responses.
-
-To enable actuator control in SIH:
-
-1. Configure PWM parameters in the airframe file:
-
-Ensure your airframe file includes the necessary parameters to map PWM outputs to the correct channels.
-
-For example, if a servo is connected to MAIN 3 and you want to map it to AUX1 on your RC, use the following command:
-
-`param set-default PWM_MAIN_FUNC3 407`
-
-You can find a full list of available values for `PWM_MAIN_FUNCn` [here](../advanced_config/parameter_reference.md#PWM_MAIN_FUNC1). In this case, `407` maps the MAIN 3 output to AUX1 on the RC.
-
-Alternatively, you can use the [`PWM_AUX_FUNCn`](../advanced_config/parameter_reference.md#PWM_AUX_FUNC1) parameters.
-
-You may also configure the output as desired:
-
- Disarmed PWM: ([`PWM_MAIN_DISn`](../advanced_config/parameter_reference.md#PWM_MAIN_DIS1) / [`PWM_AUX_DIS1`](../advanced_config/parameter_reference.md#PWM_AUX_DIS1))
- Minimum PWM ([`PWM_MAIN_MINn`](../advanced_config/parameter_reference.md#PWM_MAIN_MIN1) / [`PWM_AUX_MINn`](../advanced_config/parameter_reference.md#PWM_AUX_MIN1))
- Maximum PWM ([`PWM_MAIN_MAXn`](../advanced_config/parameter_reference.md#PWM_MAIN_MAX1) / [`PWM_AUX_MAXn`](../advanced_config/parameter_reference.md#PWM_AUX_MAX1))
-
-2. Manually start the PWM output driver
-
-For safety, the PWM driver is not started automatically in SIH. To enable it, run the following command in the MAVLink shell:
-
-`pwm_out start`
-
-And to disable it again:
-
-`pwm_out stop`
-
 ## Dynamic Models

 The dynamic models for the various vehicles are:
@@ -3,6 +3,11 @@
 [Rotoye Batmon](https://rotoye.com/batmon/) is a kit for adding smart battery functionality to off-the-shelf Lithium-Ion and LiPo batteries.
 독립형 장치로 또는 공장에서 조립된 스마트 배터리의 일부로 구입할 수 있습니다.

+:::info
+At time of writing you can only use Batmon by [building a custom branch of PX4](#build-px4-firmware).
+Support in the codeline is pending [PR approval](https://github.com/PX4/PX4-Autopilot/pull/16723).
+:::
+
 ![Rotoye Batmon Board](../../assets/hardware/smart_batteries/rotoye_batmon/smart-battery-rotoye.jpg)

 ![Pre-assembled Rotoye smart battery](../../assets/hardware/smart_batteries/rotoye_batmon/smart-battery-rotoye-pack.jpg)
@@ -28,5 +28,3 @@ These are run by the test team as part of release testing, and for more signific
 - [MC_04 - Failsafe Testing](../test_cards/mc_04_failsafe_testing.md)
 - [MC_05 - Indoor Flight (Manual Modes)](../test_cards/mc_05_indoor_flight_manual_modes.md)
 - [MC_06 - Indoor Flight (Optical Flow)](../test_cards/mc_06_optical_flow.md)
- [MC_07 - VIO (Visual-Inertial Odometry)](../test_cards/mc_07_vio.md)
- [MC_08 - DSHOT ESC](../test_cards/mc_08_dshot.md)
@@ -2,19 +2,11 @@

 ## Objective

-To test that optical flow works as expected
+To test that optical flow / external vision work as expected

 ## Preflight

 Disconnect all GPS / compasses and ensure vehicle is using optical flow for navigation
-([Setup Information here](../sensor/optical_flow.md))
-
-Ensure there are no other sources of positioning besides optical flow
-
- [EKF2_OF_CTRL](../advanced_config/parameter_reference.md#EKF2_OF_CTRL): `1`
- [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL): `0`
- [EKF2_EV_CTRL](../advanced_config/parameter_reference.md#EKF2_EV_CTRL): `0`
- [SYS_HAS_MAG](../advanced_config/parameter_reference.md#SYS_HAS_MAG): `0`

 Ensure that the drone can go into Altitude / Position flight mode while still on the ground

@@ -47,7 +39,5 @@ Ensure that the drone can go into Altitude / Position flight mode while still on
 ## 예상 결과

 - 추력을 올릴 때 서서히 이륙한다
- Drone should hold altitude in Altitude Flight mode without wandering
- Drone should hold position within 1 meter in Position Flight mode without pilot moving sticks
 - 위에 언급한 어떤 비행 모드에서도 떨림이 나타나서는 안됨
 - 지면에 착륙시, 콥터가 지면에서 튀면 안됨
@@ -1,52 +0,0 @@
-# Test MC_07 - VIO (Visual-Inertial Odometry)
-
-## Objective
-
-To test that external vision (VIO) works as expected
-
-## Preflight
-
-Disconnect all GPS / compasses and ensure vehicle is using VIO for navigation
-
-Ensure that the drone can go into Altitude / Position flight mode while still on the ground
-
-Ensure there are no other sources of positioning besides VIO:
-
- [EKF2_OF_CTRL](../advanced_config/parameter_reference.md#EKF2_OF_CTRL): `0`
- [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL): `0`
- [EKF2_EV_CTRL](../advanced_config/parameter_reference.md#EKF2_EV_CTRL): `15`
- [SYS_HAS_MAG](../advanced_config/parameter_reference.md#SYS_HAS_MAG): `0`
-
-## Flight Tests
-
-❏ Altitude flight mode
-
-&nbsp;&nbsp;&nbsp;&nbsp;❏ Vertical position should hold current value with stick centered
-
-&nbsp;&nbsp;&nbsp;&nbsp;❏ Pitch/Roll/Yaw response 1:1
-
-&nbsp;&nbsp;&nbsp;&nbsp;❏ Throttle response set to climb/descent rate
-
-❏ Position flight mode
-
-&nbsp;&nbsp;&nbsp;&nbsp;❏ Horizontal position should hold current value with stick centered
-
-&nbsp;&nbsp;&nbsp;&nbsp;❏ Vertical position should hold current value with stick centered
-
-&nbsp;&nbsp;&nbsp;&nbsp;❏ Throttle response set to climb/descent rate
-
-&nbsp;&nbsp;&nbsp;&nbsp;❏ Pitch/Roll/Yaw response set to pitch/roll/yaw rates
-
-## 착륙
-
-❏ Land in either Position or Altitude mode with the throttle below 40%
-
-❏ Upon touching ground, copter should disarm automatically within 2 seconds (default: see [COM_DISARM_LAND](../advanced_config/parameter_reference.md#COM_DISARM_LAND))
-
-## 예상 결과
-
- 추력을 올릴 때 서서히 이륙한다
- Drone should hold altitude in Altitude Flight mode without wandering
- Drone should hold position within 1 meter in Position Flight mode without pilot moving sticks
- 위에 언급한 어떤 비행 모드에서도 떨림이 나타나서는 안됨
- 지면에 착륙시, 콥터가 지면에서 튀면 안됨
@@ -1,46 +0,0 @@
-# Test MC_08 - DSHOT ESC
-
-## Objective
-
-Regression test for DSHOT working with PX4
-
-## Preflight
-
- Ensure vehicle is using a DSHOT ESC.
- Parameter [DSHOT_BIDIR_EN](../advanced_config/parameter_reference.md#DSHOT_BIDIR_EN) is enabled
- Parameter [DSHOT_TEL_CFG](../advanced_config/parameter_reference.md#DSHOT_TEL_CFG) is configured (if ESC supports telemetry)
- Parameter [SDLOG_PROFILE](../advanced_config/parameter_reference.md#SDLOG_PROFILE) has Debug (`5`) checked
-
-## Flight Tests
-
-❏ Stabilized Flight mode
-
-&nbsp;&nbsp;&nbsp;&nbsp;❏ Takeoff in stabilized flight mode to ensure correct motor spin
-
-&nbsp;&nbsp;&nbsp;&nbsp;❏ Pitch/Roll/Yaw response 1:1
-
-&nbsp;&nbsp;&nbsp;&nbsp;❏ Throttle response 1:1
-
-❏ Position flight mode
-
-&nbsp;&nbsp;&nbsp;&nbsp;❏ Horizontal position should hold current value with stick centered
-
-&nbsp;&nbsp;&nbsp;&nbsp;❏ Vertical position should hold current value with stick centered
-
-&nbsp;&nbsp;&nbsp;&nbsp;❏ Throttle response set to climb/descent rate
-
-&nbsp;&nbsp;&nbsp;&nbsp;❏ Pitch/Roll/Yaw response set to pitch/roll/yaw rates
-
-## 착륙
-
-❏ Land in either Position or Altitude mode with the throttle below 40%
-
-❏ Upon touching ground, copter should disarm automatically within 2 seconds (default: see [COM_DISARM_LAND](../advanced_config/parameter_reference.md#COM_DISARM_LAND))
-
-## 예상 결과
-
- Download flight logs
- Load into Data Plot Juggler
- Ensure data is logged for esc_status/esc.0x/esc_rpm
-
-  ![Reference frames](../../assets/test_cards/dshot_log_output.png)
@@ -843,8 +843,6 @@
      - [Тест MC_04 - Тестування відмовостійкості](test_cards/mc_04_failsafe_testing.md)
      - [Test MC_05 - Manual Modes (Inside)](test_cards/mc_05_indoor_flight_manual_modes.md)
      - [Test MC_06 - Optical Flow (Inside)](test_cards/mc_06_optical_flow.md)
-      - [Test MC_07 - VIO (Inside)](test_cards/mc_07_vio.md)
-      - [Test MC_08 - DSHOT ESC](test_cards/mc_08_dshot.md)
    - [Модульні Тести](test_and_ci/unit_tests.md)
      - [Fuzz Tests](test_and_ci/fuzz_tests.md)
    - [Безперервна інтеграція](test_and_ci/continous_integration.md)
@@ -1,8 +1,10 @@
 <!-- GENERATED CONTENT: DO NOT EDIT -->
 - [Введення](/index.md)
+
  - [Основні поняття](/getting_started/px4_basic_concepts.md)

 - [Мультикоптери](/frames_multicopter/index.md)
+
  - [Функції](/features_mc/index.md)
    - [Режим польоту](/flight_modes_mc/index.md)
      - [Position Mode (MC)](/flight_modes_mc/position.md)
@@ -35,7 +37,7 @@
    - [Static Pressure Buildup](/advanced_config/static_pressure_buildup.md)
  - [Flying (Basics)](/flying/basic_flying_mc.md)
  - [Complete Vehicles](/complete_vehicles_mc/index.md)
-    - [ModalAI Starling (PX4 Dev Kit)](/complete_vehicles_mc/modalai_starling.md)
+    - [ModalAI Starling](/complete_vehicles_mc/modalai_starling.md)
    - [PX4 Vision Kit](/complete_vehicles_mc/px4_vision_kit.md)
    - [MindRacer BNF & RTF](/complete_vehicles_mc/mindracer_BNF_RTF.md)
      - [MindRacer 210](/complete_vehicles_mc/mindracer210.md)
@@ -56,6 +58,7 @@
    - [DJI F450 (CUAV v5 nano)](/frames_multicopter/dji_f450_cuav_5nano.md)

 - [Літаки (з фіксованим крилом)](/frames_plane/index.md)
+
  - [Збірка](/assembly/assembly_fw.md)
  - [Конфігурація/підлаштування](/config_fw/index.md)
    - [Auto-tune](/config/autotune_fw.md)
@@ -83,6 +86,7 @@
    - [Wing Wing Z84 (Pixracer)](/frames_plane/wing_wing_z84.md)

 - [VTOL (Вертикальний зліт та посадка)](/frames_vtol/index.md)
+
  - [Assembly](/assembly/assembly_vtol.md)
  - [Конфігурація/Налаштування VTOL](/config_vtol/index.md)
    - [Auto-tune](/config/autotune_vtol.md)
@@ -107,6 +111,7 @@
  - [Complete Vehicles](/complete_vehicles_vtol/index.md)

 - [Operations](/config/operations.md)
+
  - [Безпека](/config/safety_intro.md)
    - [Конфігурація безпеки (запобіжники)](/config/safety.md)
    - [Моделювання відмовостійкості](/config/safety_simulation.md)
@@ -127,6 +132,7 @@
    - [QGroundControl Flight-Readiness Status](/flying/pre_flight_checks.md)

 - [Вибір обладнання & Налаштування](/hardware/drone_parts.md)
+
  - [Flight Controllers (Autopilots)](/flight_controller/index.md)
    - [Польотні контролери](/getting_started/flight_controller_selection.md)
    - [Серія Pixhawk](/flight_controller/pixhawk_series.md)
@@ -163,12 +169,13 @@
      - [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)
        - [Швидке підключення CUAV V5 nano](/assembly/quick_start_cuav_v5_nano.md)
-      - [CUAV X25 EVO](/flight_controller/cuav_x25-evo.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)
@@ -181,8 +188,11 @@
        - [Wiring Quickstart](/assembly/quick_start_durandal.md)
      - [Holybro Pix32 v5](/flight_controller/holybro_pix32_v5.md)
        - [Wiring Quickstart](/assembly/quick_start_holybro_pix32_v5.md)
+      - [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)
-      - [mRo Control Zero F7](/flight_controller/mro_control_zero_f7.md)
+      - [mRobotics-X2.1 (FMUv2)](/flight_controller/mro_x2.1.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)
@@ -196,20 +206,18 @@
    - [Зняті з виробництва автопілоти/транспортні засоби](/flight_controller/autopilot_discontinued.md)
      - [Drotek Dropix (FMUv2)](/flight_controller/dropix.md)
      - [Omnibus F4 SD](/flight_controller/omnibus_f4_sd.md)
+      - [BetaFPV Beta75X 2S Brushless Whoop](/complete_vehicles_mc/betafpv_beta75x.md)
      - [Bitcraze Crazyflie 2.0 ](/complete_vehicles_mc/crazyflie2.md)
      - [Aerotenna OcPoC-Zynq Mini](/flight_controller/ocpoc_zynq.md)
-      - [CUAV X7](/flight_controller/cuav_x7.md)
      - [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)
-      - [ModalAI Flight Core v1](/flight_controller/modalai_fc_v1.md)
-      - [ModalAI VOXL Flight](/flight_controller/modalai_voxl_flight.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)
+      - [Snapdragon Flight](/flight_controller/snapdragon_flight.md)
+      - [Intel® Aero RTF Drone](/complete_vehicles_mc/intel_aero.md)
    - [Pixhawk Autopilot Bus (PAB) & Carriers](/flight_controller/pixhawk_autopilot_bus.md)
      - [ARK Electronics Pixhawk Autopilot Bus Carrier](/flight_controller/ark_pab.md)
    - [Кріплення польотного контролера](/assembly/mount_and_orient_controller.md)
@@ -221,9 +229,7 @@
    - [Оновлення завантажувача](/advanced_config/bootloader_update.md)
      - [Оновлення бутлоадера FMUv6X-RT через USB](/advanced_config/bootloader_update_v6xrt.md)
      - [Bootloader прошивка на системи Betaflight](/advanced_config/bootloader_update_from_betaflight.md)
-
  - [Airframe Selection](/config/airframe.md)
-
  - [Сенсори](/sensor/index.md)
    - [Акселерометр](/sensor/accelerometer.md)
      - [Калібрування](/config/accelerometer.md)
@@ -235,7 +241,6 @@
      - [Compass Power Compensation](/advanced_config/compass_power_compensation.md)
    - [Датчики швидкості повітря](/sensor/airspeed.md)
      - [Калібрування](/config/airspeed.md)
-      - [Airspeed Validation](/advanced_config/airspeed_validation.md)
      - [ВЗІП Датчик польоту](/sensor/airspeed_tfslot.md)
    - [Барометри](/sensor/barometer.md)
    - [Датчики відстані \(далекодобива\)](/sensor/rangefinders.md)
@@ -267,7 +272,6 @@
      - [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)
@@ -283,7 +287,6 @@
      - [Trimble MB-Two](/gps_compass/rtk_gps_trimble_mb_two.md)
      - [CubePilot Here+ (Discontined)](/gps_compass/rtk_gps_hex_hereplus.md)
    - [INS (Інерціальна навігація/GNSS)](/sensor/inertial_navigation_systems.md)
-      - [InertialLabs](/sensor/inertiallabs.md)
      - [VectorNav](/sensor/vectornav.md)
    - [Optical Flow](/sensor/optical_flow.md)
      - [ARK Flow](/dronecan/ark_flow.md)
@@ -294,7 +297,6 @@
      - [Датчик тахометра ThunderFly TFRPM01](/sensor/thunderfly_tachometer.md)
    - [Заводське калібрування IMU](/advanced_config/imu_factory_calibration.md)
    - [Sensor Thermal Compensation](/advanced_config/sensor_thermal_calibration.md)
-
  - [Актуатори](/actuators/index.md)
    - [Розподіл приводу](/config/actuators.md)
    - [Калібрування ESC (плати контролю двигунів)](/advanced_config/esc_calibration.md)
@@ -306,22 +308,19 @@
        - [Zubax Telega](/dronecan/zubax_telega.md)
        - [Прошивка PX4 Sapog ESC](/dronecan/sapog.md)
          - [Holybro Kotleta](/dronecan/holybro_kotleta.md)
+          - [Zubax Orel](/dronecan/zubax_orel.md)
      - [Vertiq](/peripherals/vertiq.md)
      - [VESC](/peripherals/vesc.md)
-
  - [Радіокерування (RC)](/getting_started/rc_transmitter_receiver.md)
    - [Налаштування радіо](/config/radio.md)
    - [Режими польоту](/config/flight_mode.md)
-
  - [Джойстики](/config/joystick.md)
-
  - [Посилання даних](/data_links/index.md)
    - [MAVLink Telemetry (OSD/GCS)](/peripherals/mavlink_peripherals.md)

    - [Телеметричні радіостанції](/telemetry/index.md)
      - [SiK Radio](/telemetry/sik_radio.md)
        - [Телеметричне радіо RFD900 (SiK)](/telemetry/rfd900_telemetry.md)
-        - [ThunderFly TFSIK01 Telemetry Radio](/telemetry/tfsik_telemetry.md)
        - [HolyBro (SIK) Телеметричне радіо](/telemetry/holybro_sik_radio.md)
      - [Телеметрія Wi-Fi](/telemetry/telemetry_wifi.md)
        - [Модуль WiFi ESP8266](/telemetry/esp8266_wifi_module.md)
@@ -339,7 +338,6 @@
    - [TBS Crossfire (CRSF) телеметрія](/telemetry/crsf_telemetry.md)

