Mavlink: Stream the received auxiliary global position from dds over Mavlink

Mavlink: DRAFT update to mavlink branch with GLOBAL_POSITION definition
Needs to be changed back if mavlink gets merged
2026-06-24 14:10:34 +08:00 · 2025-07-16 15:51:24 +02:00 · 2025-07-16 15:35:24 +02:00
382 changed files with 1598 additions and 7086 deletions
@@ -1,6 +1,6 @@
 [submodule "src/modules/mavlink/mavlink"]
 	path = src/modules/mavlink/mavlink
-	url = https://github.com/mavlink/mavlink.git
+	url = https://github.com/Auterion/mavlink.git
 	branch = master
 [submodule "Tools/simulation/jmavsim/jMAVSim"]
 	path = Tools/simulation/jmavsim/jMAVSim
@@ -206,8 +206,8 @@ source "src/examples/Kconfig"
 endmenu

 menu "platforms"
-depends on PLATFORM_QURT || PLATFORM_POSIX || PLATFORM_NUTTX
-source "platforms/Kconfig"
+depends on PLATFORM_QURT || PLATFORM_POSIX
+source "platforms/common/Kconfig"
 endmenu

 source "src/lib/*/Kconfig"
@@ -1,145 +0,0 @@
-#!/bin/sh
-#
-# @name 3DoF Spacecraft Model
-#
-# @type 2D Freeflyer with 8 thrusters - Planar motion
-#
-# @maintainer Pedro Roque <padr@kth.se>
-#
-
-. ${R}etc/init.d/rc.sc_defaults
-
-PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
-PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=atmos}
-
-param set-default SIM_GZ_EN 1
-
-param set-default SENS_EN_MAGSIM 1
-param set-default COM_ARM_CHK_ESCS 0  # We don't have ESCs
-param set-default FD_ESCS_EN 0
-
-param set-default CA_AIRFRAME 14
-param set-default MAV_TYPE 45
-
-param set-default CA_ROTOR_COUNT 8
-param set-default CA_R_REV 0
-
-# Auto to be provided by Custom Airframe
-param set-default CA_METHOD 0
-
-# Set proper failsafes
-param set-default COM_ACT_FAIL_ACT 0
-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
-param set-default FD_FAIL_R 0
-
-param set-default CA_ROTOR0_PX -0.12
-param set-default CA_ROTOR0_PY -0.12
-param set-default CA_ROTOR0_PZ 0.0
-param set-default CA_ROTOR0_CT 1.4
-param set-default CA_ROTOR0_AX 1.0
-param set-default CA_ROTOR0_AY 0.0
-param set-default CA_ROTOR0_AZ 0.0
-
-param set-default CA_ROTOR1_PX 0.12
-param set-default CA_ROTOR1_PY -0.12
-param set-default CA_ROTOR1_PZ 0.0
-param set-default CA_ROTOR1_CT 1.4
-param set-default CA_ROTOR1_AX -1.0
-param set-default CA_ROTOR1_AY 0.0
-param set-default CA_ROTOR1_AZ 0.0
-
-param set-default CA_ROTOR2_PX -0.12
-param set-default CA_ROTOR2_PY 0.12
-param set-default CA_ROTOR2_PZ 0.0
-param set-default CA_ROTOR2_CT 1.4
-param set-default CA_ROTOR2_AX 1.0
-param set-default CA_ROTOR2_AY 0.0
-param set-default CA_ROTOR2_AZ 0.0
-
-param set-default CA_ROTOR3_PX 0.12
-param set-default CA_ROTOR3_PY 0.12
-param set-default CA_ROTOR3_PZ 0.0
-param set-default CA_ROTOR3_CT 1.4
-param set-default CA_ROTOR3_AX -1.0
-param set-default CA_ROTOR3_AY 0.0
-param set-default CA_ROTOR3_AZ 0.0
-
-param set-default CA_ROTOR4_PX 0.12
-param set-default CA_ROTOR4_PY -0.12
-param set-default CA_ROTOR4_PZ 0.0
-param set-default CA_ROTOR4_CT 1.4
-param set-default CA_ROTOR4_AX 0.0
-param set-default CA_ROTOR4_AY 1.0
-param set-default CA_ROTOR4_AZ 0.0
-
-param set-default CA_ROTOR5_PX 0.12
-param set-default CA_ROTOR5_PY 0.12
-param set-default CA_ROTOR5_PZ 0.0
-param set-default CA_ROTOR5_CT 1.4
-param set-default CA_ROTOR5_AX 0.0
-param set-default CA_ROTOR5_AY -1.0
-param set-default CA_ROTOR5_AZ 0.0
-
-param set-default CA_ROTOR6_PX -0.12
-param set-default CA_ROTOR6_PY -0.12
-param set-default CA_ROTOR6_PZ 0.0
-param set-default CA_ROTOR6_CT 1.4
-param set-default CA_ROTOR6_AX 0.0
-param set-default CA_ROTOR6_AY 1.0
-param set-default CA_ROTOR6_AZ 0.0
-
-param set-default CA_ROTOR7_PX -0.12
-param set-default CA_ROTOR7_PY 0.12
-param set-default CA_ROTOR7_PZ 0.0
-param set-default CA_ROTOR7_CT 1.4
-param set-default CA_ROTOR7_AX 0.0
-param set-default CA_ROTOR7_AY -1.0
-param set-default CA_ROTOR7_AZ 0.0
-
-param set-default SIM_GZ_EC_FUNC1 101
-param set-default SIM_GZ_EC_FUNC2 102
-param set-default SIM_GZ_EC_FUNC3 103
-param set-default SIM_GZ_EC_FUNC4 104
-param set-default SIM_GZ_EC_FUNC5 105
-param set-default SIM_GZ_EC_FUNC6 106
-param set-default SIM_GZ_EC_FUNC7 107
-param set-default SIM_GZ_EC_FUNC8 108
-
-param set-default SIM_GZ_EC_MIN1 0
-param set-default SIM_GZ_EC_MIN2 0
-param set-default SIM_GZ_EC_MIN3 0
-param set-default SIM_GZ_EC_MIN4 0
-param set-default SIM_GZ_EC_MIN5 0
-param set-default SIM_GZ_EC_MIN6 0
-param set-default SIM_GZ_EC_MIN7 0
-param set-default SIM_GZ_EC_MIN8 0
-
-param set-default SIM_GZ_EC_MAX1 10000
-param set-default SIM_GZ_EC_MAX2 10000
-param set-default SIM_GZ_EC_MAX3 10000
-param set-default SIM_GZ_EC_MAX4 10000
-param set-default SIM_GZ_EC_MAX5 10000
-param set-default SIM_GZ_EC_MAX6 10000
-param set-default SIM_GZ_EC_MAX7 10000
-param set-default SIM_GZ_EC_MAX8 10000
-
-# Controller Tunings
-param set SC_YAWRATE_P 3.335
-param set SC_YAWRATE_I 0.87
-param set SC_YAWRATE_D 0.15
-param set SC_YR_INT_LIM 0.2
-param set SC_YAW_P 3.0
-
-param set SPC_POS_P 0.20
-param set SPC_VEL_P 6.55
-param set SPC_VEL_I 0.0
-param set SPC_VEL_D 0.0
-param set SPC_VEL_MAX 12.0
@@ -17,16 +17,18 @@ param set-default SIM_GZ_EN 1

 param set-default SENS_EN_MAGSIM 1
 param set-default COM_ARM_CHK_ESCS 0  # We don't have ESCs
-param set-default FD_ESCS_EN 0
+param set-default FD_ESCS_EN 0 # We don't have ESCs - but maybe we need this later?

 param set-default CA_AIRFRAME 14
 param set-default MAV_TYPE 45

-param set-default CA_ROTOR_COUNT 8
+param set-default CA_THRUSTER_CNT 8
 param set-default CA_R_REV 0

+# param set-default FW_ARSP_MODE 1
+
 # Auto to be provided by Custom Airframe
-param set-default CA_METHOD 0
+param set-default CA_METHOD 0  # 0 is PseudoInverse, 3 is Metric

 # Set proper failsafes
 param set-default COM_ACT_FAIL_ACT 0
@@ -40,96 +42,96 @@ param set-default COM_POSCTL_NAVL 2
 param set-default FD_FAIL_P 0
 param set-default FD_FAIL_R 0

-param set-default CA_ROTOR0_PX -0.12
-param set-default CA_ROTOR0_PY -0.12
-param set-default CA_ROTOR0_PZ 0.0
-param set-default CA_ROTOR0_CT 1.4
-param set-default CA_ROTOR0_AX 1.0
-param set-default CA_ROTOR0_AY 0.0
-param set-default CA_ROTOR0_AZ 0.0
+param set-default CA_THRUSTER0_PX -0.12
+param set-default CA_THRUSTER0_PY -0.12
+param set-default CA_THRUSTER0_PZ 0.0
+param set-default CA_THRUSTER0_CT 1.4
+param set-default CA_THRUSTER0_AX 1.0
+param set-default CA_THRUSTER0_AY 0.0
+param set-default CA_THRUSTER0_AZ 0.0

-param set-default CA_ROTOR1_PX 0.12
-param set-default CA_ROTOR1_PY -0.12
-param set-default CA_ROTOR1_PZ 0.0
-param set-default CA_ROTOR1_CT 1.4
-param set-default CA_ROTOR1_AX -1.0
-param set-default CA_ROTOR1_AY 0.0
-param set-default CA_ROTOR1_AZ 0.0
+param set-default CA_THRUSTER1_PX 0.12
+param set-default CA_THRUSTER1_PY -0.12
+param set-default CA_THRUSTER1_PZ 0.0
+param set-default CA_THRUSTER1_CT 1.4
+param set-default CA_THRUSTER1_AX -1.0
+param set-default CA_THRUSTER1_AY 0.0
+param set-default CA_THRUSTER1_AZ 0.0

-param set-default CA_ROTOR2_PX -0.12
-param set-default CA_ROTOR2_PY 0.12
-param set-default CA_ROTOR2_PZ 0.0
-param set-default CA_ROTOR2_CT 1.4
-param set-default CA_ROTOR2_AX 1.0
-param set-default CA_ROTOR2_AY 0.0
-param set-default CA_ROTOR2_AZ 0.0
+param set-default CA_THRUSTER2_PX -0.12
+param set-default CA_THRUSTER2_PY 0.12
+param set-default CA_THRUSTER2_PZ 0.0
+param set-default CA_THRUSTER2_CT 1.4
+param set-default CA_THRUSTER2_AX 1.0
+param set-default CA_THRUSTER2_AY 0.0
+param set-default CA_THRUSTER2_AZ 0.0

-param set-default CA_ROTOR3_PX 0.12
-param set-default CA_ROTOR3_PY 0.12
-param set-default CA_ROTOR3_PZ 0.0
-param set-default CA_ROTOR3_CT 1.4
-param set-default CA_ROTOR3_AX -1.0
-param set-default CA_ROTOR3_AY 0.0
-param set-default CA_ROTOR3_AZ 0.0
+param set-default CA_THRUSTER3_PX 0.12
+param set-default CA_THRUSTER3_PY 0.12
+param set-default CA_THRUSTER3_PZ 0.0
+param set-default CA_THRUSTER3_CT 1.4
+param set-default CA_THRUSTER3_AX -1.0
+param set-default CA_THRUSTER3_AY 0.0
+param set-default CA_THRUSTER3_AZ 0.0

-param set-default CA_ROTOR4_PX 0.12
-param set-default CA_ROTOR4_PY -0.12
-param set-default CA_ROTOR4_PZ 0.0
-param set-default CA_ROTOR4_CT 1.4
-param set-default CA_ROTOR4_AX 0.0
-param set-default CA_ROTOR4_AY 1.0
-param set-default CA_ROTOR4_AZ 0.0
+param set-default CA_THRUSTER4_PX 0.12
+param set-default CA_THRUSTER4_PY -0.12
+param set-default CA_THRUSTER4_PZ 0.0
+param set-default CA_THRUSTER4_CT 1.4
+param set-default CA_THRUSTER4_AX 0.0
+param set-default CA_THRUSTER4_AY 1.0
+param set-default CA_THRUSTER4_AZ 0.0

-param set-default CA_ROTOR5_PX 0.12
-param set-default CA_ROTOR5_PY 0.12
-param set-default CA_ROTOR5_PZ 0.0
-param set-default CA_ROTOR5_CT 1.4
-param set-default CA_ROTOR5_AX 0.0
-param set-default CA_ROTOR5_AY -1.0
-param set-default CA_ROTOR5_AZ 0.0
+param set-default CA_THRUSTER5_PX 0.12
+param set-default CA_THRUSTER5_PY 0.12
+param set-default CA_THRUSTER5_PZ 0.0
+param set-default CA_THRUSTER5_CT 1.4
+param set-default CA_THRUSTER5_AX 0.0
+param set-default CA_THRUSTER5_AY -1.0
+param set-default CA_THRUSTER5_AZ 0.0

-param set-default CA_ROTOR6_PX -0.12
-param set-default CA_ROTOR6_PY -0.12
-param set-default CA_ROTOR6_PZ 0.0
-param set-default CA_ROTOR6_CT 1.4
-param set-default CA_ROTOR6_AX 0.0
-param set-default CA_ROTOR6_AY 1.0
-param set-default CA_ROTOR6_AZ 0.0
+param set-default CA_THRUSTER6_PX -0.12
+param set-default CA_THRUSTER6_PY -0.12
+param set-default CA_THRUSTER6_PZ 0.0
+param set-default CA_THRUSTER6_CT 1.4
+param set-default CA_THRUSTER6_AX 0.0
+param set-default CA_THRUSTER6_AY 1.0
+param set-default CA_THRUSTER6_AZ 0.0

-param set-default CA_ROTOR7_PX -0.12
-param set-default CA_ROTOR7_PY 0.12
-param set-default CA_ROTOR7_PZ 0.0
-param set-default CA_ROTOR7_CT 1.4
-param set-default CA_ROTOR7_AX 0.0
-param set-default CA_ROTOR7_AY -1.0
-param set-default CA_ROTOR7_AZ 0.0
+param set-default CA_THRUSTER7_PX -0.12
+param set-default CA_THRUSTER7_PY 0.12
+param set-default CA_THRUSTER7_PZ 0.0
+param set-default CA_THRUSTER7_CT 1.4
+param set-default CA_THRUSTER7_AX 0.0
+param set-default CA_THRUSTER7_AY -1.0
+param set-default CA_THRUSTER7_AZ 0.0

-param set-default SIM_GZ_EC_FUNC1 101
-param set-default SIM_GZ_EC_FUNC2 102
-param set-default SIM_GZ_EC_FUNC3 103
-param set-default SIM_GZ_EC_FUNC4 104
-param set-default SIM_GZ_EC_FUNC5 105
-param set-default SIM_GZ_EC_FUNC6 106
-param set-default SIM_GZ_EC_FUNC7 107
-param set-default SIM_GZ_EC_FUNC8 108
+param set-default SIM_GZ_TH_FUNC1 101
+param set-default SIM_GZ_TH_FUNC2 102
+param set-default SIM_GZ_TH_FUNC3 103
+param set-default SIM_GZ_TH_FUNC4 104
+param set-default SIM_GZ_TH_FUNC5 105
+param set-default SIM_GZ_TH_FUNC6 106
+param set-default SIM_GZ_TH_FUNC7 107
+param set-default SIM_GZ_TH_FUNC8 108

-param set-default SIM_GZ_EC_MIN1 0
-param set-default SIM_GZ_EC_MIN2 0
-param set-default SIM_GZ_EC_MIN3 0
-param set-default SIM_GZ_EC_MIN4 0
-param set-default SIM_GZ_EC_MIN5 0
-param set-default SIM_GZ_EC_MIN6 0
-param set-default SIM_GZ_EC_MIN7 0
-param set-default SIM_GZ_EC_MIN8 0
+param set-default SIM_GZ_TH_MIN1 0
+param set-default SIM_GZ_TH_MIN2 0
+param set-default SIM_GZ_TH_MIN3 0
+param set-default SIM_GZ_TH_MIN4 0
+param set-default SIM_GZ_TH_MIN5 0
+param set-default SIM_GZ_TH_MIN6 0
+param set-default SIM_GZ_TH_MIN7 0
+param set-default SIM_GZ_TH_MIN8 0

