docs(i18n): PX4 guide translations (Crowdin) - ko (#26898)

Co-authored-by: Crowdin Bot <support+bot@crowdin.com>
2026-05-09 22:08:56 +08:00 · 2026-04-01 17:29:31 +11:00
parent 757be36ac2
commit 2e0000c8fa
34 changed files with 1524 additions and 750 deletions
@@ -487,6 +487,7 @@
      - [Plugins](sim_gazebo_gz/plugins.md)
      - [Gazebo Models Repository](sim_gazebo_gz/gazebo_models.md)
      - [Multi-Vehicle Sim](sim_gazebo_gz/multi_vehicle_simulation.md)
+    - [SIH Simulation](sim_sih/index.md)
    - [Gazebo Classic Simulation](sim_gazebo_classic/index.md)
      - [Vehicles](sim_gazebo_classic/vehicles.md)
      - [Worlds](sim_gazebo_classic/worlds.md)
@@ -586,6 +587,8 @@
        - [DistanceSensorModeChangeRequest](msg_docs/DistanceSensorModeChangeRequest.md)
        - [DronecanNodeStatus](msg_docs/DronecanNodeStatus.md)
        - [Ekf2Timestamps](msg_docs/Ekf2Timestamps.md)
+        - [EscEepromRead](msg_docs/EscEepromRead.md)
+        - [EscEepromWrite](msg_docs/EscEepromWrite.md)
        - [EscReport](msg_docs/EscReport.md)
        - [EscStatus](msg_docs/EscStatus.md)
        - [EstimatorAidSource1d](msg_docs/EstimatorAidSource1d.md)
@@ -776,6 +779,7 @@
        - [VehicleLocalPositionV0](msg_docs/VehicleLocalPositionV0.md)
        - [VehicleStatusV0](msg_docs/VehicleStatusV0.md)
        - [VehicleStatusV1](msg_docs/VehicleStatusV1.md)
+        - [VehicleStatusV2](msg_docs/VehicleStatusV2.md)
    - [MAVLink Messaging](mavlink/index.md)
      - [Adding Messages](mavlink/adding_messages.md)
      - [Streaming Messages](mavlink/streaming_messages.md)
@@ -870,8 +874,9 @@
        - [jMAVSim 다중 차량 시뮬레이션](sim_jmavsim/multi_vehicle.md)
      - [JSBSim Simulation](sim_jsbsim/index.md)
      - [AirSim Simulation](sim_airsim/index.md)
-      - [HITL Simulation](simulation/hitl.md)
-      - [Simulation-In-Hardware](sim_sih/index.md)
+      - [Hardware Simulation](simulation/hardware.md)
+        - [HITL Simulation](simulation/hitl.md)
+        - [SIH on Hardware](sim_sih/hardware.md)
      - [Multi-vehicle simulation](simulation/multi-vehicle-simulation.md)
  - [플랫폼 시험과 지속 통합](test_and_ci/index.md)
    - [시험 비행](test_and_ci/test_flights.md)
@@ -927,6 +932,7 @@
  - [Translation](contribute/translation.md)
  - [용어/표기법](contribute/notation.md)
  - [라이센스](contribute/licenses.md)
+  - [SBOM](contribute/sbom.md)

 - [출시](releases/index.md)
  - [Release Process](releases/release_process.md)
@@ -91,7 +91,7 @@ For FMUv6S, you need to route the PPS signal separately:

 For ARK FMUv6X on the Jetson carrier board:

-1. Connect your GNSS module using either the 10-pin or 6-pin GPS connector: [ARK PAB GPS1 Interface](../flight_controller/ark_pab#gps1)
+1. Connect your GNSS module using either the 10-pin or 6-pin GPS connector: [ARK PAB GPS1 Interface](../flight_controller/ark_pab.md#gps1)
 2. Connect the PPS signal to the **FMU_CAP** pin: [ARK PAB ADIO Interface](../flight_controller/ark_pab.md#adio)

 ## 검증
@@ -170,7 +170,7 @@ After the bootloader has updated you can [Load PX4 Firmware](../config/firmware.
 ## FMUv2 Bootloader Update

 If _QGroundControl_ installs the FMUv2 target (see console during installation), and you have a newer board, you may need to update the bootloader in order to access all the memory on your flight controller.
-This example explains how you can use [QGC Bootloader Update](qgc-bootloader-update-sys-bl-update) to update the bootloader.
+This example explains how you can use [QGC Bootloader Update](#qgc-bootloader-update-sys-bl-update) to update the bootloader.

 :::info
 Early FMUv2 [Pixhawk-series](../flight_controller/pixhawk_series.md#fmu_versions) flight controllers had a [hardware issue](../flight_controller/silicon_errata.md#fmuv2-pixhawk-silicon-errata) that restricted them to using 1MB of flash memory.
@@ -94,6 +94,28 @@ The switch can also be set as part of _QGroundControl_ [Flight Mode](../config/f
 | <a id="COM_DISARM_LAND"></a>[COM_DISARM_LAND](../advanced_config/parameter_reference.md#COM_DISARM_LAND)    | 착륙후 자동 시동 해제 대기 시간. 기본값: 2s (-1 비활성화).                                                    |
 | <a id="COM_DISARM_PRFLT"></a>[COM_DISARM_PRFLT](../advanced_config/parameter_reference.md#COM_DISARM_PRFLT) | 이륙 속도가 너무 느리면 자동 시동 해제 시간이 초과됩니다. Default: 10s (<=0 to disable). |

+## Auto-Arming on Boot
+
+The vehicle can be configured to arm automatically on boot once all preflight checks pass,
+using the `COM_ARM_ON_BOOT` parameter. For safety, PX4 enforces a minimum 5-second delay after boot before attempting to arm.
+
+Once armed this way, the vehicle will not re-arm automatically after a manual disarm.
+
+:::info
+The parameter value is read once at boot.
+Changing it while the system is running has no effect until the next reboot.
+:::
+
+:::warning
+Use with caution.
+A vehicle that arms automatically can spin up motors and actuators without any operator gesture.
+Ensure the vehicle is in a safe state before powering on.
+:::
+
+| 매개변수                                                                                                                                                                    | 설명                                                                                                                                                   |
+| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------- |
+| <a id="COM_ARM_ON_BOOT"></a>[COM_ARM_ON_BOOT](../advanced_config/parameter_reference.md#COM_ARM_ON_BOOT) | Arm automatically once preflight checks pass after boot. Default: `0` (Disabled). |
+
 ## Pre-Arm Checks

 To reduce accidents, vehicles are only allowed to arm certain conditions are met (some of which are configurable).
@@ -38,7 +38,7 @@ Devices within a network are connected in a _daisy-chain_ in any order (this dif

 :::warning
 Don't connect each CAN peripheral to a separate CAN port!
-Unlike UARTs, CAN peripherals are designed to be daisy chained, with additional ports such as `CAN2` used for [redundancy](redundancy).
+Unlike UARTs, CAN peripherals are designed to be daisy chained, with additional ports such as `CAN2` used for [redundancy](#redundancy).
 :::

 At either end of the chain, a 120Ω termination resistor should be connected between the two data lines.
@@ -84,7 +84,7 @@ You only _need_ one CAN port to support an arbitrary number of CAN devices using
 Don't connect each CAN peripheral to a separate CAN port!
 :::

-Generally you'll daisy all CAN peripherals off a single port, and if there is more than one CAN port, use the second one for [redundancy](redundancy).
+Generally you'll daisy all CAN peripherals off a single port, and if there is more than one CAN port, use the second one for [redundancy](#redundancy).
 If three are three ports, you might use the remaining network for devices that support another CAN protocol.

 The documentation for your flight controller should indicate which ports are supported/enabled.
@@ -76,13 +76,13 @@ You might have to adjust the per-motor pole count (`DSHOT_MOT_POL1`–`DSHOT_MOT

 The following parameters should be set to enable and configure dynamic notch filters:

-| 매개변수                                                                                                                                                                         | 설명                                                                                                                                       |
-| ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------- |
-| <a href="IMU_GYRO_DNF_EN"></a>[IMU_GYRO_DNF_EN](../advanced_config/parameter_reference.md#IMU_GYRO_DNF_EN)    | Enable IMU gyro dynamic notch filtering. `0`: ESC RPM, `1`: Onboard FFT. |
-| <a href="IMU_GYRO_FFT_EN"></a>[IMU_GYRO_FFT_EN](../advanced_config/parameter_reference.md#IMU_GYRO_FFT_EN)    | Enable onboard FFT (required if `IMU_GYRO_DNF_EN` is set to `1`).                                     |
-| <a href="IMU_GYRO_DNF_MIN"></a>[IMU_GYRO_DNF_MIN](../advanced_config/parameter_reference.md#IMU_GYRO_DNF_MIN) | Minimum dynamic notch frequency in Hz.                                                                                   |
-| <a href="IMU_GYRO_DNF_BW"></a>[IMU_GYRO_DNF_BW](../advanced_config/parameter_reference.md#IMU_GYRO_DNF_BW)    | Bandwidth for each notch filter in Hz.                                                                                   |
-| <a href="IMU_GYRO_DNF_HMC"></a>[IMU_GYRO_DNF_HMC](../advanced_config/parameter_reference.md#IMU_GYRO_NF0_BW)  | Number of harmonics to filter.                                                                                           |
+| 매개변수                                                                                                                                                                       | 설명                                                                                                                                       |
+| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------- |
+| <a id="IMU_GYRO_DNF_EN"></a>[IMU_GYRO_DNF_EN](../advanced_config/parameter_reference.md#IMU_GYRO_DNF_EN)    | Enable IMU gyro dynamic notch filtering. `0`: ESC RPM, `1`: Onboard FFT. |
+| <a id="IMU_GYRO_FFT_EN"></a>[IMU_GYRO_FFT_EN](../advanced_config/parameter_reference.md#IMU_GYRO_FFT_EN)    | Enable onboard FFT (required if `IMU_GYRO_DNF_EN` is set to `1`).                                     |
+| <a id="IMU_GYRO_DNF_MIN"></a>[IMU_GYRO_DNF_MIN](../advanced_config/parameter_reference.md#IMU_GYRO_DNF_MIN) | Minimum dynamic notch frequency in Hz.                                                                                   |
+| <a id="IMU_GYRO_DNF_BW"></a>[IMU_GYRO_DNF_BW](../advanced_config/parameter_reference.md#IMU_GYRO_DNF_BW)    | Bandwidth for each notch filter in Hz.                                                                                   |
+| <a id="IMU_GYRO_DNF_HMC"></a>[IMU_GYRO_DNF_HMC](../advanced_config/parameter_reference.md#IMU_GYRO_NF0_BW)  | Number of harmonics to filter.                                                                                           |

 ### Low-pass Filter

@@ -0,0 +1,226 @@
+# Software Bill of Materials (SBOM)
+
+PX4 generates a [Software Bill of Materials](https://ntia.gov/SBOM) for every firmware build in [SPDX 2.3](https://spdx.github.io/spdx-spec/v2.3/) JSON format.
+
+## Why SBOM?
+
+- **Regulatory compliance**: The EU Cyber Resilience Act (CRA) requires SBOMs for products with digital elements (reporting obligations begin in September 2026).
+- **Supply chain transparency**: SBOMs enumerate every component compiled into firmware, enabling users and integrators to audit dependencies.
+- **NTIA minimum elements**: Each SBOM satisfies all seven [NTIA required fields](https://www.ntia.gov/report/2021/minimum-elements-software-bill-materials-sbom): supplier, component name, version, unique identifier, dependency relationship, author, and timestamp.
+
+## Format
+
+PX4 uses SPDX 2.3 JSON.
+SPDX is the Linux Foundation's own standard (ISO/IEC 5962), aligning with PX4's position as a Dronecode/LF project.
+Zephyr RTOS also uses SPDX.
+
+Each SBOM contains:
+
+- **Primary package**: The PX4 firmware for a specific board target, marked with `primaryPackagePurpose: FIRMWARE`.
+- **Git submodules**: All third-party libraries included via git submodules (~33 packages), with SPDX license identifiers and commit hashes.
+- **Python build dependencies**: Packages from `Tools/setup/requirements.txt` marked as `BUILD_DEPENDENCY_OF` the firmware.
+- **Board-specific modules**: Internal PX4 modules compiled for the target board.
+- **Compiler**: The C compiler used for the build.
+
+Typical SBOM size: 70-100 packages, ~500 lines, ~20 KB JSON.
+
+## Generation
+
+SBOMs are generated automatically as part of every CMake build.
+The output file is:
+
+```txt
+build/<target>/<target>.sbom.spdx.json
+```
+
+예:
+
+```txt
+build/px4_fmu-v6x_default/px4_fmu-v6x_default.sbom.spdx.json
+```
+
+The generator script is `Tools/ci/generate_sbom.py`.
+It requires PyYAML (`pyyaml`) for loading license overrides.
+
+### CMake Integration
+
+The `sbom` CMake target is included in the default `ALL` target.
+The relevant CMake module is `cmake/sbom.cmake`.
+
+### Disabling SBOM Generation
+
+Set the environment variable before building.
+This is checked at CMake configure time, so a clean build or reconfigure is required:
+
+```sh
+PX4_SBOM_DISABLE=1 make px4_fmu-v6x_default
+```
+
+If the build directory already exists, force a reconfigure:
+
+```sh
+PX4_SBOM_DISABLE=1 cmake -B build/px4_fmu-v6x_default .
+```
+
+### Manual Generation
+
+You can also run the generator directly:
+
+```sh
+python3 Tools/ci/generate_sbom.py \
+    --source-dir . \
+    --board px4_fmu-v6x_default \
+    --modules-file build/px4_fmu-v6x_default/config_module_list.txt \
+    --compiler arm-none-eabi-gcc \
+    --output build/px4_fmu-v6x_default/px4_fmu-v6x_default.sbom.spdx.json
+```
+
+## Artifacts
+
+SBOMs are available in:
+
+| Location        | Path                                     |
+| --------------- | ---------------------------------------- |
+| Build directory | `build/<target>/<target>.sbom.spdx.json` |
+| GitHub Releases | Alongside `.px4` firmware files          |
+| S3              | Same directory as firmware artifacts     |
+
+## Validation
+
+Validate an SBOM against the SPDX JSON schema:
+
+```sh
+python3 -c "
+import json
+doc = json.load(open('build/px4_sitl_default/px4_sitl_default.sbom.spdx.json'))
+assert doc['spdxVersion'] == 'SPDX-2.3'
+assert doc['dataLicense'] == 'CC0-1.0'
+assert len(doc['packages']) > 0
+print(f'Valid: {len(doc[\"packages\"])} packages')
+"
+```
+
+For full schema validation, use the [SPDX online validator](https://tools.spdx.org/app/validate/) or the `spdx-tools` CLI.
+
+## License Detection
+
+Submodule licenses are identified through a combination of auto-detection and manual overrides.
+
+### Auto-Detection
+
+The generator reads the first 100 lines of each submodule's LICENSE or COPYING file
+and matches keywords against known patterns.
+Copyleft licenses (GPL, LGPL, AGPL) are checked before permissive ones
+to prevent false positives.
+
+Supported patterns include:
+
+| SPDX Identifier               | Matched Keywords                                                   |
+| ----------------------------- | ------------------------------------------------------------------ |
+| GPL-3.0-only  | "GNU GENERAL PUBLIC LICENSE", "Version 3"                          |
+| GPL-2.0-only  | "GNU GENERAL PUBLIC LICENSE", "Version 2"                          |
+| LGPL-3.0-only | "GNU LESSER GENERAL PUBLIC LICENSE", "Version 3"                   |
+| LGPL-2.1-only | "GNU Lesser General Public License", "Version 2.1" |
+| AGPL-3.0-only | "GNU AFFERO GENERAL PUBLIC LICENSE", "Version 3"                   |
+| Apache-2.0    | "Apache License", "Version 2.0"                    |
+| MIT                           | "Permission is hereby granted"                                     |
+| BSD-3-Clause                  | "Redistribution and use", "Neither the name"                       |
+| BSD-2-Clause                  | "Redistribution and use", "THIS SOFTWARE IS PROVIDED"              |
+| ISC                           | "Permission to use, copy, modify, and/or distribute"               |
+| EPL-2.0       | "Eclipse Public License", "2.0"                    |
+| Unlicense                     | "The Unlicense", "unlicense.org"                   |
+
+If no pattern matches, the license is set to `NOASSERTION`.
+
+### Override File
+
+When auto-detection fails or returns the wrong result,
+add an entry to `Tools/ci/license-overrides.yaml`:
+
+```yaml
+overrides:
+  src/lib/crypto/libtomcrypt:
+    license: "Unlicense"
+    comment: "Public domain dedication. Functionally equivalent to Unlicense."
+```
+
+Each entry maps a submodule path to its correct SPDX license identifier.
+The optional `comment` field is emitted as `licenseComments` in the SBOM,
+providing context for auditors reviewing complex licensing situations
+(dual licenses, composite LICENSE files, public domain dedications).
+
+### Copyleft Guardrail
+
+The `--verify-licenses` command flags submodules with copyleft licenses
+(GPL, LGPL, AGPL) in a dedicated warning section.
+This is informational only and does not cause a failure.
+It helps maintainers track copyleft obligations when adding new submodules.
+
+### Platform Filtering
+
+Submodules under `platforms/nuttx/` are excluded from POSIX and QURT SBOMs.
+The `--platform` argument (set automatically by CMake via `${PX4_PLATFORM}`)
+controls which platform-specific submodules are included.
+This ensures SITL builds do not list NuttX RTOS packages.
+
+### 검증
+
+Run the verify command to check detection for all submodules:
+
+```sh
+python3 Tools/ci/generate_sbom.py --verify-licenses --source-dir .
+```
+
+This prints each submodule with its detected license, any override, and the final value.
+It exits non-zero if any checked-out submodule resolves to `NOASSERTION` without an override.
+Copyleft warnings are printed after the main table.
+
+### Adding a New Submodule
+
+1. Add the submodule normally.
+2. Run `--verify-licenses` to confirm the license is detected.
+3. If detection fails, add an override to `Tools/ci/license-overrides.yaml`.
+4. If the license is not in the SPDX list, use `LicenseRef-<name>`.
+
+### EU CRA Compliance
+
+The EU Cyber Resilience Act requires SBOMs for products with digital elements.
+The goal is zero `NOASSERTION` licenses in shipped firmware SBOMs.
+Every submodule should have either a detected or overridden license.
+The `--verify-licenses` check enforces this in CI.
+
+## What's in an SBOM
+
+This section is for integrators, compliance teams, and anyone reviewing SBOM artifacts.
+
+### Where to Find SBOMs
+
+| Location        | Path                                     |
+| --------------- | ---------------------------------------- |
+| Build directory | `build/<target>/<target>.sbom.spdx.json` |
+| GitHub Releases | Alongside `.px4` firmware files          |
+| S3              | Same directory as firmware artifacts     |
+
+### Reading the JSON
+
+Each SBOM is a single JSON document following SPDX 2.3.
+Key fields:
+
+- **`packages`**: Array of all components. Each has `name`, `versionInfo`, `licenseConcluded`, and `SPDXID`.
+- **`relationships`**: How packages relate. `CONTAINS` means a submodule is compiled into firmware. `BUILD_DEPENDENCY_OF` means a tool used only during build.
+- **`licenseConcluded`**: The SPDX license identifier determined for that package.
+- **`licenseComments`**: Free-text explanation for complex cases (dual licenses, composite files, public domain).
+- **`externalRefs`**: Package URLs (purls) linking to GitHub repos or PyPI.
+
+### Understanding NOASSERTION
+
+`NOASSERTION` means no license could be determined.
+For submodules, this happens when:
+
+- The submodule is not checked out (common in CI shallow clones).
+- No LICENSE/COPYING file exists.
+- The LICENSE file does not match any known pattern and no override is configured.
+
+For shipped firmware, `NOASSERTION` should be resolved by adding an override.
+For build-only dependencies (Python packages), `NOASSERTION` is acceptable
+since these are not compiled into the firmware binary.
@@ -25,7 +25,7 @@ See the debug probe documentation for details on how to setup your debug connect

 - [SEGGER J-Link](probe_jlink.md): commercial probe, no built-in serial console, requires adapter.
 - [Black Magic Probe](probe_bmp.md): integrated GDB server and serial console, requires adapter.
- [STLink](probe_stlink): best value, integrated serial console, adapter must be soldered.
+- [STLink](probe_stlink.md): best value, integrated serial console, adapter must be soldered.