    - [Супутниковий зв'язок (Iridium/RockBlock)](/advanced_features/satcom_roadblock.md)
-
  - [Енергетичні системи](/power_systems/index.md)
    - [Налаштування оцінки батареї](/config/battery.md)
    - [Battery Chemistry Overview](/power_systems/battery_chemistry.md)
@@ -358,7 +356,6 @@
      - [Sky-Drones SmartAP PDB](/power_module/sky-drones_smartap-pdb.md)
    - [Акумулятори Smart/MAVLink](/smart_batteries/index.md)
      - [Rotoye Batmon Комплект інтелектуального акумулятора](/smart_batteries/rotoye_batmon.md)
-
  - [Вантажі & камери](/payloads/index.md)
    - [Випадки використання](/payloads/use_cases.md)
    - [Місія доставки посилок](/flying/package_delivery_mission.md)
@@ -370,25 +367,19 @@
    - [Конфігурація Gimbal \(Mount\)](/advanced/gimbal_control.md)
    - [Grippers](/peripherals/gripper.md)
      - [Servo Gripper](/peripherals/gripper_servo.md)
-
  - [Периферія](/peripherals/index.md)
    - [ADSB/FLARM/UTM (уникнення трафіку)](/peripherals/adsb_flarm.md)
    - [Парашут](/peripherals/parachute.md)
    - [Remote ID](/peripherals/remote_id.md)
-
  - [Периферійні пристрої I2C](/sensor_bus/i2c_general.md)
    - [Прискорювачі шини I2C](/sensor_bus/i2c_general.md#i2c-bus-accelerators)
    - [TFI2CADT01 Транслятор адреси I2C](/sensor_bus/translator_tfi2cadt.md)
-
  - [Периферійні пристрої CAN](/can/index.md)
-
  - [Периферійні пристрої DroneCAN](/dronecan/index.md)
    - [Прошивка PX4 DroneCAN](/dronecan/px4_cannode_fw.md)
    - [ARK CANnode](/dronecan/ark_cannode.md)
    - [RaccoonLab CAN Nodes](/dronecan/raccoonlab_nodes.md)
-
  - [Підключення дротів](/assembly/cable_wiring.md)
-
  - [Комп’ютери-супутники](/companion_computer/index.md)
    - [Налаштування Pixhawk + Companion](/companion_computer/pixhawk_companion.md)
      - [RPi Pixhawk Companion](/companion_computer/pixhawk_rpi.md)
@@ -404,19 +395,16 @@
        - [Realsense T265 Tracking Camera (VIO)](/camera/camera_intel_realsense_t265_vio.md)
    - [Потокове відео](/companion_computer/video_streaming.md)
      - [Потокове відео за допомогою WFB-ng Wi-Fi (далекий діапазон)](/companion_computer/video_streaming_wfb_ng_wifi.md)
-
  - [Serial Port Configuration](/peripherals/serial_configuration.md)
-
  - [PX4 Ethernet Setup](/advanced_config/ethernet_setup.md)
-
  - [Стандартна конфігурація](/config/index.md)
-
  - [Розширені налаштування](/advanced_config/index.md)
    - [Using PX4's Navigation Filter (EKF2)](/advanced_config/tuning_the_ecl_ekf.md)
    - [Finding/Updating Parameters](/advanced_config/parameters.md)
    - [Full Parameter Reference](/advanced_config/parameter_reference.md)

 - [Інші транспортні засоби](/airframes/index.md)
+
  - [Airships (experimental)](/frames_airship/index.md)
  - [Autogyros (experimental)](/frames_autogyro/index.md)
    - [ThunderFly Auto-G2 (Holybro pix32)](/frames_autogyro/thunderfly_auto_g2.md)
@@ -424,17 +412,17 @@
  - [Helicopter (experimental)](/frames_helicopter/index.md)
    - [Конфігурація/Підлаштування](/config_heli/index.md)
  - [Rovers (experimental)](/frames_rover/index.md)
-    - [Drive Modes](/flight_modes_rover/index.md)
-      - [Manual](/flight_modes_rover/manual.md)
-      - [Auto](/flight_modes_rover/auto.md)
-    - [Configuration/Tuning](/config_rover/index.md)
-      - [Basic Setup](/config_rover/basic_setup.md)
-      - [Rate Tuning](/config_rover/rate_tuning.md)
-      - [Attitude Tuning](/config_rover/attitude_tuning.md)
-      - [Velocity Tuning](/config_rover/velocity_tuning.md)
-      - [Position Tuning](/config_rover/position_tuning.md)
-    - [Complete Vehicles](/complete_vehicles_rover/index.md)
-      - [Aion Robotics R1](/complete_vehicles_rover/aion_r1.md)
+    - [Ackermann Rovers](/frames_rover/ackermann.md)
+      - [Drive Modes](/flight_modes_rover/ackermann.md)
+      - [Конфігурація/Підлаштування](/config_rover/ackermann.md)
+    - [Differential Rovers](/frames_rover/differential.md)
+      - [Drive Modes](/flight_modes_rover/differential.md)
+      - [Конфігурація/Підлаштування](/config_rover/differential.md)
+      - [Aion Robotics R1](/frames_rover/aion_r1.md)
+    - [Mecanum Rovers](/frames_rover/mecanum.md)
+      - [Drive Modes](/flight_modes_rover/mecanum.md)
+      - [Конфігурація/Підлаштування](/config_rover/mecanum.md)
+    - [(Deprecated) Rover Position Control](/frames_rover/rover_position_control.md)
  - [Submarines (experimental)](/frames_sub/index.md)
    - [BlueROV2](/frames_sub/bluerov2.md)
  - [Airframes Reference](/airframes/airframe_reference.md)
@@ -546,7 +534,6 @@
        - [Airspeed](/msg_docs/Airspeed.md)
        - [AirspeedWind](/msg_docs/AirspeedWind.md)
        - [AutotuneAttitudeControlStatus](/msg_docs/AutotuneAttitudeControlStatus.md)
-        - [BatteryInfo](/msg_docs/BatteryInfo.md)
        - [ButtonEvent](/msg_docs/ButtonEvent.md)
        - [CameraCapture](/msg_docs/CameraCapture.md)
        - [CameraStatus](/msg_docs/CameraStatus.md)
@@ -565,7 +552,6 @@
        - [DifferentialPressure](/msg_docs/DifferentialPressure.md)
        - [DistanceSensor](/msg_docs/DistanceSensor.md)
        - [DistanceSensorModeChangeRequest](/msg_docs/DistanceSensorModeChangeRequest.md)
-        - [DronecanNodeStatus](/msg_docs/DronecanNodeStatus.md)
        - [Ekf2Timestamps](/msg_docs/Ekf2Timestamps.md)
        - [EscReport](/msg_docs/EscReport.md)
        - [EscStatus](/msg_docs/EscStatus.md)
@@ -640,7 +626,6 @@
        - [MountOrientation](/msg_docs/MountOrientation.md)
        - [NavigatorMissionItem](/msg_docs/NavigatorMissionItem.md)
        - [NavigatorStatus](/msg_docs/NavigatorStatus.md)
-        - [NeuralControl](/msg_docs/NeuralControl.md)
        - [NormalizedUnsignedSetpoint](/msg_docs/NormalizedUnsignedSetpoint.md)
        - [ObstacleDistance](/msg_docs/ObstacleDistance.md)
        - [OffboardControlMode](/msg_docs/OffboardControlMode.md)
@@ -739,12 +724,7 @@
        - [Wind](/msg_docs/Wind.md)
        - [YawEstimatorStatus](/msg_docs/YawEstimatorStatus.md)
        - [AirspeedValidatedV0](/msg_docs/AirspeedValidatedV0.md)
-        - [ArmingCheckReplyV0](/msg_docs/ArmingCheckReplyV0.md)
-        - [BatteryStatusV0](/msg_docs/BatteryStatusV0.md)
-        - [EventV0](/msg_docs/EventV0.md)
-        - [HomePositionV0](/msg_docs/HomePositionV0.md)
        - [VehicleAttitudeSetpointV0](/msg_docs/VehicleAttitudeSetpointV0.md)
-        - [VehicleLocalPositionV0](/msg_docs/VehicleLocalPositionV0.md)
        - [VehicleStatusV0](/msg_docs/VehicleStatusV0.md)
    - [MAVLink Messaging](/mavlink/index.md)
      - [Adding Messages](/mavlink/adding_messages.md)
@@ -754,7 +734,6 @@
      - [Protocols/Microservices](/mavlink/protocols.md)
        - [Standard Modes Protocol](/mavlink/standard_modes.md)
    - [uXRCE-DDS (PX4-ROS 2/DDS Bridge)](/middleware/uxrce_dds.md)
-      - [UORB Bridged to ROS 2](/middleware/dds_topics.md)
  - [Модулі & Команди](/modules/modules_main.md)
    - [Автоматичне підлаштування](/modules/modules_autotune.md)
    - [Команди](/modules/modules_command.md)
@@ -784,7 +763,7 @@
    - [Відлагодження з GDB](/debug/gdb_debugging.md)
      - [Порт для налагодження SWD](/debug/swd_debug.md)
      - [JLink адаптер](/debug/probe_jlink.md)
-      - [Black Magic/Zubax BugFace BF1 Probe](/debug/probe_bmp.md)
+      - [Black Magic / Dronecode адаптери](/debug/probe_bmp.md)
      - [STLink адаптер](/debug/probe_stlink.md)
      - [MCU-Link адаптер](/debug/probe_mculink.md)
      - [Відлагодження Hardfault ](/debug/gdb_hardfault.md)
@@ -808,9 +787,6 @@
    - [Інтеграція камери/Архітектура](/camera/camera_architecture.md)
    - [Комп'ютерний зір](/advanced/computer_vision.md)
      - [Захоплення руху (VICON, Optitrack, NOKOV)](/tutorials/motion-capture.md)
-    - [Neural Networks](/advanced/neural_networks.md)
-      - [Neural Network Module Utilities](/advanced/nn_module_utilities.md)
-      - [TensorFlow Lite Micro (TFLM)](/advanced/tflm.md)
    - [Встановлюється драйвер для Intel RealSense R200](/advanced/realsense_intel_driver.md)
    - [Перемикання оцінювачів стану](/advanced/switching_state_estimators.md)
    - [Out-of-Tree модулі](/advanced/out_of_tree_modules.md)
@@ -842,12 +818,8 @@
      - [Тест MC_02 - Повна автономність](/test_cards/mc_02_full_autonomous.md)
      - [Тест MC_03 - поєднання автоматичного і ручного керування](/test_cards/mc_03_auto_manual_mix.md)
      - [Тест MC_04 - Тестування відмовостійкості](/test_cards/mc_04_failsafe_testing.md)
-      - [Test MC_05 - Manual Modes (Inside)](/test_cards/mc_05_indoor_flight_manual_modes.md)
-      - [Test MC_06 - Optical Flow (Inside)](/test_cards/mc_06_optical_flow.md)
-      - [Test MC_07 - VIO (Inside)](/test_cards/mc_07_vio.md)
-      - [Test MC_08 - DSHOT ESC](/test_cards/mc_08_dshot.md)
+      - [Тест MC_05 - Політ у приміщенні (ручні режими)](/test_cards/mc_05_indoor_flight_manual_modes.md)
    - [Модульні Тести](/test_and_ci/unit_tests.md)
-      - [Fuzz Tests](/test_and_ci/fuzz_tests.md)
    - [Безперервна інтеграція](/test_and_ci/continous_integration.md)
    - [Integration Testing](/test_and_ci/integration_testing.md)
      - [MAVSDK Тестування інтеграції ](/test_and_ci/integration_testing_mavsdk.md)
@@ -890,8 +862,8 @@

 - [Релізи](/releases/index.md)
  - [main (alpha)](/releases/main.md)
-  - [1.16 (stable)](/releases/1.16.md)
-  - [1.15](/releases/1.15.md)
+  - [1.16 (release candidate)](/releases/1.16.md)
+  - [1.15 (stable)](/releases/1.15.md)
  - [1.14](/releases/1.14.md)
  - [1.13](/releases/1.13.md)
  - [1.12](/releases/1.12.md)
@@ -95,8 +95,6 @@ NuttX має інтегрований інтерпретатор оболонк
 Найкращий спосіб змінити запуск системи - це ввести [нову конфігурацію планера](../dev_airframes/adding_a_new_frame.md).
 Файл конфігурації планеру може бути включений у прошивку або на SD карту.

-#### Dynamic customization
-
 Якщо вам потрібно "підлаштувати" конфігурацію що існує, наприклад запустити один або більше застосунків або встановити значення кількох параметрів, можна вказати це створивши два файли у директорії `/etc/` на SD картці:

 - [/etc/config.txt](#customizing-the-configuration-config-txt): modify parameter values
@@ -113,7 +111,7 @@ NuttX має інтегрований інтерпретатор оболонк
 Ці файли згадуються в коді PX4 як `/fs/microsd/etc/config.txt` та `/fs/microsd/etc/extras.txt`, де коренева директорія microSD карти визначається шляхом `/fs/microsd`.
 :::

-##### Налаштування конфігурації (config.txt)
+#### Налаштування конфігурації (config.txt)

 Файл `config.txt` можна використовувати для зміни параметрів.
 Він завантажується після того, як головна система була налаштована та _перед тим_ як завантажена.
@@ -125,7 +123,7 @@ param set-default PWM_MAIN_DIS3 1000
 param set-default PWM_MAIN_MIN3 1120
 ```

-##### Запуск додаткових застосунків (extras.txt)
+#### Запуск додаткових застосунків (extras.txt)

 `extras.txt` можна використовувати для запуску додаткових застосунків після завантаження основної системи.
 Зазвичай це будуть контролери корисного навантаження або подібні необов'язкові користувацькі компоненти.
@@ -152,28 +150,3 @@ param set-default PWM_MAIN_MIN3 1120

  mandatory_app start     # Will abort boot if mandatory_app is unknown or fails
  ```
-
-#### Additional customization
-
-In rare cases where the desired setup cannot be achieved through frame configuration or dynamic customization,
-you can add a script that will be contained in the binary.
-
-**Note**: In almost all cases, you should use a frame configuration. This method should only be used for
-edge-cases such as customizing `cannode` based boards.
-
- Add a new init script in `boards/<vendor>/<board>/init` that will run during board startup. Наприклад:
-  ```sh
-  # File: boards/<vendor>/<board>/init/rc.additional
-  param set-default <param> <value>
-  ```
-
- Add a new board variant in `boards/<vendor>/<board>/<variant>.px4board` that includes the additional script. Наприклад:
-  ```sh
-  # File: boards/<vendor>/<board>/var.px4board
-  CONFIG_BOARD_ADDITIONAL_INIT="rc.additional"
-  ```
-
- Compile the firmware with your new variant by appending the variant name to the compile target. Наприклад:
-  ```sh
-  make <target>_var
-  ```
@@ -27,18 +27,10 @@

 That is the minimum setup to use the rover in [Manual mode](../flight_modes_rover/manual.md#manual-mode).

-:::info
-The rest of the tuning on this page is not mandatory for [Manual mode](../flight_modes_rover/manual.md#manual-mode), but it will have an effect on the behaviour of the rover.
-:::
-
-:::warning
-Do not skip the rest of this setup if you intend to use more sophisticated modes!
-All parameters will be mandatory for all subsequent modes, except those tagged as `(Optional)`.
-:::
-
 ## Geometric Parameters

-First, we set up the geometric parameters of the rover:
+Manual mode is also affected by (optional) acceleration/deceleration limits set using the geometric described below.
+These limits are mandatory for all other modes.

 ![Geometric parameters](../../assets/config/rover/geometric_parameters.png)

@@ -50,7 +42,7 @@ Navigate to [Parameters](../advanced_config/parameters.md) in QGroundControl and
 2. [RA_MAX_STR_ANG](#RA_MAX_STR_ANG) [deg]: Measure the maximum steering angle.
 3. (Optional) [RA_STR_RATE_LIM](#RA_STR_RATE_LIM) [deg/s]: Maximum steering rate you want to allow for your rover.

-   ::: tip
+   :::tip
   This value depends on your rover and use case.
   For bigger rovers there might be a mechanical limit that is easy to identify by steering the rover at a standstill and increasing
   [RA_STR_RATE_LIM](#RA_STR_RATE_LIM) until you observe the steering rate to no longer be limited by the parameter.
@@ -59,7 +51,7 @@ Navigate to [Parameters](../advanced_config/parameters.md) in QGroundControl and

 :::

-   ::: warning
+   :::warning
   A low maximum steering rate makes the rover worse at tracking steering setpoints, which can lead to a poor performance in the subsequent modes.

 :::
@@ -84,7 +76,7 @@ Navigate to [Parameters](../advanced_config/parameters.md) in QGroundControl and

 2. (Optional) [RO_ACCEL_LIM](#RO_ACCEL_LIM) [m/s^2]: Maximum acceleration you want to allow for your rover.

-         <a id="RO_ACCEL_LIM_CONSIDERATIONS"></a>
+   <a id="RO_ACCEL_LIM_CONSIDERATIONS"></a>

   :::tip
   Your rover has a maximum possible acceleration which is determined by the maximum torque the motor can supply.
@@ -117,39 +109,6 @@ Navigate to [Parameters](../advanced_config/parameters.md) in QGroundControl and

 :::

-## (Optional) Stick Input Mapping
-
-Input shaping can be used to adjust the default linear mapping from stick inputs $\in [-1, 1]$ to normalized setpoints $\in [-1, 1]$. Applying this specifically to the steering input, can provide a smoother driving experience, by enabling the user to make small adjustments when the stick is close to the center, but still send large inputs when moving them to the edges.
-We provide this input shaping through the super exponential function:
-
-$$
-\delta = \frac{(f \cdot x^3 + x(1-f)) \cdot (1-g)}{1-g \cdot |x|}
-$$
-
-with:
-
- - $\delta \in [-1, 1]=$ Normalized steering setpoint.
- - $x \in [-1, 1]=$ Normalized stick input.
- - $f=$ [RO_YAW_EXPO](#RO_YAW_EXPO): `0` Purely linear input curve, `1` Purely cubic input curve.
- - $g=$ [RO_YAW_SUPEXPO](#RO_YAW_SUPEXPO): `0` Pure Expo function, `0.7` reasonable shape enhancement for intuitive stick feel, `0.95` very strong bent input curve only near maxima have effect.
-
-In [Manual mode](../flight_modes_rover/manual.md#manual-mode) we can additionally scale $\delta$ with an additional parameter $r$:
-
- - Differential Rover: $r=$ [RD_YAW_STK_GAIN](#RD_YAW_STK_GAIN), which enables adjusting the slope of the input mapping. This leads to a normalized steering input $\hat{\delta} = \delta \cdot r \in$ [-[RD_YAW_STK_GAIN](#RD_YAW_STK_GAIN), [RD_YAW_STK_GAIN](#RD_YAW_STK_GAIN)].
- - Mecanum Rover: $r=$ [RM_YAW_STK_GAIN](#RM_YAW_STK_GAIN), which enables adjusting the slope of the input mapping. This leads to a normalized steering input $\hat{\delta} = \delta \cdot r \in$ [-[RM_YAW_STK_GAIN](#RM_YAW_STK_GAIN), [RM_YAW_STK_GAIN](#RM_YAW_STK_GAIN)].
-
-This scaling is useful to limit the normalized steering setpoint, if it is too aggresive for your rover in manual mode.
-
-You can experiment with the relationships graphically using the [PX4 SuperExpo Rover calculator](https://www.desmos.com/calculator/gwm8lrlanx).
-
-:::info
-In [Acro](../flight_modes_rover/manual.md#acro-mode), [Stabilized](../flight_modes_rover/manual.md#stabilized-mode) and [Position](../flight_modes_rover/manual.md#position-mode) Mode, $\delta$ is instead scaled by $r=$ [RO_YAW_RATE_LIM](../advanced_config/parameter_reference.md#RO_MAX_THR_SPEED) for all rovers. This leads to a yaw rate setpoint $\dot{\psi} = \delta \cdot r \in$ [-[RO_YAW_RATE_LIM](../advanced_config/parameter_reference.md#RO_MAX_THR_SPEED), [RO_YAW_RATE_LIM](../advanced_config/parameter_reference.md#RO_MAX_THR_SPEED)]. This parameter is setup during [rate tuning](rate_tuning.md).
-:::
-
-:::info
-The input shaping through [RO_YAW_EXPO](#RO_YAW_EXPO) and [RO_YAW_SUPEXPO](#RO_YAW_SUPEXPO) applies for all manual modes, while [RD_YAW_STK_GAIN](#RD_YAW_STK_GAIN)/[RM_YAW_STK_GAIN](#RM_YAW_STK_GAIN) only affects full manual mode.
-:::
-
 You can now continue the configuration process with [rate tuning](rate_tuning.md).

