docs(i18n): PX4 guide translations (Crowdin) - ko (#28189)

Co-authored-by: Crowdin Bot <support+bot@crowdin.com>

docs/ko/SUMMARY.md

@@ -71,7 +71,7 @@
     - [Trimming Guide](config_fw/trimming_guide_fixedwing.md)
   - [Flying (Basics)](flying/basic_flying_fw.md)
   - [비행 모드](flight_modes_fw/index.md)
-    - [위치 모드 (고정익)](flight_modes_fw/position.md)
+    - [Cruise Mode (FW)](flight_modes_fw/cruise.md)
     - [고도 모드 (고정익)](flight_modes_fw/altitude.md)
     - [안정화 모드 (고정익)](flight_modes_fw/stabilized.md)
     - [아크로 모드 (고정익)](flight_modes_fw/acro.md)
@@ -125,6 +125,7 @@
     - [비행 중단 설정](advanced_config/flight_termination.md)
     - [처녀 비행 지침](flying/first_flight_guidelines.md)
   - [비행](flying/index.md)
+    - [Mode Requirements](flight_modes/mode_requirements.md)
   - [임무 비행](flying/missions.md)
   - [비행 기록](getting_started/flight_reporting.md)
   - [비행 로그 분석](log/flight_log_analysis.md)
@@ -169,6 +170,7 @@
       - [AEDROX AEDROXH7](flight_controller/aedrox_aedroxh7.md)
       - [AirMind MindPX](flight_controller/mindpx.md)
       - [AirMind MindRacer](flight_controller/mindracer.md)
+      - [Amovlab Flycore](flight_controller/amovlab_flycore.md)
       - [ARK Electronics ARKV6X](flight_controller/ark_v6x.md)
       - [ARK Electronics ARKV6S](flight_controller/ark_v6s.md)
       - [ARK FPV Flight Controller](flight_controller/ark_fpv.md)
@@ -312,6 +314,7 @@
 
   - [액츄에이터](actuators/index.md)
     - [ADSB/FLARM (트래픽 회피)](config/actuators.md)
+    - [Motor Failure Recovery](config/motor_failure_recovery.md)
     - [ESC 보정](advanced_config/esc_calibration.md)
     - [ESC와 모터](peripherals/esc_motors.md)
       - [ESC Protocols](esc/esc_protocols.md)
@@ -392,6 +395,7 @@
     - [Gimbal \(Mount\) Configuration](advanced/gimbal_control.md)
     - [Grippers](peripherals/gripper.md)
       - [Servo Gripper](peripherals/gripper_servo.md)
+      - [Electro-Permanent Magnet (EPM)](peripherals/gripper_epm.md)
 
   - [Peripherals](peripherals/index.md)
     - [ADSB/FLARM/UTM (Traffic Avoidance)](peripherals/adsb_flarm.md)
@@ -925,6 +929,7 @@
       - [jMAVSim 시뮬레이션](sim_jmavsim/index.md)
         - [jMAVSim 다중 차량 시뮬레이션](sim_jmavsim/multi_vehicle.md)
       - [JSBSim Simulation](sim_jsbsim/index.md)
+      - [PteroSim Simulation](sim_pterosim/index.md)
       - [RotorPy Simulation](sim_rotorpy/index.md)
       - [X-Plane Simulation](sim_xplane/index.md)
       - [Hardware Simulation](simulation/hardware.md)

docs/ko/actuators/index.md

@@ -4,6 +4,8 @@ This section contains topics about the core actuators used for flight control (E
 
 - [Actuator Allocation](../config/actuators.md) — Configure flight controller outputs for specific functions and ESC/servo types.
 
+- [Motor Failure Recovery](../config/motor_failure_recovery.md) — How allocation is reconfigured if a motor fails.
+
 - [ESCs & Motors](../peripherals/esc_motors.md) — ESCs such as [DShot](../peripherals/dshot.md) (recommended) and DroneCAN.
 
 - [ESC Calibration](../advanced_config/esc_calibration.md) — Calibration for PWM ESC (not required for DShot/CAN ESC/servos).

docs/ko/advanced/parameters_and_configurations.md

@@ -13,7 +13,7 @@ This section discusses the _param_ subsystem in detail.
 
 The PX4 [system console](../debug/system_console.md) offers the [param](../modules/modules_command.md#param) tool, which can be used to set parameters, read their value, save them, and export and restore to/from files.
 
-### 매개변수 가져오기 및 설정
+### Getting Parameters
 
 The `param show` command lists all system parameters:
 
@@ -42,6 +42,22 @@ param show -c
 
 You can use `param show-for-airframe` to show all parameters that have changed from their defaults for just the current airframe's definition file (and defaults it imports).
 
+### Setting Parameters
+
+Use `param set` to change a specific parameter:
+
+```sh
+param set SYS_AUTOSTART 1103   # Load airframe 1103 on next boot if SYS_AUTOCONFIG==1
+param set FW_T_F_ALT_ERR 20    # Enable TECS fast descend if >20m above altitude setpoint
+```
+
+Use `param bitset` and `param bitclear` to modify individual bits of a parameter (only for `INT32`):
+
+```sh
+param bitclear EKF2_SENS_EN 3  # Disable GPS fusion (lowest 2 bits -> 0b11), leaving other settings intact
+param bitset PWM_MAIN_REV 24   # Set output range for main PWM 4 and 5 to reversed (0b11000), leaving others intact
+```
+
 ### 매개변수 내보내기 및 로드
 
 You can save any parameters that have been _changed_ (that are different from airframe defaults).

docs/ko/advanced_features/precland.md

@@ -111,6 +111,20 @@ At time of writing is no _convenient_ way to directly invoke precision landing (
 
 :::
 