-param set-default SIM_GZ_EC_MAX1 10000
-param set-default SIM_GZ_EC_MAX2 10000
-param set-default SIM_GZ_EC_MAX3 10000
-param set-default SIM_GZ_EC_MAX4 10000
-param set-default SIM_GZ_EC_MAX5 10000
-param set-default SIM_GZ_EC_MAX6 10000
-param set-default SIM_GZ_EC_MAX7 10000
-param set-default SIM_GZ_EC_MAX8 10000
+param set-default SIM_GZ_TH_MAX1 10000
+param set-default SIM_GZ_TH_MAX2 10000
+param set-default SIM_GZ_TH_MAX3 10000
+param set-default SIM_GZ_TH_MAX4 10000
+param set-default SIM_GZ_TH_MAX5 10000
+param set-default SIM_GZ_TH_MAX6 10000
+param set-default SIM_GZ_TH_MAX7 10000
+param set-default SIM_GZ_TH_MAX8 10000

 # Controller Tunings
 param set SC_YAWRATE_P 3.335
@@ -115,7 +115,6 @@ px4_add_romfs_files(

 	50000_gz_rover_differential

-	71001_gz_atmos
 	71002_gz_spacecraft_2d

 	# [22000, 22999] Reserve for custom models
@@ -1,150 +0,0 @@
-#!/bin/sh
-#
-# @name KTH Space Robot
-#
-# @type Space Robot
-# @class 2D Space Robot
-#
-# @maintainer DISCOWER
-#
-
-. ${R}etc/init.d/rc.sc_defaults
-
-param set-default CA_AIRFRAME 14
-param set-default MAV_TYPE 45
-
-param set-default CA_THRUSTER_CNT 8
-param set-default CA_R_REV 0
-
-# Auto to be provided by Custom Airframe
-param set-default CA_METHOD 0
-
-# Set proper failsafes
-param set-default COM_ACT_FAIL_ACT 0
-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
-param set EKF2_HGT_REF 3
-
-# disable attitude failure detection
-param set-default FD_FAIL_P 0
-param set-default FD_FAIL_R 0
-
-param set-default CA_THRUSTER0_PX -0.12
-param set-default CA_THRUSTER0_PY -0.12
-param set-default CA_THRUSTER0_PZ 0.0
-param set-default CA_THRUSTER0_CT 1.4
-param set-default CA_THRUSTER0_AX 1.0
-param set-default CA_THRUSTER0_AY 0.0
-param set-default CA_THRUSTER0_AZ 0.0
-
-param set-default CA_THRUSTER1_PX 0.12
-param set-default CA_THRUSTER1_PY -0.12
-param set-default CA_THRUSTER1_PZ 0.0
-param set-default CA_THRUSTER1_CT 1.4
-param set-default CA_THRUSTER1_AX -1.0
-param set-default CA_THRUSTER1_AY 0.0
-param set-default CA_THRUSTER1_AZ 0.0
-
-param set-default CA_THRUSTER2_PX -0.12
-param set-default CA_THRUSTER2_PY 0.12
-param set-default CA_THRUSTER2_PZ 0.0
-param set-default CA_THRUSTER2_CT 1.4
-param set-default CA_THRUSTER2_AX 1.0
-param set-default CA_THRUSTER2_AY 0.0
-param set-default CA_THRUSTER2_AZ 0.0
-
-param set-default CA_THRUSTER3_PX 0.12
-param set-default CA_THRUSTER3_PY 0.12
-param set-default CA_THRUSTER3_PZ 0.0
-param set-default CA_THRUSTER3_CT 1.4
-param set-default CA_THRUSTER3_AX -1.0
-param set-default CA_THRUSTER3_AY 0.0
-param set-default CA_THRUSTER3_AZ 0.0
-
-param set-default CA_THRUSTER4_PX 0.12
-param set-default CA_THRUSTER4_PY -0.12
-param set-default CA_THRUSTER4_PZ 0.0
-param set-default CA_THRUSTER4_CT 1.4
-param set-default CA_THRUSTER4_AX 0.0
-param set-default CA_THRUSTER4_AY 1.0
-param set-default CA_THRUSTER4_AZ 0.0
-
-param set-default CA_THRUSTER5_PX 0.12
-param set-default CA_THRUSTER5_PY 0.12
-param set-default CA_THRUSTER5_PZ 0.0
-param set-default CA_THRUSTER5_CT 1.4
-param set-default CA_THRUSTER5_AX 0.0
-param set-default CA_THRUSTER5_AY -1.0
-param set-default CA_THRUSTER5_AZ 0.0
-
-param set-default CA_THRUSTER6_PX -0.12
-param set-default CA_THRUSTER6_PY -0.12
-param set-default CA_THRUSTER6_PZ 0.0
-param set-default CA_THRUSTER6_CT 1.4
-param set-default CA_THRUSTER6_AX 0.0
-param set-default CA_THRUSTER6_AY 1.0
-param set-default CA_THRUSTER6_AZ 0.0
-
-param set-default CA_THRUSTER7_PX -0.12
-param set-default CA_THRUSTER7_PY 0.12
-param set-default CA_THRUSTER7_PZ 0.0
-param set-default CA_THRUSTER7_CT 1.4
-param set-default CA_THRUSTER7_AX 0.0
-param set-default CA_THRUSTER7_AY -1.0
-param set-default CA_THRUSTER7_AZ 0.0
-
-
-param set-default PWM_AUX_TIM0 10
-param set-default PWM_AUX_TIM1 10
-param set-default PWM_AUX_TIM2 10
-
-param set-default PWM_AUX_FUNC1 101
-param set-default PWM_AUX_FUNC2 102
-param set-default PWM_AUX_FUNC3 103
-param set-default PWM_AUX_FUNC4 104
-param set-default PWM_AUX_FUNC5 105
-param set-default PWM_AUX_FUNC6 106
-param set-default PWM_AUX_FUNC7 107
-param set-default PWM_AUX_FUNC8 108
-
-param set-default PWM_AUX_DIS1 0
-param set-default PWM_AUX_DIS2 0
-param set-default PWM_AUX_DIS3 0
-param set-default PWM_AUX_DIS4 0
-param set-default PWM_AUX_DIS5 0
-param set-default PWM_AUX_DIS6 0
-param set-default PWM_AUX_DIS7 0
-param set-default PWM_AUX_DIS8 0
-
-param set-default PWM_AUX_MIN1 0
-param set-default PWM_AUX_MIN2 0
-param set-default PWM_AUX_MIN3 0
-param set-default PWM_AUX_MIN4 0
-param set-default PWM_AUX_MIN5 0
-param set-default PWM_AUX_MIN6 0
-param set-default PWM_AUX_MIN7 0
-param set-default PWM_AUX_MIN8 0
-
-# BOARD_PWM_FREQ is downscaled by 10, thus PWM value is given in 10s of usec
-param set-default PWM_AUX_MAX1 10000
-param set-default PWM_AUX_MAX2 10000
-param set-default PWM_AUX_MAX3 10000
-param set-default PWM_AUX_MAX4 10000
-param set-default PWM_AUX_MAX5 10000
-param set-default PWM_AUX_MAX6 10000
-param set-default PWM_AUX_MAX7 10000
-param set-default PWM_AUX_MAX8 10000
-
-# Controller Tunings
-param set-default SC_ROLLRATE_P 0.14
-param set-default SC_PITCHRATE_P 0.14
-param set-default SC_ROLLRATE_I 0.3
-param set-default SC_PITCHRATE_I 0.3
-param set-default SC_ROLLRATE_D 0.004
-param set-default SC_PITCHRATE_D 0.004
@@ -5,6 +5,32 @@
 # NOTE: Script variables are declared/initialized/unset in the rcS script.
 #

-control_allocator start
-
+# Start Spacecraft App
 spacecraft start
+
+# Estimator Group Selection
+# ekf2 start &
+
+# Start MicroDDS Client
+# uxrce_dds_client start -t udp -h 192.168.0.1 -n spacebot2
+# uxrce_dds_client start -t udp -p 8888
+
+#
+# Start Control Allocator
+#
+# sc_control_allocator start
+
+#
+# Start Spacecraft Rate Controller.
+#
+# sc_rate_control start
+
+#
+# Start Spacecraft Attitude Controller.
+#
+# sc_att_control start
+
+#
+# Start Spacecraft Position Controller.
+#
+# sc_pos_control start
@@ -69,7 +69,7 @@ then
 fi

 #
-# Spacecraft setup.
+# Spapcecraft setup.
 #
 if [ $VEHICLE_TYPE = spacecraft ]
 then
@@ -1,4 +1,4 @@
-#!/usr/bin/env python3
+#!/usr/bin/env python
 ############################################################################
 #
 #   Copyright (C) 2012-2015 PX4 Development Team. All rights reserved.
@@ -1,4 +1,4 @@
-#!/usr/bin/env python3
+#!/usr/bin/env python

 import argparse
 import lzma
@@ -1,4 +1,4 @@
-#!/usr/bin/env python3
+#!/usr/bin/env python
 ############################################################################
 #
 #   Copyright (C) 2013-2014 PX4 Development Team. All rights reserved.
@@ -34,7 +34,7 @@

 """Fetch files via nsh console

-Usage: python3 fetch_file.py [-l] [-f] [-d device] [-s speed] [-o out_path] path
+Usage: python fetch_file.py [-l] [-f] [-d device] [-s speed] [-o out_path] path
 \t-l\tList files
 \t-f\tOverwrite existing files
 \t-d\tSerial device
@@ -134,7 +134,7 @@ def _get_files_in_dir(ser, path, path_out, force, timeout):
            _get_file(ser, path_fn, path_fn_out, force, timeout)

 def _usage():
-    print("""Usage: python3 fetch_file.py [-l] [-f] [-d device] [-s speed] [-o out_path] path
+    print("""Usage: python fetch_file.py [-l] [-f] [-d device] [-s speed] [-o out_path] path
 \t-l\tList files
 \t-f\tOverwrite existing files
 \t-d\tSerial device
@@ -1,4 +1,4 @@
-#!/usr/bin/env python3
+#!/usr/bin/env python
 #######################################################################################
 #
 # DeltaTag: enhanced geo-referencing survey images
@@ -15,8 +15,8 @@
 # Note: DeltaTag does not make copies, it writes the Exif information directly to the images
 #
 # Install: pip install pyulog piexif Pillow numpy
-# Run: python3 geotag_images_ulog.py [logfile] [image dir] (optional offset)
-# eg: python3 geotag_images_ulog.py mylog.ulg ./images
+# Run: python geotag_images_ulog.py [logfile] [image dir] (optional offset)
+# eg: python geotag_images_ulog.py mylog.ulg ./images
 #
 # Parameters
 # logfile: a ulog formatted logfile containing camera_capture events (survey missions)
@@ -39,8 +39,8 @@ from fractions import Fraction


 if(len(sys.argv)) < 3:
-    print("Usage: python3 geotag_images_ulog.py [logfile] [image dir]")
-    print("Example: python3 geotag_images_ulog.py mylog.ulg ./images")
+    print("Usage: python geotag_images_ulog.py [logfile] [image dir]")
+    print("Example: python geotag_images_ulog.py mylog.ulg ./images")
    print(len(sys.argv))
    sys.exit()

@@ -101,6 +101,7 @@ def main(kconfig_file, config1, config2):
    # load_config() and write_config() returns a message to print.
    print(kconf.load_config(config1, replace=False))
    print(kconf.load_config(config2, replace=False))
+
    # Modification for PX4 unset all symbols (INT,HEX etc) from 2nd config

    f = open(config2, 'r')
@@ -112,16 +113,13 @@ def main(kconfig_file, config1, config2):
        #pprint.pprint(line)
        if match is not None:
            sym_name = match.group(1)
-            try:
-                kconf.syms[sym_name].unset_value()
+            kconf.syms[sym_name].unset_value()

-                if kconf.syms[sym_name].type is BOOL:
-                    for default, cond in kconf.syms[sym_name].orig_defaults:
-                        if(cond.str_value == 'y'):
-                            # Default is y, our diff is unset thus we've set it to no
-                            kconf.syms[sym_name].set_value(0)
-            except KeyError:
-                pass
+            if kconf.syms[sym_name].type is BOOL:
+                for default, cond in kconf.syms[sym_name].orig_defaults:
+                    if(cond.str_value == 'y'):
+                        # Default is y, our diff is unset thus we've set it to no
+                        kconf.syms[sym_name].set_value(0)

    f.close()

@@ -41,7 +41,6 @@ import glob
 import kconfiglib
 import tempfile
 import sys
-from pathlib import Path

 import diffconfig
 import merge_config
@@ -53,14 +52,6 @@ for name in glob.glob(px4_dir + '/boards/*/*/default.px4board'):
    kconf.load_config(name)
    print(kconf.write_min_config(name))

-    board_path = Path(name)
-    defconfig_path = board_path.parent / "nuttx-config" / "nsh" / "defconfig"
-
-    if os.path.exists(defconfig_path):
-        # Merge NuttX with default config
-        kconf = merge_config.main(px4_dir + "/Kconfig", name, defconfig_path)
-        print(kconf.write_min_config(name))
-
 for name in glob.glob(px4_dir + '/boards/*/*/bootloader.px4board'):
    kconf = kconfiglib.Kconfig()
    kconf.load_config(name)
@@ -1,4 +1,4 @@
-#!/usr/bin/env python3
+#!/usr/bin/env python

 import glob
 import zipfile
@@ -1,4 +1,4 @@
-#!/usr/bin/env python3
+#!/usr/bin/env python
 # -*- coding: utf-8 -*-

 ############################################################################
@@ -55,7 +55,7 @@ Usage:
    The script needs a list of files as an input. To quickly find and feed all the file
    that it needs to inspect, one can simply pipe the result of a ripgrep -l command as follows:

-        rg -l '\.[gs]et\(|px4::params::' -tcpp | python3 parameter_update.py
+        rg -l '\.[gs]et\(|px4::params::' -tcpp | python parameter_update.py
 """

 import re
@@ -23,7 +23,7 @@ Data can be gathered using the following sequence:
 5) Move to a warm dry, still air, constant pressure environment.
 6) Apply power for 45 minutes, keeping the board still.
 7) Remove power and extract the .ulog file
-8) Open a terminal window in the Firmware/Tools directory and run the python calibration script script file: 'python3 process_sensor_caldata.py <full path name to .ulog file>
+8) Open a terminal window in the Firmware/Tools directory and run the python calibration script script file: 'python process_sensor_caldata.py <full path name to .ulog file>
 9) Power the board, connect QGC and load the parameter from the generated .params file onto the board using QGC. Due to the number of parameters, loading them may take some time.
 10) TODO - we need a way for user to reliably tell when parameters have all been changed and saved.
 11) After parameters have finished loading, set SDLOG_MODE and SDLOG_PROFILE to their respective values prior to step 4) and remove power.
@@ -1,4 +1,4 @@
-#!/usr/bin/env python3
+#!/usr/bin/env python
 ############################################################################
 #
 #   Copyright (c) 2017-2020 PX4 Development Team. All rights reserved.
@@ -1,4 +1,4 @@
-#!/usr/bin/env python3
+#!/usr/bin/env python
 ############################################################################
 #
 #   Copyright (C) 2012, 2013 PX4 Development Team. All rights reserved.
@@ -1,4 +1,4 @@
-#!/usr/bin/env python3
+#!/usr/bin/env python
 ############################################################################
 #
 #   Copyright (C) 2013-2017 PX4 Development Team. All rights reserved.
@@ -1,4 +1,4 @@
-#!/usr/bin/env python3
+#!/usr/bin/env python
 ############################################################################
 #
 #   Copyright (C) 2020 PX4 Development Team. All rights reserved.
@@ -1,4 +1,4 @@
-#!/usr/bin/env python3
+#!/usr/bin/env python
 ############################################################################
 #
 #   Copyright (C) 2017 PX4 Development Team. All rights reserved.
@@ -1,4 +1,4 @@
-#!/usr/bin/env python3
+#!/usr/bin/env python
 ############################################################################
 #
 #   Copyright (C) 2014-2018 PX4 Development Team. All rights reserved.
@@ -1,4 +1,4 @@
-#!/usr/bin/env python3
+#!/usr/bin/env python
 #
 #===- run-clang-tidy.py - Parallel clang-tidy runner ---------*- python -*--===#
 #
@@ -1,4 +1,4 @@
-#!/usr/bin/env python3
+#! /usr/bin/env python3

 from __future__ import print_function

@@ -1,4 +1,4 @@
-#!/usr/bin/env python3
+#! /usr/bin/env python3
 """ Script to validate YAML file(s) against a YAML schema file """

 from __future__ import print_function
@@ -15,7 +15,6 @@ CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
-CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_AUAV=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
@@ -8,7 +8,6 @@ CONFIG_BOARD_PARAM_FILE="/fs/microsd/params"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
-CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_AUAV=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
@@ -20,9 +19,6 @@ CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_DATAMAN_PERSISTENT_STORAGE=n
 CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_DRIVERS_POWER_MONITOR_INA226=y
-CONFIG_DRIVERS_POWER_MONITOR_INA228=y
-CONFIG_DRIVERS_POWER_MONITOR_INA238=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_DRIVERS_UAVCAN=y
@@ -46,7 +42,6 @@ CONFIG_FIGURE_OF_EIGHT=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
-CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_HARDFAULT_STREAM=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
@@ -3,12 +3,6 @@
 # board specific defaults
 #------------------------------------------------------------------------------

