[Docs] update metadata (#25603)

docs/en/modules/modules_driver_ins.md

@@ -125,6 +125,31 @@ ilabs <command> [arguments...]
    status        Print driver status
 ```
 
+## sbgecom
+
+Source: [drivers/ins/sbgecom](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/ins/sbgecom)
+
+Description du module
+
+### Usage {#sbgecom_usage}
+
+```
+sbgecom <command> [arguments...]
+ Commands:
+   start         Start driver
+     [-d <val>]  Serial device
+                 default: /dev/ttyS0
+     [-b <val>]  Baudrate device
+                 default: 921600
+     [-f <val>]  Config JSON file path
+                 default: /etc/extras/sbg_settings\.json
+     [-s <val>]  Config JSON string
+
+   status        Driver status
+
+   stop          Stop driver
+```
+
 ## vectornav
 
 Source: [drivers/ins/vectornav](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/ins/vectornav)

docs/en/modules/modules_system.md

@@ -140,9 +140,9 @@ commander <command> [arguments...]
    transition    VTOL transition
 
    mode          Change flight mode
-     manual|acro|offboard|stabilized|altctl|posctl|position:slow|auto:mission|au
+     manual|acro|offboard|stabilized|altctl|posctl|altitude_cruise|position:slow
-                 to:loiter|auto:rtl|auto:takeoff|auto:land|auto:precland|ext1
+                 |auto:mission|auto:loiter|auto:rtl|auto:takeoff|auto:land|auto:
-                 Flight mode
+                 precland|ext1 Flight mode
 
    pair
 
@@ -154,6 +154,9 @@ commander <command> [arguments...]
 
    lat|lon|alt   Origin latitude longitude altitude
 
+   set_heading   Set current heading
+     heading     degrees from True North [0 360]
+
    poweroff      Power off board (if supported)
 
    stop
@@ -1062,7 +1065,9 @@ uxrce_dds_client <command> [arguments...]
                  values: <IP>
      [-p <val>]  Agent listening port. If not provided, defaults to
                  UXRCE_DDS_PRT
-     [-n <val>]  Client DDS namespace
+     [-n <val>]  Client DDS namespace. If not provided but UXRCE_DDS_NS_IDX is
+                 between 0 and 9999 inclusive, then uav_ + UXRCE_DDS_NS_IDX will
+                 be used
 
    stop
 

docs/en/msg_docs/ActuatorMotors.md

@@ -18,7 +18,7 @@ uint32 MESSAGE_VERSION = 0
 uint64 timestamp         # [us] Time since system start
 uint64 timestamp_sample  # [us] Sampling timestamp of the data this control response is based on
 
-uint16 reversible_flags  # Bitset indicating which motors are configured to be reversible
+uint16 reversible_flags  # [-] Bitset indicating which motors are configured to be reversible
 
 uint8 ACTUATOR_FUNCTION_MOTOR1 = 101 #
 

docs/en/msg_docs/ActuatorServos.md

@@ -19,6 +19,6 @@ uint64 timestamp         # [us] Time since system start
 uint64 timestamp_sample  # [us] Sampling timestamp of the data this control response is based on
 
 uint8 NUM_CONTROLS = 8  #
-float32[8] control      # [@range -1, 1] Normalized output. 1 means maximum positive position. -1 maximum negative position (if not supported by the output, <0 maps to NaN). NaN maps to disarmed.
+float32[8] control      # [-] [@range -1, 1] Normalized output. 1 means maximum positive position. -1 maximum negative position (if not supported by the output, <0 maps to NaN). NaN maps to disarmed.
 
 ```

docs/en/msg_docs/ArmingCheckReply.md

@@ -1,6 +1,6 @@
 # ArmingCheckReply (UORB message)
 