 ## Огляд параметрів
@@ -159,8 +118,6 @@ You can now continue the configuration process with [rate tuning](rate_tuning.md
 | <a id="RO_MAX_THR_SPEED"></a>[RO_MAX_THR_SPEED](../advanced_config/parameter_reference.md#RO_MAX_THR_SPEED) | Speed the rover drives at maximum throttle                 | $m/s$   |
 | <a id="RO_ACCEL_LIM"></a>[RO_ACCEL_LIM](../advanced_config/parameter_reference.md#RO_ACCEL_LIM)                                  | (Optional) Maximum allowed acceleration | $m/s^2$ |
 | <a id="RO_DECEL_LIM"></a>[RO_DECEL_LIM](../advanced_config/parameter_reference.md#RO_DECEL_LIM)                                  | (Optional) Maximum allowed deceleration | $m/s^2$ |
-| <a id="RO_YAW_EXPO"></a>[RO_YAW_EXPO](../advanced_config/parameter_reference.md#RO_YAW_EXPO)                                     | (Optional) Yaw rate expo factor         | $-$     |
-| <a id="RO_YAW_SUPEXPO"></a>[RO_YAW_SUPEXPO](../advanced_config/parameter_reference.md#RO_YAW_SUPEXPO)                            | (Optional) Yaw rate super expo factor   | $-$     |

 ### Ackermann Specific

@@ -172,14 +129,12 @@ You can now continue the configuration process with [rate tuning](rate_tuning.md

 ### Differential Specific

-| Параметр                                                                                                                                                                | Опис                                                         | Unit |
-| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------ | ---- |
-| <a id="RD_WHEEL_TRACK"></a>[RD_WHEEL_TRACK](../advanced_config/parameter_reference.md#RD_WHEEL_TRACK)                         | Wheel track                                                  | $m$  |
-| <a id="RD_YAW_STK_GAIN"></a>[RD_YAW_STK_GAIN](../advanced_config/parameter_reference.md#RD_YAW_STK_GAIN) | (Optional) Yaw stick gain for Manual mode | $-$  |
+| Параметр                                                                                                                                        | Опис        | Unit |
+| ----------------------------------------------------------------------------------------------------------------------------------------------- | ----------- | ---- |
+| <a id="RD_WHEEL_TRACK"></a>[RD_WHEEL_TRACK](../advanced_config/parameter_reference.md#RD_WHEEL_TRACK) | Wheel track | m    |

 ### Mecanum Specific

-| Параметр                                                                                                                                                                | Опис                                                         | Unit |
-| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------ | ---- |
-| <a id="RM_WHEEL_TRACK"></a>[RM_WHEEL_TRACK](../advanced_config/parameter_reference.md#RM_WHEEL_TRACK)                         | Wheel track                                                  | $m$  |
-| <a id="RM_YAW_STK_GAIN"></a>[RM_YAW_STK_GAIN](../advanced_config/parameter_reference.md#RM_YAW_STK_GAIN) | (Optional) Yaw stick gain for Manual mode | $-$  |
+| Параметр                                                                                                                                        | Опис        | Unit |
+| ----------------------------------------------------------------------------------------------------------------------------------------------- | ----------- | ---- |
+| <a id="RM_WHEEL_TRACK"></a>[RM_WHEEL_TRACK](../advanced_config/parameter_reference.md#RM_WHEEL_TRACK) | Wheel track | m    |
@@ -20,7 +20,7 @@ To tune the velocity controller configure the following [parameters](../advanced
 2. [RO_MAX_THR_SPEED](#RO_MAX_THR_SPEED) [m/s]: This parameter is used to calculate the feed-forward term of the closed loop speed control which linearly maps desired speeds to normalized motor commands.
   As mentioned in the [Manual mode](../flight_modes_rover/manual.md#manual-mode) configuration , a good starting point is the observed ground speed when the rover drives at maximum throttle in [Manual mode](../flight_modes_rover/manual.md#manual-mode).

-         <a id="RA_SPEED_TUNING"></a>
+   <a id="RA_SPEED_TUNING"></a>

   ::: tip
   To further tune this parameter:
@@ -94,7 +94,7 @@ These steps are only necessary if you are tuning/want to unlock the manual [Posi

 The rover is now ready to drive in [Position mode](../flight_modes_rover/manual.md#position-mode) and the configuration can be continued with [position tuning](position_tuning.md).

-## Velocity Controller Structure (Info Only)
+## Attitude Controller Structure (Info Only)

 This section provides additional information for developers and people with experience in control system design.

@@ -33,17 +33,16 @@ The logging system is configured by default to collect sensible logs for [flight
 Logging may further be configured using the [SD Logging](../advanced_config/parameter_reference.md#sd-logging) parameters.
 Параметри, які ви найімовірніше зміните, перераховані нижче.

-| Параметр                                                                                      | Опис                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                 |
-| --------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| [SDLOG_MODE](../advanced_config/parameter_reference.md#SDLOG_MODE)       | Журналювання. Defines when logging starts and stops.<br />- `0`: Log when armed until disarm (default).<br />- `1`: Log from boot until disarm.<br />- `2`: Log from boot until shutdown.<br />- `3`: Log based on the [AUX1 RC channel](../advanced_config/parameter_reference.md#RC_MAP_AUX1).<br />- `4`: Log from first armed until shutdown. |
-| [SDLOG_BACKEND](../advanced_config/parameter_reference.md#SDLOG_BACKEND) | Logging Backend (bitmask). Setting a bit enables the corresponding backend. If no backend is selected, the logger is disabled.<br />- bit `0`: SD card logging.</br >- bit `1`: Mavlink logging.                                                                                                                                                                                                                                  |
-| [SDLOG_PROFILE](../advanced_config/parameter_reference.md#SDLOG_PROFILE) | Профіль ведення журналу. Use this to enable less common logging/analysis (e.g. for EKF2 replay, high rate logging for PID & filter tuning, thermal temperature calibration).                                                                                                                                                                                                                                                                                  |
-| [SDLOG_MISSION](../advanced_config/parameter_reference.md#SDLOG_MISSION) | Create very small additional "Mission Log".<br>This log can _not_ be used with [Flight Review](../log/flight_log_analysis.md#flight-review-online-tool), but is useful when you need a small log for geotagging or regulatory compliance.                                                                                                                                                                                                                                                                                            |
+| Параметр                                                                                      | Опис                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                |
+| --------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| [SDLOG_MODE](../advanced_config/parameter_reference.md#SDLOG_MODE)       | Журналювання. Defines when logging starts and stops.<br />- `-1`: Logging disabled.<br />- `0`: Log when armed until disarm (default).<br />- `1`: Log from boot until disarm.<br />- `2`: Log from boot until shutdown.<br />- `3`: Log based on the [AUX1 RC channel](../advanced_config/parameter_reference.md#RC_MAP_AUX1).<br />- `4`: Log from first armed until shutdown. |
+| [SDLOG_PROFILE](../advanced_config/parameter_reference.md#SDLOG_PROFILE) | Профіль ведення журналу. Use this to enable less common logging/analysis (e.g. for EKF2 replay, high rate logging for PID & filter tuning, thermal temperature calibration).                                                                                                                                                                                                                                                                                                                                                 |
+| [SDLOG_MISSION](../advanced_config/parameter_reference.md#SDLOG_MISSION) | Create very small additional "Mission Log".<br>This log can _not_ be used with [Flight Review](../log/flight_log_analysis.md#flight-review-online-tool), but is useful when you need a small log for geotagging or regulatory compliance.                                                                                                                                                                                                                                                                                                                                                           |

 Корисні налаштування для конкретних випадків:

 - Raw sensor data for comparison: [SDLOG_MODE=1](../advanced_config/parameter_reference.md#SDLOG_MODE) and [SDLOG_PROFILE=64](../advanced_config/parameter_reference.md#SDLOG_PROFILE).
- Disabling logging altogether: [SDLOG_BACKEND=`0`](../advanced_config/parameter_reference.md#SDLOG_BACKEND)
+- Disabling logging altogether: [SDLOG_MODE=`-1`](../advanced_config/parameter_reference.md#SDLOG_MODE)

 ### Модуль реєстрації

@@ -2,32 +2,13 @@

 PX4 зазвичай працює на контролерах польоту, які включають в себе ІВП, такі як серія Pixhawk, і об'єднує дані датчиків разом із інформацією ССН (супутникова система навігації) в оцінювачі EKF2 для визначення орієнтації, напрямку, позиції та швидкості транспортного засобу.

-However PX4 can also use some INS devices as either sources of raw data, or as an external estimator, replacing EKF2.
+However PX4 can also use some INS devices as either sources of raw data, or as an external estimator, replacing the EKF.

-## Supported INS Systems
-
-INS systems that can be used as a replacement for EKF2 in PX4:
+Системи, які можуть бути використані у такий спосіб, включають в себе:

 - [InertialLabs](../sensor/inertiallabs.md)
 - [VectorNav](../sensor/vectornav.md): ІВП/AHRS, ССН/INS, Dual GNSS/INS системи, котрі можуть бути використані як зовнішній INS, або джерело вхідної інформації датчиків.

-## PX4 Firmware
-
-The driver module for your INS system may not be included in the PX4 firmware for your flight controller by default.
-
-You can check by searching the [default.px4board](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v6c/default.px4board#L25) configuration file for your target board for either:
-
- `CONFIG_COMMON_INS`, which includes drivers for [all INS systems](https://github.com/PX4/PX4-Autopilot/blob/main/src/drivers/ins/Kconfig).
- The key for the particular INS system you are using, such as:
-  - `CONFIG_DRIVERS_INS_ILABS`
-  - `CONFIG_DRIVERS_INS_MICROSTRAIN`
-  - `CONFIG_DRIVERS_INS_VECTORNAV`
-
-If the required key is not present you can include the module in firmware by adding the key to the `default.px4board` file, or using the [kconfig board configuration tool](../hardware/porting_guide_config.md#px4-board-configuration-kconfig) and then select the driver you want (`Drivers -> INS`).
-Note that if you're working on a flight controller where flash memory is limited, you're better off installing just the modules you need.
-
-You will then need to rebuild the firmware.
-
 ## Словник

 ### Інерційний вимірювальний пристрій (ІВП)
@@ -71,24 +71,24 @@ To check that these are present on your flight controller:

 3. Enter the following commands in the console:

-   ```sh
-   pwm_out_sim status
-   ```
+  ```sh
+  pwm_out_sim status
+  ```

-   ```sh
-   sensor_baro_sim status
-   ```
+  ```sh
+  sensor_baro_sim status
+  ```

-   ```sh
-   sensor_gps_sim status
-   ```
+  ```sh
+  sensor_gps_sim status
+  ```

-   ```sh
-   sensor_mag_sim status
-   ```
+  ```sh
+  sensor_mag_sim status
+  ```

-   ::: tip
-   Note that when using SIH on real hardware you do not need to additionally enable the modules using their corresponding parameters ([SENS_EN_GPSSIM](../advanced_config/parameter_reference.md#SENS_EN_GPSSIM), [SENS_EN_BAROSIM](../advanced_config/parameter_reference.md#SENS_EN_BAROSIM), [SENS_EN_MAGSIM](../advanced_config/parameter_reference.md#SENS_EN_MAGSIM)).
+  ::: tip
+  Note that when using SIH on real hardware you do not need to additionally enable the modules using their corresponding parameters ([SENS_EN_GPSSIM](../advanced_config/parameter_reference.md#SENS_EN_GPSSIM), [SENS_EN_BAROSIM](../advanced_config/parameter_reference.md#SENS_EN_BAROSIM), [SENS_EN_MAGSIM](../advanced_config/parameter_reference.md#SENS_EN_MAGSIM)).

 :::

@@ -141,12 +141,12 @@ To set up/start SIH:
 1. Connect the flight controller to the desktop computer with a USB cable.
 2. Відкрийте QGroundControl і зачекайте, поки контролер польоту також завантажиться та підключиться.
 3. Open [Vehicle Setup > Airframe](../config/airframe.md) then select the desired frame:
-   - [SIH Quadcopter X](../airframes/airframe_reference.md#copter_simulation_sih_quadcopter_x)
-   - **SIH Hexacopter X** (currently only has an airframe for SITL to safe flash so on flight control hardware it has to be manually configured equivalently).
-   - [SIH plane AERT](../airframes/airframe_reference.md#plane_simulation_sih_plane_aert)
-   - [SIH Tailsitter Duo](../airframes/airframe_reference.md#vtol_simulation_sih_tailsitter_duo)
-   - [SIH Standard VTOL QuadPlane](../airframes/airframe_reference.md#vtol_simulation_sih_standard_vtol_quadplane)
-   - [SIH Ackermann Rover](../airframes/airframe_reference.md#rover_rover_sih_rover_ackermann)
+  - [SIH Quadcopter X](../airframes/airframe_reference.md#copter_simulation_sih_quadcopter_x)
+  - **SIH Hexacopter X** (currently only has an airframe for SITL to safe flash so on flight control hardware it has to be manually configured equivalently).
+  - [SIH plane AERT](../airframes/airframe_reference.md#plane_simulation_sih_plane_aert)
+  - [SIH Tailsitter Duo](../airframes/airframe_reference.md#vtol_simulation_sih_tailsitter_duo)
+  - [SIH Standard VTOL QuadPlane](../airframes/airframe_reference.md#vtol_simulation_sih_standard_vtol_quadplane)
+  - [SIH Ackermann Rover](../airframes/airframe_reference.md#rover_rover_sih_rover_ackermann)

 Потім автопілот перезавантажиться.
 The `sih` module is started on reboot, and the vehicle should be displayed on the ground control station map.
@@ -172,19 +172,19 @@ SIH does not _need_ a visualiser — you can connect with QGroundControl and fly

 3. Start jMAVSim by calling the script **jmavsim_run.sh** from a terminal:

-   ```sh
-   ./Tools/simulation/jmavsim/jmavsim_run.sh -q -d /dev/ttyACM0 -b 2000000 -o
-   ```
+  ```sh
+  ./Tools/simulation/jmavsim/jmavsim_run.sh -q -d /dev/ttyACM0 -b 2000000 -o
+  ```

-   де прапорці такі:
+  де прапорці такі:

-   - `-q` to allow the communication to _QGroundControl_ (optional).
-   - `-d` to start the serial device `/dev/ttyACM0` on Linux.
-     On macOS this would be `/dev/tty.usbmodem1`.
-   - `-b` to set the serial baud rate to `2000000`.
-   - `-o` to start jMAVSim in _display Only_ mode (i.e. the physical engine is turned off and jMAVSim only displays the trajectory given by the SIH in real-time).
-   - add a flag `-a` to display an aircraft or `-t` to display a tailsitter.
-     Якщо цей прапорець не вказаний, за замовчуванням відображатиметься квадрокоптер.
+  - `-q` to allow the communication to _QGroundControl_ (optional).
+  - `-d` to start the serial device `/dev/ttyACM0` on Linux.
+    On macOS this would be `/dev/tty.usbmodem1`.
+  - `-b` to set the serial baud rate to `2000000`.
+  - `-o` to start jMAVSim in _display Only_ mode (i.e. the physical engine is turned off and jMAVSim only displays the trajectory given by the SIH in real-time).
+  - add a flag `-a` to display an aircraft or `-t` to display a tailsitter.
+    Якщо цей прапорець не вказаний, за замовчуванням відображатиметься квадрокоптер.

 4. After few seconds, _QGroundControl_ can be opened again.

@@ -201,41 +201,41 @@ In this case you don't need the flight controller hardware.

 1. Install the [PX4 Development toolchain](../dev_setup/dev_env.md).
 2. Виконайте відповідну команду make для кожного типу транспортного засобу (в корені репозиторію PX4-Autopilot):
-   - Quadcopter
+  - Quadcopter

-     ```sh
-     make px4_sitl sihsim_quadx
-     ```
+    ```sh
+    make px4_sitl sihsim_quadx
+    ```

-   - Hexacopter
+  - Hexacopter

-     ```sh
-     make px4_sitl sihsim_hex
-     ```
+    ```sh
+    make px4_sitl sihsim_hex
+    ```

-   - Fixed-wing (plane)
+  - Fixed-wing (plane)

-     ```sh
-     make px4_sitl sihsim_airplane
-     ```
+    ```sh
+    make px4_sitl sihsim_airplane
+    ```

-   - XVert VTOL tailsitter
+  - XVert VTOL tailsitter

-     ```sh
-     make px4_sitl sihsim_xvert
-     ```
+    ```sh
+    make px4_sitl sihsim_xvert
+    ```

-   - Standard VTOL
+  - Standard VTOL

-     ```sh
-     make px4_sitl sihsim_standard_vtol
-     ```
+    ```sh
+    make px4_sitl sihsim_standard_vtol
+    ```

-   - Ackermann Rover
+  - Ackermann Rover

-     ```sh
-     make px4_sitl sihsim_rover_ackermann
-     ```
+    ```sh
+    make px4_sitl sihsim_rover_ackermann
+    ```

 ### Зміна швидкості симуляції

@@ -328,44 +328,6 @@ For SIH as SITL (no FC):

 For specific examples see the `_sihsim_` airframes in [ROMFS/px4fmu_common/init.d-posix/airframes](https://github.com/PX4/PX4-Autopilot/blob/main/ROMFS/px4fmu_common/init.d-posix/airframes/) (SIH as SITL) and [ROMFS/px4fmu_common/init.d/airframes](https://github.com/PX4/PX4-Autopilot/tree/main/ROMFS/px4fmu_common/init.d/airframes) (SIH on FC).

-## Controlling Actuators in SIH
-
-:::warning
-If you want to control throttling actuators in SIH, make sure to remove propellers for safety.
-:::
-
-In some scenarios, it may be useful to control an actuator while running SIH. For example, you might want to verify that winches or grippers are functioning correctly by checking the servo responses.
-
-To enable actuator control in SIH:
-
-1. Configure PWM parameters in the airframe file:
-
-Ensure your airframe file includes the necessary parameters to map PWM outputs to the correct channels.
-
-For example, if a servo is connected to MAIN 3 and you want to map it to AUX1 on your RC, use the following command:
-
-`param set-default PWM_MAIN_FUNC3 407`
-
-You can find a full list of available values for `PWM_MAIN_FUNCn` [here](../advanced_config/parameter_reference.md#PWM_MAIN_FUNC1). In this case, `407` maps the MAIN 3 output to AUX1 on the RC.
-
-Alternatively, you can use the [`PWM_AUX_FUNCn`](../advanced_config/parameter_reference.md#PWM_AUX_FUNC1) parameters.
-
-You may also configure the output as desired:
-
- Disarmed PWM: ([`PWM_MAIN_DISn`](../advanced_config/parameter_reference.md#PWM_MAIN_DIS1) / [`PWM_AUX_DIS1`](../advanced_config/parameter_reference.md#PWM_AUX_DIS1))
- Minimum PWM ([`PWM_MAIN_MINn`](../advanced_config/parameter_reference.md#PWM_MAIN_MIN1) / [`PWM_AUX_MINn`](../advanced_config/parameter_reference.md#PWM_AUX_MIN1))
- Maximum PWM ([`PWM_MAIN_MAXn`](../advanced_config/parameter_reference.md#PWM_MAIN_MAX1) / [`PWM_AUX_MAXn`](../advanced_config/parameter_reference.md#PWM_AUX_MAX1))
-
-2. Manually start the PWM output driver
-
-For safety, the PWM driver is not started automatically in SIH. To enable it, run the following command in the MAVLink shell:
-
-`pwm_out start`
-
-And to disable it again:
-
-`pwm_out stop`
-
 ## Dynamic Models

 Динамічні моделі для різних транспортних засобів:
@@ -3,6 +3,11 @@
 [Rotoye Batmon](https://rotoye.com/batmon/) is a kit for adding smart battery functionality to off-the-shelf Lithium-Ion and LiPo batteries.
 Його можна придбати як самостійний пристрій або як частину заводсько зібраної розумної батареї.