+<!-- AUTO-GENERATED: mode_requirements_rotary_wing_auto_precland -->
+
+### Mode Requirements
+
+The following requirements must be met to arm in this mode, or to switch to this mode when it is armed.
+
+- [`mode_req_angular_velocity`](../flight_modes/mode_requirements.md#mode_req_angular_velocity) — Angular velocity
+- [`mode_req_attitude`](../flight_modes/mode_requirements.md#mode_req_attitude) — Attitude/pose
+- [`mode_req_local_alt`](../flight_modes/mode_requirements.md#mode_req_local_alt) — Local altitude relative to EKF2 origin ('0') position
+- [`mode_req_local_position`](../flight_modes/mode_requirements.md#mode_req_local_position) — Position relative to EKF2 origin ('0') point
+- [`mode_req_prevent_arming`](../flight_modes/mode_requirements.md#mode_req_prevent_arming) — Mode prevents arming
+
+<!-- END AUTO-GENERATED: mode_requirements_rotary_wing_auto_precland -->
+
 ## 하드웨어 설정
 
 ### IR 센서/비콘 설정

docs/ko/config/_autotune.md

@@ -40,7 +40,7 @@ To make sure the vehicle is stable enough for auto-tuning:
 
 1. 비행 구역이 깨끗하고 공간이 충분한 지 확인하기 위하여, 일반적인 비행 전 안전 점검을 실시합니다.
 
-2. Take off and <div style="display: inline;" v-if="$frontmatter.frame === 'Multicopter'">hover at 1m above ground in [Altitude mode](../flight_modes_mc/altitude.md) or [Stabilized mode](../flight_modes_mc/manual_stabilized.md)</div><div style="display: inline;" v-else-if="$frontmatter.frame === 'Plane'">fly at cruise speed in [Position mode](../flight_modes_fw/position.md) or [Altitude mode](../flight_modes_fw/altitude.md)</div>.
+2. Take off and <div style="display: inline;" v-if="$frontmatter.frame === 'Multicopter'">hover at 1m above ground in [Altitude mode](../flight_modes_mc/altitude.md) or [Stabilized mode](../flight_modes_mc/manual_stabilized.md)</div><div style="display: inline;" v-else-if="$frontmatter.frame === 'Plane'">fly at cruise speed in [Cruise mode](../flight_modes_fw/cruise.md) or [Altitude mode](../flight_modes_fw/altitude.md)</div>.
 
 3. Use the RC transmitter roll stick to perform the following maneuver, tilting the vehicle just a few degrees: _roll left > roll right > center_ (The whole maneuver should take about 3 seconds).
    기체는 2번의 진동 이내에서 안정화되어야 합니다.
@@ -131,7 +131,7 @@ Additional notes:
 </div>
 <div v-else-if="$frontmatter.frame === 'Plane'">
 
-- Autotuning can also be run in [Altitude mode](../flight_modes_fw/altitude.md) or [Position mode](../flight_modes_fw/position.md).
+- Autotuning can also be run in [Altitude mode](../flight_modes_fw/altitude.md) or [Cruise mode](../flight_modes_fw/cruise.md).
   However running the test while flying straight requires a larger safe area for tuning, and does not give a significantly better tuning result.
 
 </div>

docs/ko/config/actuators.md

@@ -132,7 +132,9 @@ If bidiectional motors are used, make sure to select the **Reversible** checkbox
 
 ![Reversible](../../assets/config/actuators/qgc_geometry_reversible_marked.png)
 
-Note that you will need to also ensure that the ESC associated with bidirectional motors is configured appropriately (e.g. 3D mode enabled for DShot ESCs, which can be achieved via [DShot commands](../peripherals/dshot.md#commands)).
+Note that you will also need to ensure that the ESC associated with bidirectional motors is configured appropriately.
+For DShot ESC you will need to enable 3D mode using [DShot commands](../peripherals/dshot.md#commands).
+For DroneCAN ESC you will need [firmware that supports reversal](../dronecan/escs.md#reversible-motors) and an appropriate configuration.
 