-# By disabling INA modules, we use the
-# i2c_launcher instead.
-param set-default SENS_EN_INA226 0
-param set-default SENS_EN_INA228 0
-param set-default SENS_EN_INA238 0
-
 # Set the backend of the dataman to SRAM
 param set-default SYS_DM_BACKEND 1
 # Set TELEM1 as default mavlink connection
@@ -23,48 +23,6 @@ else
 	bmm350 -I -R 8 start
 fi

-if param compare SENS_EN_INA226 1
-then
-	# Start Digital power monitors
-	ina226 -X -b 1 -t 1 -k start
-
-	# Disable analog monitoring
-	param set BAT1_V_CHANNEL -2
-
-	set INA_CONFIGURED yes
-fi
-
-
-if param compare SENS_EN_INA228 1
-then
-	# Start Digital power monitors
-	ina228 -X -b 1 -t 1 -k start
-
-	# Disable analog monitoring
-	param set BAT1_V_CHANNEL -2
-
-	set INA_CONFIGURED yes
-fi
-
-if param compare SENS_EN_INA238 1
-then
-	# Start Digital power monitors
-	ina238 -X -b 1 -t 1 -k start
-
-	# Disable analog monitoring
-	param set BAT1_V_CHANNEL -2
-
-	set INA_CONFIGURED yes
-fi
-
-if param compare BAT1_V_CHANNEL -2
-then
-    if [ "$INA_CONFIGURED" != "yes" ]
-    then
-        param set BAT1_V_CHANNEL -1
-    fi
-fi
-
 # External compass on GPS1/I2C1 (the 3rd external bus): standard Holybro Pixhawk 4 or CUAV V5 GPS/compass puck (with lights, safety button, and buzzer)
 ist8310 -X -b 1 -R 10 start

@@ -16,7 +16,6 @@ CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
-CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_AUAV=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPIO_MCP23009=y
@@ -39,7 +38,6 @@ CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
 CONFIG_DRIVERS_POWER_MONITOR_PM_SELECTOR_AUTERION=y
-CONFIG_DRIVERS_PWM_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PX4IO=y
 CONFIG_COMMON_RC=y
@@ -16,7 +16,6 @@ CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
-CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_AUAV=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
@@ -39,7 +38,6 @@ CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
 CONFIG_DRIVERS_POWER_MONITOR_PM_SELECTOR_AUTERION=y
-CONFIG_DRIVERS_PWM_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PX4IO=y
 CONFIG_DRIVERS_RC_INPUT=y
@@ -1,21 +0,0 @@
-CONFIG_BOARD_PWM_FREQ=100000
-CONFIG_MODULES_AIRSPEED_SELECTOR=n
-CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
-CONFIG_MODULES_FW_ATT_CONTROL=n
-CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
-CONFIG_MODULES_FW_MODE_MANAGER=n
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
-CONFIG_MODULES_FW_RATE_CONTROL=n
-CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
-CONFIG_MODULES_MC_ATT_CONTROL=n
-CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
-CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
-CONFIG_MODULES_MC_POS_CONTROL=n
-CONFIG_MODULES_MC_RATE_CONTROL=n
-CONFIG_MODULES_VTOL_ATT_CONTROL=n
-CONFIG_MODULES_ROVER_ACKERMANN=n
-CONFIG_MODULES_ROVER_DIFFERENTIAL=n
-CONFIG_MODULES_ROVER_MECANUM=n
-CONFIG_EKF2_AUX_GLOBAL_POSITION=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=n
-CONFIG_MODULES_SPACECRAFT=y
@@ -15,7 +15,6 @@ CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
-CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_AUAV=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_SF45_SERIAL=y
 CONFIG_DRIVERS_DSHOT=y
@@ -16,5 +16,5 @@ CONFIG_MODULES_ROVER_ACKERMANN=n
 CONFIG_MODULES_ROVER_DIFFERENTIAL=n
 CONFIG_MODULES_ROVER_MECANUM=n
 CONFIG_EKF2_AUX_GLOBAL_POSITION=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=n
 CONFIG_MODULES_SPACECRAFT=y
@@ -194,6 +194,7 @@
    - [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)
@@ -208,6 +209,8 @@
      - [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)
@@ -299,6 +302,7 @@
        - [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)
@@ -807,8 +811,7 @@
      - [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_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)
@@ -12,6 +12,8 @@ Moving the compass away from power-carrying cables is the easiest and most effec
 The process is demonstrated for a multicopter, but is equally valid for other vehicle types.
 :::

+<a id="when"></a>
+
 ## When is Power Compensation Applicable?

 Performing this power compensation is advisable only if all the following statements are true:
@@ -23,6 +25,8 @@ Performing this power compensation is advisable only if all the following statem

 1. The drone cables are all fixed in place/do not move (calculated compensation parameters will be invalid if the current-carrying cables can move).

+<a id="how"></a>
+
 ## How to Compensate the Compass

 1. Make sure your drone runs a Firmware version supporting power compensation (current master, or releases from v.1.11.0).
@@ -35,6 +39,7 @@ Performing this power compensation is advisable only if all the following statem
   ![strap](../../assets/advanced_config/strap.png)

