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docs: Numerous spelling and grammer fixes in flight controller section (#26582)

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Hamish Willee
2026-02-26 11:53:44 +11:00
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docs/en/ros/external_position_estimation.md
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@@ -189,7 +189,7 @@ To use MoCap data with EKF2 you will have to [remap](https://wiki.ros.org/roslau
The `geometry_msgs/PoseStamped` topic is most common as MoCap doesn't usually have associated covariances to the data.
- If you get data through a `nav_msgs/Odometry` ROS message then you will need to remap it to `/mavros/odometry/out`, making sure to update the `frame_id` and `child_frame_id` accordingly.
- The odometry frames `frame_id = odom`, `child_frame_id = base_link` can be changed by updating the file in `mavros/launch/px4_config.yaml`. However, the current version of mavros (`1.3.0`) needs to be able to use the tf tree to find a transform from `frame_id` to the hardcoded frame `odom_ned`. The same applies to the `child_frame_id`, which needs to be connected in the tf tree to the hardcoded frame `base_link_frd`. If you are using mavros `1.2.0` and you didn't update the file `mavros/launch/px4_config.yaml`, then you can safely use the odometry frames `frame_id = odom`, `child_frame_id = base_link` without much worry.
- Note that if you are sending odometry data to px4 using `child_frame_id = base_link`, then you need to make sure that the `twist` portion of the `nav_msgs/Odometry` message is **expressed in body frame**, **not in inertial frame!!!!!**.
- Note that if you are sending odometry data to PX4 using `child_frame_id = base_link`, then you need to make sure that the `twist` portion of the `nav_msgs/Odometry` message is **expressed in body frame**, **not in inertial frame!!!!!**.
### Reference Frames and ROS