 ### 조종면 지오메트리
 

docs/ko/config/motor_failure_recovery.md

@@ -0,0 +1,108 @@
+# Motor Failure Recovery
+
+<Badge type="tip" text="main (PX4 v2.0)" /> <Badge type="tip" text="Multicopter" />
+
+PX4 can reconfigure [control allocation (mixing)](../concept/control_allocation.md) in flight when a motor failure is detected, so that the vehicle can keep flying on the motors that are left.
+
+The failure action is selected with [CA_FAILURE_MODE](#CA_FAILURE_MODE).
+This can be set to `0` (the default) to simply warn the user, or `1` to remove the failed motor from allocation.
+Hexarotor frames provide additional recovery options, which are outlined in the following sections.
+
+:::warning
+A vehicle flying with a failed motor has less control authority and thrust margin than a healthy one.
+Fly gently and land as soon as it is safe to do so.
+:::
+
+## Hexarotor
+
+### Stop or Reverse the Opposite Motor
+
+Modes `1` and `2` only differ on a hexarotor; on any other airframe both simply remove the failed motor.
+
+On a hexarotor the rotor opposite the failed one is the rotor that used to cancel its drag (yaw) torque, so what happens to it decides how much yaw authority is left:
+
+- Mode `1` stops it, leaving four symmetric rotors and no yaw bias to trim, but a third of the thrust is gone and the heading can still drift.
+- Mode `2` keeps it in the allocation and lets it spin backwards. Driving a rotor in reverse inverts both its thrust and its drag torque, so it can still generate yaw torque. This needs an ESC that can actually reverse the motor.
+
+The opposite motor is taken from the configured [geometry](actuators.md#motor-geometry-multicopter): it is the counter-rotating rotor closest to the failed rotor's antipode, and it is only computed for a 6-rotor multirotor geometry.
+
+### Reverse Thrust Fraction
+
+A propeller spun backwards produces less thrust than it does forwards, and [CA_REV_THR_FRAC](#CA_REV_THR_FRAC) tells the allocator what fraction to expect (default `0.4`, i.e. 40%, which is representative of a standard multicopter propeller).
+A symmetric (3D) propeller produces almost the same thrust either way, so it should be set closer to `1.0`.
+
+A value in the right region is best, but it is not critical: a hexarotor still recovers with `1.0` set on a propeller whose real fraction is 0.4.
+
+### ESC Requirements for Reversing
+
+Mode `2` reverses whichever motor sits opposite the one that failed, and any of the six can fail, so every motor on the vehicle has to be able to reverse (not just one of them).
+
+Reversing needs all of the following:
+
+1. Motors and ESCs that can be driven backwards.
+2. Reversal enabled in the ESC configuration.
+   This is set in the ESC (PX4 does not set it for you).
+3. [CA_FAILURE_MODE](#CA_FAILURE_MODE) = `2`.
+4. For DShot ESCs only: [DSHOT_3D_ENABLE](../advanced_config/parameter_reference.md#DSHOT_3D_ENABLE) = `1`.
+
+Nothing else is required, in particular the motors do _not_ have to be marked as [bidirectional](actuators.md#bidirectional-motors) ([CA_R_REV](../advanced_config/parameter_reference.md#CA_R_REV)).
+PX4 makes the recovery motor reversible by itself while handling the failure, and returns it to forward-only if the failure clears.
+
+#### DroneCAN
+
+Reverse is part of the protocol: PX4 sends the recovery motor a negative `RawCommand`, and an ESC configured for bidirectional operation spins it backwards.
+No additional PX4 parameter is needed.
+See [Reversible motors](../dronecan/escs.md#reversible-motors) in _DroneCAN ESCs_.
+
+#### DShot
+
+A reversible output is encoded using the DShot 3D split range, where neutral sits in the middle of the range
+The ESC has to be running in 3D mode, which is a persistent ESC setting (see [ESC Commands](../peripherals/dshot.md#commands)), and PX4 has to be told about it with [DSHOT_3D_ENABLE](../advanced_config/parameter_reference.md#DSHOT_3D_ENABLE).
+`DSHOT_3D_ENABLE` puts every motor on the matching encoding.
+This has nothing to do with [Bidirectional DShot](../peripherals/dshot.md#bidirectional-dshot-telemetry), which is about eRPM telemetry rather than reversing a motor.
+
+:::warning
+`DSHOT_3D_ENABLE` and the 3D setting in the ESCs must always agree, whether or not a motor has failed.
+If the ESCs run in 3D mode while `DSHOT_3D_ENABLE` is `0`, the lower part of the throttle range is sent in the range those ESCs read as reverse, and the vehicle is not flyable.
+:::
+
+#### PWM, OneShot, and Other Protocols
+
+These cannot reverse a motor, so [CA_FAILURE_MODE](#CA_FAILURE_MODE) has to be `1` or `0`.
+With mode `2` the recovery motor would sit at around half throttle forwards instead of reversing, which is worse than stopping it.
+
+:::warning
+PX4 does not check whether an ESC can reverse, and a reverse command sent to an ESC that is not set up for it comes out as forward thrust.
+Before flying with mode `2`, confirm on the bench that each motor really does spin backwards, for example from the sign of the reported RPM.
+:::
+
+## Failure Detection
+
+Recovery reacts to the motor failure flag raised by the [failure detector](safety.md#motor-failure-trigger), which is set when either:
+
+- an ESC stops sending telemetry, or reports a fault.
+  This requires [COM_ARM_CHK_ESCS](../advanced_config/parameter_reference.md#COM_ARM_CHK_ESCS) to be enabled.
+- the current reported by an ESC is outside the band expected for its commanded thrust.
+  This requires [FD_ACT_EN](safety.md#FD_ACT_EN) to be enabled, and the [MOTFAIL\_\*](safety.md#motor-failure-trigger) thresholds to be tuned for the vehicle.
+
+Either path needs ESC telemetry, so recovery is only possible with telemetry-capable ESCs (such as [DroneCAN](../dronecan/escs.md) or [DShot with telemetry](../peripherals/dshot.md#esc-telemetry)).
+Note that the two are gated by different parameters: an ESC that goes silent triggers recovery with `FD_ACT_EN` disabled, as long as `COM_ARM_CHK_ESCS` is enabled.
+
+The current-based check **latches**: once a motor is flagged it stays flagged until the vehicle disarms.
+This is deliberate, because the recovery stops the failed motor, which would otherwise make it look healthy again and clear the failure.
+The ESC offline/fault check does clear if the ESC starts reporting again, in which case all motors are restored to the allocation and any runtime reverse is removed.
+
+To exercise the whole chain you can take an ESC offline with [failure injection](../debug/failure_injection.md): `failure esc off -i <n>`.
+
+## 매개변수
+
+| Parameter                                                                                                                                                               | 설명                                                                                                                                                                                                                                                                                                                                                                                                                                                                    |
+| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| <a id="CA_FAILURE_MODE"></a>[CA_FAILURE_MODE](../advanced_config/parameter_reference.md#CA_FAILURE_MODE)                      | What to do on a single motor failure. <br>`0` (default): Ignore and report failure.<br>`1`: Remove failed motor from allocation. Hexarotor: also stop the opposite motor.<br>`2`: Remove failed motor from allocation. Hexarotor: also reverse the opposite motor. |
+| <a id="CA_REV_THR_FRAC"></a>[CA_REV_THR_FRAC](../advanced_config/parameter_reference.md#CA_REV_THR_FRAC) | Fraction of forward thrust that the recovery motor is expected to produce in reverse (default `0.4`). Only used by mode `2`.                                                                                                                                                                                                                                                                                       |
+
+## See Also
+
+- [Safety Configuration (Failsafes)](../config/safety.md), covering the failure detector and motor failure detection.
+- [Control Allocation (Mixing)](../concept/control_allocation.md)
+- [Actuator Configuration and Testing](actuators.md), covering geometry, motor order and bidirectional motors.

docs/ko/config/safety.md

@@ -82,16 +82,31 @@ You can configure both the levels and the failsafe actions at each level in QGro
 
 ![Safety - Battery (QGC)](../../assets/qgc/setup/safety/safety_battery.png)
 