 1. Power the vehicle and switch into [ACRO flight mode](../flight_modes_mc/acro.md) (using this mode ensures the vehicle won't attempt to compensate for movement resulting from the straps).
+
   - Arm the vehicle and slowly raise the throttle to the maximum
   - Slowly lower the throttle down to zero
   - Disarm the vehicle
@@ -49,9 +54,10 @@ Performing this power compensation is advisable only if all the following statem
   python mag_compensation.py ~/path/to/log/logfile.ulg <type> [--instance <number>]
   ```

-   where:
-   - `<type>`: `current` or `thrust` (power signal used for compensation)
-   - `--instance <number>` (optional): The number is `0` (default) or `1`, the instance of the current or thrust signal to use.
+   where: 
+   
+      - `<type>`: `current` or `thrust` (power signal used for compensation)
+      - `--instance <number>` (optional): The number is `0` (default) or `1`, the instance of the current or thrust signal to use.

   ::: info
   If your log does not contain battery current measurements, you will need to comment out the respective lines in the Python script, such that it does the calculation for thrust only.
@@ -1,6 +1,6 @@
 # Flight Termination Configuration

-The _Flight termination_ [failsafe action](../config/safety.md#failsafe-actions) may be triggered by a [safety check](../config/safety.md) (e.g. RC Loss, geofence violation, etc. on any vehicle type or in any flight mode), by the [Failure Detector](../config/safety.md#failure-detector), or manually by toggling a termination switch mapped to an RC channel (see [RC_MAP_TERM_SW](../advanced_config/parameter_reference.md#RC_MAP_TERM_SW)).
+The _Flight termination_ [failsafe action](../config/safety.md#failsafe-actions) may be triggered by a [safety check](../config/safety.md) (e.g. RC Loss, geofence violation, etc. on any vehicle type or in any flight mode), or by the [Failure Detector](../config/safety.md#failure-detector).

 ::: info
 Flight termination may also be triggered from a ground station or companion computer using the MAVLink [MAV_CMD_DO_FLIGHTTERMINATION](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_FLIGHTTERMINATION) command.
@@ -69,11 +69,6 @@ For each AUX output to which a safety device is attached, where "n" is the PWM p

 Finally, set the `PWM_AUX_FAILn` and `PWM_MAIN_FAILn` PWM values for any motors.

-::: info
-Flight termination via ATS only works if `drivers/pwm_input` is included in the firmware for your board.
-If not, you need to add it manually to your board configuration using [boardconfig](../hardware/porting_guide_config.md#px4-menuconfig-setup).
-:::
-
 ## Logic Diagram

 The diagram below shows the logical flow around flight termination.
@@ -14,7 +14,9 @@ Any subsequent standard calibration will therefore update `TC_*` parameters and
 Releases up to PX4 v1.14, do not support thermal calibration of the magnetometer.
 :::

-## Test Setup/Best Practice {#test_setup}
+<a id="test_setup"></a>
+
+## Test Setup/Best Practice

 The [calibration procedures](#calibration_procedures) described in the following sections are ideally run in an _environmental chamber_ (a temperature and humidity controlled environment) as the board is heated from the lowest to the highest operating/calibration temperature.
 Before starting the calibration, the board is first _cold soaked_ (cooled to the minimum temperature and allowed to reach equilibrium).
@@ -44,7 +46,9 @@ If in doubt, check the safe operating range with your manufacturer.
 To check the status of the onboard thermal calibration use the MAVlink console (or NuttX console) to check the reported internal temp from the sensor.
 :::

-## Calibration Procedures {#calibration_procedures}
+<a id="calibration_procedures"></a>
+
+## Calibration Procedures

 PX4 supports two calibration procedures:

@@ -53,7 +57,9 @@ PX4 supports two calibration procedures:

 The offboard approach is more complex and slower, but requires less knowledge of the test setup and is easier to validate.

-### Onboard Calibration Procedure {#onboard_calibration}
+<a id="onboard_calibration"></a>
+
+### Onboard Calibration Procedure

 Onboard calibration is run entirely on the device. It require knowledge of the amount of temperature rise that is achievable with the test setup.

@@ -70,7 +76,9 @@ To perform and onboard calibration:
 9. Perform a 6-point accel calibration via the system console using `commander calibrate accel` or via _QGroundControl_. If the board is being set-up for the first time, the gyro and magnetometer calibration will also need to be performed.
 10. The board should always be re-powered before flying after any sensor calibration, because sudden offset changes from calibration can upset the navigation estimator and some parameters are not loaded by the algorithms that use them until the next startup.

-### Offboard Calibration Procedure {#offboard_calibration}
+<a id="offboard_calibration"></a>
+
+### Offboard Calibration Procedure

 Offboard calibration is run on a development computer using data collected during the calibration test. This method provides a way to visually check the quality of data and curve fit.

@@ -96,7 +104,9 @@ To perform an offboard calibration:
 1. After parameters have finished loading, set `SDLOG_MODE` to 1 to re-enable normal logging and remove power.
 1. Power the board and perform a normal accelerometer sensor calibration using _QGroundControl_. It is important that this step is performed when board is within the calibration temperature range. The board must be repowered after this step before flying as the sudden offset changes can upset the navigation estimator and some parameters are not loaded by the algorithms that use them until the next startup.

-## Implementation Detail {#implementation}
+<a id="implementation"></a>
+
+## Implementation Detail

 Calibration refers to the process of measuring the change in sensor value across a range of internal temperatures, and performing a polynomial fit on the data to calculate a set of coefficients (stored as parameters) that can be used to correct the sensor data. Compensation refers to the process of using the internal temperature to calculate an offset that is subtracted from the sensor reading to correct for changing offset with temperature

@@ -123,6 +133,7 @@ Where:
 - `type`: is a single character indicating the type of sensor where `A` = accelerometer, `G` = rate gyroscope, `M` = magnetometer, and `B` = barometer.
 - `instance`: is an integer 0,1 or 2 allowing for calibration of up to three sensors of the same `type`.
 - `cal_name`: is a string identifying the calibration value. It has the following possible values:
+
  - `Xn`: Polynomial coefficient where n is the order of the coefficient, e.g. `X3 * (temperature - reference temperature)**3`.
  - `SCL`: scale factor.
  - `TREF`: reference temperature (deg C).
@@ -182,7 +193,5 @@ Scale factors are assumed to be temperature invariant due to the difficulty asso
 ---

 [^1]: The [SYS_CAL_ACCEL](../advanced_config/parameter_reference.md#SYS_CAL_ACCEL), [SYS_CAL_BARO](../advanced_config/parameter_reference.md#SYS_CAL_BARO) and [SYS_CAL_GYRO](../advanced_config/parameter_reference.md#SYS_CAL_GYRO) parameters are reset to 0 when the calibration is started.
-
 [^2]: Calibration of the barometric pressure sensor offsets requires a stable air pressure environment. The air pressure will change slowly due to weather and inside buildings can change rapidly due to external wind fluctuations and HVAC system operation.
-
 [^3]: Care must be taken when warming a cold soaked board to avoid formation of condensation on the board that can cause board damage under some circumstances.
@@ -441,7 +441,9 @@ Airspeed data will be used when it exceeds the threshold set by a positive value
 Fixed-wing platforms can take advantage of an assumed sideslip observation of zero to improve wind speed estimation and also enable wind speed estimation without an airspeed sensor.
 This is enabled by setting the [EKF2_FUSE_BETA](../advanced_config/parameter_reference.md#EKF2_FUSE_BETA) parameter to 1.

-### Multicopter Wind Estimation using Drag Specific Forces {#mc_wind_estimation_using_drag}
+<a id="mc_wind_estimation_using_drag"></a>
+
+### Multicopter Wind Estimation using Drag Specific Forces

 Multi-rotor platforms can take advantage of the relationship between airspeed and drag force along the X and Y body axes to estimate North/East components of wind velocity.
 This can be enabled using [EKF2_DRAG_CTRL](../advanced_config/parameter_reference.md#EKF2_DRAG_CTRL).
@@ -56,7 +56,9 @@ A flow diagram showing the phases can be found in [landing phases flow Diagram](

 Precision landing can be used in missions, during the landing phase in _Return mode_, or by entering the _Precision Land_ mode.

-### Mission Precision Landing {#mission}
+<a id="mission"></a>
+
+### Mission Precision Landing

 Precision landing can be initiated as part of a [mission](../flying/missions.md) using [MAV_CMD_NAV_LAND](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_LAND) with `param2` set appropriately:

@@ -110,7 +110,9 @@ The other radio is connected to your ground station computer or mobile device (u

 ![quickstart](../../assets/flight_controller/cuav_v5_nano/connection/v5_nano_quickstart_07.png)

-## SD Card (Optional) {#sd_card}
+<a id="sd_card"></a>
+
+## SD Card (Optional)

 An [SD card](../getting_started/px4_basic_concepts.md#sd-cards-removable-memory) is inserted in the factory (you do not need to do anything).

@@ -110,7 +110,9 @@ The other radio is connected to your ground station computer or mobile device (u

 ![V5+ AutoPilot](../../assets/flight_controller/cuav_v5_plus/connection/v5+_quickstart_06.png)

-## SD Card (Optional) {#sd_card}
+<a id="sd_card"></a>
+
+## SD Card (Optional)

 An [SD card](../getting_started/px4_basic_concepts.md#sd-cards-removable-memory) is inserted in the factory (you do not need to do anything).

@@ -147,7 +147,9 @@ The vehicle-based radio should be connected to the **TELEM1** port as shown belo

 ![Pixhawk 4/Telemetry Radio](../../assets/flight_controller/pixhawk4/pixhawk4_telemetry_radio.jpg)

-## SD Card (Optional) {#sd_card}
+<a id="sd_card"></a>
+
+## SD Card (Optional)

 SD cards are highly recommended as they are needed to [log and analyse flight details](../getting_started/flight_reporting.md), to run missions, and to use UAVCAN-bus hardware.
 Insert the card (included in Pixhawk 4 kit) into _Pixhawk 4_ as shown below.
@@ -191,4 +193,4 @@ QuadPlane specific configuration is covered here: [QuadPlane VTOL Configuration]
 - [Pixhawk 4](../flight_controller/pixhawk4.md) (Overview page)
 - [Pixhawk 4 Technical Data Sheet](https://github.com/PX4/PX4-Autopilot/blob/main/docs/assets/flight_controller/pixhawk4/pixhawk4_technical_data_sheet.pdf)
 - [Pixhawk 4 Pinouts](https://cdn.shopify.com/s/files/1/0604/5905/7341/files/Pixhawk4-Pinouts.pdf) (Holybro)
- [Pixhawk 4 Quick Start Guide (Holybro)](https://cdn.shopify.com/s/files/1/0604/5905/7341/files/Pixhawk4-quickstartguide.pdf)
+- [Pixhawk 4 Quick Start Guide (Holybro)](https://holybro.com/manual/Pixhawk4-quickstartguide.pdf)
@@ -52,7 +52,7 @@ You can press the safety switch again to enable safety and disarm the vehicle (t
 ## Power

 Connect the output of the _PM02D Power Module_ (PM board) that comes with the Standard Set to one of the **POWER** port of _Pixhawk 5X_ using the 6-wire cable.
-The PM02D and Power ports on the Pixhawk 5X uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/en-us/products/part-detail/5024430670) & [Housing](https://www.molex.com/molex/products/part-detail/crimp_housings/5024390600).
+The PM02D and Power ports on the Pixhawk 5X uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/molex/products/part-detail/pcb_receptacles/5024430670) & [Housing](https://www.molex.com/molex/products/part-detail/crimp_housings/5024390600).

 The PM02D Power Module supports **2~6S** battery, the board input should be connected to your LiPo battery. Note that the PM board does not supply power to the + and - pins of **FMU PWM OUT** and **I/O PWM OUT**.

@@ -65,7 +65,7 @@ You can press the safety switch again to enable safety and disarm the vehicle (t
 ## Power

 Connect the output of the _PM02D Power Module_ (PM board) that comes with the Standard Set to one of the **POWER** port of _Pixhawk 6X_ using the 6-wire cable.
-The PM02D and Power ports on the Pixhawk 6X uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/en-us/products/part-detail/5024430670) & [Housing](https://www.molex.com/molex/products/part-detail/crimp_housings/5024390600).
+The PM02D and Power ports on the Pixhawk 6X uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/molex/products/part-detail/pcb_receptacles/5024430670) & [Housing](https://www.molex.com/molex/products/part-detail/crimp_housings/5024390600).

 The PM02D Power Module supports **2~6S** battery, the board input should be connected to your LiPo battery. Note that the PM board does not supply power to the + and - pins of **FMU PWM OUT** and **I/O PWM OUT**.

@@ -117,7 +117,7 @@ The camera trigger driver supports several backends - each for a specific applic
 | 1      | Enables the GPIO interface. The AUX outputs are pulsed high or low (depending on the `TRIG_POLARITY` parameter) every [TRIG_INTERVAL](../advanced_config/parameter_reference.md#TRIG_INTERVAL) duration. This can be used to trigger most standard machine vision cameras directly. Note that on PX4FMU series hardware (Pixhawk, Pixracer, etc.), the signal level on the AUX pins is 3.3v.                                                                                                                      |
 | 2      | Enables the Seagull MAP2 interface. This allows the use of the [Seagull MAP2](https://www.seagulluav.com/product/seagull-map2/) to interface to a multitude of supported cameras. Pin/Channel 1 (camera trigger) and Pin/Channel 2 (mode selector) of the MAP2 should be connected to the lower and higher mapped [camera trigger pins](#trigger-output-pin-configuration). Using Seagull MAP2, PX4 also supports automatic power control and keep-alive functionalities of Sony Multiport cameras like the QX-1. |
 | 3      | This mode enables MAVLink cameras that used the legacy [MAVLink interface listed above](#mavlink-command-interface). The messages are automatically emitted on the MAVLink `onboard` channel when found in missions. PX4 emits the `CAMERA_TRIGGER` MAVLink message when a camera is triggered, by default to the `onboard` channel (if this is not used, custom stream will need to be enabled). [Simple MAVLink cameras](../camera/mavlink_v1_camera.md) explains this use case in more detail.                 |
-| 4      | Enables the generic PWM interface. This allows the use of [infrared triggers](https://www.seagulluav.com/product/seagull-ir/) or servos to trigger your camera.                                                                                                                                                                                                                                                                                                                                                   |
+| 4      | Enables the generic PWM interface. This allows the use of [infrared triggers](https://hobbyking.com/en_us/universal-remote-control-infrared-shutter-ir-rc-1g.html) or servos to trigger your camera.                                                                                                                                                                                                                                                                                                              |

 ### Trigger Output Pin Configuration

@@ -54,8 +54,8 @@ They are in no way guaranteed to be plug and play with your companion computer.

 Popular stereo cameras include:

- [Intel® RealSense™ Depth Camera D435](https://realsenseai.com/stereo-depth-cameras/stereo-depth-camera-d435/)
- [Intel® RealSense™ Depth Camera D415](https://realsenseai.com/stereo-depth-cameras/stereo-depth-camera-d415/)
+- [Intel® RealSense™ Depth Camera D435](https://www.intelrealsense.com/depth-camera-d435/)
+- [Intel® RealSense™ Depth Camera D415](https://www.intelrealsense.com/depth-camera-d415/)
 - [DUO MLX](https://duo3d.com/product/duo-minilx-lv1)

 ### VIO Cameras/Sensors
@@ -0,0 +1,58 @@
+# BetaFPV Beta75X 2S Brushless Whoop
+
+<Badge type="info" text="Discontinued" />
+
+:::warning
+This frame has been [discontinued](../flight_controller/autopilot_experimental.md) and is no longer commercially available.
+:::
+
+The [BetaFPV Beta75X](https://betafpv.com/products/beta75x-2s-whoop-quadcopter) is a very small quadrotor that can be flown indoors or outdoors, FPV or line-of-sight.
+
+![BetaFPV Beta75X](../../assets/hardware/betafpv_beta75x.jpg)
+
+## Where to Buy
+
+The _Beta75X_ can be bought from a number of vendors, including:
+
+- [GetFPV](https://www.getfpv.com/beta75x-2s-brushless-whoop-micro-quadcopter-xt30-frsky.html)
+- [Amazon](https://www.amazon.com/BETAFPV-Beta75X-Brushless-Quadcopter-Smartaudio/dp/B07H86XSPW)
+
+In addition you will need:
+
+- An RC transmitter. _Beta75X_ can ship with a number of receivers. PX4 is compatible with all of them, but make sure to select the version that matches your transmitter.
+- LiPo battery charger (vehicle ships with one battery, but you may want spares).
+- FPV goggles if you want to fly FPV.
+  There are many compatible options, including these ones from [Fatshark](https://www.fatshark.com/product-page/dominator-v3).
+
+  ::: info
+  FPV support is completely independent of PX4/flight controller.
+  :::
+
+## Flashing PX4 Bootloader
+
+The _Beta75X_ comes preinstalled with Betaflight.
+
+Before loading PX4 firmware you must first install the PX4 bootloader.
+Instructions for installing the bootloader can be found in the [Omnibus F4](../flight_controller/omnibus_f4_sd.md#bootloader) topic (this is the flight controller board on the _Beta75X_).
+
+:::tip
+You can always [reinstall Betaflight](../advanced_config/bootloader_update_from_betaflight.md#reinstall-betaflight) later if you want!
+:::
+
+## Installation/Configuration
+
+Once the bootloader is installed, you should be able to connect the vehicle to _QGroundControl_ via a USB cable.
+
+::: info
+At time of writing _Omnibus F4_ is supported on the QGroundControl _Daily Build_, and prebuilt firmware is provided for the master branch only (stable releases are not yet available).
+:::
+
+To install and configure PX4:
+
+- [Load PX4 Firmware](../config/firmware.md).
+- [Set the Airframe](../config/airframe.md) to _BetaFPV Beta75X 2S Brushless Whoop_.
+- Continue with [basic configuration](../config/index.md), including sensor calibration and radio setup.
+
+## Video
+
+<lite-youtube videoid="_-O0kv0Qsh4" title="PX4 running on the BetaFPV Whoop"/>
@@ -37,7 +37,7 @@ The main hardware documentation is here: https://wiki.bitcraze.io/projects:crazy
 - [Crazyflie 2.0](https://store.bitcraze.io/collections/kits/products/crazyflie-2-0).
 - [Crazyradio PA 2.4 GHz USB dongle](https://store.bitcraze.io/products/crazyradio-pa): used for wireless communication between _QGroundControl_ and Crazyflie 2.0.