+:::info
+At time of writing you can only use Batmon by [building a custom branch of PX4](#build-px4-firmware).
+Support in the codeline is pending [PR approval](https://github.com/PX4/PX4-Autopilot/pull/16723).
+:::
+
 ![Rotoye Batmon Board](../../assets/hardware/smart_batteries/rotoye_batmon/smart-battery-rotoye.jpg)

 ![Pre-assembled Rotoye smart battery](../../assets/hardware/smart_batteries/rotoye_batmon/smart-battery-rotoye-pack.jpg)
@@ -28,5 +28,3 @@ When submitting [Pull Requests](../contribute/code.md#pull-requests) for new fun
 - [MC_04 - Failsafe Testing](../test_cards/mc_04_failsafe_testing.md)
 - [MC_05 - Indoor Flight (Manual Modes)](../test_cards/mc_05_indoor_flight_manual_modes.md)
 - [MC_06 - Indoor Flight (Optical Flow)](../test_cards/mc_06_optical_flow.md)
- [MC_07 - VIO (Visual-Inertial Odometry)](../test_cards/mc_07_vio.md)
- [MC_08 - DSHOT ESC](../test_cards/mc_08_dshot.md)
@@ -2,19 +2,11 @@

 ## Objective

-To test that optical flow works as expected
+To test that optical flow / external vision work as expected

 ## Preflight

 Disconnect all GPS / compasses and ensure vehicle is using optical flow for navigation
-([Setup Information here](../sensor/optical_flow.md))
-
-Ensure there are no other sources of positioning besides optical flow
-
- [EKF2_OF_CTRL](../advanced_config/parameter_reference.md#EKF2_OF_CTRL): `1`
- [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL): `0`
- [EKF2_EV_CTRL](../advanced_config/parameter_reference.md#EKF2_EV_CTRL): `0`
- [SYS_HAS_MAG](../advanced_config/parameter_reference.md#SYS_HAS_MAG): `0`

 Ensure that the drone can go into Altitude / Position flight mode while still on the ground

@@ -47,7 +39,5 @@ Ensure that the drone can go into Altitude / Position flight mode while still on
 ## Очікувані результати

 - Зліт повинен бути плавним, коли газ піднято
- Drone should hold altitude in Altitude Flight mode without wandering
- Drone should hold position within 1 meter in Position Flight mode without pilot moving sticks
 - Немає коливання в жодному з перерахованих режимів польоту
 - Після посадки, коптер не повинен підскакувати на землі
@@ -1,52 +0,0 @@
-# Test MC_07 - VIO (Visual-Inertial Odometry)
-
-## Objective
-
-To test that external vision (VIO) works as expected
-
-## Preflight
-
-Disconnect all GPS / compasses and ensure vehicle is using VIO for navigation
-
-Ensure that the drone can go into Altitude / Position flight mode while still on the ground
-
-Ensure there are no other sources of positioning besides VIO:
-
- [EKF2_OF_CTRL](../advanced_config/parameter_reference.md#EKF2_OF_CTRL): `0`
- [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL): `0`
- [EKF2_EV_CTRL](../advanced_config/parameter_reference.md#EKF2_EV_CTRL): `15`
- [SYS_HAS_MAG](../advanced_config/parameter_reference.md#SYS_HAS_MAG): `0`
-
-## Flight Tests
-
-❏ Altitude flight mode
-
-&nbsp;&nbsp;&nbsp;&nbsp;❏ Vertical position should hold current value with stick centered
-
-&nbsp;&nbsp;&nbsp;&nbsp;❏ Pitch/Roll/Yaw response 1:1
-
-&nbsp;&nbsp;&nbsp;&nbsp;❏ Throttle response set to climb/descent rate
-
-❏ Position flight mode
-
-&nbsp;&nbsp;&nbsp;&nbsp;❏ Horizontal position should hold current value with stick centered
-
-&nbsp;&nbsp;&nbsp;&nbsp;❏ Vertical position should hold current value with stick centered
-
-&nbsp;&nbsp;&nbsp;&nbsp;❏ Throttle response set to climb/descent rate
-
-&nbsp;&nbsp;&nbsp;&nbsp;❏ Pitch/Roll/Yaw response set to pitch/roll/yaw rates
-
-## Посадка
-
-❏ Land in either Position or Altitude mode with the throttle below 40%
-
-❏ Upon touching ground, copter should disarm automatically within 2 seconds (default: see [COM_DISARM_LAND](../advanced_config/parameter_reference.md#COM_DISARM_LAND))
-
-## Очікувані результати
-
- Зліт повинен бути плавним, коли газ піднято
- Drone should hold altitude in Altitude Flight mode without wandering
- Drone should hold position within 1 meter in Position Flight mode without pilot moving sticks
- Немає коливання в жодному з перерахованих режимів польоту
- Після посадки, коптер не повинен підскакувати на землі
@@ -1,46 +0,0 @@
-# Test MC_08 - DSHOT ESC
-
-## Objective
-
-Regression test for DSHOT working with PX4
-
-## Preflight
-
- Ensure vehicle is using a DSHOT ESC.
- Parameter [DSHOT_BIDIR_EN](../advanced_config/parameter_reference.md#DSHOT_BIDIR_EN) is enabled
- Parameter [DSHOT_TEL_CFG](../advanced_config/parameter_reference.md#DSHOT_TEL_CFG) is configured (if ESC supports telemetry)
- Parameter [SDLOG_PROFILE](../advanced_config/parameter_reference.md#SDLOG_PROFILE) has Debug (`5`) checked
-
-## Flight Tests
-
-❏ Stabilized Flight mode
-
-&nbsp;&nbsp;&nbsp;&nbsp;❏ Takeoff in stabilized flight mode to ensure correct motor spin
-
-&nbsp;&nbsp;&nbsp;&nbsp;❏ Pitch/Roll/Yaw response 1:1
-
-&nbsp;&nbsp;&nbsp;&nbsp;❏ Throttle response 1:1
-
-❏ Position flight mode
-
-&nbsp;&nbsp;&nbsp;&nbsp;❏ Horizontal position should hold current value with stick centered
-
-&nbsp;&nbsp;&nbsp;&nbsp;❏ Vertical position should hold current value with stick centered
-
-&nbsp;&nbsp;&nbsp;&nbsp;❏ Throttle response set to climb/descent rate
-
-&nbsp;&nbsp;&nbsp;&nbsp;❏ Pitch/Roll/Yaw response set to pitch/roll/yaw rates
-
-## Посадка
-
-❏ Land in either Position or Altitude mode with the throttle below 40%
-
-❏ Upon touching ground, copter should disarm automatically within 2 seconds (default: see [COM_DISARM_LAND](../advanced_config/parameter_reference.md#COM_DISARM_LAND))
-
-## Очікувані результати
-
- Download flight logs
- Load into Data Plot Juggler
- Ensure data is logged for esc_status/esc.0x/esc_rpm
-
-  ![Reference frames](../../assets/test_cards/dshot_log_output.png)
@@ -843,8 +843,6 @@
      - [测试 MC_04 -故障安全测试](test_cards/mc_04_failsafe_testing.md)
      - [Test MC_05 - Manual Modes (Inside)](test_cards/mc_05_indoor_flight_manual_modes.md)
      - [Test MC_06 - Optical Flow (Inside)](test_cards/mc_06_optical_flow.md)
-      - [Test MC_07 - VIO (Inside)](test_cards/mc_07_vio.md)
-      - [Test MC_08 - DSHOT ESC](test_cards/mc_08_dshot.md)
    - [单元测试](test_and_ci/unit_tests.md)
      - [Fuzz Tests](test_and_ci/fuzz_tests.md)
    - [持续集成](test_and_ci/continous_integration.md)
@@ -1,8 +1,10 @@
 <!-- GENERATED CONTENT: DO NOT EDIT -->
 - [Introduction](/index.md)
+
  - [基本概念](/getting_started/px4_basic_concepts.md)

 - [多旋翼](/frames_multicopter/index.md)
+
  - [Features](/features_mc/index.md)
    - [飞行模式](/flight_modes_mc/index.md)
      - [位置模式（多旋翼）](/flight_modes_mc/position.md)
@@ -35,7 +37,7 @@
    - [静态压力生成](/advanced_config/static_pressure_buildup.md)
  - [Flying (Basics)](/flying/basic_flying_mc.md)
  - [整机](/complete_vehicles_mc/index.md)
-    - [ModalAI Starling (PX4 Dev Kit)](/complete_vehicles_mc/modalai_starling.md)
+    - [ModalAI Starling](/complete_vehicles_mc/modalai_starling.md)
    - [PX4 视觉套件](/complete_vehicles_mc/px4_vision_kit.md)
    - [MindRacer BNF & RTF](/complete_vehicles_mc/mindracer_BNF_RTF.md)
      - [MindRacer 210](/complete_vehicles_mc/mindracer210.md)
@@ -56,6 +58,7 @@
    - [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)
@@ -83,6 +86,7 @@
    - [Wing Wing Z84 (Pixracer)](/frames_plane/wing_wing_z84.md)

 - [垂直起降](/frames_vtol/index.md)
+
  - [Assembly](/assembly/assembly_vtol.md)
  - [垂直起降配置/调试](/config_vtol/index.md)
    - [Auto-tune](/config/autotune_vtol.md)
@@ -107,6 +111,7 @@
  - [Complete Vehicles](/complete_vehicles_vtol/index.md)

 - [Operations](/config/operations.md)
+
  - [安全性](/config/safety_intro.md)
    - [Safety Configuration (Failsafes)](/config/safety.md)
    - [Failsafe Simulation](/config/safety_simulation.md)
@@ -127,6 +132,7 @@
    - [QGroundControl Flight-Readiness Status](/flying/pre_flight_checks.md)

 - [Hardware Selection & Setup](/hardware/drone_parts.md)
+
  - [飞行控制器(Autopilots)](/flight_controller/index.md)
    - [Flight Controller Selection](/getting_started/flight_controller_selection.md)
    - [Pixhawk Series](/flight_controller/pixhawk_series.md)
@@ -163,12 +169,13 @@
      - [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 Wiring Quickstart](/assembly/quick_start_cuav_v5_nano.md)
-      - [CUAV X25 EVO](/flight_controller/cuav_x25-evo.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)
@@ -181,8 +188,11 @@
        - [Wiring Quickstart](/assembly/quick_start_durandal.md)
      - [Holybro Pix32 v5](/flight_controller/holybro_pix32_v5.md)
        - [Wiring Quickstart](/assembly/quick_start_holybro_pix32_v5.md)
+      - [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)
-      - [mRo Control Zero F7](/flight_controller/mro_control_zero_f7.md)
+      - [mRobotics-X2.1 (FMUv2)](/flight_controller/mro_x2.1.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)
@@ -196,20 +206,18 @@
    - [Discontinued Autopilots/Vehicles](/flight_controller/autopilot_discontinued.md)
      - [Drotek Dropix (FMUv2)](/flight_controller/dropix.md)
      - [Omnibus F4 SD](/flight_controller/omnibus_f4_sd.md)
+      - [BetaFPV Beta75X 2S Brushless Whoop](/complete_vehicles_mc/betafpv_beta75x.md)
      - [Bitcraze Crazyflie 2.0 ](/complete_vehicles_mc/crazyflie2.md)
      - [Aerotenna OcPoC-Zynq Mini](/flight_controller/ocpoc_zynq.md)
-      - [CUAV X7](/flight_controller/cuav_x7.md)
      - [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)
-      - [ModalAI Flight Core v1](/flight_controller/modalai_fc_v1.md)
-      - [ModalAI VOXL Flight](/flight_controller/modalai_voxl_flight.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)
+      - [Snapdragon Flight](/flight_controller/snapdragon_flight.md)
+      - [Intel® Aero RTF Drone](/complete_vehicles_mc/intel_aero.md)
    - [Pixhawk Autopilot Bus (PAB) & Carriers](/flight_controller/pixhawk_autopilot_bus.md)
      - [ARK Electronics Pixhawk Autopilot Bus Carrier](/flight_controller/ark_pab.md)
    - [Mounting the Flight Controller](/assembly/mount_and_orient_controller.md)
@@ -221,9 +229,7 @@
    - [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)
-
  - [传感器](/sensor/index.md)
    - [加速度计](/sensor/accelerometer.md)
      - [Calibration](/config/accelerometer.md)
@@ -235,7 +241,6 @@
      - [指南针动力补偿](/advanced_config/compass_power_compensation.md)
    - [空速传感器](/sensor/airspeed.md)
      - [Calibration](/config/airspeed.md)
-      - [Airspeed Validation](/advanced_config/airspeed_validation.md)
      - [TFSlot Airspeed Sensor](/sensor/airspeed_tfslot.md)
    - [Barometers](/sensor/barometer.md)
    - [距离传感器 \(测距仪\)](/sensor/rangefinders.md)
@@ -267,7 +272,6 @@
      - [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)
@@ -283,7 +287,6 @@
      - [Trimble MB-Two](/gps_compass/rtk_gps_trimble_mb_two.md)
      - [CubePilot Here+ (Discontined)](/gps_compass/rtk_gps_hex_hereplus.md)
    - [INS (Inertial Navigation/GNSS)](/sensor/inertial_navigation_systems.md)
-      - [InertialLabs](/sensor/inertiallabs.md)
      - [VectorNav](/sensor/vectornav.md)
    - [光流](/sensor/optical_flow.md)
      - [ARK 光流](/dronecan/ark_flow.md)
@@ -294,7 +297,6 @@
      - [ThunderFly TFRPM01 转速传感器](/sensor/thunderfly_tachometer.md)
    - [IMU Factory Calibration](/advanced_config/imu_factory_calibration.md)
    - [传感器热补偿](/advanced_config/sensor_thermal_calibration.md)
-
  - [执行器](/actuators/index.md)
    - [ADSB/FLARM (空中防撞)](/config/actuators.md)
    - [电调（ESC）校准](/advanced_config/esc_calibration.md)
@@ -306,22 +308,19 @@
        - [Zubax Telega](/dronecan/zubax_telega.md)
        - [PX4 Sapog ESC Firmware](/dronecan/sapog.md)
          - [Holybro Kotleta](/dronecan/holybro_kotleta.md)
+          - [Zubax Orel](/dronecan/zubax_orel.md)
      - [Vertiq](/peripherals/vertiq.md)
      - [VESC](/peripherals/vesc.md)
-
  - [Radio Control (RC)](/getting_started/rc_transmitter_receiver.md)
    - [无线电系统设置](/config/radio.md)
    - [飞行模式](/config/flight_mode.md)
-
  - [Joysticks](/config/joystick.md)
-
  - [Data Links](/data_links/index.md)
    - [MAVLink 回传（OSD/GCS）](/peripherals/mavlink_peripherals.md)

    - [数传电台](/telemetry/index.md)
      - [SiK 电台](/telemetry/sik_radio.md)
        - [RFD900 (SiK) 数传电台](/telemetry/rfd900_telemetry.md)
-        - [ThunderFly TFSIK01 Telemetry Radio](/telemetry/tfsik_telemetry.md)
        - [HolyBro (SIK) 数传电台](/telemetry/holybro_sik_radio.md)
      - [WiFi 数传](/telemetry/telemetry_wifi.md)
        - [ESP8266 WiFi 模块](/telemetry/esp8266_wifi_module.md)
@@ -339,7 +338,6 @@
    - [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)
@@ -358,7 +356,6 @@
      - [Sky-Drones SmartAP PDB](/power_module/sky-drones_smartap-pdb.md)
    - [Smart/MAVLink Batteries](/smart_batteries/index.md)
      - [Rotoye Batmon 电池智能套装](/smart_batteries/rotoye_batmon.md)
-
  - [载荷 & 相机](/payloads/index.md)
    - [Use Cases](/payloads/use_cases.md)
    - [Package Delivery Mission](/flying/package_delivery_mission.md)
@@ -370,25 +367,19 @@
    - [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)
    - [降落伞](/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)
-
  - [Cable Wiring](/assembly/cable_wiring.md)
-
  - [机载电脑](/companion_computer/index.md)
    - [Pixhawk + Companion Setup](/companion_computer/pixhawk_companion.md)
      - [RPi Pixhawk Companion](/companion_computer/pixhawk_rpi.md)
@@ -404,19 +395,16 @@
        - [Realsense T265 跟踪相机 (VIO)](/camera/camera_intel_realsense_t265_vio.md)
    - [视频流](/companion_computer/video_streaming.md)
      - [Video Streaming using WFB-ng Wifi (Long range)](/companion_computer/video_streaming_wfb_ng_wifi.md)
-
  - [串口配置](/peripherals/serial_configuration.md)
-
  - [PX4 Ethernet Setup](/advanced_config/ethernet_setup.md)
-
  - [Standard Configuration](/config/index.md)
-
  - [高级配置](/advanced_config/index.md)
    - [Using PX4's Navigation Filter (EKF2)](/advanced_config/tuning_the_ecl_ekf.md)
    - [查找/更新参数](/advanced_config/parameters.md)
    - [Full Parameter Reference](/advanced_config/parameter_reference.md)