 We recommend using the J-Link with the Pixhawk Debug Adapter or the STLinkv3-MINIE with a soldered custom cable.

@@ -5,7 +5,7 @@ PX4 runs on ARM Cortex-M microcontrollers, which contain dedicated hardware for
 The SWD debug interface allows direct, low-level, hardware access to the microcontroller's processor and peripherals, so it does not depend on any software on the device.
 Therefore it can be used to debug bootloaders and operating systems such as NuttX.

-## Debug Signals
+## Debug Signals {#debug-signals}

 Four signals are required for debugging (in bold) while the rest is recommended.

@@ -29,7 +29,7 @@ They are usually not accessible and are typically only used to debug very specif

 ## Autopilot Debug Ports {#debug-ports}

-Flight controllers commonly provide a single debug port that exposes both the [SWD Interface](#debug-signals) and [System Console](system_console).
+Flight controllers commonly provide a single debug port that exposes both the [SWD Interface](#debug-signals) and [System Console](system_console.md).

 The [Pixhawk Connector Standards](#pixhawk-standard-debug-ports) formalize the port that must be used in each FMU version.
 However there are still many boards that use different pinouts or connectors, so we recommend you check the [documentation for your autopilot](../flight_controller/index.md) to confirm port location and pinout.
@@ -91,7 +91,7 @@ There FMU and Pixhawk versions are (only) consistent after FMUv5X.

 ### Pixhawk Debug Mini

-The [Pixhawk Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf) defines the _Pixhawk Debug Mini_, a _6-Pin SH Debug Port_ that provides access to both SWD pins and the [System Console](system_console).
+The [Pixhawk Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf) defines the _Pixhawk Debug Mini_, a _6-Pin SH Debug Port_ that provides access to both SWD pins and the [System Console](system_console.md).

 This is used in FMUv4 and FMUv5.

@@ -122,7 +122,7 @@ You can connect to the debug port using a [cable like this one](https://www.digi

 ### Pixhawk Debug Full

-The [Pixhawk Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf) defines _Pixhawk Debug Full_, a _10-Pin SH Debug Port_ that provides access to both SWD pins and the [System Console](system_console).
+The [Pixhawk Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf) defines _Pixhawk Debug Full_, a _10-Pin SH Debug Port_ that provides access to both SWD pins and the [System Console](system_console.md).
 This essentially moves the solder pads from beside the [Pixhawk Debug Mini](#pixhawk-debug-mini) into the connector, and also adds an SWO pin.

 This port is specified for use in FMUv5x, FMUv6, FMUv6x.
@@ -154,14 +154,14 @@ You can connect to the debug port using a [cable like this one](https://www.digi

 ## Debug Probes for PX4 Hardware {#debug-probes}

-Flight controllers commonly provide a [single debug port](#autopilot-debug-ports) that exposes both the [SWD Interface](#debug-signals) and [System Console](system_console).
+Flight controllers commonly provide a [single debug port](#autopilot-debug-ports) that exposes both the [SWD Interface](#debug-signals) and [System Console](system_console.md).

 There are several debug probes that are tested and supported for connecting to one or both of these interfaces:

 - [SEGGER J-Link](../debug/probe_jlink.md): commercial probe, no built-in serial console, requires adapter.
 - [Black Magic Probe](../debug/probe_bmp.md): integrated GDB server and serial console, requires adapter.
- [STLink](../debug/probe_stlink): best value, integrated serial console, adapter must be soldered.
- [MCU-Link](../debug/probe_mculink): best value, integrated serial console, requires adapter.
+- [STLink](../debug/probe_stlink.md): best value, integrated serial console, adapter must be soldered.
+- [MCU-Link](../debug/probe_mculink.md): best value, integrated serial console, requires adapter.

 An adapter to connect to the debug port may come with your flight controller or debug probe.
 Other options are given below.
@@ -199,7 +199,7 @@ Probes that are known to come with connectors are listed below:

 ### Board-specific Adapters

-Some manufacturers provide cables to make it easy to connect the SWD interface and [System Console](../debug/system_console).
+Some manufacturers provide cables to make it easy to connect the SWD interface and [System Console](../debug/system_console.md).

 - [CUAV V5nano](../flight_controller/cuav_v5_nano.md#debug_port) and [CUAV V5+](../flight_controller/cuav_v5_plus.md#debug-port) include this debug cable:

@@ -213,7 +213,7 @@ You can also create custom cables for connecting to different boards or probes:
 - Connect the VREF pin, if supported by the debug probe.
 - Connect the remaining pins, if present.

-See the [STLinkv3-MINIE](probe_stlink) for a guide on how to solder a custom cable.
+See the [STLinkv3-MINIE](probe_stlink.md) for a guide on how to solder a custom cable.

 :::tip
 Where possible, we highly recommend that you create or obtain an adapter board rather than custom cables for connecting to SWD/JTAG debuggers and computers.
@@ -282,7 +282,7 @@ make [VENDOR_][MODEL][_VARIANT] [VIEWER_MODEL_DEBUGGER_WORLD]
 - **VENDOR:** The manufacturer of the board: `px4`, `aerotenna`, `airmind`, `atlflight`, `auav`, `beaglebone`, `intel`, `nxp`, etc.
  The vendor name for Pixhawk series boards is `px4`.
 - **MODEL:** The _board model_ "model": `sitl`, `fmu-v2`, `fmu-v3`, `fmu-v4`, `fmu-v5`, `navio2`, etc.
- **VARIANT:** Indicates particular configurations: e.g. `bootloader`, `cyphal`, which contain components that are not present in the `default` configuration.
+- **VARIANT:** Indicates particular configurations: e.g. `bootloader`, `cyphal`, `sih`, which add or remove components to/from the `default` configuration.
  Most commonly this is `default`, and may be omitted.

 :::tip
@@ -1,7 +1,7 @@
 # Arch Linux 개발 환경

 :::warning
-This development environment is [community supported and maintained](../advanced/community_supported_dev_env).
+This development environment is [community supported and maintained](../advanced/community_supported_dev_env.md).
 It may or may not work with current versions of PX4.

 See [Toolchain Installation](../dev_setup/dev_env.md) for information about the environments and tools supported by the core development team.
@@ -84,7 +84,7 @@ You need to set necessary [DroneCAN](index.md) parameters and define offsets if

 - Enable GPS yaw fusion by setting bit 3 of [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL) to true.
 - Enable GPS blending to ensure the heading is always published by setting [SENS_GPS_MASK](../advanced_config/parameter_reference.md#SENS_GPS_MASK) to 7 (all three bits checked).
- If using [Moving Baseline & GPS Heading](#setting-up-moving-baseline--gps-heading), set [SENS_GPS_PRIME](../advanced_config/parameter_reference.md#SENS_GPS_PRIME) to the CAN node ID of the _Moving Base_ module. The moving base is preferred because the rover receiver in a moving baseline configuration can experience degraded navigation rate and increased data latency when corrections are intermittent.
+- If using [Moving Baseline & GPS Heading](#setting-up-moving-baseline-gps-heading), set [SENS_GPS_PRIME](../advanced_config/parameter_reference.md#SENS_GPS_PRIME) to the CAN node ID of the _Moving Base_ module. The moving base is preferred because the rover receiver in a moving baseline configuration can experience degraded navigation rate and increased data latency when corrections are intermittent.
 - Enable [UAVCAN_SUB_GPS](../advanced_config/parameter_reference.md#UAVCAN_SUB_GPS), [UAVCAN_SUB_MAG](../advanced_config/parameter_reference.md#UAVCAN_SUB_MAG), and [UAVCAN_SUB_BARO](../advanced_config/parameter_reference.md#UAVCAN_SUB_BARO).
 - The parameters [SENS_GPS0_OFFX](../advanced_config/parameter_reference.md#SENS_GPS0_OFFX), [SENS_GPS0_OFFY](../advanced_config/parameter_reference.md#SENS_GPS0_OFFY) and [SENS_GPS0_OFFZ](../advanced_config/parameter_reference.md#SENS_GPS0_OFFZ) can be set to account for the offset of the ARK RTK GPS from the vehicles centre of gravity.

@@ -5,7 +5,7 @@ PX4 supports DroneCAN compliant ESCs.
 ## Supported ESC

 :::info
-[Supported ESCs](../peripherals/esc_motors#supported-esc) in _ESCs & Motors_ may include additional devices that are not listed below.
+[Supported ESCs](../peripherals/esc_motors.md#supported-esc) in _ESCs & Motors_ may include additional devices that are not listed below.
 :::

 The following articles have specific hardware/firmware information:
@@ -5,7 +5,7 @@ PX4 does not manufacture this (or any) autopilot.
 Contact the [manufacturer](https://arkelectron.com/contact-us/) for hardware support or compliance issues.
 :::

-The USA-built [ARKV6X](\(https://arkelectron.gitbook.io/ark-documentation/flight-controllers/arkv6x\)) flight controller is based on the [FMUV6X and Pixhawk Autopilot Bus open source standards](https://github.com/pixhawk/Pixhawk-Standards).
+The USA-built [ARKV6X](https://arkelectron.gitbook.io/ark-documentation/flight-controllers/arkv6x) flight controller is based on the [FMUV6X and Pixhawk Autopilot Bus open source standards](https://github.com/pixhawk/Pixhawk-Standards).

 With triple synced IMUs, data averaging, voting, and filtering is possible.
 The Pixhawk Autopilot Bus (PAB) form factor enables the ARKV6X to be used on any [PAB-compatible carrier board](../flight_controller/pixhawk_autopilot_bus.md), such as the [ARK Pixhawk Autopilot Bus Carrier](../flight_controller/ark_pab.md).
@@ -100,14 +100,14 @@ To launch in this mode:

 The _launch detector_ is affected by the following parameters:

-| 매개변수                                                                                                                                                                                            | 설명                                                                                                          |
-| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------- |
-| <a id="FW_LAUN_DETCN_ON"></a>[FW_LAUN_DETCN_ON](../advanced_config/parameter_reference.md#FW_LAUN_DETCN_ON)                      | Enable automatic launch detection. If disabled motors spin up on arming already             |
-| <a id="FW_LAUN_AC_THLD"></a>[FW_LAUN_AC_THLD](../advanced_config/parameter_reference.md#FW_LAUN_AC_THLD)                         | Acceleration threshold (acceleration in body-forward direction must be above this value) |
-| <a id="FW_LAUN_AC_T"></a>[FW_LAUN_AC_T](../advanced_config/parameter_reference.md#FW_LAUN_AC_T)                                  | Trigger time (acceleration must be above threshold for this amount of seconds)           |
-| <a id="FW_LAUN_MOT_DEL"></a>[FW_LAUN_MOT_DEL](../advanced_config/parameter_reference.md#FW_LAUN_MOT_DEL)                         | Delay from launch detection to motor spin up                                                                |
-| <a id="FW_LAUN_CS_LK_DY"></a>[FW_LAUN_CS_LK_DY](../advanced_config/parameter_reference.md#FW_LAUN_CS_LK_DY) | Delay from launch detection to unlocking the control surfaces                                               |
-| <a id="CA_CS_LAUN_LK"></a>[CA_CS_LAUN_LK](../advanced_config/parameter_reference.md#CA_CS_LAUN_LK)                               | Bitmask to select which control surfaces are to be locked during launch                                     |
+| 매개변수                                                                                                                                                                                            | 설명                                                                                                |
+| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------- |
+| <a id="FW_LAUN_DETCN_ON"></a>[FW_LAUN_DETCN_ON](../advanced_config/parameter_reference.md#FW_LAUN_DETCN_ON)                      | Enable automatic launch detection. If disabled motors spin up on arming already   |
+| <a id="FW_LAUN_AC_THLD"></a>[FW_LAUN_AC_THLD](../advanced_config/parameter_reference.md#FW_LAUN_AC_THLD)                         | Acceleration threshold (norm of acceleration must be above this value)         |
+| <a id="FW_LAUN_AC_T"></a>[FW_LAUN_AC_T](../advanced_config/parameter_reference.md#FW_LAUN_AC_T)                                  | Trigger time (acceleration must be above threshold for this amount of seconds) |
+| <a id="FW_LAUN_MOT_DEL"></a>[FW_LAUN_MOT_DEL](../advanced_config/parameter_reference.md#FW_LAUN_MOT_DEL)                         | Delay from launch detection to motor spin up                                                      |
+| <a id="FW_LAUN_CS_LK_DY"></a>[FW_LAUN_CS_LK_DY](../advanced_config/parameter_reference.md#FW_LAUN_CS_LK_DY) | Delay from launch detection to unlocking the control surfaces                                     |
+| <a id="CA_CS_LAUN_LK"></a>[CA_CS_LAUN_LK](../advanced_config/parameter_reference.md#CA_CS_LAUN_LK)                               | Bitmask to select which control surfaces are to be locked during launch                           |

 ## Runway Takeoff {#runway_launch}

@@ -13,14 +13,14 @@ The mission is typically created and uploaded with a Ground Control Station (GCS

 The following commands can be used in missions at time of writing (PX4 v1.16):

-| QGC mission item                      | 통신                                                                                                                             | 설명                                                                |
-| ------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------ | ----------------------------------------------------------------- |
-| Mission start                         | [MAV_CMD_MISSION_START](MAV_CMD_MISSION_START)                  | Starts the mission.                               |
-| Waypoint                              | [MAV_CMD_NAV_WAYPOINT](MAV_CMD_NAV_WAYPOINT)                    | Navigate to waypoint.                             |
-| Return to launch                      | [MAV\_CMD\_NAV\_RETURN\_TO\_LAUNCH][MAV_CMD_NAV_RETURN_TO_LAUNCH]                                                              | Return to the launch location.                    |
-| Change speed                          | [MAV\_CMD\_DO\_CHANGE\_SPEED][MAV_CMD_DO_CHANGE_SPEED]                                                                         | Change the speed setpoint                                         |
-| Set launch location                   | [MAV_CMD_DO_SET_HOME](MAV_CMD_DO_SET_HOME) | Changes launch location to specified coordinates. |
-| Jump to item (all) | [MAV\_CMD\_DO\_JUMP][MAV_CMD_DO_JUMP] (and other jump commands)                                                                | Jump to specified mission item.                   |
+| QGC mission item                      | 통신                                                                | 설명                                                                |
+| ------------------------------------- | ----------------------------------------------------------------- | ----------------------------------------------------------------- |
+| Mission start                         | [MAV\_CMD\_MISSION\_START][MAV_CMD_MISSION_START]                 | Starts the mission.                               |
+| Waypoint                              | [MAV\_CMD\_NAV\_WAYPOINT][MAV_CMD_NAV_WAYPOINT]                   | Navigate to waypoint.                             |
+| Return to launch                      | [MAV\_CMD\_NAV\_RETURN\_TO\_LAUNCH][MAV_CMD_NAV_RETURN_TO_LAUNCH] | Return to the launch location.                    |
+| Change speed                          | [MAV\_CMD\_DO\_CHANGE\_SPEED][MAV_CMD_DO_CHANGE_SPEED]            | Change the speed setpoint                                         |
+| Set launch location                   | [MAV\_CMD\_DO\_SET\_HOME][MAV_CMD_DO_SET_HOME]                    | Changes launch location to specified coordinates. |
+| Jump to item (all) | [MAV\_CMD\_DO\_JUMP][MAV_CMD_DO_JUMP] (and other jump commands)   | Jump to specified mission item.                   |

 [MAV_CMD_MISSION_START]: https://mavlink.io/en/messages/common.html#MAV_CMD_MISSION_START
 [MAV_CMD_NAV_WAYPOINT]: https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_WAYPOINT
@@ -33,14 +33,67 @@ the [Airframe Reference](../airframes/airframe_reference.md#vectored-6-dof-uuv):
 - **MAIN7:** motor 7 CCW, stern starboard vertical, propeller CW
 - **MAIN8:** motor 8 CCW, stern port vertical, propeller CCW

+## Basic Control Axes
+
+For underwater vehicles, motion is defined in terms of body axes:
+
+- **Surge:** forward/back motion - translation along the body X axis.
+- **Sway:** left/right motion - translation along the body Y axis.
+- **Heave:** up/down motion - translation along the body Z axis.
+- **Yaw:** rotation about the (vertical) body Z axis.
+
+### Stick Mapping (Mode 2)
+
+The mapping below illustrates the default joystick behavior:
+
+- **Pitch stick (forward/back):** surge
+- **Roll stick (left/right):** sway
+- **Throttle stick (up/down):** heave
+- **Yaw stick (left/right):** yaw
+
+![RC Basic Commands](../../assets/flying/rc_mode2_mc_position_mode.png)
+
 ## Manual Modes

-| Mode     | 설명                                                                                                                                                   |
-| -------- | ---------------------------------------------------------------------------------------------------------------------------------------------------- |
-| Manual   | Direct manual control of yaw and thrust.                                                                                             |
-| Acro     | Manual control of yaw/thrust, but keeps roll/pitch zero                                                                                              |
-| Altitude | Manual control of x/y thrust and yaw. Control of height with PID, manually controlled by user. Keeps roll/pitch zero |
-| Position | Controls x/y/z and yaw. Manually controlled by user. Keeps roll/pitch zero                                           |
+The following manual and assisted modes are currently supported on BlueROV2 Heavy:
+
+| Mode       | 설명                                                                                                                                                                          |
+| ---------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| Manual     | Direct manual control of thrust and yaw.                                                                                                                    |
+| Stabilized | Manual control of thurst and yaw with roll/pitch stabilization.                                                                                             |
+| Acro       | Manual control of yaw-rate and direct thrust commands with roll/pitch stabilization.                                                                        |
+| Altitude   | Manual control of x/y thrust and yaw. Control of height with PID, manually controlled by user. Keeps roll/pitch stabilized. |
+| Position   | Controls x, y, z and yaw with position hold when sticks are released. Keeps roll/pitch stabilized.                                          |
+
+## Joystick Stick Mode
+
+BlueROV2 supports two joystick mappings for manual control, selected using the
+[UUV_STICK_MODE](../advanced_config/parameter_reference.md#UUV_STICK_MODE) parameter.
+
+By default, `UUV_STICK_MODE` is set to `0`, which enables the UUV stick mapping intended for vectored underwater vehicles.
+
+### UUV_STICK_MODE = 0 (default)
+
+This mode is intended for normal BlueROV2 operation.
+In `Manual`, `Stabilized`, and `Acro` modes, the sticks command:
+
+- **Pitch stick:** surge - moving stick up -> moving forward, +X translation in body frame.
+- **Roll stick:** sway - moving stick right -> moving sideways right, +Y translation in body frame.
+- **Throttle stick:** heave - moving stick up -> moving upwards, -Z translation in body frame (note the Z axis points Down of the vehicle in PX4).
+- **Yaw stick:** yaw - moving stick right -> yawing to the right, +Z rotation in body frame.
+
+In this mode, roll and pitch are kept level rather than commanded directly.
+
+### UUV_STICK_MODE = 1
+
+This mode enables the legacy multicopter-style stick mapping for `Manual`, `Stabilized`, and `Acro` modes:
+
+- **Throttle stick:** surge - moving stick up -> moving forward, +X translation in body frame.
+- **Roll stick:** roll - moving stick right -> rolling to the right side, +X rotation in body frame.
+- **Pitch stick:** pitch - moving stick up -> pitching down, -X translation in body frame (note signs are switched to follow PX4 standard).
+- **Yaw stick:** yaw - moving stick right -> yawing to the right, +Z rotation in body frame.
+
+This mode is mainly provided for compatibility with older setups and user preference.