 - [Breakout deck](https://store.bitcraze.io/collections/decks/products/breakout-deck): breakout expansion board for connecting new peripherals.
- [Flow deck](https://store.bitcraze.io/products/flow-deck): contains an optical flow sensor to measure movements of the ground and a distance sensor to measure the distance to the ground.
+- [Flow deck](https://store.bitcraze.io/collections/decks/products/flow-deck): contains an optical flow sensor to measure movements of the ground and a distance sensor to measure the distance to the ground.
  This will be useful for precise altitude and position control.
 - [Z-ranger deck](https://store.bitcraze.io/collections/decks/products/z-ranger-deck) has the same distance sensor as the Flow deck to measure the distance to the ground.
  This will be useful for precise altitude control.
@@ -225,7 +225,7 @@ This is the rate at which Joystick commands are sent from QGroundControl to Craz
 Crazyflie 2.0 is able to fly with precise control in [Stabilized mode](../flight_modes_mc/manual_stabilized.md), [Altitude mode](../flight_modes_mc/altitude.md) and [Position mode](../flight_modes_mc/position.md).

 - You will need the [Z-ranger deck](https://store.bitcraze.io/collections/decks/products/z-ranger-deck) to fly in _Altitude_ mode.
-  If you also want to fly in the _Position_ mode, it is recommended you buy the [Flow deck](https://store.bitcraze.io/products/flow-deck) which also has the integrated Z-ranger sensor.
+  If you also want to fly in the _Position_ mode, it is recommended you buy the [Flow deck](https://store.bitcraze.io/collections/decks/products/flow-deck) which also has the integrated Z-ranger sensor.
 - The onboard barometer is highly susceptible to any external wind disturbances including those created by Crazyflie's own propellers. Hence, we isolated the barometer with a piece of foam, and then mounted the distance sensor on top of it as shown below:

 ![Crazyflie barometer](../../assets/flight_controller/crazyflie/crazyflie_barometer.jpg)
@@ -257,7 +257,7 @@ Since the onboard barometer is highly susceptible to wind disturbances created b

 ## Position Control

-With [Flow deck](https://store.bitcraze.io/products/flow-deck), you can fly Crazyflie 2.0 in _Position mode_.
+With [Flow deck](https://store.bitcraze.io/collections/decks/products/flow-deck), you can fly Crazyflie 2.0 in _Position mode_.
 Unlike [PX4FLOW](../sensor/px4flow.md), the flow deck does not house a gyro, hence the onboard gyro is used for flow fusion to find the local position estimates.
 Moreover, the flow deck shares the same SPI bus as the SD card deck, therefore logging at high rate on SD card is not recommended when flying in _Position mode_.

@@ -12,7 +12,7 @@ Crazyflie 2.1 is only able to fly in [Stabilized mode](../flight_modes_mc/manual
 :::

 The Crazyflie line of micro quads was created by Bitcraze AB.
-An overview of the Crazyflie 2.1 can be [found here](https://www.bitcraze.io/products/crazyflie-2-1-brushless/).
+An overview of the Crazyflie 2.1 can be [found here](https://www.bitcraze.io/products/crazyflie-2-1/).

 ![Crazyflie2 Image](../../assets/flight_controller/crazyflie21/crazyflie_2.1.jpg)

@@ -42,7 +42,7 @@ Useful peripheral hardware includes:

 - [Crazyradio PA 2.4 GHz USB dongle](https://store.bitcraze.io/products/crazyradio-pa): Wireless communication between _QGroundControl_ and Crazyflie 2.0
 - [Breakout deck](https://store.bitcraze.io/collections/decks/products/breakout-deck): Breakout expansion board for connecting new peripherals.
- [Flow deck v2](https://store.bitcraze.io/products/flow-deck-v2): Optical flow sensor and a distance sensor for altitude and position control.
+- [Flow deck v2](https://store.bitcraze.io/collections/decks/products/flow-deck-v2): Optical flow sensor and a distance sensor for altitude and position control.
 - [Z-ranger deck v2](https://store.bitcraze.io/collections/decks/products/z-ranger-deck-v2): Distance sensor for altitude control (same sensor as the Flow deck).
 - [Multi-ranger deck](https://store.bitcraze.io/collections/decks/products/multi-ranger-deck) Multi-direction object detection
 - [Buzzer deck](https://store.bitcraze.io/collections/decks/products/buzzer-deck) Audio feedback on system events, like low battery or charging completed.
@@ -0,0 +1,9 @@
+# Intel Aero Ready to Fly Drone
+
+<Badge type="info" text="Discontinued" />
+
+:::warning
+This flight controller has been [discontinued](../flight_controller/autopilot_experimental.md) and is no longer commercially available.
+
+PX4 v1.11 is the last release that supports this platform ([see here for legacy docs](https://docs.px4.io/v1.12/en/complete_vehicles/intel_aero.html)).
+:::
@@ -46,7 +46,7 @@ Notes:
    The driver defines a parameter prefix, e.g. `PWM_MAIN` that the library then uses for configuration.
    Its main task is to select from the input topics and assign the right data to the outputs based on the user set `<param_prefix>_FUNCx` parameter values.
    For example if `PWM_MAIN_FUNC3` is set to **Motor 2**, the 3rd output is set to the 2nd motor from `actuator_motors`.
-  - output functions are defined under [src/lib/mixer_module/output_functions.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/lib/mixer_module/output_functions.yaml).
+  - output functions are defined under [src/lib/mixer_module/output_functions.yaml](https://github.com/PX4/PX4-Autopilot/tree/main/src/lib/mixer_module/output_functions.yaml).
 - if you want to control an output from MAVLink, set the relevant output function to **Offboard Actuator Set x**, and then send the [MAV_CMD_DO_SET_ACTUATOR](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_SET_ACTUATOR) MAVLink command.

 ## Adding a new Geometry or Output Function
@@ -377,7 +377,7 @@ The following functions can only be applied to FMU outputs:
  Enabled when [`PPS_CAP_ENABLE==0`](../advanced_config/parameter_reference.md#PPS_CAP_ENABLE)

 ::: info
-The functions are defined in source at [/src/lib/mixer_module/output_functions.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/lib/mixer_module/output_functions.yaml).
+The functions are defined in source at [/src/lib/mixer_module/output_functions.yaml](https://github.com/PX4/PX4-Autopilot/tree/main/src/lib/mixer_module/output_functions.yaml).
 This list is correct at PX4 v1.15.
 :::

@@ -69,7 +69,7 @@ The video below shows most of the calibration process (it uses an older version

 ## Support

-If you need help with the configuration you can ask for help on the [QGroundControl Support forum](https://discuss.px4.io/c/qgroundcontrol/qgroundcontrol-usage/18).
+If you need help with the configuration you can ask for help on the [QGroundControl Support forum](https://discuss.px4.io//c/qgroundcontrol/qgroundcontrol-usage).

 ## See Also

@@ -64,7 +64,7 @@ The derivative term (**D**) is on the feedback path in order to avoid an effect
 :::tip
 For more information see:

- [Not all PID controllers are the same](https://www.controleng.com/not-all-pid-controllers-are-the-same/) (www.controleng.com)
+- [Not all PID controllers are the same](https://www.controleng.com/articles/not-all-pid-controllers-are-the-same/) (www.controleng.com)
 - [PID controller > Standard versus parallel (ideal) PID form](<https://en.wikipedia.org/wiki/PID_controller#Standard_versus_parallel_(ideal)_form>) (Wikipedia)

 :::
@@ -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 a USB device from within WSL is not supported, so you can't update firmware using the [`upload`](../dev_setup/building_px4.md#uploading-firmware-flashing-the-board) option when building on the command line, or from _QGroundControl for Linux_.
 :::

 ::: info
@@ -12,7 +12,7 @@ Order this module from:

 ## Hardware Specifications

- [Open Source Schematic and BOM](https://github.com/ARK-Electronics/ARK_MOSAIC-X5_GPS)
+- [Open Source Schematic and BOM](https://github.com/ARK-Electronics/ARK_MosaicX5_GPS)
 - Sensors
  - [Septentrio Mosaic-X5 GPS](https://www.septentrio.com/en/products/gnss-receivers/gnss-receiver-modules/mosaic-x5)
    - Triple Band L1/L2/L5
@@ -9,7 +9,7 @@ It is recommended for use in large commercial vehicles, but might also be used f

 ## Where to Buy

- [CUAV store](https://store.cuav.net/)
+- [CUAV store](https://store.cuav.net/index.php)
 - [CUAV aliexpress ](https://www.aliexpress.com/item/4000369700535.html)

 ## Hardware Specifications
@@ -4,6 +4,7 @@ PX4 supports DroneCAN compliant ESCs.
 For more information, see the following articles for specific hardware/firmware:

 - [PX4 Sapog ESC Firmware](sapog.md)
+  - [Zubax Orel 20/21](zubax_orel.md)
  - [Holybro Kotleta 20](holybro_kotleta.md)
 - [Zubax Telega](zubax_telega.md)
 - [Vertiq](../peripherals/vertiq.md) (larger modules)
@@ -134,8 +134,8 @@ Sensor parameters may not exist (be visible in QGC) until you have enabled the a
 For example, [SENS_FLOW_MINHGT](../advanced_config/parameter_reference.md#SENS_FLOW_MINHGT) does not exist until [UAVCAN_SUB_FLOW](../advanced_config/parameter_reference.md#UAVCAN_SUB_FLOW) is enabled.
 :::

-For example, to use a connected DroneCAN smart battery you would enable the [UAVCAN_SUB_BAT](../advanced_config/parameter_reference.md#UAVCAN_SUB_BAT) parameter, which would subscribe PX4 to receive [BatteryInfo](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#batteryinfo) DroneCAN messages.
-If using a peripheral that needs to know if PX4 is armed, you would need to set the [UAVCAN_PUB_ARM](../advanced_config/parameter_reference.md#UAVCAN_PUB_ARM) parameter so that PX4 starts publishing [ArmingStatus](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#armingstatus) messages.
+For example, to use a connected DroneCAN smart battery you would enable the [UAVCAN_SUB_BAT](../advanced_config/parameter_reference.md#UAVCAN_SUB_BAT) parameter, which would subscribe PX4 to receive [BatteryInfo](https://dronecan.github.io/Specification/1._Introduction//7._List_of_standard_data_types/#batteryinfo) DroneCAN messages.
+If using a peripheral that needs to know if PX4 is armed, you would need to set the [UAVCAN_PUB_ARM](../advanced_config/parameter_reference.md#UAVCAN_PUB_ARM) parameter so that PX4 starts publishing [ArmingStatus](https://dronecan.github.io/Specification/1._Introduction//7._List_of_standard_data_types/#armingstatus) messages.

 The parameter names are prefixed with `UAVCAN_SUB_` and `UAVCAN_PUB_` to indicate whether they enable PX4 subscribing or publishing.
 The remainder of the name indicates the specific message/feature being set.
@@ -159,7 +159,7 @@ The DroneCAN sensor parameters/subscriptions that you can enable are (in PX4 v1.
 - [UAVCAN_SUB_DPRES](../advanced_config/parameter_reference.md#UAVCAN_SUB_DPRES): Differential pressure
 - [UAVCAN_SUB_FLOW](../advanced_config/parameter_reference.md#UAVCAN_SUB_FLOW): Optical flow
 - [UAVCAN_SUB_GPS](../advanced_config/parameter_reference.md#UAVCAN_SUB_GPS): GPS
- [UAVCAN_SUB_GPS_R](../advanced_config/parameter_reference.md#UAVCAN_SUB_GPS_R)<Badge type="tip" text="PX4 v1.15" />: Subscribes to GNSS relative message ([RelPosHeading](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#relposheading)).
+- [UAVCAN_SUB_GPS_R](../advanced_config/parameter_reference.md#UAVCAN_SUB_GPS_R)<Badge type="tip" text="PX4 v1.15" />: Subscribes to GNSS relative message ([RelPosHeading](https://dronecan.github.io/Specification/1._Introduction//7._List_of_standard_data_types/#relposheading)).
  Only used for logging in PX4 v1.15.
 - [UAVCAN_SUB_HYGRO](../advanced_config/parameter_reference.md#UAVCAN_SUB_HYGRO): Hygrometer
 - [UAVCAN_SUB_ICE](../advanced_config/parameter_reference.md#UAVCAN_SUB_ICE): Internal combustion engine (ICE).
@@ -195,15 +195,15 @@ Position of rover is established using RTCM messages from the RTK base module (t
 PX4 DroneCAN parameters:

 - [UAVCAN_PUB_RTCM](../advanced_config/parameter_reference.md#UAVCAN_PUB_RTCM):
-  - Makes PX4 publish RTCM messages ([RTCMStream](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#rtcmstream)) to the bus (which it gets from the RTK base module via QGC).
+  - Makes PX4 publish RTCM messages ([RTCMStream](https://dronecan.github.io/Specification/1._Introduction//7._List_of_standard_data_types/#rtcmstream)) to the bus (which it gets from the RTK base module via QGC).

 Rover module parameters (also [set using QGC](#qgc-cannode-parameter-configuration)):

- [CANNODE_SUB_RTCM](../advanced_config/parameter_reference.md#CANNODE_SUB_RTCM) tells the rover that it should subscribe to [RTCMStream](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#rtcmstream) RTCM messages on the bus (from the moving base).
+- [CANNODE_SUB_RTCM](../advanced_config/parameter_reference.md#CANNODE_SUB_RTCM) tells the rover that it should subscribe to [RTCMStream](https://dronecan.github.io/Specification/1._Introduction//7._List_of_standard_data_types/#rtcmstream) RTCM messages on the bus (from the moving base).

 ::: info
 You could instead use [UAVCAN_PUB_MBD](../advanced_config/parameter_reference.md#UAVCAN_PUB_MBD) and [CANNODE_SUB_MBD](../advanced_config/parameter_reference.md#CANNODE_SUB_MBD), which also publish RTCM messages (these are newer).
-Using the [RTCMStream](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#rtcmstream) message means that you can implement moving base (see below) at the same time.
+Using the [RTCMStream](https://dronecan.github.io/Specification/1._Introduction//7._List_of_standard_data_types/#rtcmstream) message means that you can implement moving base (see below) at the same time.
 :::

 ##### Rover and Moving Base
@@ -213,8 +213,8 @@ In this setup the vehicle has a _moving base_ RTK GPS and a _rover_ RTK GPS.

 These parameters can be [set on moving base and rover RTK CAN nodes](#qgc-cannode-parameter-configuration), respectively:

- [CANNODE_PUB_MBD](../advanced_config/parameter_reference.md#CANNODE_PUB_MBD) causes a moving base GPS unit to publish [MovingBaselineData](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#movingbaselinedata)RTCM messages onto the bus (for the rover)
- [CANNODE_SUB_MBD](../advanced_config/parameter_reference.md#CANNODE_SUB_MBD) tells the rover that it should subscribe to [MovingBaselineData](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#movingbaselinedata) RTCM messages on the bus (from the moving base).
+- [CANNODE_PUB_MBD](../advanced_config/parameter_reference.md#CANNODE_PUB_MBD) causes a moving base GPS unit to publish [MovingBaselineData](https://dronecan.github.io/Specification/1._Introduction//7._List_of_standard_data_types/#movingbaselinedata)RTCM messages onto the bus (for the rover)
+- [CANNODE_SUB_MBD](../advanced_config/parameter_reference.md#CANNODE_SUB_MBD) tells the rover that it should subscribe to [MovingBaselineData](https://dronecan.github.io/Specification/1._Introduction//7._List_of_standard_data_types/#movingbaselinedata) RTCM messages on the bus (from the moving base).

 For PX4 you will also need to set [GPS_YAW_OFFSET](../advanced_config/parameter_reference.md#GPS_YAW_OFFSET) to indicate the relative position of the moving base and rover: 0 if your Rover is in front of your Moving Base, 90 if Rover is right of Moving Base, 180 if Rover is behind Moving Base, or 270 if Rover is left of Moving Base.

@@ -264,7 +264,7 @@ If the rangefinder is connected via DroneCAN (whether inbuilt or separate), you

 PX4 DroneCAN parameters:

- [UAVCAN_PUB_ARM](../advanced_config/parameter_reference.md#UAVCAN_PUB_ARM) ([Arming Status](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#armingstatus)): Publish when using DroneCAN components that require the PX4 arming status as a precondition for use.
+- [UAVCAN_PUB_ARM](../advanced_config/parameter_reference.md#UAVCAN_PUB_ARM) ([Arming Status](https://dronecan.github.io/Specification/1._Introduction//7._List_of_standard_data_types/#armingstatus)): Publish when using DroneCAN components that require the PX4 arming status as a precondition for use.

 ### ESC & Servos

@@ -100,4 +100,4 @@ See [DroneCAN Troubleshooting](index.md#troubleshooting)

 - [PX4/Sapog](https://github.com/PX4/sapog#px4-sapog) (Github)
 - [Sapog v2 Reference Manual](https://files.zubax.com/products/io.px4.sapog/Sapog_v2_Reference_Manual.pdf)
- [Using Telega-based controllers with PX4 autopilots](https://wiki.zubax.com/public/telega/telega-v0-legacy/Using-Telega-based-controllers-with-PX4-autopilots) (Zubax KB)
+- [Using Sapog based ESC with PX4](https://kb.zubax.com/display/MAINKB/Using+Sapog-based+ESC+with+PX4) (Zubax KB)
@@ -0,0 +1,13 @@
+# Zubax Orel 20/21
+
+The Zubax Orel 20 is an CAN ESC designed to run the open source [PX4 Sapog ESC Firmware](../dronecan/sapog.md).
+
+While it can be controlled using traditional PWM input, it is designed to operate over CAN bus using [DroneCAN](index.md).
+
+## Where to Buy
+
+[Zubax Orel](https://zubax.com/products/orel_20)
+
+## Setup
+
+Follow the [Sapog ESC Setup](../dronecan/sapog.md) instructions.
@@ -15,9 +15,9 @@ Questions on this matter should be addressed to: [support@zubax.com](mailto:supp

 ## Where to Buy

- [Zubax AmpDrive AD0505A/B "Myxa" ESC](https://shop.zubax.com/products/zubax-myxa): High-end PMSM/BLDC motor controller (FOC ESC) for light unmanned aircraft and watercraft.
- [Zubax BoolDrive BD1D50 "Mitochondrik"](https://shop.zubax.com/products/mitochondrik): Integrated sensorless PMSM/BLDC motor controller chip (used in ESCs and integrated drives)
- [Zubax AmpDrive AD0510 "Komar" ESC](https://shop.zubax.com/products/zubax-ad0510-komar-esc): Open hardware reference design for Mitochondrik
+- [Zubax Myxa](https://shop.zubax.com/products/zubax-myxa): High-end PMSM/BLDC motor controller (FOC ESC) for light unmanned aircraft and watercraft.
+- [Zubax Mitochondrik](https://shop.zubax.com/products/mitochondrik): Integrated sensorless PMSM/BLDC motor controller chip (used in ESCs and integrated drives)
+- [Zubax Komar](https://shop.zubax.com/products/zubax-ad0510-komar-esc?variant=32931555868771): Open hardware reference design for Mitochondrik

 ## Hardware Setup

@@ -23,9 +23,9 @@ See the documentation [Ark Electronics GitBook](https://arkelectron.gitbook.io/a

 ## Sensors

- [Invensense IIM-42653 Industrial IMU](https://invensense.tdk.com/products/smartindustrial/iim-42653/)
+- [Invensense IIM-42653 Industrial IMU](https://invensense.tdk.com/products/motion-tracking/6-axis/iim-42653/)
 - [Bosch BMP390 Barometer](https://www.bosch-sensortec.com/products/environmental-sensors/pressure-sensors/bmp390/)
- [ST IIS2MDC Magnetometer](https://www.st.com/en/mems-and-sensors/iis2mdc.html)
+- [ST IIS2MDC Magnetometer](https://www.st.com/en/magnetic-sensors/iis2mdc.html)

 ## Microprocessor

@@ -25,7 +25,7 @@ Order From [Ark Electronics](https://arkelectron.com/product/arkv6x/) (US)
 - [Dual Invensense ICM-42688-P IMUs](https://invensense.tdk.com/products/motion-tracking/6-axis/icm-42688-p/)
 - [Invensense IIM-42652 Industrial IMU](https://invensense.tdk.com/products/smartindustrial/iim-42652/)
 - [Bosch BMP390 Barometer](https://www.bosch-sensortec.com/products/environmental-sensors/pressure-sensors/bmp390/)
- [Bosch BMM150 Magnetometer](https://www.bosch-sensortec.com/media/boschsensortec/downloads/datasheets/bst-bmm150-ds001.pdf)
+- [Bosch BMM150 Magnetometer](https://www.bosch-sensortec.com/products/motion-sensors/magnetometers/bmm150/)

 ## Microprocessor

@@ -26,6 +26,6 @@ They are listed because you may be using them in an existing drone, and because