 - [Other Vehicles](/airframes/index.md)
+
  - [Airships (experimental)](/frames_airship/index.md)
  - [Autogyros (experimental)](/frames_autogyro/index.md)
    - [ThunderFly Auto-G2 (Holybro pix32)](/frames_autogyro/thunderfly_auto_g2.md)
@@ -424,17 +412,17 @@
  - [Helicopter (experimental)](/frames_helicopter/index.md)
    - [Helicopter Config/Tuning](/config_heli/index.md)
  - [Rovers (experimental)](/frames_rover/index.md)
-    - [Drive Modes](/flight_modes_rover/index.md)
-      - [Manual](/flight_modes_rover/manual.md)
-      - [Auto](/flight_modes_rover/auto.md)
-    - [Configuration/Tuning](/config_rover/index.md)
-      - [Basic Setup](/config_rover/basic_setup.md)
-      - [Rate Tuning](/config_rover/rate_tuning.md)
-      - [Attitude Tuning](/config_rover/attitude_tuning.md)
-      - [Velocity Tuning](/config_rover/velocity_tuning.md)
-      - [Position Tuning](/config_rover/position_tuning.md)
-    - [Complete Vehicles](/complete_vehicles_rover/index.md)
-      - [Aion Robotics R1](/complete_vehicles_rover/aion_r1.md)
+    - [Ackermann Rovers](/frames_rover/ackermann.md)
+      - [Drive Modes](/flight_modes_rover/ackermann.md)
+      - [Configuration/Tuning](/config_rover/ackermann.md)
+    - [Differential Rovers](/frames_rover/differential.md)
+      - [Drive Modes](/flight_modes_rover/differential.md)
+      - [Configuration/Tuning](/config_rover/differential.md)
+      - [Aion Robotics R1](/frames_rover/aion_r1.md)
+    - [Mecanum Rovers](/frames_rover/mecanum.md)
+      - [Drive Modes](/flight_modes_rover/mecanum.md)
+      - [Configuration/Tuning](/config_rover/mecanum.md)
+    - [(Deprecated) Rover Position Control](/frames_rover/rover_position_control.md)
  - [Submarines (experimental)](/frames_sub/index.md)
    - [BlueROV2](/frames_sub/bluerov2.md)
  - [机架参考](/airframes/airframe_reference.md)
@@ -546,7 +534,6 @@
        - [Airspeed](/msg_docs/Airspeed.md)
        - [AirspeedWind](/msg_docs/AirspeedWind.md)
        - [AutotuneAttitudeControlStatus](/msg_docs/AutotuneAttitudeControlStatus.md)
-        - [BatteryInfo](/msg_docs/BatteryInfo.md)
        - [ButtonEvent](/msg_docs/ButtonEvent.md)
        - [CameraCapture](/msg_docs/CameraCapture.md)
        - [CameraStatus](/msg_docs/CameraStatus.md)
@@ -565,7 +552,6 @@
        - [DifferentialPressure](/msg_docs/DifferentialPressure.md)
        - [DistanceSensor](/msg_docs/DistanceSensor.md)
        - [DistanceSensorModeChangeRequest](/msg_docs/DistanceSensorModeChangeRequest.md)
-        - [DronecanNodeStatus](/msg_docs/DronecanNodeStatus.md)
        - [Ekf2Timestamps](/msg_docs/Ekf2Timestamps.md)
        - [EscReport](/msg_docs/EscReport.md)
        - [EscStatus](/msg_docs/EscStatus.md)
@@ -640,7 +626,6 @@
        - [MountOrientation](/msg_docs/MountOrientation.md)
        - [NavigatorMissionItem](/msg_docs/NavigatorMissionItem.md)
        - [NavigatorStatus](/msg_docs/NavigatorStatus.md)
-        - [NeuralControl](/msg_docs/NeuralControl.md)
        - [NormalizedUnsignedSetpoint](/msg_docs/NormalizedUnsignedSetpoint.md)
        - [ObstacleDistance](/msg_docs/ObstacleDistance.md)
        - [OffboardControlMode](/msg_docs/OffboardControlMode.md)
@@ -739,12 +724,7 @@
        - [Wind](/msg_docs/Wind.md)
        - [YawEstimatorStatus](/msg_docs/YawEstimatorStatus.md)
        - [AirspeedValidatedV0](/msg_docs/AirspeedValidatedV0.md)
-        - [ArmingCheckReplyV0](/msg_docs/ArmingCheckReplyV0.md)
-        - [BatteryStatusV0](/msg_docs/BatteryStatusV0.md)
-        - [EventV0](/msg_docs/EventV0.md)
-        - [HomePositionV0](/msg_docs/HomePositionV0.md)
        - [VehicleAttitudeSetpointV0](/msg_docs/VehicleAttitudeSetpointV0.md)
-        - [VehicleLocalPositionV0](/msg_docs/VehicleLocalPositionV0.md)
        - [VehicleStatusV0](/msg_docs/VehicleStatusV0.md)
    - [MAVLink Messaging](/mavlink/index.md)
      - [Adding Messages](/mavlink/adding_messages.md)
@@ -754,7 +734,6 @@
      - [Protocols/Microservices](/mavlink/protocols.md)
        - [Standard Modes Protocol](/mavlink/standard_modes.md)
    - [uXRCE-DDS (PX4-ROS 2/DDS Bridge)](/middleware/uxrce_dds.md)
-      - [UORB Bridged to ROS 2](/middleware/dds_topics.md)
  - [模块 & 命令](/modules/modules_main.md)
    - [自动调参](/modules/modules_autotune.md)
    - [命令](/modules/modules_command.md)
@@ -784,7 +763,7 @@
    - [Debugging with GDB](/debug/gdb_debugging.md)
      - [SWD Debug Port](/debug/swd_debug.md)
      - [JLink Probe](/debug/probe_jlink.md)
-      - [Black Magic/Zubax BugFace BF1 Probe](/debug/probe_bmp.md)
+      - [Black Magic/DroneCode Probe](/debug/probe_bmp.md)
      - [STLink Probe](/debug/probe_stlink.md)
      - [MCU-Link Probe](/debug/probe_mculink.md)
      - [Hardfault Debugging](/debug/gdb_hardfault.md)
@@ -808,9 +787,6 @@
    - [Camera Integration/Architecture](/camera/camera_architecture.md)
    - [机器视觉](/advanced/computer_vision.md)
      - [Motion Capture (VICON, Optitrack, NOKOV)](/tutorials/motion-capture.md)
-    - [Neural Networks](/advanced/neural_networks.md)
-      - [Neural Network Module Utilities](/advanced/nn_module_utilities.md)
-      - [TensorFlow Lite Micro (TFLM)](/advanced/tflm.md)
    - [安装英特尔 RealSense R200 的驱动程序](/advanced/realsense_intel_driver.md)
    - [切换状态估计器](/advanced/switching_state_estimators.md)
    - [外部模块](/advanced/out_of_tree_modules.md)
@@ -842,12 +818,8 @@
      - [测试 MC_02-完全自主](/test_cards/mc_02_full_autonomous.md)
      - [测试 MC_03 - 自动手动混合](/test_cards/mc_03_auto_manual_mix.md)
      - [测试 MC_04 -故障安全测试](/test_cards/mc_04_failsafe_testing.md)
-      - [Test MC_05 - Manual Modes (Inside)](/test_cards/mc_05_indoor_flight_manual_modes.md)
-      - [Test MC_06 - Optical Flow (Inside)](/test_cards/mc_06_optical_flow.md)
-      - [Test MC_07 - VIO (Inside)](/test_cards/mc_07_vio.md)
-      - [Test MC_08 - DSHOT ESC](/test_cards/mc_08_dshot.md)
+      - [测试 MC_05-室内飞行（手动模式）](/test_cards/mc_05_indoor_flight_manual_modes.md)
    - [单元测试](/test_and_ci/unit_tests.md)
-      - [Fuzz Tests](/test_and_ci/fuzz_tests.md)
    - [持续集成](/test_and_ci/continous_integration.md)
    - [Integration Testing](/test_and_ci/integration_testing.md)
      - [MAVSDK集成测试](/test_and_ci/integration_testing_mavsdk.md)
@@ -890,8 +862,8 @@

 - [版本发布](/releases/index.md)
  - [main (alpha)](/releases/main.md)
-  - [1.16 (stable)](/releases/1.16.md)
-  - [1.15](/releases/1.15.md)
+  - [1.16 (release candidate)](/releases/1.16.md)
+  - [1.15 (stable)](/releases/1.15.md)
  - [1.14](/releases/1.14.md)
  - [1.13](/releases/1.13.md)
  - [1.12](/releases/1.12.md)
@@ -131,7 +131,7 @@ The on-screen gimbal control can be used to move/test a connected MAVLink camera

 2. Open QGroundControl and enable the on-screen camera control (Application settings).

-   ![Quadrotor(x500) with gimbal (Front-facing) in Gazebo](../../assets/qgc/fly/gimbal_control_x500gz.png)
+  ![Quadrotor(x500) with gimbal (Front-facing) in Gazebo](../../assets/qgc/fly/gimbal_control_x500gz.png)

 3. Make sure the vehicle is armed and flying, e.g. by entering with `commander takeoff`.

@@ -52,7 +52,7 @@ On Windows, one option is to use _Melody Master_ within _Dosbox_.
 7. 当您准备好时保存音乐：
   - Press **F2** to give the tune a name and save it in the _/Music_ sub folder of your Melody Master installation.
   - Press **F7**, the scroll down the list of output formats on the right to get to ANSI.
-     The file will be exported to the _root_ of the Melody Master directory (with the same name and a file-type specific extension).
+      The file will be exported to the _root_ of the Melody Master directory (with the same name and a file-type specific extension).

 8. 打开文件。
   输出可能看起来像这样：
@@ -23,7 +23,7 @@ You can locate the parameters in QGroundControl as shown below:
 1. Open QGroundControl menu: **Settings > Parameters > Sensor Calibration**.
 2. The parameters as located in the section as shown below (or you can search for them):

-   ![FC Orientation QGC v2](../../assets/qgc/setup/sensor/fc_orientation_qgc_v2.png)
+  ![FC Orientation QGC v2](../../assets/qgc/setup/sensor/fc_orientation_qgc_v2.png)

 ## Parameter Summary

@@ -37,8 +37,8 @@ You can enable this key in your own custom firmware if needed.

 2. [Update the Firmware](../config/firmware.md#custom) with an image containing the new/desired bootloader.

-   ::: info
-   The updated bootloader might be included the default firmware for your board or supplied in custom firmware.
+  ::: info
+  The updated bootloader might be included the default firmware for your board or supplied in custom firmware.

 :::

@@ -47,7 +47,7 @@ You can enable this key in your own custom firmware if needed.
 4. [Find and enable](../advanced_config/parameters.md) the parameter [SYS_BL_UPDATE](../advanced_config/parameter_reference.md#SYS_BL_UPDATE).

 5. 重新启动（断开/重新连接飞控板）。
-   Bootloader 更新只需要几秒钟即可完成。
+  Bootloader 更新只需要几秒钟即可完成。

 Generally at this point you may then want to [update the firmware](../config/firmware.md) again using the correct/newly installed bootloader.

@@ -89,80 +89,80 @@ The following steps explain how you can "manually" update the bootloader using a
 1. Get a binary containing the bootloader (either from dev team or [build it yourself](#building-the-px4-bootloader)).

 2. Get a [Debug Probe](../debug/swd_debug.md#debug-probes-for-px4-hardware).
-   Connect the probe your PC via USB and setup the `gdbserver`.
+  Connect the probe your PC via USB and setup the `gdbserver`.

 3. Go into the directory containing the binary and run the command for your target bootloader in the terminal:

-   - FMUv6X
+  - FMUv6X

-     ```sh
-     arm-none-eabi-gdb px4_fmu-v6x_bootloader.elf
-     ```
+    ```sh
+    arm-none-eabi-gdb px4_fmu-v6x_bootloader.elf
+    ```

-   - FMUv6X-RT
+  - FMUv6X-RT

-     ```sh
-     arm-none-eabi-gdb px4_fmu-v6xrt_bootloader.elf
-     ```
+    ```sh
+    arm-none-eabi-gdb px4_fmu-v6xrt_bootloader.elf
+    ```

-   - FMUv5
+  - FMUv5

-     ```sh
-     ```
+    ```sh
+    ```

-   ::: info
-   H7 Bootloaders from [PX4/PX4-Autopilot](https://github.com/PX4/PX4-Autopilot) are named with pattern `*._bootloader.elf`.
-   Bootloaders from [PX4/PX4-Bootloader](https://github.com/PX4/PX4-Bootloader) are named with the pattern `*_bl.elf`.
+  ::: info
+  H7 Bootloaders from [PX4/PX4-Autopilot](https://github.com/PX4/PX4-Autopilot) are named with pattern `*._bootloader.elf`.
+  Bootloaders from [PX4/PX4-Bootloader](https://github.com/PX4/PX4-Bootloader) are named with the pattern `*_bl.elf`.

 :::

 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
-   Copyright (C) 2017 Free Software Foundation, Inc.
-   License GPLv3+: GNU GPL version 3 or later <http://gnu.org/licenses/gpl.html>
-   This is free software: you are free to change and redistribute it.
-   There is NO WARRANTY, to the extent permitted by law.
-   Type "show copying"    and "show warranty" for details.
-   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:
-   <https://www.sourceware.org/gdb/bugs/>.
-   Find the GDB manual and other documentation resources online at:
-   <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.
-   ```
+  ```sh
+  GNU gdb (GNU Tools for Arm Embedded Processors 7-2017-q4-major) 8.0.50.20171128-git
+  Copyright (C) 2017 Free Software Foundation, Inc.
+  License GPLv3+: GNU GPL version 3 or later <http://gnu.org/licenses/gpl.html>
+  This is free software: you are free to change and redistribute it.
+  There is NO WARRANTY, to the extent permitted by law.
+  Type "show copying"    and "show warranty" for details.
+  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:
+  <https://www.sourceware.org/gdb/bugs/>.
+  Find the GDB manual and other documentation resources online at:
+  <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.
+  ```

 5. Find your `<dronecode-probe-id>` by running an `ls` command in the **/dev/serial/by-id** directory.

 6. Now connect to the debug probe with the following command:

-   ```sh
-   tar ext /dev/serial/by-id/<dronecode-probe-id>
-   ```
+  ```sh
+  tar ext /dev/serial/by-id/<dronecode-probe-id>
+  ```

 7. Power on the Pixhawk with another USB cable and connect the probe to the `FMU-DEBUG` port.

-   ::: info
-   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).
+  ::: info
+  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).

 :::

 8. Use the following command to scan for the Pixhawk\`s SWD and connect to it:

-   ```sh
-   (gdb) mon swdp_scan
-   (gdb) attach 1
-   ```
+  ```sh
+  (gdb) mon swdp_scan
+  (gdb) attach 1
+  ```

 9. 将二进制文件加载到 Pixhawk 中 ：

-   ```sh
-   (gdb) load
-   ```
+  ```sh
+  (gdb) load
+  ```

 After the bootloader has updated you can [Load PX4 Firmware](../config/firmware.md) using _QGroundControl_.

@@ -181,25 +181,25 @@ Early FMUv2 [Pixhawk-series](../flight_controller/pixhawk_series.md#fmu_versions
 1. 插入 SD 卡（使能引导日志记录，便于调试任何可能的问题）。

 2. [Update the Firmware](../config/firmware.md) to PX4 _master_ version (when updating the firmware, check **Advanced settings** and then select **Developer Build (master)** from the dropdown list).
-   _QGroundControl_ will automatically detect that the hardware supports FMUv2 and install the appropriate Firmware.
+  _QGroundControl_ will automatically detect that the hardware supports FMUv2 and install the appropriate Firmware.

-   ![FMUv2 update](../../assets/qgc/setup/firmware/bootloader_update.jpg)
+  ![FMUv2 update](../../assets/qgc/setup/firmware/bootloader_update.jpg)

-   等待飞控重启。
+  等待飞控重启。

 3. [Find and enable](../advanced_config/parameters.md) the parameter [SYS_BL_UPDATE](../advanced_config/parameter_reference.md#SYS_BL_UPDATE).

 4. 重新启动（断开/重新连接飞控板）。
-   Bootloader 更新只需要几秒钟即可完成。
+  Bootloader 更新只需要几秒钟即可完成。

 5. Then [Update the Firmware](../config/firmware.md) again.
-   This time _QGroundControl_ should autodetect the hardware as FMUv3 and update the Firmware appropriately.
+  This time _QGroundControl_ should autodetect the hardware as FMUv3 and update the Firmware appropriately.

-   ![FMUv3 update](../../assets/qgc/setup/firmware/bootloader_fmu_v3_update.jpg)
+  ![FMUv3 update](../../assets/qgc/setup/firmware/bootloader_fmu_v3_update.jpg)

-   ::: info
-   If the hardware has the [Silicon Errata](../flight_controller/silicon_errata.md#fmuv2-pixhawk-silicon-errata) it will still be detected as FMUv2 and you will see that FMUv2 was re-installed (in console).
-   在这种情况下，您将无法安装 FMUv3 硬件。
+  ::: info
+  If the hardware has the [Silicon Errata](../flight_controller/silicon_errata.md#fmuv2-pixhawk-silicon-errata) it will still be detected as FMUv2 and you will see that FMUv2 was re-installed (in console).
+  在这种情况下，您将无法安装 FMUv3 硬件。

 :::

@@ -44,7 +44,7 @@ The process is demonstrated for a multicopter, but is equally valid for other ve
   - 解锁无人机，然后缓缓将油门推到最大。
   - 慢慢将油门降到0
   - 给无人机加锁
-     &#062; <strong x-id="1">Note</strong> 谨慎地进行测试，并密切注意振动情况。
+      &#062; <strong x-id="1">Note</strong> 谨慎地进行测试，并密切注意振动情况。

   ::: info
   Perform the test carefully and closely monitor the vibrations.
@@ -94,29 +94,29 @@ Flight control systems that can't power the autopilot via USB will need a [diffe

   - The minimum value for a motor (default: `1100us`) should make the motor spin slowly but reliably, and also spin up reliably after it was stopped.

-     You can confirm that a motor spins at minimum (still without propellers) in [Actuator Testing](../config/actuators.md#actuator-testing), by enabling the sliders, and then moving the test output slider for the motor to the first snap position from the bottom.
-     当你将滑块从解锁到最小值时，正确的值应该使电机立即和可靠地旋转。
+      You can confirm that a motor spins at minimum (still without propellers) in [Actuator Testing](../config/actuators.md#actuator-testing), by enabling the sliders, and then moving the test output slider for the motor to the first snap position from the bottom.
+      当你将滑块从解锁到最小值时，正确的值应该使电机立即和可靠地旋转。

-     要找到“最佳”最小值，请将滑块移动到底部(禁用)。
-     Then increase the PWM output's `disarmed` setting in small increments (e.g. 1025us, 1050us, etc), until the motor starts to spin reliably (it is better to be a little too high than a little too low).
-     Enter this value into the `minimum` setting for all the motor PWM outputs, and restore the `disarmed` output to `1100us`.
+      要找到“最佳”最小值，请将滑块移动到底部(禁用)。
+      Then increase the PWM output's `disarmed` setting in small increments (e.g. 1025us, 1050us, etc), until the motor starts to spin reliably (it is better to be a little too high than a little too low).
+      Enter this value into the `minimum` setting for all the motor PWM outputs, and restore the `disarmed` output to `1100us`.

   - The maximum value for a motor (default: `1900us`) should be chosen such that increasing the value doesn't make the motor spin any faster.

-     You can confirm that the motor spins quickly at the maximum setting in [Actuator Testing](../config/actuators.md#actuator-testing), by moving the associated test output slider to the top position.
+      You can confirm that the motor spins quickly at the maximum setting in [Actuator Testing](../config/actuators.md#actuator-testing), by moving the associated test output slider to the top position.

-     To find the "optimal" maximum value, first move the slider to the bottom (disarmed).
-     Then increase the PWM output's `disarmed` setting to near the default maximum (`1900`) - the motors should spin up.
-     Listen to the tone of the motor as you increase the PWM maximum value for the output in increments (e.g. 1925us, 1950us, etc).
-     The optimal value is found at the point when the sound of the motors does not change as you increase the value of the output.
-     Enter this value into the `maximum` setting for all the motor PWM outputs, and restore the `disarmed` output to `1100us`.
+      To find the "optimal" maximum value, first move the slider to the bottom (disarmed).
+      Then increase the PWM output's `disarmed` setting to near the default maximum (`1900`) - the motors should spin up.
+      Listen to the tone of the motor as you increase the PWM maximum value for the output in increments (e.g. 1925us, 1950us, etc).
+      The optimal value is found at the point when the sound of the motors does not change as you increase the value of the output.
+      Enter this value into the `maximum` setting for all the motor PWM outputs, and restore the `disarmed` output to `1100us`.

   - The disarmed value for a motor (default: `1000us`) should make the motor stop and stay stopped.

-     You can confirm this in [Actuator Testing](../config/actuators.md#actuator-testing) by moving the test output slider to the snap position at the bottom of the slider and observing that the motor does not spin.
+      You can confirm this in [Actuator Testing](../config/actuators.md#actuator-testing) by moving the test output slider to the snap position at the bottom of the slider and observing that the motor does not spin.

-     If the ESC spins with the default value of 1000us then the ESC is not properly calibrated.
-     If using an ESC that can't be calibrated, you should reduce the PWM output value for the output to below where the motor does not spin anymore (such as 950us or 900us).
+      If the ESC spins with the default value of 1000us then the ESC is not properly calibrated.
+      If using an ESC that can't be calibrated, you should reduce the PWM output value for the output to below where the motor does not spin anymore (such as 950us or 900us).

   ::: info
   VTOL and fixed-wing motors do not need any special PWM configuration.
@@ -87,14 +87,14 @@ To set the above "example" configuration using the _QGroundControl_:

 3. Enter commands "like" the ones below into the _MAVLink Console_ (to write the values to the configuration file):

-   ```sh
-   echo DEVICE=eth0 > /fs/microsd/net.cfg
-   echo BOOTPROTO=fallback >> /fs/microsd/net.cfg
-   echo IPADDR=10.41.10.2 >> /fs/microsd/net.cfg
-   echo NETMASK=255.255.255.0 >>/fs/microsd/net.cfg
-   echo ROUTER=10.41.10.254 >>/fs/microsd/net.cfg
-   echo DNS=10.41.10.254 >>/fs/microsd/net.cfg
-   ```
+  ```sh
+  echo DEVICE=eth0 > /fs/microsd/net.cfg
+  echo BOOTPROTO=fallback >> /fs/microsd/net.cfg
+  echo IPADDR=10.41.10.2 >> /fs/microsd/net.cfg
+  echo NETMASK=255.255.255.0 >>/fs/microsd/net.cfg
+  echo ROUTER=10.41.10.254 >>/fs/microsd/net.cfg
+  echo DNS=10.41.10.254 >>/fs/microsd/net.cfg
+  ```

 4. 一旦设置了网络配置，您可以断开 USB 电缆。

@@ -113,36 +113,36 @@ Note that there are many more [examples](https://github.com/canonical/netplan/tr
 设置Ubuntu计算机：

 1. In a terminal, create and open a `netplan` configuration file: `/etc/netplan/01-network-manager-all.yaml`
-   Below we do this using the _nano_ text editor.
+  Below we do this using the _nano_ text editor.