 ## 기체 설정

@@ -6,15 +6,15 @@
 Support for UUVs is [experimental](../airframes/index.md#experimental-vehicles).
 Maintainer volunteers, [contribution](../contribute/index.md) of new features, new frame configurations, or other improvements would all be very welcome!

-At time of writing it has only been tested using ROS in offboard mode.
+At time of writing manual and assisted manual modes are available for supported UUV frames, as well as ROS in offboard mode.
 The following features have not been implemented:

- 임무, 뎁스 홀드, 안정화 수동 제어 등과 같은 모드
+- Autonomous mission-style underwater workflows are still limited compared to aerial vehicles.
 - BlueRobotics gripper support.

 :::

-<a href="https://youtu.be/1sUaURmlmT8">유투브</a>
+PX4 has basic support for UUVs. For BlueROV2 Heavy, PX4 currently supports Manual, Stabilized, Acro, Altitude and Position modes.

 ## Supported Frames

@@ -14,51 +14,52 @@ PX4가 지원하는 VTOL 유형, 조립, 구성 및 비행 방법에 대하여

 ## VTOL 유형

-PX4는 세 가지 중요한 VTOL 유형을 지원합니다.
+PX4 supports the three most important/main VTOL types: [Standard VTOL](standardvtol.md), [Tiltrotor](tiltrotor.md), and [Tailsitter](tailsitter.md).

-<div class="grid_wrapper three_column">
-  <div class="grid_item">
-    <div class="grid_item_heading"><a href="tailsitter.html" title="Tailsitter"><big>Tailsitter</big></a></div>
-    <div class="grid_text">
-    Rotors permanently in fixed-wing position.
-    이륙하고 꼬리로 착륙합니다. 전체 차량이 앞으로 기울어져 전진 비행으로 전환합니다.
-    <img src="../../assets/airframes/vtol/wingtraone/hero.jpg" title="wingtraone" />
-    <ul>
-      <li>간단하고 견고함.</li>
-      <li>최소한의 액추에이터 세트</li>
-      <li>바람이 불면 제어하기 어려울 수 있음</li>
-      <li>동일한 액츄에이터가 사용되므로 호버링과 전진 비행의 효율성간의 균형</li>
-    </ul>
-    </div>
-  </div>
-<div class="grid_item">
-  <div class="grid_item_heading"><a href="tiltrotor.html" title="Tiltrotor"><big>Tiltrotor</big></a></div>
-  
-  로터는 멀티콥터에서 전진 비행 방향으로 전환하기 위하여 90도 회전합니다.
-  이륙하고 배로 착지합니다.
-  <div class="grid_text">
-  <img src="../../assets/airframes/vtol/eflite_convergence_pixfalcon/hero.jpg" title="Eflight Confvergence" />
-  <ul>
-    <li>모터 틸트용 추가 액추에이터</li>
-    <li>기계적으로 복잡한 틸팅 메커니즘</li>
-    <li>더 많은 제어 권한으로 테일시터보다 호버링이 용이합니다.</li>
-  </ul>
-  </div>
-</div>
-<div class="grid_item">
-  <div class="grid_item_heading"><a href="standardvtol.html" title="Standard VTOL"><big>Standard VTOL</big></a></div>
-  <div class="grid_text">
-  멀티콥터와 전진 비행을 위한 별도의 로터 및 비행 제어 장치. 이륙하고 배로 착지합니다.
-  <img src="../../assets/airframes/vtol/vertical_technologies_deltaquad/hero_small.png" title="Vertical Technologies: Deltaquad" />
-  <ul>
-    <li>별도의 호버링 및 전진 비행 추진 시스템으로 인한 중량 증가</li>
-    <li>전용 호버링 및 포워드 플라이트 액츄에이터로 제어가 가장 용이 </li>
-    <li>호버링 가능</li>
-    <li>전진 비행 추진을 위한 연료 엔진 사용 가능</li>
-  </ul>
-  </div>
- </div>
-</div>
+:::: tabs
+
+:::tab 표준 VTOL
+
+멀티콥터와 전진 비행을 위한 별도의 로터 및 비행 제어 장치.
+이륙하고 배로 착지합니다.
+
+![Vertical Technologies: Deltaquad](../../assets/airframes/vtol/vertical_technologies_deltaquad/hero_small.png)
+
+- 별도의 호버링 및 전진 비행 추진 시스템으로 인한 중량 증가
+- 전용 호버링 및 포워드 플라이트 액츄에이터로 제어가 가장 용이
+- 호버링 가능
+- Fuel engines can be used for forward flight propulsion
+
+:::
+
+:::tab 테일시터
+
+Rotors permanently in fixed-wing position.
+이륙하고 꼬리로 착륙합니다. 전체 차량이 앞으로 기울어져 전진 비행으로 전환합니다.
+
+![wingtraone](../../assets/airframes/vtol/wingtraone/hero.jpg)
+
+- 간단하고 견고함.
+- 최소한의 액추에이터 세트
+- 바람이 불면 제어하기 어려울 수 있음
+- 동일한 액츄에이터가 사용되므로 호버링과 전진 비행의 효율성간의 균형
+
+:::
+
+:::tab 틸트로터
+
+로터는 멀티콥터에서 전진 비행 방향으로 전환하기 위하여 90도 회전합니다.
+이륙하고 배로 착지합니다.
+
+![Eflight Confvergence](../../assets/airframes/vtol/eflite_convergence_pixfalcon/hero.jpg)
+
+- 모터 틸트용 추가 액추에이터
+- 기계적으로 복잡한 틸팅 메커니즘
+- 더 많은 제어 권한으로 테일시터보다 호버링이 용이합니다.
+
+:::
+
+::::

 일반적으로, 기계적 복잡성이 증가함에 따라 기체의 비행이 용이할 수 있지만, 비용과 중량이가 증가합니다.
 각 유형에는 장단점이 있으며, 이를 기반으로 성공적인 상업적인 벤처 회사들이 있습니다.
@@ -126,7 +127,7 @@ VTOL Control & Airspeed Fault Detection (PX4 Developer Summit 2019)

 <!-- 20190704 -->

-### 테일시터
+### Tailsitter {#tailsitter_video}

 [UAV Works VALAQ Patrol Tailsitter](https://www.valaqpatrol.com/valaq_patrol_technical_data/)

@@ -136,7 +137,7 @@ VTOL Control & Airspeed Fault Detection (PX4 Developer Summit 2019)

 <lite-youtube videoid="acG0aTuf3f8" title="PX4 VTOL - Call for Testpilots"/>

-### 틸트로터
+### Tiltrotor {#tiltrotor_video}

 [Convergence Tiltrotor](../frames_vtol/vtol_tiltrotor_eflite_convergence_pixfalcon.md)

@@ -89,35 +89,36 @@ This section contains videos that are specific to Tailsitter VTOL (videos that a

 ## ### Duo

-<div class="grid_wrapper three_column">
-  <div class="grid_item">
-    <div class="grid_item_heading"><big><a href="https://wingtra.com/mapping-drone-fast-accurate-surveying/">WingtraOne</a></big></div>
-    <div class="grid_text">
-    <img src="../../assets/airframes/vtol/wingtraone/hero.jpg" title="Wingtra: WingtraOne VTOL Duo Tailsitter" alt="wingtraone" />
-    </div>
-  </div>
-  <div class="grid_item">
-    <div class="grid_item_heading"><big><a href="https://www.skypull.technology/">Skypull</a></big></div>
-    <div class="grid_text">
-      <img title="Skypull SP-1 VTOL QuadTailsitter" src="../../assets/airframes/vtol/skypull/skypull_sp1.jpg" />
-    </div>
-  </div>
-  <div class="grid_item">
-    <div class="grid_item_heading"><big><a href="../frames_vtol/vtol_tailsitter_caipiroshka_pixracer.html">TBS Caipiroshka</a></big></div>
-    <div class="grid_text">
-      <img title="TBS Caipiroshka" src="../../assets/airframes/vtol/caipiroshka/caipiroshka.jpg" />
-    </div>
-  </div>
-  <div class="grid_item">
-    <div class="grid_item_heading"><big><a href="http://uav-cas.ac.cn/WOSHARK/">Woshark</a></big></div>
-    <div class="grid_text">
-      <img title="Woshark" src="../../assets/airframes/vtol/xdwgood_ax1800/hero.jpg" />
-    </div>
-  </div>
-  <div class="grid_item">
-    <div class="grid_item_heading"><big><a href="https://www.valaqpatrol.com/valaq_patrol_technical_data/">UAV Works VALAQ Patrol Tailsitter</a></big></div>
-    <div class="grid_text">
-      <img title="UAV Works VALAQ Patrol Tailsitter" src="../../assets/airframes/vtol/uav_works_valaq_patrol/hero.jpg" />
-    </div>
-  </div>
-</div>
+:::: tabs
+
+:::tab WingtraOne
+[WingtraOne](https://wingtra.com/mapping-drone-fast-accurate-surveying/)
+
+![Wingtra: WingtraOne VTOL Duo Tailsitter](../../assets/airframes/vtol/wingtraone/hero.jpg)
+:::
+
+:::tab Skypull
+[Skypull](https://www.skypull.technology/)
+
+![Skypull SP-1 VTOL QuadTailsitter](../../assets/airframes/vtol/skypull/skypull_sp1.jpg)
+:::
+
+:::tab TBS Caipiroshka
+[TBS Caipiroshka](../frames_vtol/vtol_tailsitter_caipiroshka_pixracer.md)
+
+![TBS Caipiroshka](../../assets/airframes/vtol/caipiroshka/caipiroshka.jpg)
+:::
+
+:::tab Woshark
+[Woshark](http://uav-cas.ac.cn/WOSHARK/)
+
+![Woshark](../../assets/airframes/vtol/xdwgood_ax1800/hero.jpg)
+:::
+
+:::tab VALAQ Patrol Tailsitter
+[UAV Works VALAQ Patrol Tailsitter](https://www.valaqpatrol.com/valaq_patrol_technical_data/)
+
+!["UAV Works VALAQ Patrol Tailsitte](../../assets/airframes/vtol/uav_works_valaq_patrol/hero.jpg)
+:::
+
+::::
@@ -96,205 +96,206 @@ They are not build into the module, and hence are neither published or subscribe
 :::details
 See messages

- [AdcReport](../msg_docs/AdcReport.md)
- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md)
- [MountOrientation](../msg_docs/MountOrientation.md)
- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md)
- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md)
- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md)
 - [VehicleGlobalPositionV0](../msg_docs/VehicleGlobalPositionV0.md)
- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md)
- [GpsDump](../msg_docs/GpsDump.md)
- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md)
- [ActuatorArmed](../msg_docs/ActuatorArmed.md)
- [EstimatorStates](../msg_docs/EstimatorStates.md)
- [EscStatus](../msg_docs/EscStatus.md)
- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md)
- [SensorTemp](../msg_docs/SensorTemp.md)
- [VehicleImu](../msg_docs/VehicleImu.md)
- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md)
- [LandingGearWheel](../msg_docs/LandingGearWheel.md)
- [OrbitStatus](../msg_docs/OrbitStatus.md)
- [GainCompression](../msg_docs/GainCompression.md)
- [VehicleRoi](../msg_docs/VehicleRoi.md)
- [Vtx](../msg_docs/Vtx.md)
- [Px4ioStatus](../msg_docs/Px4ioStatus.md)
- [EscEepromRead](../msg_docs/EscEepromRead.md)
- [DebugArray](../msg_docs/DebugArray.md)
- [FollowTarget](../msg_docs/FollowTarget.md)
- [ButtonEvent](../msg_docs/ButtonEvent.md)
- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md)
- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md)
- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md)
- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md)
- [MavlinkLog](../msg_docs/MavlinkLog.md)
- [PowerMonitor](../msg_docs/PowerMonitor.md)
- [TecsStatus](../msg_docs/TecsStatus.md)
- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md)
- [SensorAccel](../msg_docs/SensorAccel.md)
- [RaptorStatus](../msg_docs/RaptorStatus.md)
- [VehicleStatusV1](../msg_docs/VehicleStatusV1.md)
- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md)
 - [CameraStatus](../msg_docs/CameraStatus.md)
- [RcParameterMap](../msg_docs/RcParameterMap.md)
- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md)
- [DifferentialPressure](../msg_docs/DifferentialPressure.md)
- [SensorHygrometer](../msg_docs/SensorHygrometer.md)
- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md)
- [CameraTrigger](../msg_docs/CameraTrigger.md)
- [HomePositionV0](../msg_docs/HomePositionV0.md)
- [GeneratorStatus](../msg_docs/GeneratorStatus.md)
- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md)
- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md)
- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md)
- [PwmInput](../msg_docs/PwmInput.md)
- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md)
- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md)
- [OrbTestMedium](../msg_docs/OrbTestMedium.md)
- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md)
- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md)
- [GpsInjectData](../msg_docs/GpsInjectData.md)
- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md)
- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md)
- [MissionResult](../msg_docs/MissionResult.md)
- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md)
- [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md)
- [InputRc](../msg_docs/InputRc.md)
- [LandingTargetPose](../msg_docs/LandingTargetPose.md)
- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md)
- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md)
- [LoggerStatus](../msg_docs/LoggerStatus.md)
- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md)
- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md)
- [RaptorInput](../msg_docs/RaptorInput.md)
- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md)
- [ActuatorTest](../msg_docs/ActuatorTest.md)
- [RegisterExtComponentRequestV0](../msg_docs/RegisterExtComponentRequestV0.md)
- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md)
- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md)
- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md)
- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md)
- [ConfigOverridesV0](../msg_docs/ConfigOverridesV0.md)
- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md)
- [SatelliteInfo](../msg_docs/SatelliteInfo.md)
- [SystemPower](../msg_docs/SystemPower.md)
- [ParameterUpdate](../msg_docs/ParameterUpdate.md)
- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md)
- [RadioStatus](../msg_docs/RadioStatus.md)
- [QshellRetval](../msg_docs/QshellRetval.md)
- [PositionSetpoint](../msg_docs/PositionSetpoint.md)
- [Gripper](../msg_docs/Gripper.md)
- [EscReport](../msg_docs/EscReport.md)
- [DebugKeyValue](../msg_docs/DebugKeyValue.md)
- [SensorGyroFft](../msg_docs/SensorGyroFft.md)
- [TaskStackInfo](../msg_docs/TaskStackInfo.md)
- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md)
- [BatteryInfo](../msg_docs/BatteryInfo.md)
- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md)
- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md)
- [GeofenceResult](../msg_docs/GeofenceResult.md)
- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md)
- [EstimatorStatus](../msg_docs/EstimatorStatus.md)
- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md)
- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md)
- [QshellReq](../msg_docs/QshellReq.md)
- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md)
- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md)
- [DatamanRequest](../msg_docs/DatamanRequest.md)
- [GeofenceStatus](../msg_docs/GeofenceStatus.md)
- [FuelTankStatus](../msg_docs/FuelTankStatus.md)
- [DebugValue](../msg_docs/DebugValue.md)
- [WheelEncoders](../msg_docs/WheelEncoders.md)
- [EstimatorBias](../msg_docs/EstimatorBias.md)
- [VelocityLimits](../msg_docs/VelocityLimits.md)
- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md)
- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md)
- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md)
- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md)
- [AirspeedWind](../msg_docs/AirspeedWind.md)
- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md)
- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md)
- [SensorCorrection](../msg_docs/SensorCorrection.md)
- [SensorsStatus](../msg_docs/SensorsStatus.md)
- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md)
- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md)
- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md)
- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md)
- [GpioRequest](../msg_docs/GpioRequest.md)
- [SensorSelection](../msg_docs/SensorSelection.md)
- [SensorUwb](../msg_docs/SensorUwb.md)
- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md)
- [HealthReport](../msg_docs/HealthReport.md)
- [NavigatorStatus](../msg_docs/NavigatorStatus.md)
- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md)
- [LedControl](../msg_docs/LedControl.md)
- [Event](../msg_docs/Event.md)
- [SensorMag](../msg_docs/SensorMag.md)
- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md)
- [Rpm](../msg_docs/Rpm.md)
- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md)
- [EscEepromWrite](../msg_docs/EscEepromWrite.md)
- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md)
- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md)
- [ActionRequest](../msg_docs/ActionRequest.md)
- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md)
- [TakeoffStatus](../msg_docs/TakeoffStatus.md)
- [PowerButtonState](../msg_docs/PowerButtonState.md)
- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md)
- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md)
- [RtlStatus](../msg_docs/RtlStatus.md)
- [Airspeed](../msg_docs/Airspeed.md)
- [VehicleCommandAckV0](../msg_docs/VehicleCommandAckV0.md)
- [GimbalControls](../msg_docs/GimbalControls.md)
- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md)
- [PpsCapture](../msg_docs/PpsCapture.md)
- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md)
- [SensorBaro](../msg_docs/SensorBaro.md)
+- [LandingGearWheel](../msg_docs/LandingGearWheel.md)
 - [UlogStreamAck](../msg_docs/UlogStreamAck.md)
- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md)
- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md)
- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md)
+- [RcParameterMap](../msg_docs/RcParameterMap.md)
+- [Rpm](../msg_docs/Rpm.md)
+- [EscStatus](../msg_docs/EscStatus.md)
+- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md)
+- [SensorHygrometer](../msg_docs/SensorHygrometer.md)
+- [RadioStatus](../msg_docs/RadioStatus.md)
+- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md)
 - [SensorAirflow](../msg_docs/SensorAirflow.md)
+- [LedControl](../msg_docs/LedControl.md)
+- [HealthReport](../msg_docs/HealthReport.md)
+- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md)
+- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md)
+- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md)
+- [GpsInjectData](../msg_docs/GpsInjectData.md)
+- [NeuralControl](../msg_docs/NeuralControl.md)
+- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md)
+- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md)
+- [PositionSetpoint](../msg_docs/PositionSetpoint.md)
+- [RtlStatus](../msg_docs/RtlStatus.md)
+- [DebugValue](../msg_docs/DebugValue.md)
+- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md)
+- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md)
+- [PpsCapture](../msg_docs/PpsCapture.md)
+- [RcChannels](../msg_docs/RcChannels.md)
+- [SensorMag](../msg_docs/SensorMag.md)
+- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md)
+- [DeviceInformation](../msg_docs/DeviceInformation.md)
+- [FollowTarget](../msg_docs/FollowTarget.md)
+- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md)
+- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md)
+- [Mission](../msg_docs/Mission.md)
+- [VehicleCommandAckV0](../msg_docs/VehicleCommandAckV0.md)
+- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md)
+- [VehicleRoi](../msg_docs/VehicleRoi.md)
+- [InputRc](../msg_docs/InputRc.md)
+- [GimbalControls](../msg_docs/GimbalControls.md)
+- [SystemPower](../msg_docs/SystemPower.md)
+- [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md)
+- [ActuatorTest](../msg_docs/ActuatorTest.md)
+- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md)
+- [VehicleImu](../msg_docs/VehicleImu.md)
+- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md)
+- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md)
+- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md)
+- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md)
+- [Cpuload](../msg_docs/Cpuload.md)
+- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md)
+- [TuneControl](../msg_docs/TuneControl.md)
+- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md)
+- [DebugVect](../msg_docs/DebugVect.md)
+- [TecsStatus](../msg_docs/TecsStatus.md)
+- [ButtonEvent](../msg_docs/ButtonEvent.md)
+- [DebugArray](../msg_docs/DebugArray.md)
+- [VelocityLimits](../msg_docs/VelocityLimits.md)
+- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md)
+- [SensorUwb](../msg_docs/SensorUwb.md)
+- [DebugKeyValue](../msg_docs/DebugKeyValue.md)
+- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md)
+- [MavlinkLog](../msg_docs/MavlinkLog.md)
+- [SensorsStatus](../msg_docs/SensorsStatus.md)
+- [HomePositionV0](../msg_docs/HomePositionV0.md)
+- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md)
+- [OrbTestLarge](../msg_docs/OrbTestLarge.md)
+- [EventV0](../msg_docs/EventV0.md)
+- [EstimatorStates](../msg_docs/EstimatorStates.md)
+- [VehicleConstraints](../msg_docs/VehicleConstraints.md)
+- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md)
+- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md)
+- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md)
+- [ActuatorArmed](../msg_docs/ActuatorArmed.md)
+- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md)
+- [VehicleAirData](../msg_docs/VehicleAirData.md)
+- [RegisterExtComponentReplyV0](../msg_docs/RegisterExtComponentReplyV0.md)
+- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md)
+- [RoverRateStatus](../msg_docs/RoverRateStatus.md)
+- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md)
+- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md)
+- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md)
+- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md)
+- [VehicleStatusV1](../msg_docs/VehicleStatusV1.md)
+- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md)
+- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md)
+- [MagWorkerData](../msg_docs/MagWorkerData.md)
+- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md)
+- [Vtx](../msg_docs/Vtx.md)
+- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md)
+- [Gripper](../msg_docs/Gripper.md)
+- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md)
+- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md)
+- [FigureEightStatus](../msg_docs/FigureEightStatus.md)
+- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md)
+- [GeofenceResult](../msg_docs/GeofenceResult.md)
+- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md)
+- [BatteryInfo](../msg_docs/BatteryInfo.md)
+- [ActionRequest](../msg_docs/ActionRequest.md)
+- [EstimatorStatus](../msg_docs/EstimatorStatus.md)
+- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md)
+- [EstimatorBias](../msg_docs/EstimatorBias.md)
+- [Px4ioStatus](../msg_docs/Px4ioStatus.md)
+- [Ping](../msg_docs/Ping.md)
+- [GainCompression](../msg_docs/GainCompression.md)
+- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md)
+- [VehicleStatusV2](../msg_docs/VehicleStatusV2.md)
+- [RaptorInput](../msg_docs/RaptorInput.md)
+- [TakeoffStatus](../msg_docs/TakeoffStatus.md)
+- [Event](../msg_docs/Event.md)
 - [GpioConfig](../msg_docs/GpioConfig.md)
+- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md)
+- [RaptorStatus](../msg_docs/RaptorStatus.md)
+- [GpioOut](../msg_docs/GpioOut.md)
+- [SensorAccel](../msg_docs/SensorAccel.md)
+- [SensorTemp](../msg_docs/SensorTemp.md)
+- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md)
+- [PowerButtonState](../msg_docs/PowerButtonState.md)
+- [OrbTest](../msg_docs/OrbTest.md)
+- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md)
+- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md)
+- [DatamanRequest](../msg_docs/DatamanRequest.md)
+- [EscEepromRead](../msg_docs/EscEepromRead.md)
+- [OrbitStatus](../msg_docs/OrbitStatus.md)
+- [SatelliteInfo](../msg_docs/SatelliteInfo.md)
+- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md)
+- [CameraTrigger](../msg_docs/CameraTrigger.md)
+- [QshellRetval](../msg_docs/QshellRetval.md)
+- [NavigatorStatus](../msg_docs/NavigatorStatus.md)
+- [CameraCapture](../msg_docs/CameraCapture.md)
+- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md)
+- [DatamanResponse](../msg_docs/DatamanResponse.md)
+- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md)
+- [ParameterUpdate](../msg_docs/ParameterUpdate.md)
+- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md)
+- [TaskStackInfo](../msg_docs/TaskStackInfo.md)
+- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md)
+- [AirspeedWind](../msg_docs/AirspeedWind.md)
+- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md)
+- [PwmInput](../msg_docs/PwmInput.md)
+- [GeofenceStatus](../msg_docs/GeofenceStatus.md)
+- [IrlockReport](../msg_docs/IrlockReport.md)
+- [QshellReq](../msg_docs/QshellReq.md)
+- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md)
+- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md)
+- [ConfigOverridesV0](../msg_docs/ConfigOverridesV0.md)
+- [SensorCorrection](../msg_docs/SensorCorrection.md)
+- [CellularStatus](../msg_docs/CellularStatus.md)
 - [UlogStream](../msg_docs/UlogStream.md)
 - [GpioIn](../msg_docs/GpioIn.md)
- [TuneControl](../msg_docs/TuneControl.md)
- [MagWorkerData](../msg_docs/MagWorkerData.md)
- [EventV0](../msg_docs/EventV0.md)
- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md)
- [SensorGyro](../msg_docs/SensorGyro.md)
- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md)
- [HeaterStatus](../msg_docs/HeaterStatus.md)
- [Mission](../msg_docs/Mission.md)
- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md)
- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md)
- [VehicleConstraints](../msg_docs/VehicleConstraints.md)
+- [SensorGyroFft](../msg_docs/SensorGyroFft.md)
+- [WheelEncoders](../msg_docs/WheelEncoders.md)
+- [EscReport](../msg_docs/EscReport.md)
 - [ActuatorOutputs](../msg_docs/ActuatorOutputs.md)
- [DeviceInformation](../msg_docs/DeviceInformation.md)
- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md)
- [DatamanResponse](../msg_docs/DatamanResponse.md)
- [DebugVect](../msg_docs/DebugVect.md)
- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md)
- [VehicleAirData](../msg_docs/VehicleAirData.md)
- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md)
- [RegisterExtComponentReplyV0](../msg_docs/RegisterExtComponentReplyV0.md)
- [NeuralControl](../msg_docs/NeuralControl.md)
- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md)
- [FigureEightStatus](../msg_docs/FigureEightStatus.md)
- [GpioOut](../msg_docs/GpioOut.md)
- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md)
+- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md)
+- [MissionResult](../msg_docs/MissionResult.md)
 - [LogMessage](../msg_docs/LogMessage.md)
- [Cpuload](../msg_docs/Cpuload.md)
- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md)
+- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md)
+- [PowerMonitor](../msg_docs/PowerMonitor.md)
 - [SensorPreflightMag](../msg_docs/SensorPreflightMag.md)
- [CameraCapture](../msg_docs/CameraCapture.md)
- [OrbTestLarge](../msg_docs/OrbTestLarge.md)
- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md)
- [OrbTest](../msg_docs/OrbTest.md)
- [Ping](../msg_docs/Ping.md)
- [RoverRateStatus](../msg_docs/RoverRateStatus.md)
- [IrlockReport](../msg_docs/IrlockReport.md)
- [RcChannels](../msg_docs/RcChannels.md)
- [CellularStatus](../msg_docs/CellularStatus.md)
+- [HeaterStatus](../msg_docs/HeaterStatus.md)
+- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md)
+- [GpioRequest](../msg_docs/GpioRequest.md)
+- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md)
+- [OrbTestMedium](../msg_docs/OrbTestMedium.md)
+- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md)
+- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md)
+- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md)
+- [RegisterExtComponentRequestV0](../msg_docs/RegisterExtComponentRequestV0.md)
+- [DifferentialPressure](../msg_docs/DifferentialPressure.md)
+- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md)
+- [SensorBaro](../msg_docs/SensorBaro.md)
+- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md)
+- [GpsDump](../msg_docs/GpsDump.md)
+- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md)
+- [Airspeed](../msg_docs/Airspeed.md)
+- [LoggerStatus](../msg_docs/LoggerStatus.md)
+- [GeneratorStatus](../msg_docs/GeneratorStatus.md)
+- [SensorGyro](../msg_docs/SensorGyro.md)
+- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md)
+- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md)
+- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md)
+- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md)
+- [LandingTargetPose](../msg_docs/LandingTargetPose.md)
+- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md)
+- [MountOrientation](../msg_docs/MountOrientation.md)
+- [EscEepromWrite](../msg_docs/EscEepromWrite.md)
+- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md)
+- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md)
+- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md)
+- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md)
+- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md)
+- [FuelTankStatus](../msg_docs/FuelTankStatus.md)
+- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md)
+- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md)
+- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md)
+- [SensorSelection](../msg_docs/SensorSelection.md)
+- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md)
+- [AdcReport](../msg_docs/AdcReport.md)
+- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md)
+- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md)