 ## Complete Vehicles

- [BetaFPV Beta75X 2S Brushless Whoop](https://docs.px4.io/v1.14/en/complete_vehicles/betafpv_beta75x.html#betafpv-beta75x-2s-brushless-whoop) (circa PX4 v1.14)
- [Intel® Aero RTF Drone](https://docs.px4.io/v1.12/en/complete_vehicles/intel_aero.html) (circa PX4 v1.12)
- [Qualcomm Snapdragon Flight](https://docs.px4.io/v1.11/en/flight_controller/snapdragon_flight.html) (circa PX4 v1.11)
+- [BetaFPV Beta75X 2S Brushless Whoop](../complete_vehicles_mc/betafpv_beta75x.md)
+- [Intel® Aero RTF Drone](../complete_vehicles_mc/intel_aero.md) ([Complete Vehicle](../complete_vehicles_mc/index.md))
+- [Qualcomm Snapdragon Flight](../flight_controller/snapdragon_flight.md) ([Complete Vehicle](../complete_vehicles_mc/index.md))
@@ -60,6 +60,8 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo

 ## Where to Buy

+<!-- [CUAV Store](https://store.cuav.net/index.php?id_product=95&id_product_attribute=0&rewrite=cuav-new-pixhack-v5-autopilot-m8n-gps-for-fpv-rc-drone-quadcopter-helicopter-flight-simulator-free-shipping-whole-sale&controller=product&id_lang=1) -->
+
 [CUAV Aliexpress](https://www.aliexpress.com/item/32890380056.html?spm=a2g0o.detail.1000060.1.7a7233e7mLTlVl&gps-id=pcDetailBottomMoreThisSeller&scm=1007.13339.90158.0&scm_id=1007.13339.90158.0&scm-url=1007.13339.90158.0&pvid=d899bfab-a7ca-46e1-adf2-72ad1d649822) (International users)

 [CUAV Taobao](https://item.taobao.com/item.htm?spm=a1z10.5-c.w4002-21303114052.37.a28f697aeYzQx9&id=594262853015) (China Mainland users)
@@ -29,8 +29,8 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo
 - Sensors:
  - [Bosch BMI088](https://www.bosch-sensortec.com/products/motion-sensors/imus/bmi088/) 3-axis accelerometer/gyroscope (internally vibration dampened)
  - [Invensense ICM-20602](https://invensense.tdk.com/products/motion-tracking/6-axis/icm-20602/) 3-axis accelerometer/gyroscope
-  - [Invensense ICM-20948](https://invensense.tdk.com/products/motion-tracking/9-axis/icm-20948/) 3-axis accelerometer/gyroscope/magnetometer
-  - [Infineon DPS310 barometer](https://www.infineon.com/assets/row/public/documents/24/49/infineon-dps310-datasheet-en.pdf) - [Discontinued](https://www.infineon.com/part/DPS310) (So smooth and NO more light sensitivity)
+  - [Invensense ICM-20948](https://www.invensense.com/products/motion-tracking/9-axis/icm-20948/) 3-axis accelerometer/gyroscope/magnetometer
+  - [Infineon DPS310 barometer](https://www.infineon.com/cms/en/product/sensor/pressure-sensors/pressure-sensors-for-iot/dps310/) (So smooth and NO more light sensitivity)

 - Interfaces:
  - 6x UART (serial ports total), 3x with HW flow control, 1x FRSky Telemetry (D or X types), 1x Console and 1x GPS+I2C
@@ -92,7 +92,7 @@ The [SWD port](../debug/swd_debug.md) (JTAG) for FMU debugging is a TC2030 debug

 ![mro swd port](../../assets/flight_controller/mro_control_zero_f7/mro_control_zero_f7_swd.jpg)

-You can use the [Tag Connect](https://www.tag-connect.com/) cable [TC2030 IDC NL](https://www.tag-connect.com/product/tc2030-idc-nl) below (with associated [retaining clip](https://www.tag-connect.com/product/tc2030-retaining-clip-board-3-pack)) to attach to either a BlackMagic probe or a ST-LINK V2 debugger.
+You can use the [Tag Connect](https://www.tag-connect.com/) cable [TC2030 IDC NL](https://www.tag-connect.com/product/tc2030-idc-nl) below (with associated [retaining clip](https://www.tag-connect.com/product/tc2030-clip-retaining-clip-board-for-tc2030-nl-cables)) to attach to either a BlackMagic probe or a ST-LINK V2 debugger.

 ![tc2030 idc nl cable](../../assets/flight_controller/mro_control_zero_f7/tc2030_idc_nl.jpg)

@@ -51,8 +51,8 @@ Similar variants will be available from our licensees.

 ## Key Design Points

- High performance [NXP i.MX RT1170 1GHz Crossover MCU](https://www.nxp.com/products/i.MX-RT1170) with Arm® Cortex® cores
- Hardware secure element [NXP EdgeLock SE051](https://www.nxp.com/products/SE051).
+- High performance [NXP i.MX RT1170 1GHz Crossover MCU](https://www.nxp.com/products/processors-and-microcontrollers/arm-microcontrollers/i-mx-rt-crossover-mcus/i-mx-rt1170-1-ghz-crossover-mcu-with-arm-cortex-cores:i.MX-RT1170) with Arm® Cortex® cores
+- Hardware secure element [NXP EdgeLock SE051](https://www.nxp.com/products/security-and-authentication/authentication/edgelock-se051-proven-easy-to-use-iot-security-solution-with-support-for-updatability-and-custom-applets:SE051).
  This is an extension to the widely trusted EdgeLock SE050 Plug & Trust secure element family, supports applet updates in the field and delivers proven security certified to CC EAL 6+, with AVA_VAN.5 up to the OS level, for strong protection against the most recent attack scenarios.
  This can be used, for example, to securely store operator ID or certificates.
 - Modular flight controller: separated IMU, FMU, and Base system connected by a 100-pin & a 50-pin Pixhawk® Autopilot Bus connector.
@@ -187,7 +187,7 @@ TBD

 _MR-VMU-RT1176_ can be triple-redundant on the power supply if three power sources are supplied.
 The three power rails are: **POWER1**, **POWER2** and **USB**.
-The **POWER1** & **POWER2** ports on the MR-VMU-RT1176 uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/en-us/products/part-detail/5024430670).
+The **POWER1** & **POWER2** ports on the MR-VMU-RT1176 uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/molex/products/part-detail/pcb_receptacles/5024430670).

 ### Normal Operation Maximum Ratings

@@ -45,21 +45,21 @@ Telemetry radios ([HGD-TELEM433](https://www.nxp.com/part/HGD-TELEM433) and [HGD

 ![RDDRONE-FMUK66 FMU Kit](../../assets/flight_controller/nxp_rddrone_fmuk66/rddrone_fmu66_kit_img_contents.jpg)

-A "Lite" version RDDRONE-FMUK66L is also available which does not include the power module, GPS, Jlink or USB-TTL-3V3 console cable or SDCard.[Scroll down to see FMUK66L in the buy section of the FMUK66 buy page](https://www.nxp.com/design/design-center/development-boards-and-designs/px4-robotic-drone-vehicle-flight-management-unit-vmu-fmu-rddrone-fmuk66:RDDRONE-FMUK66#buy)
+A "Lite" version RDDRONE-FMUK66L is also available which does not include the power module, GPS, Jlink or USB-TTL-3V3 console cable or SDCard.[Scroll down to see FMUK66L in the buy section of the FMUK66 buy page](https://www.nxp.com/design/designs/px4-robotic-drone-fmu-rddrone-fmuk66:RDDRONE-FMUK66#buy)

-Additional information can be found in the [Technical Data Sheet](https://www.nxp.com/design/design-center/development-boards-and-designs/px4-robotic-drone-vehicle-flight-management-unit-vmu-fmu-rddrone-fmuk66:RDDRONE-FMUK66). <!-- www.nxp.com/rddrone-fmuk66 -->
+Additional information can be found in the [Technical Data Sheet](https://www.nxp.com/design/designs/px4-robotic-drone-fmu-rddrone-fmuk66:RDDRONE-FMUK66). <!-- www.nxp.com/rddrone-fmuk66 -->

 ## Where to Buy

 **RDDRONE-FMUK66** reference design kit may be purchased direct from NXP or from any of NXP's authorised worldwide network of [electronics distributors](https://www.nxp.com/support/sample-and-buy/distributor-network:DISTRIBUTORS).

- [Purchase Link](https://www.nxp.com/design/design-center/development-boards-and-designs/px4-robotic-drone-vehicle-flight-management-unit-vmu-fmu-rddrone-fmuk66:RDDRONE-FMUK66#buy) (www.nxp.com)
+- [Purchase Link](https://www.nxp.com/design/designs/px4-robotic-drone-fmu-rddrone-fmuk66:RDDRONE-FMUK66#buy) (www.nxp.com)
 - Telemetry radios are purchased separately depending on frequency band:
  - [HGD-TELEM433](https://www.nxp.com/part/HGD-TELEM433)
  - [HGD-TELEM915](https://www.nxp.com/part/HGD-TELEM915)

 ::: info
-_RDDRONE-FMUK66_ FMU is also included in the complete HoverGames drone kit: [KIT-HGDRONEK66](https://www.nxp.com/design/design-center/development-boards-and-designs/nxp-hovergames-drone-kit-including-flight-controller-and-peripherals:KIT-HGDRONEK66#buy)
+_RDDRONE-FMUK66_ FMU is also included in the complete HoverGames drone kit: [KIT-HGDRONEK66](https://www.nxp.com/applications/solutions/industrial/aerospace-and-mobile-robotics/uavs-drones-and-rovers/nxp-hovergames-drone-kit-including-rddrone-fmuk66-and-peripherals:KIT-HGDRONEK66#buy)
 :::

 <!--
@@ -258,4 +258,4 @@ In addition to the [basic configuration](../config/index.md), the following para

 ## Further Info

-[This page](https://blog.unmanned.tech/omnibus-f4-flight-controller-guide/) provides a good overview with pinouts and setup instructions.
+[This page](https://blog.dronetrest.com/omnibus-f4-flight-controller-guide/) provides a good overview with pinouts and setup instructions.
@@ -1,6 +1,6 @@
 # Pixfalcon Flight Controller (Discontinued)

-<Badge type="info" text="Discontinued" px4_current="v1.15" year="2024"/>
+<Badge type="info" text="Discontinued" />

 :::warning
 This flight controller has been [discontinued](../flight_controller/autopilot_experimental.md) and is no longer commercially available.
@@ -34,14 +34,14 @@ The Pixfalcon autopilot (designed by [Holybro<sup>&reg;</sup>](https://holybro.c

 ## Availability:

-No longer available.
+From distributor [Hobbyking<sup>&reg;</sup>](https://hobbyking.com/en_us/pixfalcon-micro-px4-autopilot-plus-micro-m8n-gps-and-mega-pbd-power-module.html)

 Optional hardware:

 - Optical flow: PX4 Flow unit from manufacturer [Holybro](https://holybro.com/products/px4flow)
- Digital Airspeed sensor from manufacturer [Holybro](https://holybro.com/products/digital-air-speed-sensor-ms4525do)
+- Digital Airspeed sensor from manufacturer [Holybro](https://holybro.com/products/digital-air-speed-sensor-ms4525do) or distributor [Hobbyking](https://hobbyking.com/en_us/hkpilot-32-digital-air-speed-sensor-and-pitot-tube-set.html)
 - On screen display with integrated Telemetry:
-  - Micro HKPilot Telemetry Radio Module with On Screen Display (OSD) unit - 433MHz. (Discontinued)
+  - [Hobbyking OSD + EU Telemetry (433 MHz)](https://hobbyking.com/en_us/micro-hkpilot-telemetry-radio-module-with-on-screen-display-osd-unit-433mhz.html)
 - Pure Telemetry options:
  - [SIK Radios](../telemetry/sik_radio.md)

@@ -323,7 +323,7 @@ make px4_fmu-v2_default

 ## Parts / Housings

- **ARM MINI JTAG (J6)**: 1.27 mm 10pos header (SHROUDED), for Black Magic Probe: FCI 20021521-00010D4LF ([Digi-Key](https://www.digikey.com/en/products/detail/20021521-00010T1LF/609-4054-ND/2414951),) or Samtec FTSH-105-01-F-DV-K (untested) or Harwin M50-3600542 ([Digikey](https://www.digikey.com/en/products/detail/harwin-inc/M50-3600542/2264370))
+- **ARM MINI JTAG (J6)**: 1.27 mm 10pos header (SHROUDED), for Black Magic Probe: FCI 20021521-00010D4LF ([Distrelec](https://www.distrelec.ch/en/minitek-127-straight-male-pcb-header-surface-mount-rows-10-contacts-27mm-pitch-amphenol-fci-20021521-00010d4lf/p/14352308), [Digi-Key](https://www.digikey.com/en/products/detail/20021521-00010T1LF/609-4054-ND/2414951),) or Samtec FTSH-105-01-F-DV-K (untested) or Harwin M50-3600542 ([Digikey](https://www.digikey.com/en/products/detail/harwin-inc/M50-3600542/2264370))
  - JTAG Adapter Option #1: [BlackMagic Probe](https://1bitsquared.com/products/black-magic-probe). Note, may come without cables (check with manufacturer).
    If so, you will need the **Samtec FFSD-05-D-06.00-01-N** cable ([Samtec sample service](https://www.samtec.com/products/ffsd-05-d-06.00-01-n) or [Digi-Key Link: SAM8218-ND](https://www.digikey.com/en/products/detail/samtec-inc/ffsd-05-d-06-00-01-n/1106577)) or [Tag Connect Ribbon](https://www.tag-connect.com/product/10-pin-cortex-ribbon-cable-4-length-with-50-mil-connectors) and a Mini-USB cable.
  - JTAG Adapter Option #2: [Digi-Key Link: ST-LINK/V2](https://www.digikey.com/product-detail/en/stmicroelectronics/ST-LINK-V2/497-10484-ND) / [ST USER MANUAL](https://www.st.com/resource/en/user_manual/dm00026748.pdf), needs an ARM Mini JTAG to 20pos adapter: [Digi-Key Link: 726-1193-ND](https://www.digikey.com/en/products/detail/texas-instruments/MDL-ADA2/1986451)
@@ -36,7 +36,14 @@ This autopilot is [supported](../flight_controller/autopilot_pixhawk_standard.md

 ## Where to buy

-No longer available.
+From [Drotek store](https://store.drotek.com/) (EU) :
+
+- [Pixhawk 3 Pro (Pack)](https://store.drotek.com/autopilots/844-pixhawk-3-pro-pack.html)
+- [Pixhawk 3 Pro](https://store.drotek.com/autopilots/821-pixhawk-pro-autopilot-8944595120557.html)
+
+From [readymaderc](https://www.readymaderc.com) (USA) :
+
+- [Pixhawk 3 Pro](https://www.readymaderc.com/products/details/pixhawk-3-pro-flight-controller)

 ## Building Firmware

@@ -1,7 +1,5 @@
 # Holybro Pixhawk 4 Mini (Discontinued)

-<Badge type="info" text="Discontinued" px4_current="v1.15" year="2024"/>
-
 :::warning
 PX4 does not manufacture this (or any) autopilot.
 Contact the [manufacturer](https://holybro.com/) for hardware support or compliance issues.
@@ -56,7 +54,7 @@ Additional information can be found in the [_Pixhawk 4 Mini_ Technical Data Shee

 ## Where to Buy

-No longer available.
+Order from [Holybro](https://holybro.com/collections/autopilot-flight-controllers/products/pixhawk4-mini).

 ## Interfaces

@@ -154,7 +154,7 @@ Connector pin assignments are left to right (i.e. Pin 1 is the left-most pin).
 ## Voltage Ratings

 _Pixhawk 5X_ can be triple-redundant on the power supply if three power sources are supplied. The three power rails are: **POWER1**, **POWER2** and **USB**.
-The **POWER1** & **POWER2** ports on the Pixhawk 5X uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/en-us/products/part-detail/5024430670).
+The **POWER1** & **POWER2** ports on the Pixhawk 5X uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/molex/products/part-detail/pcb_receptacles/5024430670).

 **Normal Operation Maximum Ratings**

@@ -36,8 +36,8 @@ The Pixhawk® 6X-RT is perfect for developers at corporate research labs, sta

 ## Key Design Points

- High performance [NXP i.MX RT1170 1GHz Crossover MCU](https://www.nxp.com/products/i.MX-RT1170) with Arm® Cortex® cores
- Hardware secure element [NXP EdgeLock SE051](https://www.nxp.com/products/SE051) an extension to the widely trusted EdgeLock SE050 Plug & Trust secure element family, supports applet updates in the field and delivers proven security certified to CC EAL 6+, with AVA_VAN.5 up to the OS level, for strong protection against the most recent attack scenarios. E.g, to securely store operator ID or certificates.
+- High performance [NXP i.MX RT1170 1GHz Crossover MCU](https://www.nxp.com/products/processors-and-microcontrollers/arm-microcontrollers/i-mx-rt-crossover-mcus/i-mx-rt1170-1-ghz-crossover-mcu-with-arm-cortex-cores:i.MX-RT1170) with Arm® Cortex® cores
+- Hardware secure element [NXP EdgeLock SE051](https://www.nxp.com/products/security-and-authentication/authentication/edgelock-se051-proven-easy-to-use-iot-security-solution-with-support-for-updatability-and-custom-applets:SE051) an extension to the widely trusted EdgeLock SE050 Plug & Trust secure element family, supports applet updates in the field and delivers proven security certified to CC EAL 6+, with AVA_VAN.5 up to the OS level, for strong protection against the most recent attack scenarios. E.g, to securely store operator ID or certificates.
 - Modular flight controller: separated IMU, FMU, and Base system connected by a 100-pin & a 50-pin Pixhawk® Autopilot Bus connector.
 - Redundancy: 3x IMU sensors & 2x Barometer sensors on separate buses
 - Triple redundancy domains: Completely isolated sensor domains with separate buses and separate power control
@@ -163,7 +163,7 @@ Notes:
 ## Voltage Ratings

 _Pixhawk 6X-RT_ can be triple-redundant on the power supply if three power sources are supplied. The three power rails are: **POWER1**, **POWER2** and **USB**.
-The **POWER1** & **POWER2** ports on the Pixhawk 6X uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/en-us/products/part-detail/5024430670).
+The **POWER1** & **POWER2** ports on the Pixhawk 6X uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/molex/products/part-detail/pcb_receptacles/5024430670).

 **Normal Operation Maximum Ratings**

@@ -142,6 +142,7 @@ The Pixhawk® 6X is perfect for developers at corporate research labs, startu
 - 2 CAN Buses for CAN peripheral
  - CAN Bus has individual silent controls or ESC RX-MUX control
 - 2 Power input ports with SMBus
+
  - 1 AD & IO port
  - 2 additional analog input
  - 1 PWM/Capture input
@@ -194,7 +195,7 @@ Notes:
 ## Voltage Ratings

 _Pixhawk 6X_ can be triple-redundant on the power supply if three power sources are supplied. The three power rails are: **POWER1**, **POWER2** and **USB**.
-The **POWER1** & **POWER2** ports on the Pixhawk 6X uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/en-us/products/part-detail/5024430670).
+The **POWER1** & **POWER2** ports on the Pixhawk 6X uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/molex/products/part-detail/pcb_receptacles/5024430670).

 **Normal Operation Maximum Ratings**

@@ -161,7 +161,7 @@ Notes:

 _Pixhawk 6X Pro_ can be triple-redundant on the power supply if three power sources are supplied.
 The three power rails are: **POWER1**, **POWER2** and **USB**.
-The **POWER1** & **POWER2** ports on the Pixhawk 6X uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/en-us/products/part-detail/5024430670).
+The **POWER1** & **POWER2** ports on the Pixhawk 6X uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/molex/products/part-detail/pcb_receptacles/5024430670).

 **Normal Operation Maximum Ratings**

@@ -32,12 +32,12 @@ This autopilot is [supported](../flight_controller/autopilot_pixhawk_standard.md

 ## Where to Buy

-Pixracer Pro is available from the [store.3dr.com](https://store.3dr.com/pixracer-pro/).
+Pixracer is available from the [mRobotics.io](https://store.mrobotics.io/mRo-PixRacer-R15-Official-p/m10023a.htm).

 Accessories include:

 - [Digital airspeed sensor](https://hobbyking.com/en_us/hkpilot-32-digital-air-speed-sensor-and-pitot-tube-set.html)
- Hobbyking<sup>&reg;</sup> OSD + EU Telemetry (433 MHz) (Discontinued)
+- [Hobbyking<sup>&reg;</sup> OSD + EU Telemetry (433 MHz)](https://hobbyking.com/en_us/micro-hkpilot-telemetry-radio-module-with-on-screen-display-osd-unit-433mhz.html)

 ## Kit

@@ -116,7 +116,7 @@ This autopilot is [supported](../flight_controller/autopilot_pixhawk_standard.md

 _RaccoonLab FMUv6X_ can be triple-redundant on the power supply if three power sources are supplied.
 The three power rails are: **POWER1**, **POWER2** and **USB**.
-The **POWER1** & **POWER2** ports on the RaccoonLab FMUv6X uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/en-us/products/part-detail/5024430670).
+The **POWER1** & **POWER2** ports on the RaccoonLab FMUv6X uses the 6 circuit [2.00mm Pitch CLIK-Mate Wire-to-Board PCB Receptacle](https://www.molex.com/molex/products/part-detail/pcb_receptacles/5024430670).

 **Normal Operation Maximum Ratings**

@@ -14,7 +14,7 @@ It allows you to build PX4 and transfer to the RPi, or build natively.

 ## OS Image

-Use the preconfigured [Emlid Raspberry Pi OS image for Navio 2](https://docs.emlid.com/navio2/configuring-raspberry-pi/).
+Use the preconfigured [Emlid Raspberry Pi OS image for Navio 2](https://docs.emlid.com/navio2/configuring-raspberry-pi).
 The default image will have most of the setup procedures shown below already done.

 :::warning
@@ -48,7 +48,7 @@ First install required package:
 sudo apt-get install crda
 ```