-The most common configuration is to set the values and action as above (with `Warn > Failsafe > Emergency`), and to set the [Failsafe Action](#COM_LOW_BAT_ACT) to warn at "warn level", trigger Return mode at "Failsafe level", and land immediately at "Emergency level".
+You should set the failsafe levels with `Warn > Failsafe > Emergency` as shown above.
+Note that PX4 will warn if the battery drops to the "Warn level" for any of action settings.
+
+The failsafe actions can then be set to one of:
+
+- `0: Warning` — Warn only.
+- `2: Land mode` — Land at the "Failsafe level".
+- `3: Return at critical level, land at emergency level`: (recommended) — Return mode at "Failsafe" level, Land at "Emergency level".
+- `4: Return at critical level, terminate at emergency level`<Badge type="tip" text="main (PX4 v2.0)" /> — Return mode at "Failsafe" level, [Flight termination](#act_term) at "Emergency level".
+
+  ::: tip
+  This option may be preferred for vehicles that have a [parachute](../peripherals/parachute.md), as it enables controlled landing when there is no power at all.
+
+  If it is not available in the setup screen, [set the parameter](../advanced_config/parameters.md) directly to [COM_LOW_BAT_ACT = 4](../advanced_config/parameter_reference.md#COM_LOW_BAT_ACT).
+
+:::
 
 설정에 관련된 기본 매개변수는 다음과 같습니다.
 
-| 설정                                                  | Parameter                                                                                                                                   | 설명                                                                                        |
-| --------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------- |
-| <a id="COM_LOW_BAT_ACT"></a>Failsafe Action         | [COM_LOW_BAT_ACT](../advanced_config/parameter_reference.md#COM_LOW_BAT_ACT) | Warn, Return, or Land based when capacity drops below the trigger levels. |
-| <a id="BAT_LOW_THR"></a>Battery Warn Level          | [BAT_LOW_THR](../advanced_config/parameter_reference.md#BAT_LOW_THR)                              | 경고 (또는 기타 조치)에 대한 용량을 백분율로 설정합니다.                      |
-| <a id="BAT_CRIT_THR"></a>Battery Failsafe Level     | [BAT_CRIT_THR](../advanced_config/parameter_reference.md#BAT_CRIT_THR)                            | 귀환 조치 (또는 단일 조치가 선택된 경우 다른 조치)에 대한 용량에 대한 백분율.         |
-| <a id="BAT_EMERGEN_THR"></a>Battery Emergency Level | [BAT_EMERGEN_THR](../advanced_config/parameter_reference.md#BAT_EMERGEN_THR)                      | 즉시 착륙시의 용량의 백분율.                                                          |
+| 설정                                                  | Parameter                                                                                                                                   | 설명                                                                                                             |
+| --------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------- |
+| <a id="COM_LOW_BAT_ACT"></a>Failsafe Action         | [COM_LOW_BAT_ACT](../advanced_config/parameter_reference.md#COM_LOW_BAT_ACT) | Warn, Land, or Return and then Land or Terminate when capacity drops below the trigger levels. |
+| <a id="BAT_LOW_THR"></a>Battery Warn Level          | [BAT_LOW_THR](../advanced_config/parameter_reference.md#BAT_LOW_THR)                              | 경고 (또는 기타 조치)에 대한 용량을 백분율로 설정합니다.                                           |
+| <a id="BAT_CRIT_THR"></a>Battery Failsafe Level     | [BAT_CRIT_THR](../advanced_config/parameter_reference.md#BAT_CRIT_THR)                            | 귀환 조치 (또는 단일 조치가 선택된 경우 다른 조치)에 대한 용량에 대한 백분율.                              |
+| <a id="BAT_EMERGEN_THR"></a>Battery Emergency Level | [BAT_EMERGEN_THR](../advanced_config/parameter_reference.md#BAT_EMERGEN_THR)                      | 즉시 착륙시의 용량의 백분율.                                                                               |
 
 ### Flight Time Failsafes
 
@@ -222,18 +237,27 @@ The relevant parameters shown below.
 
 ### Position Loss Failsafe Action
 
-Multicopters will switch to [Altitude mode](../flight_modes_mc/altitude.md) if a height estimate is available, otherwise [Stabilized mode](../flight_modes_mc/manual_stabilized.md).
+Multicopters flying in a position-dependent manual mode, such as [Position mode](../flight_modes_mc/position.md), will switch to [Altitude mode](../flight_modes_mc/altitude.md) if a height estimate is available, and otherwise [Stabilized mode](../flight_modes_mc/manual_stabilized.md).
 
-Fixed-wing planes, and VTOLs not configured to land in hover ([NAV_FORCE_VT](../advanced_config/parameter_reference.md#NAV_FORCE_VT)), have a parameter ([FW_GPSF_LT](../advanced_config/parameter_reference.md#FW_GPSF_LT)) that defines how long they will loiter (circle with a constant roll angle ([FW_GPSF_R](../advanced_config/parameter_reference.md#FW_GPSF_R)) at the current altitude) after losing position before attempting to land.
-If VTOLs have are configured to switch to hover for landing ([NAV_FORCE_VT](../advanced_config/parameter_reference.md#NAV_FORCE_VT)) then they will first transition and then descend.
+If manual control is lost as well, or in autonomous modes, PX4 instead attempts _Return mode_ (needs a valid global position and home position), falling back to _Land mode_ (needs a local position estimate), and finally to [Descend mode (MC)](../flight_modes_mc/descend.md) if no position estimate is available at all.
+
+Fixed-wing planes flying in a position-dependent manual mode, such as [Cruise mode](../flight_modes_fw/cruise.md), will similarly switch to [Altitude mode](../flight_modes_fw/altitude.md) if a height estimate is available, and otherwise [Stabilized mode](../flight_modes_fw/stabilized.md).
+If manual control is lost as well, or in autonomous modes, PX4 again attempts _Return mode_, falling back to _Land mode_, and finally to [Descend mode (FW)](../flight_modes_fw/descend.md).
+In [Descend mode (FW)](../flight_modes_fw/descend.md), the vehicle first loiters — circling with a constant roll angle ([FW_GPSF_R](../advanced_config/parameter_reference.md#FW_GPSF_R)) at the current altitude — for [FW_GPSF_LT](../advanced_config/parameter_reference.md#FW_GPSF_LT) seconds, before descending.
+
+VTOLs follow the fixed-wing behaviour above, unless configured to land in hover ([NAV_FORCE_VT](../advanced_config/parameter_reference.md#NAV_FORCE_VT)), in which case they instead first transition to hover and then follow the multicopter behaviour.
+
+<Badge type="tip" text="main (PX4 v2.0)" />You can set [COM_POS_FS_ACT](#COM_POS_FS_ACT) to `Terminate` to engage [Flight termination](#act_term) instead of Descend mode.
+This is is intended for unpiloted vehicles that carry a parachute.
 