-   ```
-   sudo nano /etc/netplan/01-network-manager-all.yaml
-   ```
+  ```
+  sudo nano /etc/netplan/01-network-manager-all.yaml
+  ```

 2. 将以下配置信息复制并粘贴到文件中（注意：缩进很重要！）:

-   ```
-   network:
-     version: 2
-     renderer: NetworkManager
-     ethernets:
-         enp2s0:
-             addresses:
-                 - 10.41.10.1/24
-             nameservers:
-                 addresses: [10.41.10.1]
-             routes:
-                 - to: 10.41.10.1
-                   via: 10.41.10.1
-   ```
+  ```
+  network:
+    version: 2
+    renderer: NetworkManager
+    ethernets:
+        enp2s0:
+            addresses:
+                - 10.41.10.1/24
+            nameservers:
+                addresses: [10.41.10.1]
+            routes:
+                - to: 10.41.10.1
+                  via: 10.41.10.1
+  ```

-   保存并退出编辑器。
+  保存并退出编辑器。

 3. Apply the _netplan_ configuration by entering the following command into the Ubuntu terminal.

-   ```
-   sudo netplan apply
-   ```
+  ```
+  sudo netplan apply
+  ```

 ### 机载计算机以太网网络设置

@@ -189,9 +189,9 @@ Assuming you have already [Set up the Ethernet Network](#setting-up-the-ethernet

 3. Start QGroundControl and [define a comm link](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/settings_view/settings_view.html) (**Application Settings > Comm Links**) specifying the _server address_ and port as the IP address and port assigned in PX4, respectively.

-   假设值已按本主题其余部分所述设置，设置将如下所示：
+  假设值已按本主题其余部分所述设置，设置将如下所示：

-   ![QGC comm link for ethernet setup](../../assets/qgc/settings/comm_link/px4_ethernet_link_config.png)
+  ![QGC comm link for ethernet setup](../../assets/qgc/settings/comm_link/px4_ethernet_link_config.png)

 4. 如果你选择这个链接，QGroundControl 应该会连接。

@@ -205,14 +205,14 @@ Assuming you have already [Set up the Ethernet Network](#setting-up-the-ethernet

 1. [Set up the Ethernet Network](#setting-up-the-ethernet-network) so your companion computer and PX4 run on the same network.
 2. Modify the [PX4 Ethernet Port Configuration](#px4-ethernet-network-setup) to connect to a companion computer.
-   You might change the parameters [MAV_2_REMOTE_PRT](../advanced_config/parameter_reference.md#MAV_2_REMOTE_PRT) and [MAV_2_UDP_PRT](../advanced_config/parameter_reference.md#MAV_2_UDP_PRT) to `14540`, and [MAV_2_MODE](../advanced_config/parameter_reference.md#MAV_2_MODE) to `2` (Onboard).
+  You might change the parameters [MAV_2_REMOTE_PRT](../advanced_config/parameter_reference.md#MAV_2_REMOTE_PRT) and [MAV_2_UDP_PRT](../advanced_config/parameter_reference.md#MAV_2_UDP_PRT) to `14540`, and [MAV_2_MODE](../advanced_config/parameter_reference.md#MAV_2_MODE) to `2` (Onboard).
 3. Follow the instructions in [MAVSDK-python](https://github.com/mavlink/MAVSDK-Python) to install and use MAVSDK.

-   例如，您的代码将使用以下方式连接到PX4：
+  例如，您的代码将使用以下方式连接到PX4：

-   ```python
-   await drone.connect(system_address="udp://10.41.10.2:14540")
-   ```
+  ```python
+  await drone.connect(system_address="udp://10.41.10.2:14540")
+  ```

 :::info
 MAVSDK can connect to the PX4 on port `14550` if you don't modify the PX4 Ethernet port configuration.
@@ -235,38 +235,38 @@ MAVSDK can connect to the PX4 on port `14550` if you don't modify the PX4 Ethern
 1. 通过以太网连接您的飞行控制器和机载计算机。

 2. [Start the uXRCE-DDS client on PX4](../middleware/uxrce_dds.md#starting-the-client), either manually or by customizing the system startup script.
-   Note that you must use the IP address of the companion computer and the UDP port on which the agent is listening (the example configuration above sets the companion IP address to `10.41.10.1`, and the agent UDP port is set to `8888` in the next step).
+  Note that you must use the IP address of the companion computer and the UDP port on which the agent is listening (the example configuration above sets the companion IP address to `10.41.10.1`, and the agent UDP port is set to `8888` in the next step).

 3. [Start the micro XRCE-DDS agent on the companion computer](../middleware/uxrce_dds.md#starting-the-agent).
-   For example, enter the following command in a terminal to start the agent listening on UDP port `8888`.
+  For example, enter the following command in a terminal to start the agent listening on UDP port `8888`.

-   ```sh
-   MicroXRCEAgent udp4 -p 8888
-   ```
+  ```sh
+  MicroXRCEAgent udp4 -p 8888
+  ```

 4. Run a [listener node](../ros2/user_guide.md#running-the-example) in a new terminal to confirm the connection is established:

-   ```sh
-   source ~/ws_sensor_combined/install/setup.bash
-   ros2 launch px4_ros_com sensor_combined_listener.launch.py
-   ```
+  ```sh
+  source ~/ws_sensor_combined/install/setup.bash
+  ros2 launch px4_ros_com sensor_combined_listener.launch.py
+  ```

-   如果所有设置都正确，终端应显示如下输出:
+  如果所有设置都正确，终端应显示如下输出:

-   ```sh
-   RECEIVED SENSOR COMBINED DATA
-   =============================
-   ts: 855801598
-   gyro_rad[0]: -0.00339938
-   gyro_rad[1]: 0.00440091
-   gyro_rad[2]: 0.00513893
-   gyro_integral_dt: 4997
-   accelerometer_timestamp_relative: 0
-   accelerometer_m_s2[0]: -0.0324082
-   accelerometer_m_s2[1]: 0.0392213
-   accelerometer_m_s2[2]: -9.77914
-   accelerometer_integral_dt: 4997
-   ```
+  ```sh
+  RECEIVED SENSOR COMBINED DATA
+  =============================
+  ts: 855801598
+  gyro_rad[0]: -0.00339938
+  gyro_rad[1]: 0.00440091
+  gyro_rad[2]: 0.00513893
+  gyro_integral_dt: 4997
+  accelerometer_timestamp_relative: 0
+  accelerometer_m_s2[0]: -0.0324082
+  accelerometer_m_s2[1]: 0.0392213
+  accelerometer_m_s2[2]: -9.77914
+  accelerometer_integral_dt: 4997
+  ```

 ## See Also

@@ -153,14 +153,14 @@ It corresponds to: [COM_PREARM_MODE=1](#COM_PREARM_MODE) (safety switch) and [CB
 The default startup sequence is:

 1. Power-up.
-   - All actuators locked into disarmed position
-   - Not possible to arm.
+  - All actuators locked into disarmed position
+  - Not possible to arm.
 2. Safety switch is pressed.
-   - System now prearmed: non-throttling actuators can move (e.g. ailerons).
-   - System safety is off: Arming possible.
+  - System now prearmed: non-throttling actuators can move (e.g. ailerons).
+  - System safety is off: Arming possible.
 3. Arm command is issued.
-   - The system is armed.
-   - All motors and actuators can move.
+  - The system is armed.
+  - All motors and actuators can move.

 ### COM_PREARM_MODE=Disabled and Safety Switch

@@ -170,14 +170,14 @@ This corresponds to [COM_PREARM_MODE=0](#COM_PREARM_MODE) (Disabled) and [CBRK_I
 The startup sequence is:

 1. Power-up.
-   - All actuators locked into disarmed position
-   - Not possible to arm.
+  - All actuators locked into disarmed position
+  - Not possible to arm.
 2. Safety switch is pressed.
-   - _All actuators stay locked into disarmed position (same as disarmed)._
-   - System safety is off: Arming possible.
+  - _All actuators stay locked into disarmed position (same as disarmed)._
+  - System safety is off: Arming possible.
 3. Arm command is issued.
-   - The system is armed.
-   - All motors and actuators can move.
+  - The system is armed.
+  - All motors and actuators can move.

 ### COM_PREARM_MODE=Always and Safety Switch

@@ -188,13 +188,13 @@ This corresponds to [COM_PREARM_MODE=2](#COM_PREARM_MODE) (Always) and [CBRK_IO_
 The startup sequence is:

 1. Power-up.
-   - System now prearmed: non-throttling actuators can move (e.g. ailerons).
-   - Not possible to arm.
+  - System now prearmed: non-throttling actuators can move (e.g. ailerons).
+  - Not possible to arm.
 2. Safety switch is pressed.
-   - System safety is off: Arming possible.
+  - System safety is off: Arming possible.
 3. Arm command is issued.
-   - The system is armed.
-   - All motors and actuators can move.
+  - The system is armed.
+  - All motors and actuators can move.

 ### COM_PREARM_MODE=Safety or Disabled and No Safety Switch

@@ -204,11 +204,11 @@ This corresponds to [COM_PREARM_MODE=0 or 1](#COM_PREARM_MODE) (Disabled/Safety
 The startup sequence is:

 1. Power-up.
-   - All actuators locked into disarmed position
-   - System safety is off: Arming possible.
+  - All actuators locked into disarmed position
+  - System safety is off: Arming possible.
 2. Arm command is issued.
-   - The system is armed.
-   - All motors and actuators can move.
+  - The system is armed.
+  - All motors and actuators can move.

 ### COM_PREARM_MODE=Always and No Safety Switch

@@ -218,11 +218,11 @@ This corresponds to [COM_PREARM_MODE=2](#COM_PREARM_MODE) (Always) and [CBRK_IO_
 The startup sequence is:

 1. Power-up.
-   - System now prearmed: non-throttling actuators can move (e.g. ailerons).
-   - System safety is off: Arming possible.
+  - System now prearmed: non-throttling actuators can move (e.g. ailerons).
+  - System safety is off: Arming possible.
 2. Arm command is issued.
-   - The system is armed.
-   - All motors and actuators can move.
+  - The system is armed.
+  - All motors and actuators can move.

 ### 参数

@@ -94,11 +94,11 @@ To perform an offboard calibration:

 9. Open a terminal window in the **Firmware/Tools** directory and run the python calibration script:

-   ```sh
-   python process_sensor_caldata.py <full path name to .ulog file>
-   ```
+  ```sh
+  python process_sensor_caldata.py <full path name to .ulog file>
+  ```

-   This will generate a **.pdf** file showing the measured data and curve fits for each sensor, and a **.params** file containing the calibration parameters.
+  This will generate a **.pdf** file showing the measured data and curve fits for each sensor, and a **.params** file containing the calibration parameters.

 10. Power the board, connect _QGroundControl_ and load the parameter from the generated **.params** file onto the board using _QGroundControl_. 由于参数的数量，加载它们可能需要一些时间。

@@ -157,29 +157,29 @@ Three axis body fixed magnetometer data at a minimum rate of 5Hz is required to
 Magnetometer data fusion can be configured using [EKF2_MAG_TYPE](../advanced_config/parameter_reference.md#EKF2_MAG_TYPE):

 0. Automatic:
-   - The magnetometer readings only affect the heading estimate before arming, and the whole attitude after arming.
-   - Heading and tilt errors are compensated when using this method.
-   - Incorrect magnetic field measurements can degrade the tilt estimate.
-   - The magnetometer biases are estimated whenever observable.
+  - The magnetometer readings only affect the heading estimate before arming, and the whole attitude after arming.
+  - Heading and tilt errors are compensated when using this method.
+  - Incorrect magnetic field measurements can degrade the tilt estimate.
+  - The magnetometer biases are estimated whenever observable.
 1. Magnetic heading:
-   - Only the heading is corrected.
-     The tilt estimate is never affected by incorrect magnetic field measurements.
-   - Tilt errors that could arise when flying without velocity/position aiding are not corrected when using this method.
-   - The magnetometer biases are estimated whenever observable.
+  - Only the heading is corrected.
+    The tilt estimate is never affected by incorrect magnetic field measurements.
+  - Tilt errors that could arise when flying without velocity/position aiding are not corrected when using this method.
+  - The magnetometer biases are estimated whenever observable.
 2. Deprecated
 3. Deprecated
 4. Deprecated
 5. None:
-   - Magnetometer data is never used.
-     This is useful when the data can never be trusted (e.g.: high current close to the sensor, external anomalies).
-   - The estimator will use other sources of heading: [GPS heading](#yaw-measurements) or external vision.
-   - When using GPS measurements without another source of heading, the heading can only be initialized after sufficient horizontal acceleration.
-     See [Estimate yaw from vehicle movement](#yaw-from-gps-velocity) below.
+  - Magnetometer data is never used.
+    This is useful when the data can never be trusted (e.g.: high current close to the sensor, external anomalies).
+  - The estimator will use other sources of heading: [GPS heading](#yaw-measurements) or external vision.
+  - When using GPS measurements without another source of heading, the heading can only be initialized after sufficient horizontal acceleration.
+    See [Estimate yaw from vehicle movement](#yaw-from-gps-velocity) below.
 6. Init only:
-   - Magnetometer data is only used to initialize the heading estimate.
-     This is useful when the data can be used before arming but not afterwards (e.g.: high current after the vehicle is armed).
-   - After initialization, the heading is constrained using other observations.
-   - Unlike mag type `None`, when combined with GPS measurements, this method allows position controlled modes to run directly during takeoff.
+  - Magnetometer data is only used to initialize the heading estimate.
+    This is useful when the data can be used before arming but not afterwards (e.g.: high current after the vehicle is armed).
+  - After initialization, the heading is constrained using other observations.
+  - Unlike mag type `None`, when combined with GPS measurements, this method allows position controlled modes to run directly during takeoff.

 The following selection tree can be used to select the right option:

@@ -241,8 +241,8 @@ EKF2模块将误差建模为与机体固连的椭球体，在将其转换为高

 2. Extract the `.ulg` log file using, for example, [QGroundControl: Analyze > Log Download](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/analyze_view/log_download.html)

-   ::: info
-   The same log file can be used to tune the [multirotor wind estimator](#mc_wind_estimation_using_drag).
+  ::: info
+  The same log file can be used to tune the [multirotor wind estimator](#mc_wind_estimation_using_drag).

 :::

@@ -457,8 +457,8 @@ The amount of specific force observation noise is set by the [EKF2_DRAG_NOISE](.

 1. Fly once in [Position mode](../flight_modes_mc/position.md) repeatedly forwards/backwards/left/right/up/down between rest and maximum speed (best results are obtained when this testing is conducted in still conditions).
 2. Extract the **.ulg** log file using, for example, [QGroundControl: Analyze > Log Download](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/analyze_view/log_download.html)
-   ::: info
-   The same **.ulg** log file can also be used to tune the [static pressure position error coefficients](#correction-for-static-pressure-position-error).
+  ::: info
+  The same **.ulg** log file can also be used to tune the [static pressure position error coefficients](#correction-for-static-pressure-position-error).

 :::
 3. Use the log with the [mc_wind_estimator_tuning.py](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/ekf2/EKF/python/tuning_tools/mc_wind_estimator) Python script to obtain the optimal set of parameters.
@@ -38,14 +38,14 @@ If it is not visible the vehicle immediately performs a _normal_ landing at the
 A precision landing has three phases:

 1. **Horizontal approach:** The vehicle approaches the target horizontally while keeping its current altitude.
-   Once the position of the target relative to the vehicle is below a threshold ([PLD_HACC_RAD](../advanced_config/parameter_reference.md#PLD_HACC_RAD)), the next phase is entered.
-   If the target is lost during this phase (not visible for longer than [PLD_BTOUT](../advanced_config/parameter_reference.md#PLD_BTOUT)), a search procedure is initiated (during a required precision landing) or the vehicle does a normal landing (during an opportunistic precision landing).
+  Once the position of the target relative to the vehicle is below a threshold ([PLD_HACC_RAD](../advanced_config/parameter_reference.md#PLD_HACC_RAD)), the next phase is entered.
+  If the target is lost during this phase (not visible for longer than [PLD_BTOUT](../advanced_config/parameter_reference.md#PLD_BTOUT)), a search procedure is initiated (during a required precision landing) or the vehicle does a normal landing (during an opportunistic precision landing).

 2. **Descent over target:** The vehicle descends, while remaining centered over the target.
-   If the target is lost during this phase (not visible for longer than `PLD_BTOUT`), a search procedure is initiated (during a required precision landing) or the vehicle does a normal landing (during an opportunistic precision landing).
+  If the target is lost during this phase (not visible for longer than `PLD_BTOUT`), a search procedure is initiated (during a required precision landing) or the vehicle does a normal landing (during an opportunistic precision landing).

 3. **Final approach:** When the vehicle is close to the ground (closer than [PLD_FAPPR_ALT](../advanced_config/parameter_reference.md#PLD_FAPPR_ALT)), it descends while remaining centered over the target.
-   If the target is lost during this phase, the descent is continued independent of the kind of precision landing.
+  If the target is lost during this phase, the descent is continued independent of the kind of precision landing.

 Search procedures are initiated in the first and second steps, and will run at most [PLD_MAX_SRCH](../advanced_config/parameter_reference.md#PLD_MAX_SRCH) times.
 Landing Phases Flow Diagram
@@ -54,19 +54,19 @@ If an external antenna is used always make sure that the antenna is connected to
 The default baud rate of the module is 19200. 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`.
+  The response should be: `OK`.

 2. Change the baud rate:

-   ```
-   AT+IPR=9
-   ```
+  ```
+  AT+IPR=9
+  ```

 3. Reconnect to the model now with a 115200/8-N-1 setting and save the configuration using:

-   ```
-   AT&W0
-   ```
+  ```
+  AT&W0
+  ```

 The module is now ready to be used with PX4.

@@ -101,55 +101,55 @@ Set up a delivery group for the message relay server and add the module to that
 The relay server should be run on either Ubuntu 16.04 or 14.04 OS.

 1. The server working as a message relay should have a static IP address and two publicly accessible, open, TCP ports:
-   - `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)
+  - `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)

 2. Install the required python modules:

-   ```sh
-   sudo pip install pika tornado future
-   ```
+  ```sh
+  sudo pip install pika tornado future
+  ```

 3. Install the `rabbitmq` message broker:

-   ```sh
-   sudo apt install rabbitmq-server
-   ```
+  ```sh
+  sudo apt install rabbitmq-server
+  ```

 4. Configure the broker's credentials (change PWD to your preferred password):

-   ```sh
-   sudo rabbitmqctl add_user iridiumsbd PWD
-   sudo rabbitmqctl set_permissions iridiumsbd ".*" ".*" ".*"
-   ```
+  ```sh
+  sudo rabbitmqctl add_user iridiumsbd PWD
+  sudo rabbitmqctl set_permissions iridiumsbd ".*" ".*" ".*"
+  ```

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