 :::
@@ -8,14 +8,14 @@ pageClass: is-wide-page

 ## Fields

-| 명칭                                                              | 형식       | Unit [Frame] | Range/Enum | 설명                                                                                                                                                                                    |
-| --------------------------------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| timestamp                                                       | `uint64` |                                                                  |            | time since system start (microseconds)                                                                                                                             |
-| safe_points_id        | `uint32` |                                                                  |            | unique ID of active set of safe_point_items                                                                                                 |
-| is_evaluation_pending | `bool`   |                                                                  |            | flag if the RTL point needs reevaluation (e.g. new safe points available, but need loading).                       |
-| has_vtol_approach     | `bool`   |                                                                  |            | flag if approaches are defined for current RTL_TYPE parameter setting                                                                                            |
-| rtl_type                                   | `uint8`  |                                                                  |            | Type of RTL chosen                                                                                                                                                                    |
-| safe_point_index      | `uint8`  |                                                                  |            | index of the chosen safe point, if in RTL_STATUS_TYPE_DIRECT_SAFE_POINT mode |
+| 명칭                                                              | 형식       | Unit [Frame] | Range/Enum | 설명                                                                                                                                                              |
+| --------------------------------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| timestamp                                                       | `uint64` |                                                                  |            | time since system start (microseconds)                                                                                                       |
+| safe_points_id        | `uint32` |                                                                  |            | unique ID of active set of safe_point_items                                                                           |
+| is_evaluation_pending | `bool`   |                                                                  |            | flag if the RTL point needs reevaluation (e.g. new safe points available, but need loading). |
+| has_vtol_approach     | `bool`   |                                                                  |            | flag if approaches are defined for current RTL_TYPE parameter setting                                                                      |
+| rtl_type                                   | `uint8`  |                                                                  |            | Type of RTL chosen                                                                                                                                              |
+| safe_point_index      | `uint8`  |                                                                  |            | index of the chosen safe point, UINT8_MAX if no rally point was chosen                                                                     |

 ## Constants

@@ -43,7 +43,7 @@ bool is_evaluation_pending 	      # flag if the RTL point needs reevaluation (e.
 bool has_vtol_approach 		      # flag if approaches are defined for current RTL_TYPE parameter setting

 uint8 rtl_type	      		      # Type of RTL chosen
-uint8 safe_point_index 		      # index of the chosen safe point, if in RTL_STATUS_TYPE_DIRECT_SAFE_POINT mode
+uint8 safe_point_index 		      # index of the chosen safe point, UINT8_MAX if no rally point was chosen

 uint8 RTL_STATUS_TYPE_NONE=0       		# pending if evaluation can't pe performed currently e.g. when it is still loading the safe points
 uint8 RTL_STATUS_TYPE_DIRECT_SAFE_POINT=1 	# chosen to directly go to a safe point or home position
@@ -25,7 +25,6 @@ Encodes the system state of the vehicle published by commander.
 | nav_state_display                                                      | `uint8`  |                                                                  |            | User-visible nav state sent via MAVLink (executor state if active, otherwise nav_state)                                                          |
 | valid_nav_states_mask                             | `uint32` |                                                                  |            | Bitmask for all valid nav_state values                                                                                                                              |
 | can_set_nav_states_mask      | `uint32` |                                                                  |            | Bitmask for all modes that a user can select                                                                                                                                             |
-| failure_detector_status                                                | `uint16` |                                                                  |            |                                                                                                                                                                                          |
 | hil_state                                                                                   | `uint8`  |                                                                  |            |                                                                                                                                                                                          |
 | vehicle_type                                                                                | `uint8`  |                                                                  |            |                                                                                                                                                                                          |
 | failsafe                                                                                                         | `bool`   |                                                                  |            | true if system is in failsafe state (e.g.:RTL, Hover, Terminate, ...) |
@@ -56,71 +55,62 @@ Encodes the system state of the vehicle published by commander.