 The relevant parameters are:
 
-| Parameter                                                                                                                                 | 설명                                                                                                                                                                                                              |
-| ----------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| <a id="FW_GPSF_LT"></a>[FW_GPSF_LT](../advanced_config/parameter_reference.md#FW_GPSF_LT)       | Fixed-wing only: Loiter time (waiting at current altitude for position estimation recovery before starting to descend). 비활성화 하려면 0으로 설정하십시오. |
-| <a id="FW_GPSF_R"></a>[FW_GPSF_R](../advanced_config/parameter_reference.md#FW_GPSF_R)          | 선회 비행시 고정 롤/뱅크 각도.                                                                                                                                                                              |
-| <a id="NAV_FORCE_VT"></a>[NAV_FORCE_VT](../advanced_config/parameter_reference.md#NAV_FORCE_VT) | If true, force VTOL takeoff and landing, even in `Descend` failsafe.                                                                                                                            |
+| Parameter                                                                                                                                                            | 설명                                                                                                                                                                                                                                   |
+| -------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
+| <a id="COM_POS_FS_ACT"></a>[COM_POS_FS_ACT](../advanced_config/parameter_reference.md#COM_POS_FS_ACT) | <Badge type="tip" text="main (PX4 v2.0)" /> Action when the failsafe would otherwise Descend. `0`: Descend if possible (default), `1`: Terminate. |
+| <a id="FW_GPSF_LT"></a>[FW_GPSF_LT](../advanced_config/parameter_reference.md#FW_GPSF_LT)                                  | Fixed-wing only: Loiter time (waiting at current altitude for position estimation recovery before starting to descend). 비활성화 하려면 0으로 설정하십시오.                      |
+| <a id="FW_GPSF_R"></a>[FW_GPSF_R](../advanced_config/parameter_reference.md#FW_GPSF_R)                                     | 선회 비행시 고정 롤/뱅크 각도.                                                                                                                                                                                                   |
+| <a id="NAV_FORCE_VT"></a>[NAV_FORCE_VT](../advanced_config/parameter_reference.md#NAV_FORCE_VT)                            | If true, force VTOL takeoff and landing, even in `Descend` failsafe.                                                                                                                                                 |
 
 ### Position Accuracy Low Failsafe
 
@@ -326,15 +350,15 @@ The quad-chute can also be triggered by sending a MAVLINK [MAV_CMD_DO_VTOL_TRANS
 
 The parameters that control when the quad-chute will trigger are listed in the table below.
 
-| Parameter                                                                                                                                                                                       | 설명                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          |
-| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| <a id="COM_QC_ACT"></a>[COM_QC_ACT](../advanced_config/parameter_reference.md#COM_QC_ACT)                                                             | Quad-chute action after switching to multicopter flight. Can be set to: [Warning](#act_warn), [Return](#act_return), [Land](#act_land), [Hold](#act_hold).                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  |
-| <a id="VT_FW_QC_HMAX"></a>[VT_FW_QC_HMAX](../advanced_config/parameter_reference.md#VT_FW_QC_HMAX)                               | Maximum quad-chute height, below which the quad-chute failsafe cannot trigger. This prevents high altitude quad-chute descent, which can drain the battery (and itself cause a crash). The height is relative to ground, home, or the local origin (in preference order, depending on what is available).                                                                                                                                                                                                                                                                                                                                                                                                                             |
-| <a id="VT_QC_ALT_LOSS"></a>[VT_QC_ALT_LOSS](../advanced_config/parameter_reference.md#VT_QC_ALT_LOSS)                            | Uncommanded descent quad-chute altitude threshold.<br><br>In altitude controlled modes, such as [Hold mode](../flight_modes_fw/hold.md), [Position mode](../flight_modes_fw/position.md), [Altitude mode](../flight_modes_fw/altitude.md), or [Mission mode](../flight_modes_fw/mission.md), a vehicle should track its current "commanded" altitude setpoint. The quad chute failsafe is triggered if the vehicle falls too far below the commanded setpoint (by the amount defined in this parameter).<br><br>Note that the quad-chute is only triggered if the vehicle continuously loses altitude below the commanded setpoint; it is not triggered if the commanded altitude setpoint increases faster than the vehicle can follow. |
-| <a id="VT_QC_T_ALT_LOSS"></a>[VT_QC_T_ALT_LOSS](../advanced_config/parameter_reference.md#VT_QC_T_ALT_LOSS) | Altitude loss threshold for quad-chute triggering during VTOL transition to fixed-wing flight. The quad-chute is triggered if the vehicle falls this far below its initial altitude before completing the transition.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                       |
-| <a id="VT_FW_MIN_ALT"></a>[VT_FW_MIN_ALT](../advanced_config/parameter_reference.md#VT_FW_MIN_ALT)                               | Minimum altitude above Home for fixed-wing flight. When the altitude drops below this value in fixed-wing flight the vehicle a quad-chute is triggered.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                     |
-| <a id="VT_FW_QC_R"></a>[VT_FW_QC_R](../advanced_config/parameter_reference.md#VT_FW_QC_R)                                        | Absolute roll threshold for quad-chute triggering in FW mode.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                               |
-| <a id="VT_FW_QC_P"></a>[VT_FW_QC_P](../advanced_config/parameter_reference.md#VT_FW_QC_P)                                        | Absolute pitch threshold for quad-chute triggering in FW mode.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              |
+| Parameter                                                                                                                                                                                       | 설명                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      |
+| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| <a id="COM_QC_ACT"></a>[COM_QC_ACT](../advanced_config/parameter_reference.md#COM_QC_ACT)                                                             | Quad-chute action after switching to multicopter flight. Can be set to: [Warning](#act_warn), [Return](#act_return), [Land](#act_land), [Hold](#act_hold).                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              |
+| <a id="VT_FW_QC_HMAX"></a>[VT_FW_QC_HMAX](../advanced_config/parameter_reference.md#VT_FW_QC_HMAX)                               | Maximum quad-chute height, below which the quad-chute failsafe cannot trigger. This prevents high altitude quad-chute descent, which can drain the battery (and itself cause a crash). The height is relative to ground, home, or the local origin (in preference order, depending on what is available).                                                                                                                                                                                                                                                                                                                                                                                                                         |
+| <a id="VT_QC_ALT_LOSS"></a>[VT_QC_ALT_LOSS](../advanced_config/parameter_reference.md#VT_QC_ALT_LOSS)                            | Uncommanded descent quad-chute altitude threshold.<br><br>In altitude controlled modes, such as [Hold mode](../flight_modes_fw/hold.md), [Cruise mode](../flight_modes_fw/cruise.md), [Altitude mode](../flight_modes_fw/altitude.md), or [Mission mode](../flight_modes_fw/mission.md), a vehicle should track its current "commanded" altitude setpoint. The quad chute failsafe is triggered if the vehicle falls too far below the commanded setpoint (by the amount defined in this parameter).<br><br>Note that the quad-chute is only triggered if the vehicle continuously loses altitude below the commanded setpoint; it is not triggered if the commanded altitude setpoint increases faster than the vehicle can follow. |
+| <a id="VT_QC_T_ALT_LOSS"></a>[VT_QC_T_ALT_LOSS](../advanced_config/parameter_reference.md#VT_QC_T_ALT_LOSS) | Altitude loss threshold for quad-chute triggering during VTOL transition to fixed-wing flight. The quad-chute is triggered if the vehicle falls this far below its initial altitude before completing the transition.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                   |
+| <a id="VT_FW_MIN_ALT"></a>[VT_FW_MIN_ALT](../advanced_config/parameter_reference.md#VT_FW_MIN_ALT)                               | Minimum altitude above Home for fixed-wing flight. When the altitude drops below this value in fixed-wing flight the vehicle a quad-chute is triggered.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                 |
+| <a id="VT_FW_QC_R"></a>[VT_FW_QC_R](../advanced_config/parameter_reference.md#VT_FW_QC_R)                                        | Absolute roll threshold for quad-chute triggering in FW mode.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                           |
+| <a id="VT_FW_QC_P"></a>[VT_FW_QC_P](../advanced_config/parameter_reference.md#VT_FW_QC_P)                                        | Absolute pitch threshold for quad-chute triggering in FW mode.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          |
 