-   ```sh
-   git clone https://github.com/acfloria/SatComInfrastructure.git
-   ```
+  ```sh
+  git clone https://github.com/acfloria/SatComInfrastructure.git
+  ```

 6. Go to the location of the _SatComInfrastructure_ repo and configure the broker's queues:

-   ```sh
-   ./setup_rabbit.py localhost iridiumsbd PWD
-   ```
+  ```sh
+  ./setup_rabbit.py localhost iridiumsbd PWD
+  ```

 7. Verify the setup:

-   ```sh
-   sudo rabbitmqctl list_queues
-   ```
+  ```sh
+  sudo rabbitmqctl list_queues
+  ```

-   This should give you a list of 4 queues: `MO`, `MO_LOG`, `MT`, `MT_LOG`
+  This should give you a list of 4 queues: `MO`, `MO_LOG`, `MT`, `MT_LOG`

 8. Edit the `relay.cfg` configuration file to reflect your settings.

 9. Start the relay script in the detached mode:

-   ```sh
-   screen -dm bash -c 'cd SatcomInfrastructure/; ./relay.py
-   ```
+  ```sh
+  screen -dm bash -c 'cd SatcomInfrastructure/; ./relay.py
+  ```

 Other instructions include:

@@ -177,15 +177,15 @@ To setup the ground station:

 1. Install the required python modules:

-   ```sh
-   sudo pip install pika tornado future
-   ```
+  ```sh
+  sudo pip install pika tornado future
+  ```

 2. Clone the SatComInfrastructure repository:

-   ```sh
-   git clone https://github.com/acfloria/SatComInfrastructure.git
-   ```
+  ```sh
+  git clone https://github.com/acfloria/SatComInfrastructure.git
+  ```

 3. Edit the **udp2rabbit.cfg** configuration file to reflect your settings.

@@ -193,20 +193,20 @@ To setup the ground station:

 5. Add a UDP connection in QGC with the parameters:

-   - Listening port: 10000
-   - Target hosts: 127.0.0.1:10001
-   - High Latency: checked
+  - Listening port: 10000
+  - Target hosts: 127.0.0.1:10001
+  - High Latency: checked

-   ![High Latency Link Settings](../../assets/satcom/linksettings.png)
+  ![High Latency Link Settings](../../assets/satcom/linksettings.png)

 ### 验证

 1. Open a terminal on the ground station computer and change to the location of the _SatComInfrastructure_ repository.
-   Then start the **udp2rabbit.py** script:
+  Then start the **udp2rabbit.py** script:

-   ```sh
-   ./udp2rabbit.py
-   ```
+  ```sh
+  ./udp2rabbit.py
+  ```

 2. Send a test message from [RockBlock Account](https://rockblock.rock7.com/Operations) to the created delivery group in the `Test Delivery Groups` tab.

@@ -217,36 +217,36 @@ If in the terminal where the `udp2rabbit.py` script is running within a couple o
 ## Running the System

 1. Start _QGroundControl_.
-   Manually connect the high latency link first, then the regular telemetry link:
+  Manually connect the high latency link first, then the regular telemetry link:

-   ![Connect the High Latency link](../../assets/satcom/linkconnect.png)
+  ![Connect the High Latency link](../../assets/satcom/linkconnect.png)

 2. Open a terminal on the ground station computer and change to the location of the _SatComInfrastructure_ repository.
-   Then start the **udp2rabbit.py** script:
+  Then start the **udp2rabbit.py** script:

-   ```sh
-   ./udp2rabbit.py
-   ```
+  ```sh
+  ./udp2rabbit.py
+  ```

 3. Power up the vehicle.

 4. Wait until the first `HIGH_LATENCY2` message is received on QGC.
-   This can be checked either using the _MAVLink Inspector_ widget or on the toolbar with the _LinkIndicator_.
-   If more than one link is connected to the active vehicle the _LinkIndicator_ shows all of them by clicking on the name of the shown link:
+  This can be checked either using the _MAVLink Inspector_ widget or on the toolbar with the _LinkIndicator_.
+  If more than one link is connected to the active vehicle the _LinkIndicator_ shows all of them by clicking on the name of the shown link:

-   ![Link Toolbar](../../assets/satcom/linkindicator.jpg)
+  ![Link Toolbar](../../assets/satcom/linkindicator.jpg)

-   The link indicator always shows the name of the priority link.
+  The link indicator always shows the name of the priority link.

 5. The satellite communication system is now ready to use.
-   The priority link, which is the link over which commands are send, is determined the following ways:
-   - If no link is commanded by the user a regular radio telemetry link is preferred over the high latency link.
-   - The autopilot and QGC will fall back from the regular radio telemetry to the high latency link if the vehicle is armed and the radio telemetry link is lost (no MAVLink messages received for a certain time).
-     As soon as the radio telemetry link is regained QGC and the autopilot will switch back to it.
-   - The user can select a priority link over the `LinkIndicator` on the toolbar.
-     This link is kept as the priority link as long as this link is active or the user selects another priority link:
+  The priority link, which is the link over which commands are send, is determined the following ways:
+  - If no link is commanded by the user a regular radio telemetry link is preferred over the high latency link.
+  - The autopilot and QGC will fall back from the regular radio telemetry to the high latency link if the vehicle is armed and the radio telemetry link is lost (no MAVLink messages received for a certain time).
+    As soon as the radio telemetry link is regained QGC and the autopilot will switch back to it.
+  - The user can select a priority link over the `LinkIndicator` on the toolbar.
+    This link is kept as the priority link as long as this link is active or the user selects another priority link:

-     ![Prioritylink Selection](../../assets/satcom/linkselection.png)
+    ![Prioritylink Selection](../../assets/satcom/linkselection.png)

 ## 故障处理

@@ -188,16 +188,16 @@ The following sections are out of date and need retesting.

 1. On the PX4 console:

-   ```shell
-   camera_trigger test
-   ```
+  ```shell
+  camera_trigger test
+  ```

 2. From _QGroundControl_:

-   Click on **Trigger Camera** in the main instrument panel.
-   These shots are not logged or counted for geotagging.
+  Click on **Trigger Camera** in the main instrument panel.
+  These shots are not logged or counted for geotagging.

-   ![QGC Test Camera](../../assets/camera/qgc_test_camera.png)
+  ![QGC Test Camera](../../assets/camera/qgc_test_camera.png)

 ## Sony QX-1 example (Photogrammetry)

@@ -86,7 +86,7 @@ PX4 重新使用与自驾仪相同的系统 ID 和组件 ID [MAV_COMP_ID_ALL](ht

 1. 修改一个未使用的 `MAV_n_CONFIG` 参数，例如[MAV_2_CONFIG](../advanced_config/parameter_reference.md#MAV_2_CONFIG)，使其分配给相机连接的端口。
 2. 将对应的 [MAV_2_MODE](../advanced_config/parameter_reference.md#MAV_2_MODE) 设置为 `2` (板载)。
-   这确保正确的 MAVLink 消息集被发出和转发。
+  这确保正确的 MAVLink 消息集被发出和转发。
 3. 您可能需要设置一些其他参数，取决于您的连接 - 例如波特率。

 然后按照其用户指南中的建议连接和配置相机。
@@ -112,7 +112,7 @@ The linked document explains how, but in summary:

 1. Modify an unused `MAV_n_CONFIG` parameter, such as [MAV_2_CONFIG](../advanced_config/parameter_reference.md#MAV_2_CONFIG), so that it is assigned to port to which you connected the camera/companion computer.
 2. 将对应的 [MAV_2_MODE](../advanced_config/parameter_reference.md#MAV_2_MODE) 设置为 `2` (板载)。
-   This ensures that the right set of MAVLink messages are emitted for a companion computer (or camera).
+  This ensures that the right set of MAVLink messages are emitted for a companion computer (or camera).
 3. Set [MAV_2_FORWARD](../advanced_config/parameter_reference.md#MAV_2_FORWARD) to enable forwarding of communications from the port to other ports, such as the one that is connected to the ground station.
 4. You may need to set some of the other parameters, depending on your connection type and any particular requirements of the camera on the expected baud rate, and so on.

@@ -892,95 +892,95 @@ These instructions approximately mirror the [PX4 Ethernet setup](../advanced_con
 Next we modify the Jetson IP address to be on the same network as the Pixhawk:

 1. Make sure `netplan` is installed.
-   You can check by running the following command:
+  You can check by running the following command:

-   ```sh
-   netplan -h
-   ```
+  ```sh
+  netplan -h
+  ```

-   If not, install it using the commands:
+  If not, install it using the commands:

-   ```sh
-   sudo apt update
-   sudo apt install netplan.io
-   ```
+  ```sh
+  sudo apt update
+  sudo apt install netplan.io
+  ```

 2. Check `system_networkd` is running:

-   ```sh
-   sudo systemctl status systemd-networkd
-   ```
+  ```sh
+  sudo systemctl status systemd-networkd
+  ```

-   You should see output like below if it is active:
+  You should see output like below if it is active:

-   ```sh
-   ● systemd-networkd.service - Network Configuration
-        Loaded: loaded (/lib/systemd/system/systemd-networkd.service; enabled; vendor preset: enabled)
-        Active: active (running) since Wed 2024-09-11 23:32:44 EDT; 23min ago
-   TriggeredBy: ● systemd-networkd.socket
-          Docs: man:systemd-networkd.service(8)
-      Main PID: 2452 (systemd-network)
-        Status: "Processing requests..."
-         Tasks: 1 (limit: 18457)
-        Memory: 2.7M
-           CPU: 157ms
-        CGroup: /system.slice/systemd-networkd.service
-                └─2452 /lib/systemd/systemd-networkd
+  ```sh
+  ● systemd-networkd.service - Network Configuration
+       Loaded: loaded (/lib/systemd/system/systemd-networkd.service; enabled; vendor preset: enabled)
+       Active: active (running) since Wed 2024-09-11 23:32:44 EDT; 23min ago
+  TriggeredBy: ● systemd-networkd.socket
+         Docs: man:systemd-networkd.service(8)
+     Main PID: 2452 (systemd-network)
+       Status: "Processing requests..."
+        Tasks: 1 (limit: 18457)
+       Memory: 2.7M
+          CPU: 157ms
+       CGroup: /system.slice/systemd-networkd.service
+               └─2452 /lib/systemd/systemd-networkd

-   Sep 11 23:32:44 ubuntu systemd-networkd[2452]: lo: Gained carrier
-   Sep 11 23:32:44 ubuntu systemd-networkd[2452]: wlan0: Gained IPv6LL
-   Sep 11 23:32:44 ubuntu systemd-networkd[2452]: eth0: Gained IPv6LL
-   Sep 11 23:32:44 ubuntu systemd-networkd[2452]: Enumeration completed
-   Sep 11 23:32:44 ubuntu systemd[1]: Started Network Configuration.
-   Sep 11 23:32:44 ubuntu systemd-networkd[2452]: wlan0: Connected WiFi access point: Verizon_7YLWWD (78:67:0e:ea:a6:0>
-   Sep 11 23:34:16 ubuntu systemd-networkd[2452]: eth0: Re-configuring with /run/systemd/network/10-netplan-eth0.netwo>
-   Sep 11 23:34:16 ubuntu systemd-networkd[2452]: eth0: DHCPv6 lease lost
-   Sep 11 23:34:16 ubuntu systemd-networkd[2452]: eth0: Re-configuring with /run/systemd/network/10-netplan-eth0.netwo>
-   Sep 11 23:34:16 ubuntu systemd-networkd[2452]: eth0: DHCPv6 lease lost
-   ```
+  Sep 11 23:32:44 ubuntu systemd-networkd[2452]: lo: Gained carrier
+  Sep 11 23:32:44 ubuntu systemd-networkd[2452]: wlan0: Gained IPv6LL
+  Sep 11 23:32:44 ubuntu systemd-networkd[2452]: eth0: Gained IPv6LL
+  Sep 11 23:32:44 ubuntu systemd-networkd[2452]: Enumeration completed
+  Sep 11 23:32:44 ubuntu systemd[1]: Started Network Configuration.
+  Sep 11 23:32:44 ubuntu systemd-networkd[2452]: wlan0: Connected WiFi access point: Verizon_7YLWWD (78:67:0e:ea:a6:0>
+  Sep 11 23:34:16 ubuntu systemd-networkd[2452]: eth0: Re-configuring with /run/systemd/network/10-netplan-eth0.netwo>
+  Sep 11 23:34:16 ubuntu systemd-networkd[2452]: eth0: DHCPv6 lease lost
+  Sep 11 23:34:16 ubuntu systemd-networkd[2452]: eth0: Re-configuring with /run/systemd/network/10-netplan-eth0.netwo>
+  Sep 11 23:34:16 ubuntu systemd-networkd[2452]: eth0: DHCPv6 lease lost
+  ```

-   If `system_networkd` is not running, it can be enabled using:
+  If `system_networkd` is not running, it can be enabled using:

-   ```sh
-   sudo systemctl start systemd-networkd
-   sudo systemctl enable systemd-networkd
-   ```
+  ```sh
+  sudo systemctl start systemd-networkd
+  sudo systemctl enable systemd-networkd
+  ```

 3. Open the Netplan configuration file (so we can set up a static IP for the Jetson).

-   The Netplan configuration file is usually located in the `/etc/netplan/` directory and named something like `01-netcfg.yaml` (the name can vary).
-   Below we use `nano` to open the file, but you can use your preferred text editor:
+  The Netplan configuration file is usually located in the `/etc/netplan/` directory and named something like `01-netcfg.yaml` (the name can vary).
+  Below we use `nano` to open the file, but you can use your preferred text editor:

-   ```sh
-   sudo nano /etc/netplan/01-netcfg.yaml
-   ```
+  ```sh
+  sudo nano /etc/netplan/01-netcfg.yaml
+  ```

 4. Modify the yaml configuration, by overwriting the contents with the following information and then saving:

-   ```sh
-   network:
-     version: 2
-     renderer: networkd
-     ethernets:
-       eth0:
-         dhcp4: no
-         addresses:
-           - 10.41.10.1/24
-         routes:
-           - to: 0.0.0.0/0
-             via: 10.41.10.254
-         nameservers:
-           addresses:
-             - 10.41.10.254
-   ```
+  ```sh
+  network:
+    version: 2
+    renderer: networkd
+    ethernets:
+      eth0:
+        dhcp4: no
+        addresses:
+          - 10.41.10.1/24
+        routes:
+          - to: 0.0.0.0/0
+            via: 10.41.10.254
+        nameservers:
+          addresses:
+            - 10.41.10.254
+  ```

-   This gives the Jetson a static IP address on the Ethernet interface of `10.41.10.1` .
+  This gives the Jetson a static IP address on the Ethernet interface of `10.41.10.1` .

 5. Apply the changes using the following command:

-   ```sh
-   sudo netplan apply
-   ```
+  ```sh
+  sudo netplan apply
+  ```

 The Pixhawk Ethernet address is set to `10.41.10.2` by default, which is on the same subnet.
 We can test our changes above by pinging the Pixhawk from within the Jetson terminal:
@@ -69,15 +69,15 @@ To install the RPi CM4 companion computer:

 1. Disconnect the `FAN` wiring.

-   ![HB_Pixhawk_CM4_Fan](../../assets/companion_computer/holybro_pixhawk_rpi_cm4_baseboard/baseboard_fan.jpg)
+  ![HB_Pixhawk_CM4_Fan](../../assets/companion_computer/holybro_pixhawk_rpi_cm4_baseboard/baseboard_fan.jpg)

 2. Remove these 4 screws on the back side of the baseboard.

-   ![Bottom of the board showing screws in corners holding the cover](../../assets/companion_computer/holybro_pixhawk_rpi_cm4_baseboard/baseboard_bottom.jpg)
+  ![Bottom of the board showing screws in corners holding the cover](../../assets/companion_computer/holybro_pixhawk_rpi_cm4_baseboard/baseboard_bottom.jpg)

 3. Remove the baseboard case, install the CM4, and use the 4 screws to attach it (as shown):

-   ![HB_Pixhawk_CM4_Screws](../../assets/companion_computer/holybro_pixhawk_rpi_cm4_baseboard/baseboard_screws.jpg)
+  ![HB_Pixhawk_CM4_Screws](../../assets/companion_computer/holybro_pixhawk_rpi_cm4_baseboard/baseboard_screws.jpg)

 4. Reattach the cover.

@@ -115,29 +115,29 @@ To flash a RPi image onto EMMC.

 1. Switch Dip-Switch to `RPI`.

-   ![](../../assets/companion_computer/holybro_pixhawk_rpi_cm4_baseboard/cm4_dip_switch.png)
+  ![](../../assets/companion_computer/holybro_pixhawk_rpi_cm4_baseboard/cm4_dip_switch.png)

 2. Connect computer to USB-C _CM4 Slave_ port used to power & flash the RPi.

-   ![](../../assets/companion_computer/holybro_pixhawk_rpi_cm4_baseboard/cm4_usbc_slave_port.png)
+  ![](../../assets/companion_computer/holybro_pixhawk_rpi_cm4_baseboard/cm4_usbc_slave_port.png)

 3. Get `usbboot`, build it and run it.

-   ```sh
-   sudo apt install libusb-1.0-0-dev
-   git clone --depth=1 https://github.com/raspberrypi/usbboot
-   cd usbboot
-   make
-   sudo ./rpiboot
-   ```
+  ```sh
+  sudo apt install libusb-1.0-0-dev
+  git clone --depth=1 https://github.com/raspberrypi/usbboot
+  cd usbboot
+  make
+  sudo ./rpiboot
+  ```

 4. You can now install your preferred Linux distro using The `rpi-imager`.
-   Make sure you add WiFi and SSH settings (hidden behind the gear/advanced symbol).
+  Make sure you add WiFi and SSH settings (hidden behind the gear/advanced symbol).