 ## Constants

-| 명칭                                                                                                                                                                          | 형식       | Value | 설명                                                                            |
-| --------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | ----- | ----------------------------------------------------------------------------- |
-| <a id="#MESSAGE_VERSION"></a> MESSAGE_VERSION                                                                                                          | `uint32` | 2     |                                                                               |
-| <a id="#ARMING_STATE_DISARMED"></a> ARMING_STATE_DISARMED                                                                         | `uint8`  | 1     |                                                                               |
-| <a id="#ARMING_STATE_ARMED"></a> ARMING_STATE_ARMED                                                                               | `uint8`  | 2     |                                                                               |
-| <a id="#ARM_DISARM_REASON_STICK_GESTURE"></a> ARM_DISARM_REASON_STICK_GESTURE           | `uint8`  | 1     |                                                                               |
-| <a id="#ARM_DISARM_REASON_RC_SWITCH"></a> ARM_DISARM_REASON_RC_SWITCH                   | `uint8`  | 2     |                                                                               |
-| <a id="#ARM_DISARM_REASON_COMMAND_INTERNAL"></a> ARM_DISARM_REASON_COMMAND_INTERNAL     | `uint8`  | 3     |                                                                               |
-| <a id="#ARM_DISARM_REASON_COMMAND_EXTERNAL"></a> ARM_DISARM_REASON_COMMAND_EXTERNAL     | `uint8`  | 4     |                                                                               |
-| <a id="#ARM_DISARM_REASON_MISSION_START"></a> ARM_DISARM_REASON_MISSION_START           | `uint8`  | 5     |                                                                               |
-| <a id="#ARM_DISARM_REASON_LANDING"></a> ARM_DISARM_REASON_LANDING                                            | `uint8`  | 6     |                                                                               |
-| <a id="#ARM_DISARM_REASON_PREFLIGHT_INACTION"></a> ARM_DISARM_REASON_PREFLIGHT_INACTION | `uint8`  | 7     |                                                                               |
-| <a id="#ARM_DISARM_REASON_KILL_SWITCH"></a> ARM_DISARM_REASON_KILL_SWITCH               | `uint8`  | 8     |                                                                               |
-| <a id="#ARM_DISARM_REASON_RC_BUTTON"></a> ARM_DISARM_REASON_RC_BUTTON                   | `uint8`  | 13    |                                                                               |
-| <a id="#ARM_DISARM_REASON_FAILSAFE"></a> ARM_DISARM_REASON_FAILSAFE                                          | `uint8`  | 14    |                                                                               |
-| <a id="#NAVIGATION_STATE_MANUAL"></a> NAVIGATION_STATE_MANUAL                                                                     | `uint8`  | 0     | Manual mode                                                                   |
-| <a id="#NAVIGATION_STATE_ALTCTL"></a> NAVIGATION_STATE_ALTCTL                                                                     | `uint8`  | 1     | Altitude control mode                                                         |
-| <a id="#NAVIGATION_STATE_POSCTL"></a> NAVIGATION_STATE_POSCTL                                                                     | `uint8`  | 2     | Position control mode                                                         |
-| <a id="#NAVIGATION_STATE_AUTO_MISSION"></a> NAVIGATION_STATE_AUTO_MISSION                                    | `uint8`  | 3     | Auto mission mode                                                             |
-| <a id="#NAVIGATION_STATE_AUTO_LOITER"></a> NAVIGATION_STATE_AUTO_LOITER                                      | `uint8`  | 4     | Auto loiter mode                                                              |
-| <a id="#NAVIGATION_STATE_AUTO_RTL"></a> NAVIGATION_STATE_AUTO_RTL                                            | `uint8`  | 5     | Auto return to launch mode                                                    |
-| <a id="#NAVIGATION_STATE_POSITION_SLOW"></a> NAVIGATION_STATE_POSITION_SLOW                                  | `uint8`  | 6     |                                                                               |
-| <a id="#NAVIGATION_STATE_FREE5"></a> NAVIGATION_STATE_FREE5                                                                       | `uint8`  | 7     |                                                                               |
-| <a id="#NAVIGATION_STATE_ALTITUDE_CRUISE"></a> NAVIGATION_STATE_ALTITUDE_CRUISE                              | `uint8`  | 8     | Altitude with Cruise mode                                                     |
-| <a id="#NAVIGATION_STATE_FREE3"></a> NAVIGATION_STATE_FREE3                                                                       | `uint8`  | 9     |                                                                               |
-| <a id="#NAVIGATION_STATE_ACRO"></a> NAVIGATION_STATE_ACRO                                                                         | `uint8`  | 10    | Acro mode                                                                     |
-| <a id="#NAVIGATION_STATE_FREE2"></a> NAVIGATION_STATE_FREE2                                                                       | `uint8`  | 11    |                                                                               |
-| <a id="#NAVIGATION_STATE_DESCEND"></a> NAVIGATION_STATE_DESCEND                                                                   | `uint8`  | 12    | Descend mode (no position control)                         |
-| <a id="#NAVIGATION_STATE_TERMINATION"></a> NAVIGATION_STATE_TERMINATION                                                           | `uint8`  | 13    | Termination mode                                                              |
-| <a id="#NAVIGATION_STATE_OFFBOARD"></a> NAVIGATION_STATE_OFFBOARD                                                                 | `uint8`  | 14    |                                                                               |
-| <a id="#NAVIGATION_STATE_STAB"></a> NAVIGATION_STATE_STAB                                                                         | `uint8`  | 15    | Stabilized mode                                                               |
-| <a id="#NAVIGATION_STATE_FREE1"></a> NAVIGATION_STATE_FREE1                                                                       | `uint8`  | 16    |                                                                               |
-| <a id="#NAVIGATION_STATE_AUTO_TAKEOFF"></a> NAVIGATION_STATE_AUTO_TAKEOFF                                    | `uint8`  | 17    | Takeoff                                                                       |
-| <a id="#NAVIGATION_STATE_AUTO_LAND"></a> NAVIGATION_STATE_AUTO_LAND                                          | `uint8`  | 18    | Land                                                                          |
-| <a id="#NAVIGATION_STATE_AUTO_FOLLOW_TARGET"></a> NAVIGATION_STATE_AUTO_FOLLOW_TARGET   | `uint8`  | 19    | Auto Follow                                                                   |
-| <a id="#NAVIGATION_STATE_AUTO_PRECLAND"></a> NAVIGATION_STATE_AUTO_PRECLAND                                  | `uint8`  | 20    | Precision land with landing target                                            |
-| <a id="#NAVIGATION_STATE_ORBIT"></a> NAVIGATION_STATE_ORBIT                                                                       | `uint8`  | 21    | Orbit in a circle                                                             |
-| <a id="#NAVIGATION_STATE_AUTO_VTOL_TAKEOFF"></a> NAVIGATION_STATE_AUTO_VTOL_TAKEOFF     | `uint8`  | 22    | Takeoff, transition, establish loiter                                         |
-| <a id="#NAVIGATION_STATE_EXTERNAL1"></a> NAVIGATION_STATE_EXTERNAL1                                                               | `uint8`  | 23    |                                                                               |
-| <a id="#NAVIGATION_STATE_EXTERNAL2"></a> NAVIGATION_STATE_EXTERNAL2                                                               | `uint8`  | 24    |                                                                               |
-| <a id="#NAVIGATION_STATE_EXTERNAL3"></a> NAVIGATION_STATE_EXTERNAL3                                                               | `uint8`  | 25    |                                                                               |
-| <a id="#NAVIGATION_STATE_EXTERNAL4"></a> NAVIGATION_STATE_EXTERNAL4                                                               | `uint8`  | 26    |                                                                               |
-| <a id="#NAVIGATION_STATE_EXTERNAL5"></a> NAVIGATION_STATE_EXTERNAL5                                                               | `uint8`  | 27    |                                                                               |
-| <a id="#NAVIGATION_STATE_EXTERNAL6"></a> NAVIGATION_STATE_EXTERNAL6                                                               | `uint8`  | 28    |                                                                               |
-| <a id="#NAVIGATION_STATE_EXTERNAL7"></a> NAVIGATION_STATE_EXTERNAL7                                                               | `uint8`  | 29    |                                                                               |
-| <a id="#NAVIGATION_STATE_EXTERNAL8"></a> NAVIGATION_STATE_EXTERNAL8                                                               | `uint8`  | 30    |                                                                               |
-| <a id="#NAVIGATION_STATE_MAX"></a> NAVIGATION_STATE_MAX                                                                           | `uint8`  | 31    |                                                                               |
-| <a id="#FAILURE_NONE"></a> FAILURE_NONE                                                                                                                | `uint16` | 0     |                                                                               |
-| <a id="#FAILURE_ROLL"></a> FAILURE_ROLL                                                                                                                | `uint16` | 1     | (1 << 0) |
-| <a id="#FAILURE_PITCH"></a> FAILURE_PITCH                                                                                                              | `uint16` | 2     | (1 << 1) |
-| <a id="#FAILURE_ALT"></a> FAILURE_ALT                                                                                                                  | `uint16` | 4     | (1 << 2) |
-| <a id="#FAILURE_EXT"></a> FAILURE_EXT                                                                                                                  | `uint16` | 8     | (1 << 3) |
-| <a id="#FAILURE_ARM_ESC"></a> FAILURE_ARM_ESC                                                                                     | `uint16` | 16    | (1 << 4) |
-| <a id="#FAILURE_BATTERY"></a> FAILURE_BATTERY                                                                                                          | `uint16` | 32    | (1 << 5) |
-| <a id="#FAILURE_IMBALANCED_PROP"></a> FAILURE_IMBALANCED_PROP                                                                     | `uint16` | 64    | (1 << 6) |
-| <a id="#FAILURE_MOTOR"></a> FAILURE_MOTOR                                                                                                              | `uint16` | 128   | (1 << 7) |
-| <a id="#HIL_STATE_OFF"></a> HIL_STATE_OFF                                                                                         | `uint8`  | 0     |                                                                               |
-| <a id="#HIL_STATE_ON"></a> HIL_STATE_ON                                                                                           | `uint8`  | 1     |                                                                               |
-| <a id="#VEHICLE_TYPE_UNSPECIFIED"></a> VEHICLE_TYPE_UNSPECIFIED                                                                   | `uint8`  | 0     |                                                                               |
-| <a id="#VEHICLE_TYPE_ROTARY_WING"></a> VEHICLE_TYPE_ROTARY_WING                                              | `uint8`  | 1     |                                                                               |
-| <a id="#VEHICLE_TYPE_FIXED_WING"></a> VEHICLE_TYPE_FIXED_WING                                                | `uint8`  | 2     |                                                                               |
-| <a id="#VEHICLE_TYPE_ROVER"></a> VEHICLE_TYPE_ROVER                                                                               | `uint8`  | 3     |                                                                               |
-| <a id="#FAILSAFE_DEFER_STATE_DISABLED"></a> FAILSAFE_DEFER_STATE_DISABLED                                    | `uint8`  | 0     |                                                                               |
-| <a id="#FAILSAFE_DEFER_STATE_ENABLED"></a> FAILSAFE_DEFER_STATE_ENABLED                                      | `uint8`  | 1     |                                                                               |
-| <a id="#FAILSAFE_DEFER_STATE_WOULD_FAILSAFE"></a> FAILSAFE_DEFER_STATE_WOULD_FAILSAFE   | `uint8`  | 2     | Failsafes deferred, but would trigger a failsafe                              |
+| 명칭                                                                                                                                                                          | 형식       | Value | 설명                                                    |
+| --------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | ----- | ----------------------------------------------------- |
+| <a id="#MESSAGE_VERSION"></a> MESSAGE_VERSION                                                                                                          | `uint32` | 3     |                                                       |
+| <a id="#ARMING_STATE_DISARMED"></a> ARMING_STATE_DISARMED                                                                         | `uint8`  | 1     |                                                       |
+| <a id="#ARMING_STATE_ARMED"></a> ARMING_STATE_ARMED                                                                               | `uint8`  | 2     |                                                       |
+| <a id="#ARM_DISARM_REASON_STICK_GESTURE"></a> ARM_DISARM_REASON_STICK_GESTURE           | `uint8`  | 1     |                                                       |
+| <a id="#ARM_DISARM_REASON_RC_SWITCH"></a> ARM_DISARM_REASON_RC_SWITCH                   | `uint8`  | 2     |                                                       |
+| <a id="#ARM_DISARM_REASON_COMMAND_INTERNAL"></a> ARM_DISARM_REASON_COMMAND_INTERNAL     | `uint8`  | 3     |                                                       |
+| <a id="#ARM_DISARM_REASON_COMMAND_EXTERNAL"></a> ARM_DISARM_REASON_COMMAND_EXTERNAL     | `uint8`  | 4     |                                                       |
+| <a id="#ARM_DISARM_REASON_MISSION_START"></a> ARM_DISARM_REASON_MISSION_START           | `uint8`  | 5     |                                                       |
+| <a id="#ARM_DISARM_REASON_LANDING"></a> ARM_DISARM_REASON_LANDING                                            | `uint8`  | 6     |                                                       |
+| <a id="#ARM_DISARM_REASON_PREFLIGHT_INACTION"></a> ARM_DISARM_REASON_PREFLIGHT_INACTION | `uint8`  | 7     |                                                       |
+| <a id="#ARM_DISARM_REASON_KILL_SWITCH"></a> ARM_DISARM_REASON_KILL_SWITCH               | `uint8`  | 8     |                                                       |
+| <a id="#ARM_DISARM_REASON_RC_BUTTON"></a> ARM_DISARM_REASON_RC_BUTTON                   | `uint8`  | 13    |                                                       |
+| <a id="#ARM_DISARM_REASON_FAILSAFE"></a> ARM_DISARM_REASON_FAILSAFE                                          | `uint8`  | 14    |                                                       |
+| <a id="#NAVIGATION_STATE_MANUAL"></a> NAVIGATION_STATE_MANUAL                                                                     | `uint8`  | 0     | Manual mode                                           |
+| <a id="#NAVIGATION_STATE_ALTCTL"></a> NAVIGATION_STATE_ALTCTL                                                                     | `uint8`  | 1     | Altitude control mode                                 |
+| <a id="#NAVIGATION_STATE_POSCTL"></a> NAVIGATION_STATE_POSCTL                                                                     | `uint8`  | 2     | Position control mode                                 |
+| <a id="#NAVIGATION_STATE_AUTO_MISSION"></a> NAVIGATION_STATE_AUTO_MISSION                                    | `uint8`  | 3     | Auto mission mode                                     |
+| <a id="#NAVIGATION_STATE_AUTO_LOITER"></a> NAVIGATION_STATE_AUTO_LOITER                                      | `uint8`  | 4     | Auto loiter mode                                      |
+| <a id="#NAVIGATION_STATE_AUTO_RTL"></a> NAVIGATION_STATE_AUTO_RTL                                            | `uint8`  | 5     | Auto return to launch mode                            |
+| <a id="#NAVIGATION_STATE_POSITION_SLOW"></a> NAVIGATION_STATE_POSITION_SLOW                                  | `uint8`  | 6     |                                                       |
+| <a id="#NAVIGATION_STATE_FREE5"></a> NAVIGATION_STATE_FREE5                                                                       | `uint8`  | 7     |                                                       |
+| <a id="#NAVIGATION_STATE_ALTITUDE_CRUISE"></a> NAVIGATION_STATE_ALTITUDE_CRUISE                              | `uint8`  | 8     | Altitude with Cruise mode                             |
+| <a id="#NAVIGATION_STATE_FREE3"></a> NAVIGATION_STATE_FREE3                                                                       | `uint8`  | 9     |                                                       |
+| <a id="#NAVIGATION_STATE_ACRO"></a> NAVIGATION_STATE_ACRO                                                                         | `uint8`  | 10    | Acro mode                                             |
+| <a id="#NAVIGATION_STATE_FREE2"></a> NAVIGATION_STATE_FREE2                                                                       | `uint8`  | 11    |                                                       |
+| <a id="#NAVIGATION_STATE_DESCEND"></a> NAVIGATION_STATE_DESCEND                                                                   | `uint8`  | 12    | Descend mode (no position control) |
+| <a id="#NAVIGATION_STATE_TERMINATION"></a> NAVIGATION_STATE_TERMINATION                                                           | `uint8`  | 13    | Termination mode                                      |
+| <a id="#NAVIGATION_STATE_OFFBOARD"></a> NAVIGATION_STATE_OFFBOARD                                                                 | `uint8`  | 14    |                                                       |
+| <a id="#NAVIGATION_STATE_STAB"></a> NAVIGATION_STATE_STAB                                                                         | `uint8`  | 15    | Stabilized mode                                       |
+| <a id="#NAVIGATION_STATE_FREE1"></a> NAVIGATION_STATE_FREE1                                                                       | `uint8`  | 16    |                                                       |
+| <a id="#NAVIGATION_STATE_AUTO_TAKEOFF"></a> NAVIGATION_STATE_AUTO_TAKEOFF                                    | `uint8`  | 17    | Takeoff                                               |
+| <a id="#NAVIGATION_STATE_AUTO_LAND"></a> NAVIGATION_STATE_AUTO_LAND                                          | `uint8`  | 18    | Land                                                  |
+| <a id="#NAVIGATION_STATE_AUTO_FOLLOW_TARGET"></a> NAVIGATION_STATE_AUTO_FOLLOW_TARGET   | `uint8`  | 19    | Auto Follow                                           |
+| <a id="#NAVIGATION_STATE_AUTO_PRECLAND"></a> NAVIGATION_STATE_AUTO_PRECLAND                                  | `uint8`  | 20    | Precision land with landing target                    |
+| <a id="#NAVIGATION_STATE_ORBIT"></a> NAVIGATION_STATE_ORBIT                                                                       | `uint8`  | 21    | Orbit in a circle                                     |
+| <a id="#NAVIGATION_STATE_AUTO_VTOL_TAKEOFF"></a> NAVIGATION_STATE_AUTO_VTOL_TAKEOFF     | `uint8`  | 22    | Takeoff, transition, establish loiter                 |
+| <a id="#NAVIGATION_STATE_EXTERNAL1"></a> NAVIGATION_STATE_EXTERNAL1                                                               | `uint8`  | 23    |                                                       |
+| <a id="#NAVIGATION_STATE_EXTERNAL2"></a> NAVIGATION_STATE_EXTERNAL2                                                               | `uint8`  | 24    |                                                       |
+| <a id="#NAVIGATION_STATE_EXTERNAL3"></a> NAVIGATION_STATE_EXTERNAL3                                                               | `uint8`  | 25    |                                                       |
+| <a id="#NAVIGATION_STATE_EXTERNAL4"></a> NAVIGATION_STATE_EXTERNAL4                                                               | `uint8`  | 26    |                                                       |
+| <a id="#NAVIGATION_STATE_EXTERNAL5"></a> NAVIGATION_STATE_EXTERNAL5                                                               | `uint8`  | 27    |                                                       |
+| <a id="#NAVIGATION_STATE_EXTERNAL6"></a> NAVIGATION_STATE_EXTERNAL6                                                               | `uint8`  | 28    |                                                       |
+| <a id="#NAVIGATION_STATE_EXTERNAL7"></a> NAVIGATION_STATE_EXTERNAL7                                                               | `uint8`  | 29    |                                                       |
+| <a id="#NAVIGATION_STATE_EXTERNAL8"></a> NAVIGATION_STATE_EXTERNAL8                                                               | `uint8`  | 30    |                                                       |
+| <a id="#NAVIGATION_STATE_MAX"></a> NAVIGATION_STATE_MAX                                                                           | `uint8`  | 31    |                                                       |
+| <a id="#HIL_STATE_OFF"></a> HIL_STATE_OFF                                                                                         | `uint8`  | 0     |                                                       |
+| <a id="#HIL_STATE_ON"></a> HIL_STATE_ON                                                                                           | `uint8`  | 1     |                                                       |
+| <a id="#VEHICLE_TYPE_UNSPECIFIED"></a> VEHICLE_TYPE_UNSPECIFIED                                                                   | `uint8`  | 0     |                                                       |
+| <a id="#VEHICLE_TYPE_ROTARY_WING"></a> VEHICLE_TYPE_ROTARY_WING                                              | `uint8`  | 1     |                                                       |
+| <a id="#VEHICLE_TYPE_FIXED_WING"></a> VEHICLE_TYPE_FIXED_WING                                                | `uint8`  | 2     |                                                       |
+| <a id="#VEHICLE_TYPE_ROVER"></a> VEHICLE_TYPE_ROVER                                                                               | `uint8`  | 3     |                                                       |
+| <a id="#FAILSAFE_DEFER_STATE_DISABLED"></a> FAILSAFE_DEFER_STATE_DISABLED                                    | `uint8`  | 0     |                                                       |
+| <a id="#FAILSAFE_DEFER_STATE_ENABLED"></a> FAILSAFE_DEFER_STATE_ENABLED                                      | `uint8`  | 1     |                                                       |
+| <a id="#FAILSAFE_DEFER_STATE_WOULD_FAILSAFE"></a> FAILSAFE_DEFER_STATE_WOULD_FAILSAFE   | `uint8`  | 2     | Failsafes deferred, but would trigger a failsafe      |