 ## High Wind Failsafe
 
@@ -392,7 +416,7 @@ If the vehicle descends more than [FD_ALT_LOSS](#FD_ALT_LOSS) meters below the s
 ### Motor Failure Trigger
 
 The failure detector can be configured to detect a motor failure while armed (and trigger an associated action) if the ESC current falls outside expected threshold for more than [MOTFAIL_TIME](#MOTFAIL_TIME) seconds.
-Motor failures are non-latching: if the failure condition clears, the failure is cleared.
+A motor flagged by this current check stays flagged until the vehicle disarms, because the reaction to a failure may stop the motor and thereby make it look healthy again.
 
 The undercurrent and overcurrent conditions are defined by:
 
@@ -401,14 +425,17 @@ undercurrent: {esc current} < {MOTFAIL_C2T} * {motor command [0,1]} - {MOTFAIL_O
 overcurrent:  {esc current} > {MOTFAIL_C2T} * {motor command [0,1]} + {MOTFAIL_OFF}
 ```
 
+The action on motor failure is set with [CA_FAILURE_MODE](#CA_FAILURE_MODE).
+Actions depend on the vehicle type, and might include warning the user, removing failed motors from control allocation, disabling symmetrically opposite motors, and so on.
+For more information see [Motor Failure Recovery](motor_failure_recovery.md).
+
 | Parameter                                                                                                                                          | 설명                                                                                                                                                                                                                                                                                      |
 | -------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
 | <a id="FD_ACT_EN"></a>[FD_ACT_EN](../advanced_config/parameter_reference.md#FD_ACT_EN)                   | Enable/disable the motor failure trigger completely.                                                                                                                                                                                                                    |
 | <a id="MOTFAIL_C2T"></a>[MOTFAIL_C2T](../advanced_config/parameter_reference.md#MOTFAIL_C2T)                                  | Slope between normalized motor command [0–1] and expected steady-state current (FD_ACT_MOT_C2T at 100%) (A/%). |
-| <a id="MOTFAIL_OFF"></a>[MOTFAIL_OFF](../advanced_config/parameter_reference.md#MOTFAIL_OFF)                                  | Under/over-current detection threshold offset (A). Added to the expected current to form the upper bound. Subtracted from the expected current to form the lower bound.                                              |
-|                                                                                                                                                    |                                                                                                                                                                                                                                                                                         |
+| <a id="MOTFAIL_OFF"></a>[MOTFAIL_OFF](../advanced_config/parameter_reference.md#MOTFAIL_OFF)                                  | Under/over-current detection threshold offset (A). Added/subtracted to the expected current to form the upper and lower bounds.                                                                                                      |
 | <a id="MOTFAIL_TIME"></a>[MOTFAIL_TIME](../advanced_config/parameter_reference.md#MOTFAIL_TIME)                               | Hysteresis time (s) for which the current threshold must remain exceeded before a motor failure is triggered.                                                                                                                                        |
-| <a id="CA_FAILURE_MODE"></a>[CA_FAILURE_MODE](../advanced_config/parameter_reference.md#CA_FAILURE_MODE) | Configure to not only warn about a motor failure but remove the first motor that detects a failure from the allocation effectiveness which turns off the motor and tries to operate the vehicle without it until disarming the next time.                               |
+| <a id="CA_FAILURE_MODE"></a>[CA_FAILURE_MODE](../advanced_config/parameter_reference.md#CA_FAILURE_MODE) | Failure mode. See [Motor Failure Recovery](motor_failure_recovery.md).                                                                                                                                                                                  |
 
 ### External Automatic Trigger System (ATS)
 

docs/ko/config_fw/position_tuning_guide_fixedwing.md

@@ -74,7 +74,7 @@ Fly in stabilized mode, reduce throttle to `FW_THR_MIN` and adjust the pitch ang
 
 Specify the target climb and sink rate for autonomous missions by adjusting [FW_T_CLMB_R_SP](../advanced_config/parameter_reference.md#FW_T_CLMB_R_SP) and [FW_T_SINK_R_SP](../advanced_config/parameter_reference.md#FW_T_SINK_R_SP).
 These specify the height rates at which the vehicle will climb or descend in order to change altitude.