-Edit the file `/etc/default/crda` to change the correct WiFi region. [Reference List](https://arubanetworking.hpe.com/techdocs/InstantWenger_Mobile/Advanced/Content/Instant%20User%20Guide%20-%20volumes/Country_Codes_List.htm)
+Edit the file `/etc/default/crda` to change the correct WiFi region. [Reference List](https://www.arubanetworks.com/techdocs/InstantWenger_Mobile/Advanced/Content/Instant%20User%20Guide%20-%20volumes/Country_Codes_List.htm)

 ```sh
 sudo nano /etc/default/crda
@@ -0,0 +1,16 @@
+# Snapdragon Flight Autopilot (Discontinued)
+
+<Badge type="info" text="Discontinued" />
+
+:::warning
+The Snapdragon Flight Autopilot has been [discontinued](../flight_controller/autopilot_experimental.md) and is no longer commercially available.
+For information about how it is/was used see [PX4 User Guide v1.11](https://docs.px4.io/v1.11/en/flight_controller/snapdragon_flight.html)
+
+PX4 does not manufacture this (or any) autopilot.
+Contact the [manufacturer](https://www.intrinsyc.com/) for hardware support or compliance issues.
+:::
+
+The _Qualcomm Snapdragon Flight_ platform is a high-end autopilot / onboard computer which runs the PX4 Flight Stack on the DSP on the QuRT real time operating system using the [DSPAL API](https://github.com/ATLFlight/dspal) for POSIX compatibility.
+In comparison to [Pixhawk](../flight_controller/pixhawk.md) it adds a camera and WiFi and high-end processing power, and different IO.
+
+![Snapdragon Hero Doc](../../assets/hardware/snapdragon/hardware-snapdragon.jpg)
@@ -83,7 +83,7 @@ Select the PX4 edition when purchasing!
 ## Manual, Pinouts and Connection Diagrams

 The manual with pinouts can be downloaded from [here](http://seriouslypro.com/files/SPRacingH7EXTREME-Manual-latest.pdf).
-See the [SPRacingH7EXTREME website](http://seriouslypro.com/products/spracingh7extreme) for other diagrams.
+See the [SPRacingH7EXTREME website](http://seriouslypro.com/spracingh7extreme) for other diagrams.

 ## Credits

@@ -84,7 +84,7 @@ Before using offboard mode with ROS 2, please spend a few minutes understanding

 ### Copter

- [px4_msgs::msg::TrajectorySetpoint](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/TrajectorySetpoint.msg)
+- [px4_msgs::msg::TrajectorySetpoint](https://github.com/PX4/PX4-Autopilot/blob/main/msg/TrajectorySetpoint.msg)
  - The following input combinations are supported:
    - Position setpoint (`position` different from `NaN`). Non-`NaN` values of velocity and acceleration are used as feedforward terms for the inner loop controllers.
    - Velocity setpoint (`velocity` different from `NaN` and `position` set to `NaN`). Non-`NaN` values acceleration are used as feedforward terms for the inner loop controllers.
@@ -92,14 +92,14 @@ Before using offboard mode with ROS 2, please spend a few minutes understanding

  - All values are interpreted in NED (Nord, East, Down) coordinate system and the units are \[m\], \[m/s\] and \[m/s^2\] for position, velocity and acceleration, respectively.

- [px4_msgs::msg::VehicleAttitudeSetpoint](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleAttitudeSetpoint.msg)
+- [px4_msgs::msg::VehicleAttitudeSetpoint](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleAttitudeSetpoint.msg)
  - The following input combination is supported:
    - quaternion `q_d` + thrust setpoint `thrust_body`.
      Non-`NaN` values of `yaw_sp_move_rate` are used as feedforward terms expressed in Earth frame and in \[rad/s\].

  - The quaternion represents the rotation between the drone body FRD (front, right, down) frame and the NED frame. The thrust is in the drone body FRD frame and expressed in normalized \[-1, 1\] values.

- [px4_msgs::msg::VehicleRatesSetpoint](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleRatesSetpoint.msg)
+- [px4_msgs::msg::VehicleRatesSetpoint](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleRatesSetpoint.msg)
  - The following input combination is supported:
    - `roll`, `pitch`, `yaw` and `thrust_body`.

@@ -114,7 +114,7 @@ The following offboard control modes bypass all internal PX4 control loops and s
    - `xyz` for thrust and `xyz` for torque.
  - All the values are in the drone body FRD frame and normalized in \[-1, 1\].

- [px4_msgs::msg::ActuatorMotors](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ActuatorMotors.msg) + [px4_msgs::msg::ActuatorServos](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ActuatorServos.msg)
+- [px4_msgs::msg::ActuatorMotors](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActuatorMotors.msg) + [px4_msgs::msg::ActuatorServos](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActuatorServos.msg)
  - You directly control the motor outputs and/or servo outputs.
  - Currently works at lower level than then `control_allocator` module. Do not publish these messages when not in offboard mode.
  - All the values normalized in \[-1, 1\]. For outputs that do not support negative values, negative entries map to `NaN`.
@@ -26,34 +26,19 @@ Vehicles are [hand or catapult launched](#catapult-hand-launch) by default, but
 Takeoff mode (and [fixed wing mission takeoff](../flight_modes_fw/mission.md#mission-takeoff)) has two modalities: [catapult/hand-launch](#catapult-hand-launch) or [runway takeoff](#runway-takeoff) (hardware-dependent).
 The mode defaults to catapult/hand launch, but can be set to runway takeoff by setting [RWTO_TKOFF](#RWTO_TKOFF) to 1.

-To use _Takeoff mode_ you first switch to the mode, and then arm the vehicle (or send the [MAV_CMD_NAV_TAKEOFF](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_TAKEOFF) command which does both).
+To use _Takeoff mode_ you first switch to the mode, and then arm the vehicle.
 The acceleration of hand/catapult launch triggers the motors to start.
 For runway launch, motors ramp up automatically once the vehicle has been armed.

 Irrespective of the modality, a flight path (starting point and takeoff course) and clearance altitude are defined:

 - The starting point is the vehicle position when the takeoff mode is first entered.
- The course is set to the vehicle heading on arming by default.
-  If a valid waypoint latitude/longitude is set the vehicle will instead track towards the waypoint.
- The clearance altitude is set to [MIS_TAKEOFF_ALT](#MIS_TAKEOFF_ALT) by default.
-  If a valid waypoint altitude is set is set the vehicle will instead use it as the clearance altitude.
+- The course is set to the vehicle heading on arming
+- The clearance altitude is set to [MIS_TAKEOFF_ALT](#MIS_TAKEOFF_ALT).

-By default, on takeoff the aircraft will follow the line defined by the starting point and course, climbing at the maximum climb rate ([FW_T_CLMB_MAX](../advanced_config/parameter_reference.md#FW_T_CLMB_MAX)) until reaching the clearance altitude.
+On takeoff, the aircraft will follow line defined by the starting point and course, climbing at the maximum climb rate ([FW_T_CLMB_MAX](../advanced_config/parameter_reference.md#FW_T_CLMB_MAX)) until reaching the clearance altitude.
 Reaching the clearance altitude causes the vehicle to enter [Hold mode](../flight_modes_fw/takeoff.md).
-
-If a valid waypoint target is set, using `MAV_CMD_NAV_TAKEOFF` or the [VehicleCommand](../msg_docs/VehicleCommand.md) uORB topic, the vehicle will instead track towards the waypoint, and enter [Hold mode](../flight_modes_fw/takeoff.md) after reaching the waypoint altitude (within the acceptance radius).
-
-::: tip
-If the local position is invalid or becomes invalid while executing the takeoff, the controller is not able to track a course setpoint and will instead proceed climbing while keeping the wings level until the clearance altitude is reached.
-:::
-
-::: info
-
- Takeoff towards a target position was added in <Badge type="tip" text="main (planned for: PX4 v1.17)" />.
- Holding wings level and ascending to clearance attitude when local position is invalid during takeoff was added in <Badge type="tip" text="main (planned for: PX4 v1.17)" />.
- QGroundControl does not support `MAV_CMD_NAV_TAKEOFF` (at time of writing).
-
-:::
+Special case for invalid local position: In case the local position is invalid or becomes invalid while executing the takeoff, the controller is not able to track a course setpoint and will instead proceed climbing while keeping the wings level until the clearance altitude is reached.

 ### Parameters

@@ -61,7 +46,7 @@ Parameters that affect both catapult/hand-launch and runway takeoffs:

 | Parameter                                                         | Description                                                                                                                                              |
 | ----------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| <a id="MIS_TAKEOFF_ALT"></a>[MIS_TAKEOFF_ALT][MIS_TAKEOFF_ALT]    | This is the relative altitude (above launch altitude) the system will take off to if not otherwise specified. takeoff.                                   |
+| <a id="MIS_TAKEOFF_ALT"></a>[MIS_TAKEOFF_ALT][MIS_TAKEOFF_ALT]    | Minimum altitude setpoint above Home that the vehicle will climb to during takeoff.                                                                      |
 | <a id="FW_TKO_AIRSPD"></a>[FW_TKO_AIRSPD][FW_TKO_AIRSPD]          | Takeoff airspeed (is set to [FW_AIRSPD_MIN][FW_AIRSPD_MIN] if not defined by operator)                                                                   |
 | <a id="FW_TKO_PITCH_MIN"></a>[FW_TKO_PITCH_MIN][FW_TKO_PITCH_MIN] | This is the minimum pitch angle setpoint during the climbout phase                                                                                       |
 | <a id="FW_T_CLMB_MAX"></a>[FW_T_CLMB_MAX][FW_T_CLMB_MAX]          | Climb rate setpoint during climbout to takeoff altitude.                                                                                                 |
@@ -1,6 +1,6 @@
 # ThunderFly Auto-G2 Autogyro

-The _ThunderFly Auto-G2_ is an autopilot-controlled autogyro based on the [
+The *ThunderFly Auto-G2* is an autopilot-controlled autogyro based on the [
 Durafly™ Auto-G2 Gyrocopter](https://hobbyking.com/en_us/duraflytm-auto-g2-gyrocopter-w-auto-start-system-821mm-pnf.html) RC model, with several parts of the original model substituted for 3D printable ones.

 ![Auto-G2](../../assets/airframes/autogyro/auto-g2/autog2_title.jpg)
@@ -11,7 +11,8 @@ Check out our site for more information on the current [TF-G2 commercial airfram
 :::

 All the added parts are available on [GitHub](https://github.com/ThunderFly-aerospace/Auto-G2) as an open-source project.
-Printed parts are designed in [OpenSCAD](https://openscad.org/).
+Printed parts are designed in [OpenSCAD](https://www.openscad.org/).
+

 ## Modifications

@@ -21,11 +22,10 @@ Autogyro is controlled by a rudder and an elevator.
 Durafly Auto-G2 autogyro box contains the autogyro polystyrene body, ESC, motor (probably 800kV), 4 servos, tail airfoils, 3 blades with rotor center parts, wire chassis and a prerotator.

 Modification of the Durafly model are as follows:
-
- Addition of an autopilot
- Rotor head with two axes of freedom (pitch, roll)
- Two-blade rotor with safely breakable rotor plate
- Larger landing gears
+* Addition of an autopilot
+* Rotor head with two axes of freedom (pitch, roll)
+* Two-blade rotor with safely breakable rotor plate
+* Larger landing gears

 ### Autopilot

@@ -35,6 +35,7 @@ Therefore a low-weight flight controller is recommended (e.g. [Holybro pix32](..
 The autopilot should be mounted on the bottom side of the autogyro on a 3D-printed damping pad.
 We have used the damping platform found on [thingiverse](https://www.thingiverse.com/thing:160655)

+
 ### Rotor-head

 The rotor head is (compared to the original autogyro) modified so that it allows a motion in both roll and pitch axes.
@@ -61,16 +62,15 @@ The reasons are reduced vibration and easier construction.
 Printed central parts are designed to be used both with Chinese Durafly blades or 3D printed blades.

 The rotor's central part consists of several components, which have the following roles:
-
- They enable blade flapping.
- They have deformation zones that break upon impact with the ground.
-  Thanks to this, the rotor can usually be repaired quickly by replacing only one component.
- Easy setup of blades' angle-of-attack.
+* They enable blade flapping.
+* They have deformation zones that break upon impact with the ground.
+  Thanks to this, the rotor can usually be repaired quickly by replacing only one component.    
+* Easy setup of blades' angle-of-attack.

 #### HobbyKing rotor blades

 It is possible to use a printed central part of the rotor with the original blades.
-The blades used were "Durafly™ Auto-G2 Gyrocopter 821mm - Replacement Main Blade" (Discontinued)
+These blades can be bought on [HobbyKing](https://hobbyking.com/en_us/duraflytm-auto-g-gyrocopter-821mm-replacement-main-blade-1pcs-bag.html).
 Hobbyking blades differ in the position of the center of gravity, and it is therefore necessary to balance them properly.

 #### 3D printed rotor blades
@@ -104,43 +104,44 @@ It can be handled, for example, by nulling the engine’s output in the transmit

 ### Electronic

- Autopilot ([Holybro pix32](../flight_controller/holybro_pix32.md), [CUAV nano](../flight_controller/cuav_v5_nano.md))
- GPS (GPS Module NEO-6M, with patch antenna)
- Airspeed sensor ([SDP3x series](https://sensirion.com/products/catalog?categories=differential-pressure&series=SDP3x&page=1&page_size=12))
- Stronger servos as a substitution for the original ones (optional), ([BlueBird BMS-125WV](https://www.blue-bird-model.com/products_detail/411.htm))
- Additional servo for release device (optional)
+* Autopilot ([Holybro pix32](../flight_controller/holybro_pix32.md), [CUAV nano](../flight_controller/cuav_v5_nano.md))
+* GPS (GPS Module NEO-6M, with patch antenna)
+* Airspeed sensor ([SDP3x](https://www.sensirion.com/en/flow-sensors/differential-pressure-sensors/worlds-smallest-differential-pressure-sensor/))
+* Stronger servos as a substitution for the original ones (optional), ([BlueBird BMS-125WV](https://www.blue-bird-model.com/products_detail/411.htm))
+* Additional servo for release device (optional)

 ### Mechanical parts

- Rotor head Bearing (623 2Z C3)
- Propeller ([APC 10x7](https://www.apcprop.com/product/10x7e/))
- [Prop adapter](https://mpjet.com/shop/gb/prop-adapters/184-collet-prop-adapter-19-mm-4-mm-shaft-m629-standard.html)
+* Rotor head Bearing (623 2Z C3)
+* Propeller ([APC 10x7](https://www.apcprop.com/product/10x7e/))
+* [Prop adapter](https://mpjet.com/shop/gb/prop-adapters/184-collet-prop-adapter-19-mm-4-mm-shaft-m629-standard.html)
+