 ## Source Message

@@ -132,7 +122,7 @@ Click here to see original file
 ```c
 # Encodes the system state of the vehicle published by commander

-uint32 MESSAGE_VERSION = 2
+uint32 MESSAGE_VERSION = 3

 uint64 timestamp # time since system start (microseconds)

@@ -200,18 +190,6 @@ uint8 nav_state_display                         # User-visible nav state sent vi
 uint32 valid_nav_states_mask                    # Bitmask for all valid nav_state values
 uint32 can_set_nav_states_mask                  # Bitmask for all modes that a user can select

-# Bitmask of detected failures
-uint16 failure_detector_status
-uint16 FAILURE_NONE = 0
-uint16 FAILURE_ROLL = 1              # (1 << 0)
-uint16 FAILURE_PITCH = 2             # (1 << 1)
-uint16 FAILURE_ALT = 4               # (1 << 2)
-uint16 FAILURE_EXT = 8               # (1 << 3)
-uint16 FAILURE_ARM_ESC = 16          # (1 << 4)
-uint16 FAILURE_BATTERY = 32          # (1 << 5)
-uint16 FAILURE_IMBALANCED_PROP = 64  # (1 << 6)
-uint16 FAILURE_MOTOR = 128           # (1 << 7)
-
 uint8 hil_state
 uint8 HIL_STATE_OFF = 0
 uint8 HIL_STATE_ON = 1
@@ -0,0 +1,270 @@
+---
+pageClass: is-wide-page
+---
+
+# VehicleStatusV2 (UORB message)
+
+Encodes the system state of the vehicle published by commander.
+
+**TOPICS:** vehicle_status_v2
+
+## Fields
+
+| 명칭                                                                                                               | 형식       | Unit [Frame] | Range/Enum | 설명                                                                                                                                                                                       |
+| ---------------------------------------------------------------------------------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| timestamp                                                                                                        | `uint64` |                                                                  |            | time since system start (microseconds)                                                                                                                                |
+| armed_time                                                                                  | `uint64` |                                                                  |            | Arming timestamp (microseconds)                                                                                                                                       |
+| takeoff_time                                                                                | `uint64` |                                                                  |            | Takeoff timestamp (microseconds)                                                                                                                                      |
+| arming_state                                                                                | `uint8`  |                                                                  |            |                                                                                                                                                                                          |
+| latest_arming_reason                                                   | `uint8`  |                                                                  |            |                                                                                                                                                                                          |
+| latest_disarming_reason                                                | `uint8`  |                                                                  |            |                                                                                                                                                                                          |
+| nav_state_timestamp                                                    | `uint64` |                                                                  |            | time when current nav_state activated                                                                                                                               |
+| nav_state_user_intention                          | `uint8`  |                                                                  |            | Mode that the user selected (might be different from nav_state in a failsafe situation)                                                          |
+| nav_state                                                                                   | `uint8`  |                                                                  |            | Currently active mode                                                                                                                                                                    |
+| executor_in_charge                                                     | `uint8`  |                                                                  |            | Current mode executor in charge (0=Autopilot)                                                                                                                         |
+| nav_state_display                                                      | `uint8`  |                                                                  |            | User-visible nav state sent via MAVLink (executor state if active, otherwise nav_state)                                                          |
+| valid_nav_states_mask                             | `uint32` |                                                                  |            | Bitmask for all valid nav_state values                                                                                                                              |
+| can_set_nav_states_mask      | `uint32` |                                                                  |            | Bitmask for all modes that a user can select                                                                                                                                             |
+| failure_detector_status                                                | `uint16` |                                                                  |            |                                                                                                                                                                                          |
+| hil_state                                                                                   | `uint8`  |                                                                  |            |                                                                                                                                                                                          |
+| vehicle_type                                                                                | `uint8`  |                                                                  |            |                                                                                                                                                                                          |
+| failsafe                                                                                                         | `bool`   |                                                                  |            | true if system is in failsafe state (e.g.:RTL, Hover, Terminate, ...) |
+| failsafe_and_user_took_over  | `bool`   |                                                                  |            | true if system is in failsafe state but the user took over control                                                                                                                       |
+| failsafe_defer_state                                                   | `uint8`  |                                                                  |            | one of FAILSAFE_DEFER_STATE_\*                                                                                                                                      |
+| gcs_connection_lost                                                    | `bool`   |                                                                  |            | datalink to GCS lost                                                                                                                                                                     |
+| gcs_connection_lost_counter                       | `uint8`  |                                                                  |            | counts unique GCS connection lost events                                                                                                                                                 |
+| high_latency_data_link_lost  | `bool`   |                                                                  |            | Set to true if the high latency data link (eg. RockBlock Iridium 9603 telemetry module) is lost                                                       |
+| is_vtol                                                                                     | `bool`   |                                                                  |            | True if the system is VTOL capable                                                                                                                                                       |
+| is_vtol_tailsitter                                                     | `bool`   |                                                                  |            | True if the system performs a 90° pitch down rotation during transition from MC to FW                                                                                                    |
+| in_transition_mode                                                     | `bool`   |                                                                  |            | True if VTOL is doing a transition                                                                                                                                                       |
+| in_transition_to_fw                               | `bool`   |                                                                  |            | True if VTOL is doing a transition from MC to FW                                                                                                                                         |
+| system_type                                                                                 | `uint8`  |                                                                  |            | system type, contains mavlink MAV_TYPE                                                                                                                              |
+| system_id                                                                                   | `uint8`  |                                                                  |            | system id, contains MAVLink's system ID field                                                                                                                                            |
+| component_id                                                                                | `uint8`  |                                                                  |            | subsystem / component id, contains MAVLink's component ID field                                                                                                                          |
+| safety_button_available                                                | `bool`   |                                                                  |            | Set to true if a safety button is connected                                                                                                                                              |
+| safety_off                                                                                  | `bool`   |                                                                  |            | Set to true if safety is off                                                                                                                                                             |
+| power_input_valid                                                      | `bool`   |                                                                  |            | set if input power is valid                                                                                                                                                              |
+| usb_connected                                                                               | `bool`   |                                                                  |            | set to true (never cleared) once telemetry received from usb link                                                                                                     |
+| open_drone_id_system_present | `bool`   |                                                                  |            |                                                                                                                                                                                          |
+| open_drone_id_system_healthy | `bool`   |                                                                  |            |                                                                                                                                                                                          |
+| parachute_system_present                                               | `bool`   |                                                                  |            |                                                                                                                                                                                          |
+| parachute_system_healthy                                               | `bool`   |                                                                  |            |                                                                                                                                                                                          |
+| traffic_avoidance_system_present                  | `bool`   |                                                                  |            |                                                                                                                                                                                          |
+| rc_calibration_in_progress                        | `bool`   |                                                                  |            |                                                                                                                                                                                          |
+| calibration_enabled                                                                         | `bool`   |                                                                  |            |                                                                                                                                                                                          |
+| pre_flight_checks_pass                            | `bool`   |                                                                  |            | true if all checks necessary to arm pass                                                                                                                                                 |
+
+## Constants
+
+| 명칭                                                                                                                                                                          | 형식       | Value | 설명                                                                            |
+| --------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | ----- | ----------------------------------------------------------------------------- |
+| <a id="#MESSAGE_VERSION"></a> MESSAGE_VERSION                                                                                                          | `uint32` | 2     |                                                                               |
+| <a id="#ARMING_STATE_DISARMED"></a> ARMING_STATE_DISARMED                                                                         | `uint8`  | 1     |                                                                               |
+| <a id="#ARMING_STATE_ARMED"></a> ARMING_STATE_ARMED                                                                               | `uint8`  | 2     |                                                                               |
+| <a id="#ARM_DISARM_REASON_STICK_GESTURE"></a> ARM_DISARM_REASON_STICK_GESTURE           | `uint8`  | 1     |                                                                               |
+| <a id="#ARM_DISARM_REASON_RC_SWITCH"></a> ARM_DISARM_REASON_RC_SWITCH                   | `uint8`  | 2     |                                                                               |
+| <a id="#ARM_DISARM_REASON_COMMAND_INTERNAL"></a> ARM_DISARM_REASON_COMMAND_INTERNAL     | `uint8`  | 3     |                                                                               |
+| <a id="#ARM_DISARM_REASON_COMMAND_EXTERNAL"></a> ARM_DISARM_REASON_COMMAND_EXTERNAL     | `uint8`  | 4     |                                                                               |
+| <a id="#ARM_DISARM_REASON_MISSION_START"></a> ARM_DISARM_REASON_MISSION_START           | `uint8`  | 5     |                                                                               |
+| <a id="#ARM_DISARM_REASON_LANDING"></a> ARM_DISARM_REASON_LANDING                                            | `uint8`  | 6     |                                                                               |
+| <a id="#ARM_DISARM_REASON_PREFLIGHT_INACTION"></a> ARM_DISARM_REASON_PREFLIGHT_INACTION | `uint8`  | 7     |                                                                               |
+| <a id="#ARM_DISARM_REASON_KILL_SWITCH"></a> ARM_DISARM_REASON_KILL_SWITCH               | `uint8`  | 8     |                                                                               |
+| <a id="#ARM_DISARM_REASON_RC_BUTTON"></a> ARM_DISARM_REASON_RC_BUTTON                   | `uint8`  | 13    |                                                                               |
+| <a id="#ARM_DISARM_REASON_FAILSAFE"></a> ARM_DISARM_REASON_FAILSAFE                                          | `uint8`  | 14    |                                                                               |
+| <a id="#NAVIGATION_STATE_MANUAL"></a> NAVIGATION_STATE_MANUAL                                                                     | `uint8`  | 0     | Manual mode                                                                   |
+| <a id="#NAVIGATION_STATE_ALTCTL"></a> NAVIGATION_STATE_ALTCTL                                                                     | `uint8`  | 1     | Altitude control mode                                                         |
+| <a id="#NAVIGATION_STATE_POSCTL"></a> NAVIGATION_STATE_POSCTL                                                                     | `uint8`  | 2     | Position control mode                                                         |
+| <a id="#NAVIGATION_STATE_AUTO_MISSION"></a> NAVIGATION_STATE_AUTO_MISSION                                    | `uint8`  | 3     | Auto mission mode                                                             |
+| <a id="#NAVIGATION_STATE_AUTO_LOITER"></a> NAVIGATION_STATE_AUTO_LOITER                                      | `uint8`  | 4     | Auto loiter mode                                                              |
+| <a id="#NAVIGATION_STATE_AUTO_RTL"></a> NAVIGATION_STATE_AUTO_RTL                                            | `uint8`  | 5     | Auto return to launch mode                                                    |
+| <a id="#NAVIGATION_STATE_POSITION_SLOW"></a> NAVIGATION_STATE_POSITION_SLOW                                  | `uint8`  | 6     |                                                                               |
+| <a id="#NAVIGATION_STATE_FREE5"></a> NAVIGATION_STATE_FREE5                                                                       | `uint8`  | 7     |                                                                               |
+| <a id="#NAVIGATION_STATE_ALTITUDE_CRUISE"></a> NAVIGATION_STATE_ALTITUDE_CRUISE                              | `uint8`  | 8     | Altitude with Cruise mode                                                     |
+| <a id="#NAVIGATION_STATE_FREE3"></a> NAVIGATION_STATE_FREE3                                                                       | `uint8`  | 9     |                                                                               |
+| <a id="#NAVIGATION_STATE_ACRO"></a> NAVIGATION_STATE_ACRO                                                                         | `uint8`  | 10    | Acro mode                                                                     |
+| <a id="#NAVIGATION_STATE_FREE2"></a> NAVIGATION_STATE_FREE2                                                                       | `uint8`  | 11    |                                                                               |
+| <a id="#NAVIGATION_STATE_DESCEND"></a> NAVIGATION_STATE_DESCEND                                                                   | `uint8`  | 12    | Descend mode (no position control)                         |
+| <a id="#NAVIGATION_STATE_TERMINATION"></a> NAVIGATION_STATE_TERMINATION                                                           | `uint8`  | 13    | Termination mode                                                              |
+| <a id="#NAVIGATION_STATE_OFFBOARD"></a> NAVIGATION_STATE_OFFBOARD                                                                 | `uint8`  | 14    |                                                                               |
+| <a id="#NAVIGATION_STATE_STAB"></a> NAVIGATION_STATE_STAB                                                                         | `uint8`  | 15    | Stabilized mode                                                               |
+| <a id="#NAVIGATION_STATE_FREE1"></a> NAVIGATION_STATE_FREE1                                                                       | `uint8`  | 16    |                                                                               |
+| <a id="#NAVIGATION_STATE_AUTO_TAKEOFF"></a> NAVIGATION_STATE_AUTO_TAKEOFF                                    | `uint8`  | 17    | Takeoff                                                                       |
+| <a id="#NAVIGATION_STATE_AUTO_LAND"></a> NAVIGATION_STATE_AUTO_LAND                                          | `uint8`  | 18    | Land                                                                          |
+| <a id="#NAVIGATION_STATE_AUTO_FOLLOW_TARGET"></a> NAVIGATION_STATE_AUTO_FOLLOW_TARGET   | `uint8`  | 19    | Auto Follow                                                                   |
+| <a id="#NAVIGATION_STATE_AUTO_PRECLAND"></a> NAVIGATION_STATE_AUTO_PRECLAND                                  | `uint8`  | 20    | Precision land with landing target                                            |
+| <a id="#NAVIGATION_STATE_ORBIT"></a> NAVIGATION_STATE_ORBIT                                                                       | `uint8`  | 21    | Orbit in a circle                                                             |
+| <a id="#NAVIGATION_STATE_AUTO_VTOL_TAKEOFF"></a> NAVIGATION_STATE_AUTO_VTOL_TAKEOFF     | `uint8`  | 22    | Takeoff, transition, establish loiter                                         |
+| <a id="#NAVIGATION_STATE_EXTERNAL1"></a> NAVIGATION_STATE_EXTERNAL1                                                               | `uint8`  | 23    |                                                                               |
+| <a id="#NAVIGATION_STATE_EXTERNAL2"></a> NAVIGATION_STATE_EXTERNAL2                                                               | `uint8`  | 24    |                                                                               |
+| <a id="#NAVIGATION_STATE_EXTERNAL3"></a> NAVIGATION_STATE_EXTERNAL3                                                               | `uint8`  | 25    |                                                                               |
+| <a id="#NAVIGATION_STATE_EXTERNAL4"></a> NAVIGATION_STATE_EXTERNAL4                                                               | `uint8`  | 26    |                                                                               |
+| <a id="#NAVIGATION_STATE_EXTERNAL5"></a> NAVIGATION_STATE_EXTERNAL5                                                               | `uint8`  | 27    |                                                                               |
+| <a id="#NAVIGATION_STATE_EXTERNAL6"></a> NAVIGATION_STATE_EXTERNAL6                                                               | `uint8`  | 28    |                                                                               |
+| <a id="#NAVIGATION_STATE_EXTERNAL7"></a> NAVIGATION_STATE_EXTERNAL7                                                               | `uint8`  | 29    |                                                                               |
+| <a id="#NAVIGATION_STATE_EXTERNAL8"></a> NAVIGATION_STATE_EXTERNAL8                                                               | `uint8`  | 30    |                                                                               |
+| <a id="#NAVIGATION_STATE_MAX"></a> NAVIGATION_STATE_MAX                                                                           | `uint8`  | 31    |                                                                               |
+| <a id="#FAILURE_NONE"></a> FAILURE_NONE                                                                                                                | `uint16` | 0     |                                                                               |
+| <a id="#FAILURE_ROLL"></a> FAILURE_ROLL                                                                                                                | `uint16` | 1     | (1 << 0) |
+| <a id="#FAILURE_PITCH"></a> FAILURE_PITCH                                                                                                              | `uint16` | 2     | (1 << 1) |
+| <a id="#FAILURE_ALT"></a> FAILURE_ALT                                                                                                                  | `uint16` | 4     | (1 << 2) |
+| <a id="#FAILURE_EXT"></a> FAILURE_EXT                                                                                                                  | `uint16` | 8     | (1 << 3) |
+| <a id="#FAILURE_ARM_ESC"></a> FAILURE_ARM_ESC                                                                                     | `uint16` | 16    | (1 << 4) |
+| <a id="#FAILURE_BATTERY"></a> FAILURE_BATTERY                                                                                                          | `uint16` | 32    | (1 << 5) |
+| <a id="#FAILURE_IMBALANCED_PROP"></a> FAILURE_IMBALANCED_PROP                                                                     | `uint16` | 64    | (1 << 6) |
+| <a id="#FAILURE_MOTOR"></a> FAILURE_MOTOR                                                                                                              | `uint16` | 128   | (1 << 7) |
+| <a id="#HIL_STATE_OFF"></a> HIL_STATE_OFF                                                                                         | `uint8`  | 0     |                                                                               |
+| <a id="#HIL_STATE_ON"></a> HIL_STATE_ON                                                                                           | `uint8`  | 1     |                                                                               |
+| <a id="#VEHICLE_TYPE_UNSPECIFIED"></a> VEHICLE_TYPE_UNSPECIFIED                                                                   | `uint8`  | 0     |                                                                               |
+| <a id="#VEHICLE_TYPE_ROTARY_WING"></a> VEHICLE_TYPE_ROTARY_WING                                              | `uint8`  | 1     |                                                                               |
+| <a id="#VEHICLE_TYPE_FIXED_WING"></a> VEHICLE_TYPE_FIXED_WING                                                | `uint8`  | 2     |                                                                               |
+| <a id="#VEHICLE_TYPE_ROVER"></a> VEHICLE_TYPE_ROVER                                                                               | `uint8`  | 3     |                                                                               |
+| <a id="#FAILSAFE_DEFER_STATE_DISABLED"></a> FAILSAFE_DEFER_STATE_DISABLED                                    | `uint8`  | 0     |                                                                               |
+| <a id="#FAILSAFE_DEFER_STATE_ENABLED"></a> FAILSAFE_DEFER_STATE_ENABLED                                      | `uint8`  | 1     |                                                                               |
+| <a id="#FAILSAFE_DEFER_STATE_WOULD_FAILSAFE"></a> FAILSAFE_DEFER_STATE_WOULD_FAILSAFE   | `uint8`  | 2     | Failsafes deferred, but would trigger a failsafe                              |
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/VehicleStatusV2.msg)
+
+:::details
+Click here to see original file
+
+```c
+# Encodes the system state of the vehicle published by commander
+
+uint32 MESSAGE_VERSION = 2
+
+uint64 timestamp # time since system start (microseconds)
+
+uint64 armed_time # Arming timestamp (microseconds)
+uint64 takeoff_time # Takeoff timestamp (microseconds)
+
+uint8 arming_state
+uint8 ARMING_STATE_DISARMED = 1
+uint8 ARMING_STATE_ARMED    = 2
+
+uint8 latest_arming_reason
+uint8 latest_disarming_reason
+uint8 ARM_DISARM_REASON_STICK_GESTURE = 1
+uint8 ARM_DISARM_REASON_RC_SWITCH = 2
+uint8 ARM_DISARM_REASON_COMMAND_INTERNAL = 3
+uint8 ARM_DISARM_REASON_COMMAND_EXTERNAL = 4
+uint8 ARM_DISARM_REASON_MISSION_START = 5
+uint8 ARM_DISARM_REASON_LANDING = 6
+uint8 ARM_DISARM_REASON_PREFLIGHT_INACTION = 7
+uint8 ARM_DISARM_REASON_KILL_SWITCH = 8
+uint8 ARM_DISARM_REASON_RC_BUTTON = 13
+uint8 ARM_DISARM_REASON_FAILSAFE = 14
+
+uint64 nav_state_timestamp # time when current nav_state activated
+
+uint8 nav_state_user_intention                  # Mode that the user selected (might be different from nav_state in a failsafe situation)
+
+uint8 nav_state                                 # Currently active mode
+uint8 NAVIGATION_STATE_MANUAL = 0               # Manual mode
+uint8 NAVIGATION_STATE_ALTCTL = 1               # Altitude control mode
+uint8 NAVIGATION_STATE_POSCTL = 2               # Position control mode
+uint8 NAVIGATION_STATE_AUTO_MISSION = 3         # Auto mission mode
+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_ALTITUDE_CRUISE = 8      # Altitude with Cruise mode
+uint8 NAVIGATION_STATE_FREE3 = 9
+uint8 NAVIGATION_STATE_ACRO = 10                # Acro mode
+uint8 NAVIGATION_STATE_FREE2 = 11
+uint8 NAVIGATION_STATE_DESCEND = 12             # Descend mode (no position control)
+uint8 NAVIGATION_STATE_TERMINATION = 13         # Termination mode
+uint8 NAVIGATION_STATE_OFFBOARD = 14
+uint8 NAVIGATION_STATE_STAB = 15                # Stabilized mode
+uint8 NAVIGATION_STATE_FREE1 = 16
+uint8 NAVIGATION_STATE_AUTO_TAKEOFF = 17        # Takeoff
+uint8 NAVIGATION_STATE_AUTO_LAND = 18           # Land
+uint8 NAVIGATION_STATE_AUTO_FOLLOW_TARGET = 19  # Auto Follow
+uint8 NAVIGATION_STATE_AUTO_PRECLAND = 20       # Precision land with landing target
+uint8 NAVIGATION_STATE_ORBIT = 21               # Orbit in a circle
+uint8 NAVIGATION_STATE_AUTO_VTOL_TAKEOFF = 22   # Takeoff, transition, establish loiter
+uint8 NAVIGATION_STATE_EXTERNAL1 = 23
+uint8 NAVIGATION_STATE_EXTERNAL2 = 24
+uint8 NAVIGATION_STATE_EXTERNAL3 = 25
+uint8 NAVIGATION_STATE_EXTERNAL4 = 26
+uint8 NAVIGATION_STATE_EXTERNAL5 = 27
+uint8 NAVIGATION_STATE_EXTERNAL6 = 28
+uint8 NAVIGATION_STATE_EXTERNAL7 = 29
+uint8 NAVIGATION_STATE_EXTERNAL8 = 30
+uint8 NAVIGATION_STATE_MAX = 31
+
+uint8 executor_in_charge                        # Current mode executor in charge (0=Autopilot)
+uint8 nav_state_display                         # User-visible nav state sent via MAVLink (executor state if active, otherwise nav_state)
+
+uint32 valid_nav_states_mask                    # Bitmask for all valid nav_state values
+uint32 can_set_nav_states_mask                  # Bitmask for all modes that a user can select
+
+# Bitmask of detected failures
+uint16 failure_detector_status
+uint16 FAILURE_NONE = 0
+uint16 FAILURE_ROLL = 1              # (1 << 0)
+uint16 FAILURE_PITCH = 2             # (1 << 1)
+uint16 FAILURE_ALT = 4               # (1 << 2)
+uint16 FAILURE_EXT = 8               # (1 << 3)
+uint16 FAILURE_ARM_ESC = 16          # (1 << 4)
+uint16 FAILURE_BATTERY = 32          # (1 << 5)
+uint16 FAILURE_IMBALANCED_PROP = 64  # (1 << 6)
+uint16 FAILURE_MOTOR = 128           # (1 << 7)
+
+uint8 hil_state
+uint8 HIL_STATE_OFF = 0
+uint8 HIL_STATE_ON = 1
+
+# Current vehicle locomotion method. A vehicle can have different methods (e.g. VTOL transitions from RW to FW method)
+uint8 vehicle_type
+uint8 VEHICLE_TYPE_UNSPECIFIED = 0
+uint8 VEHICLE_TYPE_ROTARY_WING = 1
+uint8 VEHICLE_TYPE_FIXED_WING = 2
+uint8 VEHICLE_TYPE_ROVER = 3
+
+uint8 FAILSAFE_DEFER_STATE_DISABLED = 0
+uint8 FAILSAFE_DEFER_STATE_ENABLED = 1
+uint8 FAILSAFE_DEFER_STATE_WOULD_FAILSAFE = 2 # Failsafes deferred, but would trigger a failsafe
+
+bool failsafe # true if system is in failsafe state (e.g.:RTL, Hover, Terminate, ...)
+bool failsafe_and_user_took_over # true if system is in failsafe state but the user took over control
+uint8 failsafe_defer_state # one of FAILSAFE_DEFER_STATE_*
+
+# Link loss
+bool gcs_connection_lost              # datalink to GCS lost
+uint8 gcs_connection_lost_counter     # counts unique GCS connection lost events
+bool high_latency_data_link_lost # Set to true if the high latency data link (eg. RockBlock Iridium 9603 telemetry module) is lost
+
+# VTOL flags
+bool is_vtol             # True if the system is VTOL capable
+bool is_vtol_tailsitter  # True if the system performs a 90° pitch down rotation during transition from MC to FW
+bool in_transition_mode  # True if VTOL is doing a transition
+bool in_transition_to_fw # True if VTOL is doing a transition from MC to FW
+
+# MAVLink identification
+uint8 system_type  # system type, contains mavlink MAV_TYPE
+uint8 system_id	   # system id, contains MAVLink's system ID field
+uint8 component_id # subsystem / component id, contains MAVLink's component ID field
+
+bool safety_button_available # Set to true if a safety button is connected
+bool safety_off # Set to true if safety is off
+
+bool power_input_valid                            # set if input power is valid
+bool usb_connected                                # set to true (never cleared) once telemetry received from usb link
+
+bool open_drone_id_system_present
+bool open_drone_id_system_healthy
+
+bool parachute_system_present
+bool parachute_system_healthy
+
+bool traffic_avoidance_system_present
+
+bool rc_calibration_in_progress
+bool calibration_enabled
+
+bool pre_flight_checks_pass		# true if all checks necessary to arm pass
+```
+
+:::
@@ -275,3 +275,4 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
 - [VehicleLocalPositionV0](VehicleLocalPositionV0.md) — Fused local position in NED. The coordinate system origin is the vehicle position at the time when the EKF2-module was started.
 - [VehicleStatusV0](VehicleStatusV0.md) — Encodes the system state of the vehicle published by commander.
 - [VehicleStatusV1](VehicleStatusV1.md) — Encodes the system state of the vehicle published by commander.
+- [VehicleStatusV2](VehicleStatusV2.md) — Encodes the system state of the vehicle published by commander.
@@ -13,7 +13,7 @@ DShot is an alternative ESC protocol that has several advantages over [PWM](../p

 ## Supported ESC

-[ESCs & Motors > Supported ESCs](../peripherals/esc_motors#supported-esc) has a list of supported ESC (check "Protocols" column for DShot ESC).
+[ESCs & Motors > Supported ESCs](../peripherals/esc_motors.md#supported-esc) has a list of supported ESC (check "Protocols" column for DShot ESC).

 ## Wiring/Connections {#wiring}

@@ -22,37 +22,31 @@ jMAVSim can also be used for HITL Simulation ([as shown here](../simulation/hitl

 ## 설치

-jMAVSim setup is included in our [standard build instructions](../dev_setup/dev_env.md) for Ubuntu Linux and Windows.
-Follow the instructions below to install jMAVSim on macOS.
+jMAVSim requires JDK 17 or later.
+On Ubuntu and Windows, the [standard development environment setup](../dev_setup/dev_env.md) scripts install all required dependencies including Java.
+On macOS, you need to install Java manually as shown below.

 ### macOS

-To setup the environment for [jMAVSim](../sim_jmavsim/index.md) simulation:
+jMAVSim requires OpenJDK 17 or later.
+Install it via Homebrew:

-1. Install a recent version of Java (e.g. Java 15).
-   You can download [Java 15 (or later) from Oracle](https://www.oracle.com/java/technologies/downloads/?er=221886) or use [Eclipse Temurin](https://adoptium.net):
+```sh
+brew install openjdk@17
+```