-Arming check reply.
+Arming check reply
 
 This is a response to an ArmingCheckRequest message sent by the FMU to an external component, such as a ROS 2 navigation mode.
 The response contains the current set of external mode requirements, and a queue of events indicating recent failures to set the mode (which the FMU may then forward to a ground station).
@@ -12,7 +12,7 @@ The message is not used by internal/FMU components, as their mode requirements a
 [source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ArmingCheckReply.msg)
 
 ```c
-# Arming check reply.
+# Arming check reply
 #
 # This is a response to an ArmingCheckRequest message sent by the FMU to an external component, such as a ROS 2 navigation mode.
 # The response contains the current set of external mode requirements, and a queue of events indicating recent failures to set the mode (which the FMU may then forward to a ground station).
@@ -25,33 +25,33 @@ uint32 MESSAGE_VERSION  = 1
 
 uint64 timestamp # [us] Time since system start.
 
-uint8 request_id       # Id of ArmingCheckRequest for which this is a response.
+uint8 request_id       # [-] Id of ArmingCheckRequest for which this is a response
-uint8 registration_id  # Id of external component emitting this response.
+uint8 registration_id  # [-] Id of external component emitting this response
 
-uint8 HEALTH_COMPONENT_INDEX_NONE = 0  # Index of health component for which this response applies.
+uint8 HEALTH_COMPONENT_INDEX_NONE = 0  # Index of health component for which this response applies
 
 uint8 health_component_index      # [@enum HEALTH_COMPONENT_INDEX]
-bool health_component_is_present  # Unused. Intended for use with health events interface (health_component_t in events.json).
+bool health_component_is_present  # Unused. Intended for use with health events interface (health_component_t in events.json)
-bool health_component_warning     # Unused. Intended for use with health events interface (health_component_t in events.json).
+bool health_component_warning     # Unused. Intended for use with health events interface (health_component_t in events.json)
-bool health_component_error       # Unused. Intended for use with health events interface (health_component_t in events.json).
+bool health_component_error       # Unused. Intended for use with health events interface (health_component_t in events.json)
 
-bool can_arm_and_run  # True if the component can arm. For navigation mode components, true if the component can arm in the mode or switch to the mode when already armed.
+bool can_arm_and_run  # True if the component can arm. For navigation mode components, true if the component can arm in the mode or switch to the mode when already armed
 
-uint8 num_events  # Number of queued failure messages (Event) in the events field.
+uint8 num_events  # Number of queued failure messages (Event) in the events field
 
-Event[5] events  # Arming failure reasons (Queue of events to report to GCS).
+Event[5] events  # Arming failure reasons (Queue of events to report to GCS)
 
 # Mode requirements
-bool mode_req_angular_velocity         # Requires angular velocity estimate (e.g. from gyroscope).
+bool mode_req_angular_velocity         # Requires angular velocity estimate (e.g. from gyroscope)
-bool mode_req_attitude                 # Requires an attitude estimate.
+bool mode_req_attitude                 # Requires an attitude estimate
-bool mode_req_local_alt                # Requires a local altitude estimate.
+bool mode_req_local_alt                # Requires a local altitude estimate
-bool mode_req_local_position           # Requires a local position estimate.
+bool mode_req_local_position           # Requires a local position estimate
-bool mode_req_local_position_relaxed   # Requires a more relaxed global position estimate.
+bool mode_req_local_position_relaxed   # Requires a more relaxed global position estimate
-bool mode_req_global_position          # Requires a global position estimate.
+bool mode_req_global_position          # Requires a global position estimate
-bool mode_req_global_position_relaxed  # Requires a relaxed global position estimate.
+bool mode_req_global_position_relaxed  # Requires a relaxed global position estimate
-bool mode_req_mission                  # Requires an uploaded mission.
+bool mode_req_mission                  # Requires an uploaded mission
-bool mode_req_home_position            # Requires a home position (such as RTL/Return mode).
+bool mode_req_home_position            # Requires a home position (such as RTL/Return mode)
-bool mode_req_prevent_arming           # Prevent arming (such as in Land mode).
+bool mode_req_prevent_arming           # Prevent arming (such as in Land mode)
 bool mode_req_manual_control           # Requires a manual controller
 
 uint8 ORB_QUEUE_LENGTH  = 4

docs/en/msg_docs/ArmingCheckRequest.md

@@ -1,6 +1,6 @@
 # ArmingCheckRequest (UORB message)
 
-Arming check request.
+Arming check request
 
 Broadcast message to request arming checks be reported by all registered components, such as external ROS 2 navigation modes.
 All registered components should respond with an ArmingCheckReply message that indicates their current mode requirements, and any arming failure information.
@@ -12,7 +12,7 @@ The reply will also include the registration_id for each external component, pro
 [source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ArmingCheckRequest.msg)
 
 ```c
-# Arming check request.
+# Arming check request
 #
 # Broadcast message to request arming checks be reported by all registered components, such as external ROS 2 navigation modes.
 # All registered components should respond with an ArmingCheckReply message that indicates their current mode requirements, and any arming failure information.
@@ -23,10 +23,10 @@ The reply will also include the registration_id for each external component, pro
 
 uint32 MESSAGE_VERSION = 1
 
-uint64 timestamp  # [us] Time since system start.
+uint64 timestamp  # [us] Time since system start
 
-uint8 request_id  # Id of this request. Allows correlation with associated ArmingCheckReply messages.
+uint8 request_id  # [-] Id of this request. Allows correlation with associated ArmingCheckReply messages.
 