 ### Printable parts

- Rotor head:
-  - [Pylon end](https://github.com/ThunderFly-aerospace/Auto-G2/blob/master/CAD/stl/111_1001.stl)
-  - [Pitch part](https://github.com/ThunderFly-aerospace/Auto-G2/blob/master/CAD/stl/111_1002.stl)
-  - [Roll part](https://github.com/ThunderFly-aerospace/Auto-G2/blob/master/CAD/stl/111_1003.stl)
+* Rotor head:
+  * [Pylon end](https://github.com/ThunderFly-aerospace/Auto-G2/blob/master/CAD/stl/111_1001.stl)
+  * [Pitch part](https://github.com/ThunderFly-aerospace/Auto-G2/blob/master/CAD/stl/111_1002.stl)
+  * [Roll part](https://github.com/ThunderFly-aerospace/Auto-G2/blob/master/CAD/stl/111_1003.stl)

- Rotor:
-  - [center part washer top](https://github.com/ThunderFly-aerospace/Auto-G2/blob/master/CAD/stl/111_1008.stl)
-  - [center part washer bottom](https://github.com/ThunderFly-aerospace/Auto-G2/blob/master/CAD/stl/111_1004.stl)
-  - [center plate with deformation zones](https://github.com/ThunderFly-aerospace/Auto-G2/blob/master/CAD/stl/888_1001.stl)
-  - [washers for setting AoA of blades](https://github.com/ThunderFly-aerospace/Auto-G2/blob/master/CAD/stl/111_1005.stl)
-  - [Rotor nut](https://github.com/ThunderFly-aerospace/Auto-G2/blob/master/CAD/stl/888_1002.stl)
+* Rotor:
+  * [center part washer top](https://github.com/ThunderFly-aerospace/Auto-G2/blob/master/CAD/stl/111_1008.stl)
+  * [center part washer bottom](https://github.com/ThunderFly-aerospace/Auto-G2/blob/master/CAD/stl/111_1004.stl)
+  * [center plate with deformation zones](https://github.com/ThunderFly-aerospace/Auto-G2/blob/master/CAD/stl/888_1001.stl)
+  * [washers for setting AoA of blades](https://github.com/ThunderFly-aerospace/Auto-G2/blob/master/CAD/stl/111_1005.stl)
+  * [Rotor nut](https://github.com/ThunderFly-aerospace/Auto-G2/blob/master/CAD/stl/888_1002.stl)

- Rotor blades (optional)
- Autopilot holder
- [Release device](https://github.com/ThunderFly-aerospace/Auto-G2/blob/master/CAD/stl/888_1010.stl)
- [Front wheels](https://github.com/ThunderFly-aerospace/Auto-G2/blob/master/CAD/stl/888_1011.stl)
+* Rotor blades (optional)
+* Autopilot holder
+* [Release device](https://github.com/ThunderFly-aerospace/Auto-G2/blob/master/CAD/stl/888_1010.stl)
+* [Front wheels](https://github.com/ThunderFly-aerospace/Auto-G2/blob/master/CAD/stl/888_1011.stl)

 ### Recommended spare parts

- Servos with improved quality (recommended [BlueBird BMS-125WV](https://www.blue-bird-model.com/products_detail/411.htm), original servos are not very durable))
- Propeller ([APC 10x7](https://www.apcprop.com/product/10x7e/))
- Rotor centre plate with deformation zones (3D printed)
- Rotor blades ("Durafly™ Auto-G2 Gyrocopter 821mm" (Discontinued on HobbyKing), similar blades, or 3D printed)
+* Servos with improved quality (recommended [BlueBird BMS-125WV](https://www.blue-bird-model.com/products_detail/411.htm), original servos are not very durable))
+* Propeller ([APC 10x7](https://www.apcprop.com/product/10x7e/))
+* Rotor centre plate with deformation zones (3D printed)
+* Rotor blades ([HobbyKing](https://hobbyking.com/en_us/duraflytm-auto-g-gyrocopter-821mm-replacement-main-blade-1pcs-bag.html) or 3D printed)

 ## Video

@@ -14,8 +14,8 @@ Key information

 The components needed for this build are:

- Flight controller: [CUAV V5+](https://store.cuav.net/uav-flight-controller/):
-  - GPS: CUAV NEO V2 GPS (Discontined)
+- Flight controller: [CUAV V5+](https://store.cuav.net/index.php?id_product=95&id_product_attribute=0&rewrite=cuav-new-pixhack-v5-autopilot-m8n-gps-for-fpv-rc-drone-quadcopter-helicopter-flight-simulator-free-shipping-whole-sale&controller=product&id_lang=1):
+  - GPS: [CUAV NEO V2 GPS](https://store.cuav.net/index.php?id_product=97&id_product_attribute=0&rewrite=cuav-new-ublox-neo-m8n-gps-module-with-shell-stand-holder-for-flight-controller-gps-compass-for-pixhack-v5-plus-rc-parts-px4&controller=product&id_lang=1)
  - Power Module
 - Frame: [DJI F450](https://www.amazon.com/Flame-Wheel-Basic-Quadcopter-Drone/dp/B00HNMVQHY)
 - Propellers: [DJI Phantom Built-in Nut Upgrade Propellers 9.4x5](https://www.masterairscrew.com/products/dji-phantom-built-in-nut-upgrade-propellers-in-black-mr-9-4x5-prop-set-x4-phantom)
@@ -18,8 +18,8 @@ The components needed for this build are:
    ::: info
    You can select your own flight controller of choice, it just needs to support 8 DShot outputs.
    :::
-  - GPS: [ZED-F9P](https://gnss.store/zed-f9p-gnss-modules/105-elt0092.html)
-  - [GPS helix antenna](https://gnss.store/gnss-rtk-multiband-antennas/28-elt0014.html)
+  - GPS: [ZED-F9P](https://www.gnss.store/gnss-gps-modules/105-ublox-zed-f9p-rtk-gnss-receiver-board-with-sma-base-or-rover.html?search_query=ZED-F9P&results=11)
+  - [GPS helix antenna](https://www.gnss.store/rf-gps-antennas/28-high-performance-multi-band-gnss-active-quad-helix-antenna-for-rtk.html)
    ::: info
    Any other GPS may work as well, however a helix antenna is expected to perform better for inverted flights.
    :::
@@ -32,8 +32,8 @@ The components needed for this build are:
  - Battery: we used a 6S 3300mAh LiPo. Make sure to check the dimensions so it fits the frame.
  - Battery strap
 - Frame:
-  - Carbon square tube R 8mm X 7mm X 1000mm, e.g. [here on shop.swiss-composite.ch](https://shop.swiss-composite.ch/pi.php/Halbfabrikate/Rohre/Vierkant-Rohre/CFK-Vierkantrohr-8x8-7x7mm.html)
-  - Carbon Rods R 3mm X 2mm X 1000mm, e.g. [here on shop.swiss-composite.ch](https://shop.swiss-composite.ch/pi.php/Halbfabrikate/Rohre/CFK-Rohre-pultrudiert-pullwinding/Carbon-Microtubes-100cm-x-20-3mm.html)
+  - Carbon square tube R 8mm X 7mm X 1000mm, e.g. [here](https://shop.swiss-composite.ch/pi/Halbfabrikate/Rohre/Vierkant-Rohre/CFK-Vierkantrohr-8x8-7x7mm.html)
+  - Carbon Rods R 3mm X 2mm X 1000mm, e.g. [here](https://shop.swiss-composite.ch/pi/Halbfabrikate/Rohre/CFK-Rohre-pultrudiert-pullwinding/Carbon-Microtubes-100cm-x-20-3mm.html)
  - Required lengths:
    - square tube: 8 pieces with length of 248mm
    - rods: 12x328mm, 6x465mm
@@ -49,7 +49,7 @@ Key build features
 - [Holybro M9N GPS module](https://holybro.com/products/m9n-gps)
 - Holybro PWM breakout board
 - MS4525DO differential pressure module and pitot tube
- [Caddx Vista FPV air unit](https://caddxfpv.com/collections/vista-kit)
+- [Caddx Vista FPV air unit](https://caddxfpv.com/products/caddx-vista-kit)
 - [Emax ES08MA ii](https://emaxmodel.com/products/emax-es08ma-ii-12g-mini-metal-gear-analog-servo-for-rc-model-robot-pwm-servo)
 - [DJI FPV Goggles](https://www.dji.com/fpv)
 - [ExpressLRS Matek Diversity RX](https://www.mateksys.com/?portfolio=elrs-r24)
@@ -44,7 +44,7 @@ Key Build Features:
 - [SIK telemetry radio](../telemetry/sik_radio.md)

 - MS4525DO differential pressure module and pitot tube
- [Caddx Vista FPV air unit](https://caddxfpv.com/collections/vista-kit)
+- [Caddx Vista FPV air unit](https://caddxfpv.com/products/caddx-vista-kit)
 - [DJI FPV Goggles](https://www.dji.com/fpv)
 - [ExpressLRS Matek Diversity RX](https://www.mateksys.com/?portfolio=elrs-r24)
 - [Custom designed 3D printed parts](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/airframes/fw/turbo_timber_evolution/3d_printed_parts.zip)
@@ -14,17 +14,21 @@ Key information:

 ### Z-84 Plug n' Fly (PNF/PNP) or Kit

+One of these:
 - [Banggood](https://www.banggood.com/Wing-Wing-Z-84-Z84-EPO-845mm-Wingspan-Flying-Wing-PNP-p-973125.html)
+- [Hobbyking US Warehouse](https://hobbyking.com/en_us/wing-wing-z-84-epo-845mm-kit.html)

 :::tip
 PNF (or "PNP") versions include motor, propeller and electronic speed controller.
 The "kit" version does not include these components, which must be purchased separately.
 :::

+
 ### Electronic Speed Controller (ESC)

-Any small (>=12A) ESC will do:
+One of these (any small (>=12A) ESC will do):

+- [Turnigy 20A Brushed ESC ESC](https://hobbyking.com/en_us/turnigy-20a-brushed-esc.html) (Hobbyking)
 - [Lumenier Regler 30A BLHeli_S ESC OPTO](https://www.getfpv.com/lumenier-30a-blheli-s-esc-opto-2-4s.html) (GetFPV)

 ### Autopilot and Essential Components
@@ -35,6 +39,7 @@ Any small (>=12A) ESC will do:
 - [Digital airspeed sensor](../flight_controller/pixfalcon.md#availability) for Holybro pix32 / Pixfalcon
 - 1800 mAh 2S LiPo Battery - e.g. [Team Orion 1800mAh 7.4V 50C 2S1P](https://teamorion.com/en/batteries-en/lipo/soft-case/team-orion-lipo-1800-2s-7-4v-50c-xt60-en/)

+
 ### Recommended spare parts

 - 1 cm diameter O-ring for prop saver ([Hobbyking](https://hobbyking.com/en_us/wing-wing-z-84-o-ring-10pcs.html))
@@ -46,13 +51,14 @@ Wire the servos and motors as shown.
 Use the `MAIN` outputs (not the ones labeled with AUX).
 The motor controller needs to have an in-built BEC, as the autopilot is not powering the servo rail.

-| Port   | Connection                  |
-| ------ | --------------------------- |
-| RC IN  | PPM or S.BUS / S.BUS2 input |
-| MAIN 1 | Left Aileron                |
-| MAIN 2 | Right Aileron               |
-| MAIN 3 | Empty                       |
-| MAIN 4 | Motor 1                     |
+Port | Connection
+--- | ---
+RC IN    | PPM or S.BUS / S.BUS2 input
+MAIN 1   | Left Aileron
+MAIN 2   | Right Aileron
+MAIN 3   | Empty
+MAIN 4   | Motor 1
+

 ## Build Log

@@ -69,9 +75,9 @@ The images below give a rough idea about the assembly process, which is simple a

 ### Airframe Configuration

-Select **Flying Wing > Generic Flying Wing** in the QGroundControl [Airframe Configuration](../config/airframe.md):
+Select **Flying Wing > Generic Flying Wing** in the QGroundControl [Airframe Configuration](../config/airframe.md): 

-![QGC - select firmware for West Wing](../../assets/airframes/fw/wing_wing/qgc_firmware_flying_wing_west_wing.png)
+![QGC - select firmware for West Wing](../../assets/airframes/fw/wing_wing/qgc_firmware_flying_wing_west_wing.png) 

 ### Actuator Mapping

@@ -264,6 +264,7 @@ Flight controllers that do not include an SD Card slot may:
 - Disable notification beeps are disabled using the parameter [CBRK_BUZZER](../advanced_config/parameter_reference.md#CBRK_BUZZER).
 - [Stream logs](../dev_log/logging.md#log-streaming) to another component (companion).
 - Store missions in RAM/FLASH.
+  <!-- Too low-level for this. But see FLASH_BASED_DATAMAN in  Intel Aero: https://github.com/PX4/PX4-Autopilot/blob/main/boards/intel/aerofc-v1/src/board_config.h#L115 -->

 ## Payloads

@@ -66,7 +66,7 @@ You then need to ensure that the parachute pin will be set to a value that will
  The output is automatically set to the maximum PWM value when a failsafe is triggered.

  ::: info
-  For the spring-loaded launcher from [Fruity Chutes](https://fruitychutes.com/uav_rpv_drone_recovery_parachutes/drone_multicopter_quadcopter_recovery_parachutes#Harrier) the minimum PWM value should be between 700 and 1000ms, and the maximum value between 1800 and 2200ms.
+  For the spring-loaded launcher from [Fruity Chutes](https://fruitychutes.com/buyachute/drone-and-uav-parachute-recovery-c-21/harrier-drone-parachute-launcher-c-21_33/) the minimum PWM value should be between 700 and 1000ms, and the maximum value between 1800 and 2200ms.
  :::

 ### MAVLink Parachute Setup
@@ -54,8 +54,8 @@ The release includes new hardware support for the following boards, peripherals,
 - CUAV X7 / X7Pro
 - CUAV Nora
 - CUAV CAN GPS (Neo-3-2)
- SP Racing H7 Extreme ([Read more about this product on the manufacturers site](http://seriouslypro.com/products/spracingh7extreme))
- Bitcraze Crazyflie v2.1 ([Read more about this product on the manufacturers site](https://www.bitcraze.io/products/crazyflie-2-1-brushless/))
+- SP Racing H7 Extreme ([Read more about this product on the manufacturers site](http://seriouslypro.com/spracingh7extreme))
+- Bitcraze Crazyflie v2.1 ([Read more about this product on the manufacturers site](https://www.bitcraze.io/products/crazyflie-2-1/))
 - ARK CAN Flow ([Read more about this product on the manufacturers site](https://arkelectron.com/product/ark-flow/))
 - mRo Ctrl Zero H7 (Experimental) ([Read more about this product on the manufacturers site](https://store.mrobotics.io/mRo-Control-Zero-F7-p/mro-ctrl-zero-f7.htm))

@@ -80,8 +80,7 @@ Please continue reading for [upgrade instructions](#upgrade-guide).

 ### Fixed-wing

- [Fixed Wing Takeoff mode](../flight_modes_fw/takeoff.md) will now keep climbing with level wings on position loss.
-  A target takeoff waypoint can be set to control takeoff course and loiter altitude. ([PX4-Autopilot#25083](https://github.com/PX4/PX4-Autopilot/pull/25083)).
+- TBD

 ### Rover

@@ -90,7 +90,9 @@ You can also disable GNSS, baro and range finder fusion using [EKF2_GPS_CTRL](..
 Reboot the flight controller in order for parameter changes to take effect.
 :::

-#### Tuning EKF2_EV_DELAY {#tuning-EKF2_EV_DELAY}
+<a id="tuning-EKF2_EV_DELAY"></a>
+
+#### Tuning EKF2_EV_DELAY

 [EKF2_EV_DELAY](../advanced_config/parameter_reference.md#EKF2_EV_DELAY) is the _Vision Position Estimator delay relative to IMU measurements_.

@@ -169,7 +171,9 @@ VIO and MoCap systems have different ways of obtaining pose data, and have their
 The setup for specific systems is covered [below](#setup_specific_systems).
 For other systems consult the vendor setup documentation.

-### Relaying Pose Data to PX4 {#relaying_pose_data_to_px4}
+<a id="relaying_pose_data_to_px4"></a>
+
+### Relaying Pose Data to PX4

 MAVROS has plugins to relay a visual estimation from a VIO or MoCap system using the following pipelines:

@@ -249,11 +253,13 @@ When using the MAVROS _odom_ plugin, it is important that no other node is publi
 This might break the _tf_ tree.
 :::

-## Specific System Setups {#setup_specific_systems}
+<a id="setup_specific_systems"></a>
+
+## Specific System Setups

 ### OptiTrack MoCap

-The following steps explain how to feed position estimates from an [OptiTrack](https://optitrack.com/applications/robotics/) system to PX4.
+The following steps explain how to feed position estimates from an [OptiTrack](https://optitrack.com/motion-capture-robotics/) system to PX4.
 It is assumed that the MoCap system is calibrated.
 See [this video](https://www.youtube.com/watch?v=cNZaFEghTBU) for a tutorial on the calibration process.

@@ -27,4 +27,3 @@ These are run by the test team as part of release testing, and for more signific
 - [MC_03 - Auto Manual Mix](../test_cards/mc_03_auto_manual_mix.md)
 - [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)
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Konrad	a4ec7ac5fa	Mavlink: Stream the received auxiliary global position from dds over Mavlink	2025-07-16 15:51:24 +02:00
Konrad	a802f13870	Mavlink: DRAFT update to mavlink branch with GLOBAL_POSITION definition Needs to be changed back if mavlink gets merged	2025-07-16 15:35:24 +02:00