-Furthermore, these two values define the height rate limits commanded by the user in [Altitude mode](../flight_modes_fw/altitude.md) and [Position mode](../flight_modes_fw/position.md).
+Furthermore, these two values define the height rate limits commanded by the user in [Altitude mode](../flight_modes_fw/altitude.md) and [Cruise mode](../flight_modes_fw/cruise.md).
 
 ### FW Path Control Tuning (Position)
 

docs/ko/dronecan/ark_rtk_gps.md

@@ -96,6 +96,8 @@ You may need to [configure the following parameters](../dronecan/index.md#qgc-ca
 | -------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
 | <a id="CANNODE_NODE_ID"></a>[CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-125 to use a static node ID. |
 | <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM)                               | CAN built-in bus termination. Set to `1` if this is the last node on the CAN bus.                                                                                                           |
+| <a id="GPS_UBX_BAUD1"></a>[GPS_UBX_BAUD1](../advanced_config/parameter_reference.md#GPS_UBX_BAUD1)       | UART1 baudrate after the link is auto-detected. Board default is `921600`.                                                                                                                  |
+| <a id="GPS_UBX_BAUD2"></a>[GPS_UBX_BAUD2](../advanced_config/parameter_reference.md#GPS_UBX_BAUD2)       | UART2 baudrate (default `230400`).                                                                                                                                                       |
 
 ### Setting Up Rover and Fixed Base
 

docs/ko/dronecan/ark_x20_rtk_gps.md

@@ -98,6 +98,8 @@ You may need to [configure the following parameters](../dronecan/index.md#qgc-ca
 | -------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
 | <a id="CANNODE_NODE_ID"></a>[CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-125 to use a static node ID. |
 | <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM)                               | CAN built-in bus termination. Set to `1` if this is the last node on the CAN bus.                                                                                                           |
+| <a id="GPS_UBX_BAUD1"></a>[GPS_UBX_BAUD1](../advanced_config/parameter_reference.md#GPS_UBX_BAUD1)       | UART1 baudrate after the link is auto-detected. Board default is `921600`.                                                                                                                  |
+| <a id="GPS_UBX_BAUD2"></a>[GPS_UBX_BAUD2](../advanced_config/parameter_reference.md#GPS_UBX_BAUD2)       | UART2 baudrate (default `230400`).                                                                                                                                                       |
 
 ### Setting Up Rover and Fixed Base
 

docs/ko/dronecan/escs.md

@@ -31,3 +31,26 @@ In addition to the general setup, such as setting `UAVCAN_ENABLE` to `3`:
 
 - Select the specific CAN interface(s) used for ESC data output using the [UAVCAN_ESC_IFACE](../advanced_config/parameter_reference.md#UAVCAN_ESC_IFACE) parameter (all that all interfaces are selected by default).
 - Configure the [motor order and servo outputs](../config/actuators.md).
+
+## Reversible Motors {#reversible-motors}
+
+<Badge type="tip" text="main (PX4 v2.0)" />
+
+Motors can be reversible "on the fly" (bidirectional) if the motor hardware supports reversal, the ESC firmware is configured for 3D/bidirectional operation, and the motor is set as [bidirectional](../config/actuators.md#bidirectional-motors) in the actuator configuration.
+
+When configured as bidirectional, PX4 commands the motor with a _signed_ `uavcan.equipment.esc.RawCommand` value, as defined by the DroneCAN ESC message protocol:
+
+- **Zero:** Motor stop / neutral
+- **Positive values:** Forward thrust
+- **Negative values:** Reverse thrust
+
+Motors that are not configured as bidirectional continue to receive positive values only.
+
+:::tip
+Verifying Operation
+Check the sign of the RPM reported in the ESC telemetry to confirm that the ESC is interpreting negative commands correctly and actively spinning the motor in reverse.
+:::
+
+Reversible motors may also be used in [Motor Failure Recovery](../config/motor_failure_recovery.md) to keep a hexarotor controllable after a single motor failure.
+That case still needs ESCs configured for reversal.
+However it is not necessary to set the motor as bidirectional in the actuator configuration, because PX4 makes the recovery motor reversible as it handles the failure.

docs/ko/dronecan/index.md

@@ -76,6 +76,9 @@ Supported hardware includes (this is not an exhaustive list):
   - [Avionics Anonymous Laser Altimeter UAVCAN Interface](../dronecan/avanon_laser_interface.md)
   - [RaccoonLab uRangefidner and Rangefinders Adapter](https://docs.raccoonlab.co/guide/rangefinder/)
 
+- Grippers
+  - [DroneCAN Electro-Permanent Magnet (EPM)](../peripherals/gripper_epm.md)
+
 - 광류 센서
   - [Ark Flow](ark_flow.md)
   - [Ark Flow MR](ark_flow_mr.md)
@@ -280,6 +283,13 @@ PX4 DroneCAN parameters:
 