-uint32 valid_registrations_mask # Bitmask of valid registration ID's (the bit is also cleared if flagged as unresponsive)
+uint32 valid_registrations_mask # [-] Bitmask of valid registration ID's (the bit is also cleared if flagged as unresponsive)
 
 ```

docs/en/msg_docs/BatteryStatus.md

@@ -16,19 +16,20 @@ Battery instance information is also logged and streamed in MAVLink telemetry.
 # Battery instance information is also logged and streamed in MAVLink telemetry.
 
 uint32 MESSAGE_VERSION = 1
-uint8 MAX_INSTANCES = 4
+uint8 MAX_INSTANCES = 3
 
 uint64 timestamp  # [us] Time since system start
+
 bool connected             # Whether or not a battery is connected. For power modules this is based on a voltage threshold.
 float32 voltage_v          # [V] [@invalid 0] Battery voltage
 float32 current_a          # [A] [@invalid -1] Battery current
 float32 current_average_a  # [A] [@invalid -1] Battery current average (for FW average in level flight)
 float32 discharged_mah     # [mAh] [@invalid -1] Discharged amount
 float32 remaining          # [@range 0,1] [@invalid -1] Remaining capacity
-float32 scale # [@range 1,] [@invalid -1] Scaling factor to compensate for lower actuation power caused by voltage sag
+float32 scale              # [-] [@range 1,] [@invalid -1] Scaling factor to compensate for lower actuation power caused by voltage sag
 float32 time_remaining_s   # [s] [@invalid NaN] Predicted time remaining until battery is empty under previous averaged load
 float32 temperature        # [°C] [@invalid NaN] Temperature of the battery
-uint8 cell_count # [@invalid 0] Number of cells
+uint8 cell_count           # [-] [@invalid 0] Number of cells
 
 
 uint8 source                   # [@enum SOURCE] Battery source
@@ -36,18 +37,18 @@ uint8 SOURCE_POWER_MODULE = 0 # Power module
 uint8 SOURCE_EXTERNAL = 1      # External
 uint8 SOURCE_ESCS = 2          # ESCs
 
-uint8 priority # Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1
+uint8 priority                # [-] Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1
 uint16 capacity               # [mAh] Capacity of the battery when fully charged
-uint16 cycle_count # Number of discharge cycles the battery has experienced
+uint16 cycle_count            # [-] Number of discharge cycles the battery has experienced
 uint16 average_time_to_empty  # [minutes] Predicted remaining battery capacity based on the average rate of discharge
-uint16 manufacture_date # Manufacture date, part of serial number of the battery pack. Formatted as: Day + Month×32 + (Year–1980)×512
+uint16 manufacture_date       # [-] Manufacture date, part of serial number of the battery pack. Formatted as: Day + Month×32 + (Year–1980)×512
 uint16 state_of_health        # [%] [@range 0, 100] State of health. FullChargeCapacity/DesignCapacity
 uint16 max_error              # [%] [@range 1, 100] Max error, expected margin of error in the state-of-charge calculation
-uint8 id # ID number of a battery. Should be unique and consistent for the lifetime of a vehicle. 1-indexed
+uint8 id                      # [-] ID number of a battery. Should be unique and consistent for the lifetime of a vehicle. 1-indexed
-uint16 interface_error # Interface error counter
+uint16 interface_error        # [-] Interface error counter
 
 float32[14] voltage_cell_v      # [V] [@invalid 0] Battery individual cell voltages
-float32 max_cell_voltage_delta # Max difference between individual cell voltages
+float32 max_cell_voltage_delta  # [V] Max difference between individual cell voltages
 
 bool is_powering_off  # Power off event imminent indication, false if unknown
 bool is_required      # Set if the battery is explicitly required before arming
@@ -77,15 +78,15 @@ uint8 FAULT_COUNT = 11 # Counter. Keep this as last element
 
 float32 full_charge_capacity_wh  # [Wh] Compensated battery capacity
 float32 remaining_capacity_wh    # [Wh] Compensated battery capacity remaining
-uint16 over_discharge_count # Number of battery overdischarge
+uint16 over_discharge_count      # [-] Number of battery overdischarge
 float32 nominal_voltage          # [V] Nominal voltage of the battery pack
 
 float32 internal_resistance_estimate  # [Ohm] Internal resistance per cell estimate
 float32 ocv_estimate                  # [V] Open circuit voltage estimate
 float32 ocv_estimate_filtered         # [V] Filtered open circuit voltage estimate
-float32 volt_based_soc_estimate # [@range 0, 1] Normalized volt based state of charge estimate
+float32 volt_based_soc_estimate       # [-] [@range 0, 1] Normalized volt based state of charge estimate
 float32 voltage_prediction            # [V] Predicted voltage
 float32 prediction_error              # [V] Prediction error
-float32 estimation_covariance_norm # Norm of the covariance matrix
+float32 estimation_covariance_norm    # [-] Norm of the covariance matrix
 