-   ```sh
-   sudo apt install rpi-imager
-   rpi-imager
-   ```
+  ```sh
+  sudo apt install rpi-imager
+  rpi-imager
+  ```

 5. Once done, unplugging USB-C CM4 Slave (this will unmount the volumes, and power off the CM4).

@@ -146,8 +146,8 @@ To flash a RPi image onto EMMC.
 7. Power on CM4 by providing power to USB-C CM4 Slave port.

 8. To check if it's booting/working you can either:
-   - Check there is HDMI output
-   - Connect via SSH (if set up in rpi-imager, and WiFi is available).
+  - Check there is HDMI output
+  - Connect via SSH (if set up in rpi-imager, and WiFi is available).

 ## Configure PX4 to CM4 MAVLink Serial Connection

@@ -167,13 +167,13 @@ To enable this MAVLink instance on the FC:

 1. Connect a computer running QGroundControl via USB Type C port on the baseboard labeled `FC`

-   ![Image of baseboard showing FC USB-C connector](../../assets/companion_computer/holybro_pixhawk_rpi_cm4_baseboard/baseboard_fc_usb_c.jpg)
+  ![Image of baseboard showing FC USB-C connector](../../assets/companion_computer/holybro_pixhawk_rpi_cm4_baseboard/baseboard_fc_usb_c.jpg)

 2. [Set the parameters](../advanced_config/parameters.md):

-   - `MAV_1_CONFIG` = `102`
-   - `MAV_1_MODE = 2`
-   - `SER_TEL2_BAUD` = `921600`
+  - `MAV_1_CONFIG` = `102`
+  - `MAV_1_MODE = 2`
+  - `SER_TEL2_BAUD` = `921600`

 3. Reboot the FC.

@@ -185,13 +185,13 @@ On the RPi side:

 2. Enable the RPi serial port by running `RPi-config`

-   - Go to `3 Interface Options`, then `I6 Serial Port`.
-     Then choose:
-     - `login shell accessible over serial → No`
-     - `serial port hardware enabled` → `Yes`
+  - Go to `3 Interface Options`, then `I6 Serial Port`.
+    Then choose:
+    - `login shell accessible over serial → No`
+    - `serial port hardware enabled` → `Yes`

 3. Finish, and reboot.
-   This will add `enable_uart=1` to `/boot/config.txt`, and remove `console=serial0,115200` from `/boot/cmdline.txt`.
+  This will add `enable_uart=1` to `/boot/config.txt`, and remove `console=serial0,115200` from `/boot/cmdline.txt`.

 4. Now MAVLink traffic should be available on `/dev/serial0` at a baudrate of 921600.

@@ -201,9 +201,9 @@ On the RPi side:

 2. Install MAVSDK Python:

-   ```sh
-   python3 -m pip install mavsdk
-   ```
+  ```sh
+  python3 -m pip install mavsdk
+  ```

 3. Copy an example from the [MAVSDK-Python examples](https://github.com/mavlink/MAVSDK-Python/tree/main/examples).

@@ -132,50 +132,50 @@ Enter the following commands (in sequence) a terminal to configure Ubuntu for RP

 1. Install `raspi-config`:

-   ```sh
-   sudo apt update
-   sudo apt upgrade
-   sudo apt-get install raspi-config
-   ```
+  ```sh
+  sudo apt update
+  sudo apt upgrade
+  sudo apt-get install raspi-config
+  ```

 2. Open `raspi-config`:

-   ```sh
-   sudo raspi-config
-   ```
+  ```sh
+  sudo raspi-config
+  ```

 3. Go to the **Interface Option** and then click **Serial Port**.

-   - Select **No** to disable serial login shell.
-   - Select **Yes** to enable the serial interface.
-   - Click **Finish** and restart the RPi.
+  - Select **No** to disable serial login shell.
+  - Select **Yes** to enable the serial interface.
+  - Click **Finish** and restart the RPi.

 4. Open the firmware boot configuration file in the `nano` editor on RPi:

-   ```sh
-   sudo nano /boot/firmware/config.txt
-   ```
+  ```sh
+  sudo nano /boot/firmware/config.txt
+  ```

 5. Append the following text to the end of the file (after the last line):

-   ```sh
-   enable_uart=1
-   dtoverlay=disable-bt
-   ```
+  ```sh
+  enable_uart=1
+  dtoverlay=disable-bt
+  ```

 6. Then save the file and restart the RPi.

-   - In `nano` you can save the file using the following sequence of keyboard shortcuts: **ctrl+x**, **ctrl+y**, **Enter**.
+  - In `nano` you can save the file using the following sequence of keyboard shortcuts: **ctrl+x**, **ctrl+y**, **Enter**.

 7. Check that the serial port is available.
-   In this case we use the following terminal commands to list the serial devices:
+  In this case we use the following terminal commands to list the serial devices:

-   ```sh
-   cd /
-   ls /dev/ttyAMA0
-   ```
+  ```sh
+  cd /
+  ls /dev/ttyAMA0
+  ```

-   The result of the command should include the RX/TX connection `/dev/ttyAMA0` (note that this serial port is also available as `/dev/serial0`).
+  The result of the command should include the RX/TX connection `/dev/ttyAMA0` (note that this serial port is also available as `/dev/serial0`).

 The RPi is now setup to work with RPi and communicate using the `/dev/ttyAMA0` serial port.
 Note that we'll install more software in the following sections to work with MAVLink and ROS 2.
@@ -199,39 +199,39 @@ First check the Pixhawk `TELEM 2` configuration:
 2. Open QGroundControl (the vehicle should connect).
 3. [Check/change the following parameters](../advanced_config/parameters.md) in QGroundControl:

-   ```ini
-   MAV_1_CONFIG = TELEM2
-   UXRCE_DDS_CFG = 0 (Disabled)
-   SER_TEL2_BAUD = 57600
-   ```
+  ```ini
+  MAV_1_CONFIG = TELEM2
+  UXRCE_DDS_CFG = 0 (Disabled)
+  SER_TEL2_BAUD = 57600
+  ```

-   Note that the parameters may already be set appropriately.
-   For information about how serial ports and MAVLink configuration work see [Serial Port Configuration](../peripherals/serial_configuration.md) and [MAVLink Peripherals](../peripherals/mavlink_peripherals.md).
+  Note that the parameters may already be set appropriately.
+  For information about how serial ports and MAVLink configuration work see [Serial Port Configuration](../peripherals/serial_configuration.md) and [MAVLink Peripherals](../peripherals/mavlink_peripherals.md).

 Then install setup MAVProxy on the RPi using the following terminal commands:

 1. Install MAVProxy:

-   ```sh
-   sudo apt install python3-pip
-   sudo pip3 install mavproxy
-   sudo apt remove modemmanager
-   ```
+  ```sh
+  sudo apt install python3-pip
+  sudo pip3 install mavproxy
+  sudo apt remove modemmanager
+  ```

 2. Run MAVProxy, setting the port to connect to `/dev/ttyAMA0` and the baud rate to match the PX4:

-   ```sh
-   sudo mavproxy.py --master=/dev/serial0 --baudrate 57600
-   ```
+  ```sh
+  sudo mavproxy.py --master=/dev/serial0 --baudrate 57600
+  ```

-   ::: info
-   Note that above we used `/dev/serial0`, but we could equally well have used `/dev/ttyAMA0`.
-   If we were connecting via USB then we would instead set the port as `/dev/ttyACM0`:
+  ::: info
+  Note that above we used `/dev/serial0`, but we could equally well have used `/dev/ttyAMA0`.
+  If we were connecting via USB then we would instead set the port as `/dev/ttyACM0`:

-   ```sh
-   sudo chmod a+rw /dev/ttyACM0
-   sudo mavproxy.py --master=/dev/ttyACM0 --baudrate 57600
-   ```
+  ```sh
+  sudo chmod a+rw /dev/ttyACM0
+  sudo mavproxy.py --master=/dev/ttyACM0 --baudrate 57600
+  ```


 :::
@@ -259,27 +259,27 @@ The configuration steps are:

 2. [Check/change the following parameters](../advanced_config/parameters.md) in QGroundControl:

-   ```ini
-   MAV_1_CONFIG = 0 (Disabled)
-   UXRCE_DDS_CFG = 102 (TELEM2)
-   SER_TEL2_BAUD = 921600
-   ```
+  ```ini
+  MAV_1_CONFIG = 0 (Disabled)
+  UXRCE_DDS_CFG = 102 (TELEM2)
+  SER_TEL2_BAUD = 921600
+  ```

-   [MAV_1_CONFIG=0](../advanced_config/parameter_reference.md#MAV_1_CONFIG) and [UXRCE_DDS_CFG=102](../advanced_config/parameter_reference.md#UXRCE_DDS_CFG) disable MAVLink on TELEM2 and enable the uXRCE-DDS client on TELEM2, respectively.
-   The `SER_TEL2_BAUD` rate sets the comms link data rate.\
-   You could similarly configure a connection to `TELEM1` using either `MAV_1_CONFIG` or `MAV_0_CONFIG`.
+  [MAV_1_CONFIG=0](../advanced_config/parameter_reference.md#MAV_1_CONFIG) and [UXRCE_DDS_CFG=102](../advanced_config/parameter_reference.md#UXRCE_DDS_CFG) disable MAVLink on TELEM2 and enable the uXRCE-DDS client on TELEM2, respectively.
+  The `SER_TEL2_BAUD` rate sets the comms link data rate.\
+  You could similarly configure a connection to `TELEM1` using either `MAV_1_CONFIG` or `MAV_0_CONFIG`.

-   ::: info
-   You will need to reboot the flight controller to apply any changes to these parameters.
+  ::: info
+  You will need to reboot the flight controller to apply any changes to these parameters.

 :::

 3. Check that the [uxrce_dds_client](../modules/modules_system.md#uxrce-dds-client) module is now running.
-   YOu can do this by running the following command in the QGroundControl [MAVLink Console](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/analyze_view/mavlink_console.html):
+  YOu can do this by running the following command in the QGroundControl [MAVLink Console](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/analyze_view/mavlink_console.html):

-   ```sh
-   uxrce_dds_client status
-   ```
+  ```sh
+  uxrce_dds_client status
+  ```

 :::info
 If the client module is not running you can start it manually in the MAVLink console:
@@ -300,32 +300,32 @@ The steps to setup ROS 2 and the Micro XRCE-DDS Agent on the RPi are:

 2. Install the git using the RPi terminal:

-   ```sh
-   sudo apt install git
-   ```
+  ```sh
+  sudo apt install git
+  ```

 3. Install the uXRCE_DDS agent:

-   ```sh
-   git clone https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
-   cd Micro-XRCE-DDS-Agent
-   mkdir build
-   cd build
-   cmake ..
-   make
-   sudo make install
-   sudo ldconfig /usr/local/lib/
-   ```
+  ```sh
+  git clone https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
+  cd Micro-XRCE-DDS-Agent
+  mkdir build
+  cd build
+  cmake ..
+  make
+  sudo make install
+  sudo ldconfig /usr/local/lib/
+  ```

-   See [uXRCE-DDS > Micro XRCE-DDS Agent Installation](../middleware/uxrce_dds.md#micro-xrce-dds-agent-installation) for alternative ways of installing the agent.
+  See [uXRCE-DDS > Micro XRCE-DDS Agent Installation](../middleware/uxrce_dds.md#micro-xrce-dds-agent-installation) for alternative ways of installing the agent.

 4. Start the agent in the RPi terminal:

-   ```sh
-   sudo MicroXRCEAgent serial --dev /dev/serial0 -b 921600
-   ```
+  ```sh
+  sudo MicroXRCEAgent serial --dev /dev/serial0 -b 921600
+  ```

-   Note how we use the serial port set up earlier and the same baud rate as for PX4.
+  Note how we use the serial port set up earlier and the same baud rate as for PX4.

 Now that both the agent and client are running, you should see activity on both the MAVLink console and the RPi terminal.
 You can view the available topics using the following command on the RPi:
@@ -80,18 +80,18 @@ If you use a special "very" high power cards from Taobao/Aliexpress then you MUS
 5. Setup camera pipeline. Open `/etc/systemd/system/fpv-camera.service` and uncomment pipeline according to your camera (PI camera or Logitech camera)
 6. Open `/etc/wifibroadcast.cfg` and configure WiFi channel according to your antenna setup (or use default #165 for 5.8GHz)
 7. Configure PX4 to output telemetry stream at speed 1500 Kbps (other UART speeds doesn't match well to RPi frequency dividers).
-   Connect Pixhawk UART to Raspberry Pi UART.
-   In `/etc/wifibroadcast.cfg` uncomment `peer = 'serial:ttyS0:1500000'` in `[drone_mavlink]` section.
+  Connect Pixhawk UART to Raspberry Pi UART.
+  In `/etc/wifibroadcast.cfg` uncomment `peer = 'serial:ttyS0:1500000'` in `[drone_mavlink]` section.

 ### Using a Linux Laptop as GCS (Harder than using a RPi)

 1. On **ground** Linux development computer:

-   ```sh
-   sudo apt install libpcap-dev libsodium-dev python3-all python3-twisted
-   git clone -b stable https://github.com/svpcom/wfb-ng.git
-   cd wfb-ng && make deb && sudo apt install ./deb_dist/wfb-ng*.deb
-   ```
+  ```sh
+  sudo apt install libpcap-dev libsodium-dev python3-all python3-twisted
+  git clone -b stable https://github.com/svpcom/wfb-ng.git
+  cd wfb-ng && make deb && sudo apt install ./deb_dist/wfb-ng*.deb
+  ```

 2. Follow the [Setup HOWTO](https://github.com/svpcom/wfb-ng/wiki/Setup-HOWTO) to complete installation

@@ -22,7 +22,7 @@ It is pre-installed with PX4 v1.15.4 at time of writing (a more recent version m
   - Compatibility with many different components, providing platform for loading other user sensors, preparing for functional model development.
   - Abundant power supply making it perfect for installing additional sensors and onboard computers (including 5 external output voltages, 3 channels of 5V, 2 channels of 12V).
   - Pc-SDK support.
-     This is a PC-based Python SDK Library based on MAVSDK that significantly simplifies UAV development compared to other approaches, such as using ROS or using C++. All you need is a basic understanding of Python programming and some simple coordinate system principles!
+      This is a PC-based Python SDK Library based on MAVSDK that significantly simplifies UAV development compared to other approaches, such as using ROS or using C++. All you need is a basic understanding of Python programming and some simple coordinate system principles!
   - The [documentation](https://docs.amovlab.com/f450-v6c-wiki/#/en/) shows many of the options.
 7. Quasi-smart battery. The battery has a hard housing design that makes easy to install and remove.
   It provides accurate power estimates, but does not have some more advanced "smart battery" features.
@@ -51,54 +51,54 @@ 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/PX4-Bootloader.git
-   ```
+  ```sh
+  git clone https://github.com/PX4/PX4-Bootloader.git
+  ```

 2. Navigate into the top directory of the source code and compile it using:

-   ```sh
-   make crazyflie_bl
-   ```
+  ```sh
+  make crazyflie_bl
+  ```

 3. Put the Crazyflie 2.0 into DFU mode by following these steps:
-   - Ensure it is initially unpowered.
-   - Hold down the reset button (see figure below...).
-     ![Crazyflie2 Reset Button](../../assets/flight_controller/crazyflie/crazyflie_reset_button.jpg)
-   - Plug into computer's USB port.
-   - After a second, the blue LED should start blinking and after 5 seconds should start blinking faster.
-   - Release button.
+  - Ensure it is initially unpowered.
+  - Hold down the reset button (see figure below...).
+    ![Crazyflie2 Reset Button](../../assets/flight_controller/crazyflie/crazyflie_reset_button.jpg)
+  - Plug into computer's USB port.
+  - After a second, the blue LED should start blinking and after 5 seconds should start blinking faster.
+  - Release button.

 4. Install _dfu-util_:

-   ```sh
-   sudo apt-get update
-   sudo apt-get install dfu-util
-   ```
+  ```sh
+  sudo apt-get update
+  sudo apt-get install dfu-util
+  ```

 5. Flash bootloader using _dfu-util_ and unplug Crazyflie 2.0 when done:

-   ```sh
-   sudo dfu-util -d 0483:df11 -a 0 -s 0x08000000 -D ./build/crazyflie_bl/crazyflie_bl.bin
-   ```
+  ```sh
+  sudo dfu-util -d 0483:df11 -a 0 -s 0x08000000 -D ./build/crazyflie_bl/crazyflie_bl.bin
+  ```

-   When powering on the Crazyflie 2.0 the yellow LED should blink.
+  When powering on the Crazyflie 2.0 the yellow LED should blink.

 6. Download the source code of the PX4 autopilot:

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

 7. Navigate into the top directory of the source code and compile it using:

-   ```sh
-   make bitcraze_crazyflie_default upload
-   ```
+  ```sh
+  make bitcraze_crazyflie_default upload
+  ```

 8. When prompted to plug in device, plug in Crazyflie 2.0.
-   The yellow LED should start blinking indicating bootloader mode.
-   Then the red LED should turn on indicating that the flashing process has started.
+  The yellow LED should start blinking indicating bootloader mode.
+  Then the red LED should turn on indicating that the flashing process has started.

 9. Wait for completion.

@@ -64,56 +64,56 @@ 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/PX4-Bootloader.git --recurse-submodules
-   ```
+  ```sh
+  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:

-   ```sh
-   make crazyflie21_bl
-   ```
+  ```sh
+  make crazyflie21_bl
+  ```

 3. Put the Crazyflie 2.1 into DFU mode by following these steps:
-   - Ensure it is initially unpowered.
-   - Ensure battery is disconnected.
-   - Hold down the reset button (see figure below...).
-     ![Crazyflie2 Reset Button](../../assets/flight_controller/crazyflie/crazyflie_reset_button.jpg)
-   - Plug into computer's USB port.
-   - After a second, the blue LED should start blinking and after 5 seconds should start blinking faster.
-   - Release button.
+  - Ensure it is initially unpowered.
+  - Ensure battery is disconnected.
+  - Hold down the reset button (see figure below...).
+    ![Crazyflie2 Reset Button](../../assets/flight_controller/crazyflie/crazyflie_reset_button.jpg)
+  - Plug into computer's USB port.
+  - After a second, the blue LED should start blinking and after 5 seconds should start blinking faster.
+  - Release button.

 4. Install _dfu-util_:

-   ```sh
-   sudo apt-get update
-   sudo apt-get install dfu-util
-   ```
+  ```sh
+  sudo apt-get update
+  sudo apt-get install dfu-util
+  ```

 5. Flash bootloader using _dfu-util_ and unplug Crazyflie 2.1 when done:

-   ```sh
-   sudo dfu-util -d 0483:df11 -a 0 -s 0x08000000 -D ./build/crazyflie21_bl/crazyflie21_bl.bin
-   ```
+  ```sh
+  sudo dfu-util -d 0483:df11 -a 0 -s 0x08000000 -D ./build/crazyflie21_bl/crazyflie21_bl.bin
+  ```

-   When powering on the Crazyflie 2.1 the yellow LED should blink.
+  When powering on the Crazyflie 2.1 the yellow LED should blink.

 6. Download the source code of the PX4 autopilot:

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

 7. Navigate into the top directory of the source code and compile it using:

-   ```sh
-   cd PX4-Autopilot/
-   make bitcraze_crazyflie21_default upload
-   ```
+  ```sh
+  cd PX4-Autopilot/
+  make bitcraze_crazyflie21_default upload
+  ```

 8. When prompted to plug in device, plug in Crazyflie 2.1.
-   The yellow LED should start blinking indicating bootloader mode.
-   Then the red LED should turn on indicating that the flashing process has started.
+  The yellow LED should start blinking indicating bootloader mode.
+  Then the red LED should turn on indicating that the flashing process has started.

 9. Wait for completion.

@@ -124,20 +124,20 @@ After setting up the PX4 development environment, follow these steps to install
 1. Download the latest [Crazyflie 2.1 bootloader](https://github.com/bitcraze/crazyflie2-stm-bootloader/releases)

 2. Put the Crazyflie 2.1 into DFU mode by following these steps:
-   - Ensure it is initially unpowered.
-   - Ensure battery is disconnected.
-   - Hold down the reset button.
-   - Plug into computer's USB port.
-   - After a second, the blue LED should start blinking and after 5 seconds should start blinking faster.
-   - Release button.
+  - Ensure it is initially unpowered.
+  - Ensure battery is disconnected.
+  - Hold down the reset button.
+  - Plug into computer's USB port.
+  - After a second, the blue LED should start blinking and after 5 seconds should start blinking faster.
+  - Release button.

 3. Flash bootloader using _dfu-util_ and unplug Crazyflie 2.1 when done:

-   ```sh
-   sudo dfu-util -d 0483:df11 -a 0 -s 0x08000000 -D cf2loader-1.0.bin
-   ```
+  ```sh
+  sudo dfu-util -d 0483:df11 -a 0 -s 0x08000000 -D cf2loader-1.0.bin
+  ```

-   When powering on the Crazyflie 2.1 the yellow LED should blink.
+  When powering on the Crazyflie 2.1 the yellow LED should blink.

 4. Install the latest Bitcraze Crazyflie 2.1 Firmware using [this](https://www.bitcraze.io/documentation/tutorials/getting-started-with-crazyflie-2-x/#update-fw) tutorial.

--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
chfriedrich98	79043dd5c7	boat: add module for rudder-steered boats	2025-09-05 13:48:57 +02:00
chfriedrich98	9c38602c12	sv: rename rover parameters to surface vehicle	2025-09-05 13:48:17 +02:00
chfriedrich98	fb05dedb7b	sv: extend rover control lib to surface vehicles	2025-09-05 13:28:30 +02:00
chfriedrich98	ae65b33ba0	rover: apply sp renaming to rover modules	2025-09-05 08:41:59 +02:00
chfriedrich98	7670989769	sv: rename rover sp to surface vehicle	2025-09-05 08:27:58 +02:00