-   ```sh
-   brew install --cask temurin
-   ```
+Homebrew installs OpenJDK but does not link it into your `PATH`, so you need to set `JAVA_HOME` for jMAVSim to find it.
+Add this to your shell profile (e.g. `~/.zshrc`):

-2. Install jMAVSim:
-
-   ```sh
-   brew install px4-sim-jmavsim
-   ```
-
-   :::warning
-   PX4 v1.11 and beyond require at least JDK 15 for jMAVSim simulation.
-
-   For earlier versions, macOS users might see the error `Exception in thread "main" java.lang.UnsupportedClassVersionError:`.
-   You can find the fix in the [jMAVSim with SITL > Troubleshooting](../sim_jmavsim/index.md#troubleshooting)).
-
-:::
+```sh
+export JAVA_HOME=$(/usr/libexec/java_home -v 17)
+```

 ## Simulation Environment

-Software in the Loop Simulation runs the complete system on the host machine and simulates the autopilot. It connects via local network to the simulator. The setup looks like this:
+Software in the Loop Simulation runs the complete system on the host machine and simulates the autopilot.
+It connects via local network to the simulator.
+The setup looks like this:

 [![Mermaid graph: SITL Simulator](https://mermaid.ink/img/eyJjb2RlIjoiZ3JhcGggTFI7XG4gIFNpbXVsYXRvci0tPk1BVkxpbms7XG4gIE1BVkxpbmstLT5TSVRMOyIsIm1lcm1haWQiOnsidGhlbWUiOiJkZWZhdWx0In0sInVwZGF0ZUVkaXRvciI6ZmFsc2V9)](https://mermaid-js.github.io/mermaid-live-editor/#/edit/eyJjb2RlIjoiZ3JhcGggTFI7XG4gIFNpbXVsYXRvci0tPk1BVkxpbms7XG4gIE1BVkxpbmstLT5TSVRMOyIsIm1lcm1haWQiOnsidGhlbWUiOiJkZWZhdWx0In0sInVwZGF0ZUVkaXRvciI6ZmFsc2V9)

@@ -95,7 +89,8 @@ It will also bring up a window showing a 3D view of the [jMAVSim](https://github

 ## Taking it to the Sky

-The system will start printing status information. You will be able to start flying once you have a position lock (shortly after the console displays the message: _EKF commencing GPS fusion_).
+The system will start printing status information.
+You will be able to start flying once you have a position lock (shortly after the console displays the message: _EKF commencing GPS fusion_).

 To takeoff enter the following into the console:

@@ -220,11 +215,13 @@ To disable lockstep in:

 ## Extending and Customizing

-To extend or customize the simulation interface, edit the files in the **Tools/jMAVSim** folder. The code can be accessed through the[jMAVSim repository](https://github.com/px4/jMAVSim) on Github.
+To extend or customize the simulation interface, edit the files in the **Tools/jMAVSim** folder.
+The code can be accessed through the[jMAVSim repository](https://github.com/px4/jMAVSim) on Github.

 :::info
 The build system enforces the correct submodule to be checked out for all dependencies, including the simulator.
-It will not overwrite changes in files in the directory, however, when these changes are committed the submodule needs to be registered in the Firmware repo with the new commit hash. To do so, `git add Tools/jMAVSim` and commit the change.
+It will not overwrite changes in files in the directory, however, when these changes are committed the submodule needs to be registered in the Firmware repo with the new commit hash.
+To do so, `git add Tools/jMAVSim` and commit the change.
 This will update the GIT hash of the simulator.
 :::

@@ -237,6 +234,75 @@ The simulation can be [interfaced to ROS](../simulation/ros_interface.md) the sa
 - The startup scripts are discussed in [System Startup](../concept/system_startup.md).
 - The simulated root file system ("`/`" directory) is created inside the build directory here: `build/px4_sitl_default/rootfs`.

+## Display-Only Mode
+
+jMAVSim can run as a display-only renderer for other simulators (like [SIH](../sim_sih/index.md)), with its internal physics disabled.
+In this mode, jMAVSim receives vehicle position via MAVLink and only renders the 3D view.
+
+To use jMAVSim as a display for SIH running in SITL:
+
+```sh
+# Start SIH first
+make px4_sitl_sih sihsim_quadx
+
+# In another terminal, start jMAVSim in display-only mode
+./Tools/simulation/jmavsim/jmavsim_run.sh -p 19410 -u -q -o  # 19410 is the default SIH display port
+```
+
+For SIH running on flight controller hardware:
+
+```sh
+./Tools/simulation/jmavsim/jmavsim_run.sh -q -d /dev/ttyACM0 -b 2000000 -o
+```
+
+Use `-a` for airplane display or `-t` for tailsitter display.
+
+## Command-Line Reference
+
+The `jmavsim_run.sh` launch script accepts the following flags:
+
+| Flag          | 설명                                                                                           |
+| ------------- | -------------------------------------------------------------------------------------------- |
+| `-b <rate>`   | Serial baud rate (default: 921600)                        |
+| `-d <device>` | Serial device path (e.g., `/dev/ttyACM0`) |
+| `-u`          | Use UDP connection instead of serial                                                         |
+| `-i <id>`     | Simulated MAVLink system ID                                                                  |
+| `-p <port>`   | UDP port (default: 14560)                                 |
+| `-q`          | No interactive console                                                                       |
+| `-s <port>`   | TCP serial port                                                                              |
+| `-r <rate>`   | Render rate in Hz                                                                            |
+| `-l`          | Enable lockstep                                                                              |
+| `-o`          | Display-only mode (disable physics, render only)                          |
+| `-a`          | Use airplane model                                                                           |
+| `-t`          | Use tailsitter model                                                                         |
+| `HEADLESS=1`  | Environment variable: run without GUI window                                 |
+
+## How jMAVSim Works
+
+jMAVSim is a Java-based lightweight simulator that communicates with PX4 via MAVLink HIL (Hardware-In-the-Loop) messages.
+
+In normal mode:
+
+1. PX4 sends actuator commands via [HIL_ACTUATOR_CONTROLS](https://mavlink.io/en/messages/common.html#HIL_ACTUATOR_CONTROLS).
+2. jMAVSim runs its physics engine to compute the vehicle state.
+3. jMAVSim sends sensor data back via [HIL_SENSOR](https://mavlink.io/en/messages/common.html#HIL_SENSOR) and [HIL_GPS](https://mavlink.io/en/messages/common.html#HIL_GPS).
+
+In **display-only mode** (`-o` flag), jMAVSim disables its physics engine and only reads [HIL_STATE_QUATERNION](https://mavlink.io/en/messages/common.html#HIL_STATE_QUATERNION) messages to render the vehicle position.
+This allows it to visualize vehicles from other simulators like SIH.
+
+jMAVSim supports [lockstep synchronization](#lockstep) with PX4 (enabled with `-l` flag), ensuring deterministic simulation results.
+
+## Keyboard Shortcuts
+
+Camera modes in the jMAVSim 3D view:
+
+| Key                              | Camera Mode                                             |
+| -------------------------------- | ------------------------------------------------------- |
+| **F**                            | First person (attached to vehicle)   |
+| **S**                            | Stationary (fixed position)          |
+| **G**                            | Gimbal (follows vehicle orientation) |
+| **(default)** | Third person follow                                     |
+
 ## 문제 해결

 ### java.long.NoClassDefFoundError
@@ -327,8 +393,8 @@ Exception in thread "main" java.lang.UnsupportedClassVersionError: me/drton/jmav
 This error is telling you, you need a more recent version of Java in your environment.
 Class file version 58 corresponds to jdk14, version 59 to jdk15, version 60 to jdk 16 etc.

-To fix it under macOS, we recommend installing OpenJDK through homebrew
+To fix it under macOS, install a newer OpenJDK via Homebrew:

 ```sh
-brew install --cask adoptopenjdk16
+brew install openjdk@17
 ```
@@ -0,0 +1,171 @@
+# SIH on Flight Controller Hardware
+
+SIH can run directly on flight controller hardware with `SYS_HITL=2`.
+This replaces real sensors with simulated data while running on the actual autopilot, useful for testing without propellers.
+
+For a comparison of SIH and HITL on hardware, see [Hardware Simulation](../simulation/hardware.md).
+
+## Firmware Builds with SIH
+
+The SIH module is included in many, but not all, default firmware builds.
+This list can change between PX4 releases. Always verify using the method in [Check if SIH is in Firmware](#check-if-sih-is-in-firmware).
+
+The table below lists build targets that include SIH at the time of writing:
+
+| Build Target                         | 보드                                          |
+| ------------------------------------ | ------------------------------------------- |
+| `px4_fmu-v3_default`                 | Pixhawk 2 (Cube Black)   |
+| `px4_fmu-v4_default`                 | Pixhawk 3 Pro                               |
+| `px4_fmu-v4pro_default`              | Pixracer                                    |
+| `px4_fmu-v5_default`                 | Pixhawk 4                                   |
+| `px4_fmu-v5x_default`                | Pixhawk 5X                                  |
+| `px4_fmu-v6c_default`                | Pixhawk 6C                                  |
+| `px4_fmu-v6c_raptor`                 | Pixhawk 6C (Raptor)      |
+| `px4_fmu-v6x_multicopter`            | Pixhawk 6X (multicopter) |
+| `auterion_fmu-v6s_default`           | Auterion FMU-v6S                            |
+| `auterion_fmu-v6x_default`           | Auterion FMU-v6X                            |
+| `holybro_durandal-v1_default`        | Holybro Durandal                            |
+| `holybro_kakuteh7_default`           | Holybro Kakute H7                           |
+| `holybro_kakuteh7v2_default`         | Holybro Kakute H7 V2                        |
+| `holybro_pix32v5_default`            | Holybro Pix32 V5                            |
+| `cuav_nora_default`                  | CUAV Nora                                   |
+| `cuav_x7pro_default`                 | CUAV X7 Pro                                 |
+| `cuav_x25-evo_default`               | CUAV X25 EVO                                |
+| `cuav_x25-super_default`             | CUAV X25 Super                              |
+| `cubepilot_cubeyellow_default`       | CubePilot Cube Yellow                       |
+| `mro_pixracerpro_default`            | MRO PixRacer Pro                            |
+| `mro_x21_default`                    | MRO X2.1                    |
+| `mro_ctrl-zero-h7_default`           | MRO Ctrl Zero H7                            |
+| `mro_ctrl-zero-h7-oem_default`       | MRO Ctrl Zero H7 OEM                        |
+| `mro_ctrl-zero-f7_default`           | MRO Ctrl Zero F7                            |
+| `mro_ctrl-zero-f7-oem_default`       | MRO Ctrl Zero F7 OEM                        |
+| `mro_ctrl-zero-classic_default`      | MRO Ctrl Zero Classic                       |
+| `3dr_ctrl-zero-h7-oem-revg_default`  | 3DR Ctrl Zero H7 OEM RevG                   |
+| `modalai_fc-v1_default`              | ModalAI FC V1                               |
+| `nxp_fmuk66-v3_default`              | NXP FMUK66-V3                               |
+| `nxp_fmuk66-e_default`               | NXP FMUK66-E                                |
+| `radiolink_PIX6_default`             | Radiolink PIX6                              |
+| `siyi_n7_default`                    | SIYI N7                                     |
+| `sky-drones_smartap-airlink_default` | Sky-Drones SmartAP Airlink                  |
+| `uvify_core_default`                 | UVify Core                                  |
+| `atl_mantis-edu_default`             | ATL Mantis EDU                              |
+| `av_x-v1_default`                    | AV X-V1                                     |
+| `narinfc_h7_default`                 | NarinFC H7                                  |
+| `thepeach_k1_default`                | ThePeach K1                                 |
+| `thepeach_r1_default`                | ThePeach R1                                 |
+| `airmind_mindpx-v2_default`          | AirMind MindPX V2                           |
+| `beaglebone_blue_default`            | 비글본 블루                                      |
+| `bluerobotics_navigator_default`     | BlueRobotics Navigator                      |
+| `emlid_navio2_default`               | Emlid Navio2                                |
+| `px4_raspberrypi_default`            | 라즈베리파이                                      |
+| `scumaker_pilotpi_default`           | Scumaker PilotPi                            |
+
+:::info
+Some boards (e.g., `px4_fmu-v6x_default`, `cubepilot_cubeorange_default`) do not include SIH in their default build due to flash memory constraints.
+You can add SIH to any board -- see [Check if SIH is in Firmware](#check-if-sih-is-in-firmware).
+:::
+
+## Requirements
+
+- A flight controller with SIH module included in firmware (see [Firmware Builds with SIH](#firmware-builds-with-sih)).
+- USB connection for QGroundControl.
+- Optional: jMAVSim for 3D visualization via serial link (see [Visualization](#hardware-visualization)).
+
+## Check if SIH is in Firmware
+
+SIH is included in most default firmware builds. To verify, search for `sih` in the parameter list in QGroundControl. If `SIH_*` parameters are available, the module is included.
+
+To add SIH to a custom build, enable it in the board configuration:
+
+```txt
+CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
+```
+
+## Starting SIH
+
+1. Connect the flight controller to QGroundControl via USB.
+2. Set `SYS_HITL` parameter to `2`.
+3. Reboot the flight controller.
+4. The SIH module starts automatically and provides simulated sensor data.
+
+Once running, the vehicle can be controlled from QGroundControl or an RC controller.
+
+:::warning
+To save flash memory on boards with limited storage, SIH can be built with only quadrotor support.
+Set `SIH_VEHICLE_TYPE` before building to limit included vehicle models.
+:::
+
+## Visualization (Optional) {#hardware-visualization}
+
+If you need a visual aid to see what the simulated vehicle is doing on hardware:
+
+### QGroundControl
+
+Connect the flight controller via USB. QGC shows the vehicle on the map view with attitude, position, and telemetry, the same as a real flight.
+
+### jMAVSim (3D Display-Only)
+
+jMAVSim can render a 3D view of the vehicle over a serial connection. No physics are simulated in jMAVSim -- it is display-only.
+
+```sh
+./Tools/simulation/jmavsim/jmavsim_run.sh -q -d /dev/ttyACM0 -b 2000000 -o
+```
+
+Where `/dev/ttyACM0` is the serial device for the flight controller.
+On macOS, this is typically `/dev/tty.usbmodem*`.
+
+## Controlling Actuators
+
+:::warning
+If you want to control throttling actuators in SIH, make sure to remove propellers for safety.
+:::
+
+In some scenarios, it may be useful to control an actuator while running SIH on hardware. For example, you might want to verify that winches or grippers are functioning correctly by checking the servo responses.
+
+**To enable actuator control in SIH:**
+
+1. Configure PWM parameters in the airframe file:
+
+   Ensure your airframe file includes the necessary parameters to map PWM outputs to the correct channels.
+
+   For example, if a servo is connected to MAIN 3 and you want to map it to AUX1 on your RC, use the following command:
+
+   `param set-default PWM_MAIN_FUNC3 407`
+
+   You can find a full list of available values for `PWM_MAIN_FUNCn` [here](../advanced_config/parameter_reference.md#PWM_MAIN_FUNC1). In this case, `407` maps the MAIN 3 output to AUX1 on the RC.
+
+   Alternatively, you can use the [`PWM_AUX_FUNCn`](../advanced_config/parameter_reference.md#PWM_AUX_FUNC1) parameters.
+
+   You may also configure the output as desired:
+
+   - Disarmed PWM: ([`PWM_MAIN_DISn`](../advanced_config/parameter_reference.md#PWM_MAIN_DIS1) / [`PWM_AUX_DIS1`](../advanced_config/parameter_reference.md#PWM_AUX_DIS1))
+   - Minimum PWM ([`PWM_MAIN_MINn`](../advanced_config/parameter_reference.md#PWM_MAIN_MIN1) / [`PWM_AUX_MINn`](../advanced_config/parameter_reference.md#PWM_AUX_MIN1))
+   - Maximum PWM ([`PWM_MAIN_MAXn`](../advanced_config/parameter_reference.md#PWM_MAIN_MAX1) / [`PWM_AUX_MAXn`](../advanced_config/parameter_reference.md#PWM_AUX_MAX1))
+
+2. Manually start the PWM output driver
+
+   For safety, the PWM driver is not started automatically in SIH. To enable it, run the following command in the MAVLink shell:
+
+   ```sh
+   pwm_out start
+   ```
+
+   **And to disable it again:**
+
+   ```sh
+   pwm_out stop
+   ```
+
+## Adding New Airframes (FC)
+
+Airframe configuration for SIH on a flight controller differs from SITL in a few ways:
+
+- Airframe file goes in `ROMFS/px4fmu_common/init.d/airframes` and follows the naming template `${ID}_${model_name}.hil`, where `ID` is the `SYS_AUTOSTART_ID` used to select the airframe, and `model_name` is the airframe model name.
+- Add the model name in `ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt` to generate a corresponding make target.
+- Actuators are configured with `HIL_ACT_FUNC*` parameters (not the usual `PWM_MAIN_FUNC*` parameters).
+  This is to avoid using the real actuator outputs in SIH.
+  Similarly, the bitfield for inverting individual actuator output ranges is `HIL_ACT_REV`, rather than `PWM_MAIN_REV`.
+
+For general airframe setup (SIH parameters, EKF2 tuning), see [Adding New Airframes](index.md#adding-new-airframes) on the main SIH page.
+
+For examples, see the `.hil` airframes in [ROMFS/px4fmu_common/init.d/airframes](https://github.com/PX4/PX4-Autopilot/tree/main/ROMFS/px4fmu_common/init.d/airframes).
@@ -12,10 +12,13 @@ See [Toolchain Installation](../dev_setup/dev_env.md) for information about the
 The tools have variable levels of support from their communities (some are well supported and others are not).
 Questions about these tools should be raised on the [discussion forums](../contribute/support.md#forums-and-chat)

-| 시뮬레이터                                                                  | 설명                                                                                                                                                                                                                                                                                                                                                                                                                                         |
-| ---------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
-| [Simulation-In-Hardware](../sim_sih/index.md) (SIH) | <p>A simulator implemented in C++ as a PX4 module directly in the Firmware [code](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/simulator_sih). It can be ran in SITL directly on the computer or as an alternative to HITL offering a hard real-time simulation directly on the hardware autopilot. </p><p><strong>Supported Vehicles:</strong> Quad, Hexa, Plane, Tailsitter, Standard VTOL, Ackermann Rover</p> |
-| [FlightGear](../sim_flightgear/index.md)                               | <p>A simulator that provides physically and visually realistic simulations. In particular it can simulate many weather conditions, including thunderstorms, snow, rain and hail, and can also simulate thermals and different types of atmospheric flows. [Multi-vehicle simulation](../sim_flightgear/multi_vehicle.md) is also supported.</p> <p><strong>Supported Vehicles:</strong> Plane, Autogyro, Rover</p>                         |
-| [JMAVSim](../sim_jmavsim/index.md)                                     | <p>A simple multirotor/quad simulator. This was previously part of the PX4 development toolchain but was removed in favour of [Gazebo](../sim_gazebo_gz/index.md).</p> <p><strong>Supported Vehicles:</strong> Quad</p>                                                                                                                                                                                                                    |
-| [JSBSim](../sim_jsbsim/index.md)                                       | <p>A simulator that provides advanced flight dynamics models. This can be used to model realistic flight dynamics based on wind tunnel data.</p> <p><strong>Supported Vehicles:</strong> Plane, Quad, Hex</p>                                                                                                                                                                                                                              |
-| [AirSim](../sim_airsim/index.md)                                       | <p>A cross platform simulator that provides physically and visually realistic simulations. This simulator is resource intensive, and requires a significantly more powerful computer than the other simulators described here.</p><p><strong>Supported Vehicles:</strong> Iris (MultiRotor model and a configuration for PX4 QuadRotor in the X configuration).</p>                                                                        |
+| 시뮬레이터                                    | 설명                                                                                                                                                                                                                                                                                                                                                                                                                 |
+| ---------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
+| [FlightGear](../sim_flightgear/index.md) | <p>A simulator that provides physically and visually realistic simulations. In particular it can simulate many weather conditions, including thunderstorms, snow, rain and hail, and can also simulate thermals and different types of atmospheric flows. [Multi-vehicle simulation](../sim_flightgear/multi_vehicle.md) is also supported.</p> <p><strong>Supported Vehicles:</strong> Plane, Autogyro, Rover</p> |
+| [JMAVSim](../sim_jmavsim/index.md)       | <p>A simple multirotor/quad simulator. This was previously part of the PX4 development toolchain but was removed in favour of [Gazebo](../sim_gazebo_gz/index.md).</p> <p><strong>Supported Vehicles:</strong> Quad</p>                                                                                                                                                                                            |
+| [JSBSim](../sim_jsbsim/index.md)         | <p>A simulator that provides advanced flight dynamics models. This can be used to model realistic flight dynamics based on wind tunnel data.</p> <p><strong>Supported Vehicles:</strong> Plane, Quad, Hex</p>                                                                                                                                                                                                      |
+| [AirSim](../sim_airsim/index.md)         | <p>A cross platform simulator that provides physically and visually realistic simulations. This simulator is resource intensive, and requires a significantly more powerful computer than the other simulators described here.</p><p><strong>Supported Vehicles:</strong> Iris (MultiRotor model and a configuration for PX4 QuadRotor in the X configuration).</p>                                                |
+
+:::tip
+[Gazebo](../sim_gazebo_gz/index.md) and [SIH](../sim_sih/index.md) are the officially supported simulators. See the [Simulation](index.md) page for more information.
+:::
@@ -0,0 +1,29 @@
+# Hardware Simulation
+
+PX4 can run simulation directly on a real flight controller, replacing real sensors with simulated data, while otherwise executing the full flight stack on actual autopilot hardware.
+
+:::info
+Simulating PX4 on flight controller hardware exercises more flight stack code than SITL, and tests more of your hardware integration.
+It can surface issues with running PX4 that might hidden when running on a desktop OS and hardware, or even a different flight controller board.
+:::
+
+Two simulation approaches are available, controlled by the [SYS_HITL](../advanced_config/parameter_reference.md#SYS_HITL) parameter:
+
+- **[HITL Simulation](../simulation/hitl.md) (`SYS_HITL=1`):** An external simulator (Gazebo Classic or jMAVSim) runs physics on a companion computer and sends sensor data to the flight controller via MAVLink HIL messages. Requires a USB/UART connection and simulator setup.
+- **[SIH on Hardware](../sim_sih/hardware.md) (`SYS_HITL=2`):** A C++ physics model runs directly on the flight controller itself. No external simulator, no companion computer, no MAVLink sensor data. Just set the parameter and reboot.
+
+## HITL vs SIH {#comparision}
+
+|                   | HITL (`SYS_HITL=1`)                                 | SIH (`SYS_HITL=2`)                |
+| ----------------- | ---------------------------------------------------------------------- | ---------------------------------------------------- |
+| Physics model     | External simulator (Gazebo Classic, jMAVSim)        | Internal C++ module                                  |
+| Communication     | MAVLink HIL messages                                                   | uORB (internal)                   |
+| External process  | Required                                                               | Not required                                         |
+| Setup complexity  | Higher                                                                 | Lower                                                |
+| Sensor simulation | Camera, lidar, etc. (via simulator) | IMU, GPS, baro, mag, airspeed only                   |
+| Vehicle types     | Quadcopter, Standard VTOL                                              | Quad, Hex, FW, VTOL Tailsitter, Standard VTOL, Rover |
+
+## When to Use Which
+
+- Use **SIH** if you want the simplest possible setup. No external dependencies.
+- Use **HITL** if you need an external physics engine, 3D visualization from Gazebo Classic, or camera/lidar sensor simulation that SIH does not provide.
@@ -12,9 +12,9 @@ HITL(Hardware-in-the-Loop)은 일반 PX4 펌웨어가 실제 비행 콘트롤러

 PX4 supports HITL for multicopters (using [jMAVSim](../sim_jmavsim/index.md) or [Gazebo Classic](../sim_gazebo_classic/index.md)) and VTOL (using Gazebo Classic).

-<a id="compatible_airframe"></a>
+For a comparison of HITL and SIH on hardware, see [Hardware Simulation](../simulation/hardware.md).

-## HITL 호환 기체
+## HITL-Compatible Airframes {#compatible_airframe}

 The set of compatible airframes vs simulators is:

@@ -23,9 +23,7 @@ The set of compatible airframes vs simulators is:
 | [HIL Quadcopter X](../airframes/airframe_reference.md#copter_simulation_hil_quadcopter_x)                        | 1001            | Y              | Y       |
 | [HIL Standard VTOL QuadPlane](../airframes/airframe_reference.md#vtol_standard_vtol_hil_standard_vtol_quadplane) | 1002            | Y              |         |

-<a id="simulation_environment"></a>
-
-## HITL 시뮬레이션 환경
+## HITL Simulation Environment {#simulation_environment}

 HITL(Hardware-in-the-Loop) 시뮬레이션을 사용하여, 일반 PX4 펌웨어가 실제 하드웨어에서 실행됩니다.
 JMAVSim or Gazebo Classic (running on a development computer) are connected to the flight controller hardware via USB/UART.
@@ -3,38 +3,79 @@
 시뮬레이터는 PX4 비행 코드가 시뮬레이션된 가상 "세계"에서 컴퓨터로 모델링된 기체를 제어합니다.
 You can interact with this vehicle just as you might with a real vehicle, using _QGroundControl_, an offboard API, or a radio controller/gamepad.

-:::tip
-Simulation is a quick, easy, and most importantly, _safe_ way to test changes to PX4 code before attempting to fly in the real world.
-실험할 기체가 없은 경우 PX4로 비행을 시작하는 것도 좋은 방법입니다.
-:::
-
 PX4 supports both _Software In the Loop (SITL)_ simulation, where the flight stack runs on computer (either the same computer or another computer on the same network) and _Hardware In the Loop (HITL)_ simulation using a simulation firmware on a real flight controller board.

 사용 가능한 시뮬레이터와 설정 방법을 다음 섹션에서 설명합니다.
 The other sections provide general information about how the simulator works, and are not required to _use_ the simulators.

+:::tip
+Simulation is a quick, easy, and most importantly, _safe_ way to test changes to PX4 code before attempting to fly in the real world.
+실험할 기체가 없은 경우 PX4로 비행을 시작하는 것도 좋은 방법입니다.
+:::
+
 ## 지원되는 시뮬레이터

 The following simulators are supported by the PX4 core development team.

+:::info
+Gazebo Classic is being downgraded to [community supported](../simulation/community_supported_simulators.md) and is no longer recommended as the default simulation solution.
+Use [Gazebo](../sim_gazebo_gz/index.md) (formerly Gazebo Ignition) for new projects.
+If you have an older workflow that does not yet work in newer Gazebo, Gazebo Classic remains available but will not receive core team maintenance going forward.
+See [PX4-Autopilot#23602](https://github.com/PX4/PX4-Autopilot/issues/23602) for the deprecation timeline and migration status.
+:::
+
 | 시뮬레이터                                            | 설명                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                   |
 | ------------------------------------------------ | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
 | [Gazebo](../sim_gazebo_gz/index.md)              | Gazebo supersedes [Gazebo Classic](../sim_gazebo_classic/index.md), featuring more advanced rendering, physics and sensor models. It is the only version of Gazebo available from Ubuntu Linux 22.04<br><br>A powerful 3D simulation environment that is particularly suitable for testing object-avoidance and computer vision. [다중 차량시뮬레이션](../simulation/multi-vehicle-simulation.md)에도 사용할 수 있으며 일반적으로 차량 제어 자동화를 위한 도구 모음인 [ROS](../simulation/ros_interface.md)와 함께 사용됩니다. <br><br><strong>Supported Vehicles:</strong> Quad, VTOL (Standard, Tailsitter, Tiltroter), Plane, Rovers                                                         |
 | [Gazebo Classic](../sim_gazebo_classic/index.md) | A powerful 3D simulation environment that is particularly suitable for testing object-avoidance and computer vision. It can also be used for [multi-vehicle simulation](../simulation/multi-vehicle-simulation.md) and is commonly used with [ROS](../simulation/ros_interface.md), a collection of tools for automating vehicle control.<br><br>**Supported Vehicles:** Quad ([Iris](../airframes/airframe_reference.md#copter_quadrotor_x_generic_quadcopter)), Hex (Typhoon H480), [Generic Standard VTOL (QuadPlane)](../airframes/airframe_reference.md#vtol_standard_vtol_generic_standard_vtol), Tailsitter, Plane, Rover, Submarine |
+| [SIH](../sim_sih/index.md)                       | A lightweight, headless simulator that runs physics directly inside PX4 as a C++ module (no external dependencies). Headless by default for fastest iteration. Supports ROS 2 via uXRCE-DDS. Can also run on flight controller hardware (`SYS_HITL=2`).<br><br>**Supported Vehicles:** Quad, Hex, Plane, Tailsitter, Standard VTOL, Rover                                                                                                                                                                                                                                                                                      |

 There are also a number of [Community Supported Simulators](../simulation/community_supported_simulators.md).

---
+### Simulator Comparison

-이 항목의 나머지 부분은 시뮬레이션 인프라 작동 방식에 대한 "다소 일반적인" 설명입니다.
-It is not required to _use_ the simulators.
+| 기능                        | Gazebo                                            | SIH                                                                                    |
+| ------------------------- | ------------------------------------------------- | -------------------------------------------------------------------------------------- |
+| **Default Mode**          | GUI with 3D rendering                             | Headless (fastest iteration)                                        |
+| **3D Visualization**      | Built-in (photorealistic)      | Optional: QGC map or jMAVSim display-only                              |
+| **Physics Engine**        | External (gz-physics)          | Internal (C++ module, uORB)                                         |
+| **External Dependencies** | Gazebo packages, rendering libs                   | None                                                                                   |
+| **Vehicle Types**         | Quad, VTOL, Plane, Rovers                         | Quad, Hex, Plane, Tailsitter, Std VTOL, Rover                                          |
+| **Multi-vehicle**         | Yes (documented)               | Yes ([multi-vehicle](../sim_sih/index.md#multi-vehicle-simulation)) |
+| **Sensor Simulation**     | Camera, LiDAR, depth, IMU, GPS, baro, mag         | IMU, GPS, baro, mag, airspeed                                                          |
+| **Custom Worlds/Models**  | Yes (SDF, large model library) | No                                                                                     |
+| **ROS 2 Integration**     | Yes (uXRCE-DDS)                | Yes (uXRCE-DDS)                                                     |
+| **Extensibility**         | Plugins, custom sensors, environments             | Modify C++ source, tune SIH\_\* parameters                       |
+| **Community/Ecosystem**   | Large Gazebo community, model repos               | PX4-internal                                                                           |
+| **Faster-than-Realtime**  | Yes                                               | Yes                                                                                    |
+| **Runs on FC Hardware**   | No                                                | Yes (SYS_HITL=2)                               |
+| **macOS Apple Silicon**   | Unstable (known issues)        | Works natively                                                                         |
+| **Lockstep**              | Yes                                               | Yes                                                                                    |
+
+:::tip
+For a detailed analysis of PX4 simulation user needs, priorities, and pain points, see the [PX4 Simulation Integration Survey Report](https://www.mcguirerobotics.com/px4_sim_research_report/) (K. McGuire, Dronecode Foundation, Dec 2025, 120 respondents).
+:::
+
+### Which Simulator Should I Use?
+
+- **Full-featured simulation with 3D rendering, custom worlds, camera/lidar sensors, or rich sensor ecosystems:** Use [Gazebo](../sim_gazebo_gz/index.md). Largest ecosystem, custom models and plugins, photorealistic rendering, extensive sensor library, large community.
+- **Fast headless iteration, controls research, zero-dependency setup, or macOS:** Use [SIH](../sim_sih/index.md). Runs entirely inside PX4 with no external dependencies, headless by default for maximum speed, physics parameters directly tunable via `SIH_*` params. Supports ROS 2 via uXRCE-DDS.
+- **Hardware integration testing without propellers:** Use [SIH on flight controller hardware](../sim_sih/index.md#sih-on-flight-controller-hardware) (`SYS_HITL=2`).
+
+:::info
+SIH is headless by default. For optional 3D visualization, you can use [jMAVSim in display-only mode](../sim_sih/index.md#visualization-optional) or monitor the vehicle in QGroundControl's map view.
+:::

 ## Simulator MAVLink API

-All simulators except for Gazebo communicate with PX4 using the Simulator MAVLink API.
+Most external simulators communicate with PX4 using the Simulator MAVLink API.
 이 API는 시뮬레이션된 세계에서 PX4로 센서 데이터를 제공하고, 시뮬레이션된 차량에 적용될 비행 코드에서 모터 및 액추에이터 값을 반환하는 MAVLink 메시지 세트를 정의합니다.
 아래 이미지는 메시지 흐름을 나타냅니다.

+:::info
+SIH does not use the MAVLink simulator API. It runs physics internally via uORB messages. Gazebo communicates with PX4 via gz_bridge (Gazebo transport), not MAVLink.
+:::
+
 ![Simulator MAVLink API](../../assets/simulation/px4_simulator_messages.svg)

 :::info
@@ -96,7 +137,7 @@ See [System Startup](../concept/system_startup.md) to learn more.

 ## SITL 시뮬레이션 환경

-The diagram below shows a typical SITL simulation environment for any of the supported simulators that use MAVLink (i.e. all of them except Gazebo).
+The diagram below shows a typical SITL simulation environment for any of the supported simulators that use MAVLink (i.e. most external simulators, but not Gazebo or SIH).

 ![PX4 SITL overview](../../assets/simulation/px4_sitl_overview.svg)

@@ -153,8 +194,16 @@ make px4_sitl jmavsim

 # Start PX4 with no simulator (i.e. to use your own "custom" simulator)
 make px4_sitl none_iris
+
+# SIH (headless, zero dependencies)
+make px4_sitl_sih sihsim_quadx
+make px4_sitl_sih sihsim_airplane
 ```

+:::info
+Use `px4_sitl_sih` instead of `px4_sitl` to avoid building Gazebo dependencies.
+:::
+
 시뮬레이션은 환경 변수를 통하여 추가로 설정이 가능합니다.

 - Any of the [PX4 parameters](../advanced_config/parameter_reference.md) can be overridden via `export PX4_PARAM_{name}={value}`.
@@ -165,7 +214,7 @@ For more information see: [Building the Code > PX4 Make Build Targets](../dev_se

 ### Run Simulation Faster than Realtime {#simulation_speed}

-SITL can be run faster or slower than real-time when using Gazebo, Gazebo Classic, or jMAVSim.
+SITL can be run faster or slower than real-time when using Gazebo, Gazebo Classic, jMAVSim, or SIH.

 The speed factor is set using the environment variable `PX4_SIM_SPEED_FACTOR`.

@@ -179,6 +228,7 @@ This is what makes it possible to run the simulation at different speeds, and al
 - Gazebo: [Change Simulation Speed](../sim_gazebo_gz/index.md#change-simulation-speed)
 - Gazebo Classic: [Change Simulation Speed](../sim_gazebo_classic/index.md#change-simulation-speed) and [Lockstep](../sim_gazebo_classic/index.md#lockstep)
 - jMAVSim: [Change Simulation Speed](../sim_jmavsim/index.md#change-simulation-speed) and [Lockstep](../sim_jmavsim/index.md#lockstep)
+- SIH: Supports `PX4_SIM_SPEED_FACTOR` for faster-than-realtime simulation.

 ### 시작 스크립트

@@ -6,6 +6,7 @@ PX4는 다음 시뮬레이터를 사용하여 다중 차량 시뮬레이션을
 - [Multi-Vehicle Sim with Gazebo Classic](../sim_gazebo_classic/multi_vehicle_simulation.md) (both with and without ROS)
 - [Multi-Vehicle Sim with FlightGear](../sim_flightgear/multi_vehicle.md)
 - [Multi-Vehicle Sim with JMAVSim](../sim_jmavsim/multi_vehicle.md)
+- [Multi-Vehicle Sim with SIH](../sim_sih/index.md#multi-vehicle-simulation)

 시뮬레이터의 선택은 시뮬레이션할 차량, 시뮬레이션 퀄러티, 시뮬레이션 기능, 시뮬레이션 차량 대수에 따라 달라집니다.

@@ -18,5 +19,8 @@ PX4는 다음 시뮬레이터를 사용하여 다중 차량 시뮬레이션을
  Note, this is the successor of [Gazebo Classic](../sim_gazebo_classic/index.md) (below).
 - [Gazebo Classic](../sim_gazebo_classic/index.md) is less accurate and less heavy-weight and supports many features and vehicles that aren't available for FlightGear.
  It can simulate many more vehicles at a time than FlightGear and it allows for different types of vehicles to be simulated at the same time.
- JMAVSim은 쿼드콥터만 지원하는 초경량 시뮬레이터입니다.
+- [JMAVSim](../sim_jmavsim/index.md) is a very light-weight simulator that supports only quadcopters.
  많은 쿼드콥터의 근사치를 시뮬레이션하는 경우에 권장됩니다.
+- [SIH](../sim_sih/index.md) is the lightest-weight option with zero external dependencies.
+  Since SIH is headless and runs physics internally, it can launch many instances with minimal resource usage.
+  It supports all 6 vehicle types (quad, hex, plane, tailsitter, standard VTOL, rover).