 ```

docs/en/msg_docs/EstimatorStatus.md

@@ -1,7 +1,5 @@
 # EstimatorStatus (UORB message)
 
-
-
 [source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorStatus.msg)
 
 ```c
@@ -54,7 +52,9 @@ uint8 CS_SYNTHETIC_MAG_Z = 25	# 25 - true when we are using a synthesized measur
 uint8 CS_VEHICLE_AT_REST = 26	# 26 - true when the vehicle is at rest
 uint8 CS_GPS_YAW_FAULT = 27	# 27 - true when the GNSS heading has been declared faulty and is no longer being used
 uint8 CS_RNG_FAULT = 28		# 28 - true when the range finder has been declared faulty and is no longer being used
-uint8 CS_GNSS_VEL = 44		# 44 - true if GNSS velocity measurements are being fused
+uint8 CS_GNSS_VEL = 44		# 44 - true if GNSS velocity measurement fusion is intended
+uint8 CS_GNSS_FAULT = 45        # 45 - true if GNSS measurements have been declared faulty and are no longer used
+uint8 CS_YAW_MANUAL = 46        # 46 - true if yaw has been set manually
 
 uint32 filter_fault_flags	# Bitmask to indicate EKF internal faults
 # 0 - true if the fusion of the magnetometer X-axis has encountered a numerical error

docs/en/msg_docs/EstimatorStatusFlags.md

@@ -1,7 +1,5 @@
 # EstimatorStatusFlags (UORB message)
 
-
-
 [source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorStatusFlags.msg)
 
 ```c
@@ -56,6 +54,8 @@ bool cs_valid_fake_pos          # 41 - true if a valid constant position is bein
 bool cs_constant_pos            # 42 - true if the vehicle is at a constant position
 bool cs_baro_fault	        # 43 - true when the current baro has been declared faulty and is no longer being used
 bool cs_gnss_vel                # 44 - true if GNSS velocity measurement fusion is intended
+bool cs_gnss_fault              # 45 - true if GNSS measurements have been declared faulty and are no longer used
+bool cs_yaw_manual              # 46 - true if yaw has been set manually
 
 # fault status
 uint32 fault_status_changes   # number of filter fault status (fs) changes

docs/en/msg_docs/RoverRateStatus.md

@@ -10,6 +10,6 @@ Rover Rate Status
 uint64 timestamp                    # [us] Time since system start
 float32 measured_yaw_rate           # [rad/s] [@range -inf, inf] [@frame NED] Measured yaw rate
 float32 adjusted_yaw_rate_setpoint  # [rad/s] [@range -inf, inf] [@frame NED] Yaw rate setpoint that is being tracked (Applied slew rates)
-float32 pid_yaw_rate_integral #  [] [@range -1, 1] Integral of the PID for the closed loop yaw rate controller
+float32 pid_yaw_rate_integral       # [-] [@range -1, 1] Integral of the PID for the closed loop yaw rate controller
 
 ```

docs/en/msg_docs/RoverSpeedStatus.md

@@ -10,9 +10,9 @@ Rover Velocity Status
 uint64 timestamp                        # [us] Time since system start
 float32 measured_speed_body_x           # [m/s] [@range -inf (Backwards), inf (Forwards)] [@frame Body] Measured speed in body x direction
 float32 adjusted_speed_body_x_setpoint  # [m/s] [@range -inf (Backwards), inf (Forwards)] [@frame Body] Speed setpoint in body x direction that is being tracked (Applied slew rates)
-float32 pid_throttle_body_x_integral # [] [@range -1, 1] Integral of the PID for the closed loop controller of the speed in body x direction
+float32 pid_throttle_body_x_integral    # [-] [@range -1, 1] Integral of the PID for the closed loop controller of the speed in body x direction
 float32 measured_speed_body_y           # [m/s] [@range -inf (Left), inf (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Measured speed in body y direction
 float32 adjusted_speed_body_y_setpoint  # [m/s] [@range -inf (Left), inf (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Speed setpoint in body y direction that is being tracked (Applied slew rates)
-float32 pid_throttle_body_y_integral # [] [@range -1, 1] [@invalid NaN If not mecanum] Mecanum only: Integral of the PID for the closed loop controller of the speed in body y direction
+float32 pid_throttle_body_y_integral    # [-] [@range -1, 1] [@invalid NaN If not mecanum] Mecanum only: Integral of the PID for the closed loop controller of the speed in body y direction
 
 ```

docs/en/msg_docs/RoverSteeringSetpoint.md

@@ -8,6 +8,6 @@ Rover Steering setpoint
 # Rover Steering setpoint
 
 uint64 timestamp                      # [us] Time since system start
-float32 normalized_steering_setpoint # [@range -1 (Left), 1 (Right)] [@frame Body] Ackermann: Normalized steering angle, Differential/Mecanum: Normalized speed difference between the left and right wheels
+float32 normalized_steering_setpoint  # [-] [@range -1 (Left), 1 (Right)] [@frame Body] Ackermann: Normalized steering angle, Differential/Mecanum: Normalized speed difference between the left and right wheels
 
 ```

docs/en/msg_docs/RoverThrottleSetpoint.md

@@ -8,7 +8,7 @@ Rover Throttle setpoint
 # Rover Throttle setpoint
 
 uint64 timestamp         # [us] Time since system start
-float32 throttle_body_x # [] [@range -1 (Backwards), 1 (Forwards)] [@frame Body] Throttle setpoint along body X axis
+float32 throttle_body_x  # [-] [@range -1 (Backwards), 1 (Forwards)] [@frame Body] Throttle setpoint along body X axis
-float32 throttle_body_y # [] [@range -1 (Left), 1 (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Throttle setpoint along body Y axis
+float32 throttle_body_y  # [-] [@range -1 (Left), 1 (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Throttle setpoint along body Y axis
 
 ```

docs/en/msg_docs/VehicleCommand.md

@@ -96,6 +96,7 @@ uint16 VEHICLE_CMD_REQUEST_CAMERA_INFORMATION = 521 # Request camera information
 uint16 VEHICLE_CMD_SET_CAMERA_MODE = 530 # Set camera capture mode (photo, video, etc.).
 uint16 VEHICLE_CMD_SET_CAMERA_ZOOM = 531 # Set camera zoom.
 uint16 VEHICLE_CMD_SET_CAMERA_FOCUS = 532
+uint16 VEHICLE_CMD_EXTERNAL_ATTITUDE_ESTIMATE = 620 # Set an external estimate of vehicle attitude in degrees.
 uint16 VEHICLE_CMD_DO_GIMBAL_MANAGER_PITCHYAW = 1000 # Setpoint to be sent to a gimbal manager to set a gimbal pitch and yaw.
 uint16 VEHICLE_CMD_DO_GIMBAL_MANAGER_CONFIGURE = 1001 # Gimbal configuration to set which sysid/compid is in primary and secondary control.
 uint16 VEHICLE_CMD_IMAGE_START_CAPTURE = 2000 # Start image capture sequence.

docs/en/msg_docs/VehicleStatus.md

@@ -48,7 +48,7 @@ uint8 NAVIGATION_STATE_AUTO_LOITER = 4          # Auto loiter mode
 uint8 NAVIGATION_STATE_AUTO_RTL = 5             # Auto return to launch mode
 uint8 NAVIGATION_STATE_POSITION_SLOW = 6
 uint8 NAVIGATION_STATE_FREE5 = 7
-uint8 NAVIGATION_STATE_FREE4 = 8
+uint8 NAVIGATION_STATE_ALTITUDE_CRUISE = 8      # Altitude with Cruise mode
 uint8 NAVIGATION_STATE_FREE3 = 9
 uint8 NAVIGATION_STATE_ACRO = 10                # Acro mode
 uint8 NAVIGATION_STATE_FREE2 = 11

docs/en/msg_docs/index.md

@@ -16,8 +16,8 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
 - [ActuatorMotors](ActuatorMotors.md) — Motor control message
 - [ActuatorServos](ActuatorServos.md) — Servo control message
 - [AirspeedValidated](AirspeedValidated.md)
-- [ArmingCheckReply](ArmingCheckReply.md) — Arming check reply.
+- [ArmingCheckReply](ArmingCheckReply.md) — Arming check reply
-- [ArmingCheckRequest](ArmingCheckRequest.md) — Arming check request.
+- [ArmingCheckRequest](ArmingCheckRequest.md) — Arming check request
 - [BatteryStatus](BatteryStatus.md) — Battery status
 - [ConfigOverrides](ConfigOverrides.md) — Configurable overrides by (external) modes or mode executors
 - [Event](Event.md) — Events interface