 - [UAVCAN_PUB_ARM](../advanced_config/parameter_reference.md#UAVCAN_PUB_ARM) ([Arming Status](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#armingstatus)): Publish when using DroneCAN components that require the PX4 arming status as a precondition for use.
 
+#### Grippers
+
+DroneCAN grippers do not require any `UAVCAN_SUB_*`, `UAVCAN_PUB_*`, `CANNODE_SUB_*`, or `CANNODE_PUB_*` parameters.
+When DroneCAN is enabled, PX4 automatically publishes [`uavcan.equipment.hardpoint.Command`](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#uavcanequipmenthardpoint) messages to forward `MAV_CMD_DO_GRIPPER` commands.
+
+See [Electro-Permanent Magnet (EPM)](../peripherals/gripper_epm.md) for an example setup.
+
 ### ESC & Servos
 
 [DroneCAN ESCs and servos](../dronecan/escs.md) require the [motor order and servo outputs](../config/actuators.md) to be configured.

docs/ko/features_mc/index.md

@@ -7,3 +7,4 @@ This section lists features that are specific to (or customised for) multicopter
 - [Precision Landing](../advanced_features/precland.md)
 - [Terrain Following/Holding](../flying/terrain_following_holding.md)
 - [Throw Launch](../flight_modes_mc/throw_launch.md)
+- [Motor Failure Recovery](../config/motor_failure_recovery.md)

docs/ko/flight_controller/amovlab_flycore.md

@@ -0,0 +1,344 @@
+# Amovlab Flycore
+
+<Badge type="tip" text="main (PX4 v2.0)" />
+
+:::warning
+PX4 does not manufacture this (or any) autopilot.
+Contact the [manufacturer](https://amovlab.com/) for hardware support or compliance issues.
+:::
+
+The Amovlab Flycore is an STM32H743-based flight controller for PX4-powered vehicles.
+It integrates a UM982 GNSS module on the primary GPS interface, has dual onboard IMUs, an onboard barometer, 10 FMU PWM outputs, dual CAN, USB, three telemetry ports, an external GPS2 port, an external RC port, a standard SD card slot, and exposed buzzer and SWD pads.
+
+![Amovlab Flycore flight controller](../../assets/flight_controller/amovlab_flycore/amovlab_flycore_product.jpg)
+
+:::info
+This flight controller is intended for inclusion in the [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md) board list.
+:::
+
+## Specifications {#specifications}
+
+- **Processor**
+  - **Main FMU processor:** STM32H743 (32-bit Arm® Cortex®-M7, 480 MHz, 2 MB flash, 1 MB RAM)
+  - **IO processor:** None. This board does not have a PX4IO coprocessor.
+- **Sensors**
+  - **IMU:** Bosch BMI088 (SPI), InvenSense ICM-42688P (SPI)
+  - **Barometer:** MS5611 (SPI)
+  - **GNSS:** Onboard UM982 module connected to `GPS1`
+  - **Magnetometer:** None fitted by default. `GPS1` and `GPS2` do not include compass I2C lines.
+- **Interfaces**
+  - **PWM outputs:** 10 FMU outputs
+  - **Serial ports:** 7
+  - **Telemetry ports:** 3 (`TELEM1`, `TELEM2`, `TELEM3`)
+  - **GPS ports:** 2
+    - `GPS1`: internal connection to the onboard UM982 GNSS module
+    - `GPS2`: external GPS connector
+  - **I2C ports:** 2 external buses configured in firmware (`I2C1`, `I2C4`)
+  - **SPI buses:** 3
+    - `SPI1`: BMI088 IMU and MS5611 barometer
+    - `SPI2`: ICM-42688P IMU
+    - `SPI4`: onboard flash
+  - **CAN buses:** 2
+  - **USB:** Yes
+  - **RC input:** Yes, on the FMU `RC` port
+  - **Supported RC protocols:** SBUS, DSM/DSMX, CRSF, GHST, PPM
+  - **Analog battery inputs:** 1 voltage input and 1 current input
+  - **Additional analog inputs:** None exposed to users
+  - **Buzzer:** Exposed pads
+  - **SWD:** Exposed pads
+  - **SD card:** Standard SD card slot
+- **Electrical data**
+  - **Power input:** XT30 connector, 15-28 V
+  - **Minimum input current:** 0.1 A
+  - **Battery voltage sensing range:** 3S-6S LiPo
+  - **Battery current sensing range:** 1-60 A
+  - **Servo/PWM output rail:** Externally powered. The board only provides PWM signal outputs.
+- **Mechanical data**
+  - **Dimensions:** 120 mm x 55 mm x 26.3 mm
+  - **Weight:** 60 g
+  - **Mounting:** 50 mm x 115 mm hole spacing, 2.5 mm hole diameter
+
+## Where to Buy {#store}
+
+For purchasing, contact [shudajun@amovauto.com](mailto:shudajun@amovauto.com).
+
+## 연결
+
+The board includes the following main external connections:
+
+- `POWER`: XT30, 15-28 V input
+- `USB`
+- `TELEM1`
+- `TELEM2`
+- `TELEM3`
+- `GPS2`: external GPS connector, without compass I2C
+- `RC`
+- `CAN1`
+- `CAN2`
+- `I2C1`
+- `I2C4`
+- `PWM OUT 1-10`
+- Standard SD card slot
+- Buzzer pads
+- SWD pads
+- UART8 debug console pads
+
+The external peripheral signal connectors use JST GH connectors with 1.25 mm pitch.
+Flycore uses Pixhawk-style port names for common interfaces such as `TELEM`, `GPS`, `CAN`, `I2C`, and `RC`, but the fitted connectors and pin assignments are board-specific and are not claimed to fully comply with the DS-009 Pixhawk Connector Standard.
+Use the [Pinouts](#pinouts) section as the authoritative connector definition for this board.
+This does not apply to `POWER` (XT30), USB, the SD card slot, RTK antenna interfaces, or the exposed buzzer, SWD, and UART8 debug console pads.
+
+`GPS1` is not exposed as an external connector on the flight controller.
+It is connected internally to the onboard UM982 GNSS module and does not include safety-switch pins or compass I2C lines.
+
+## Schematic Diagram
+
+![Amovlab Flycore connector layout](../../assets/flight_controller/amovlab_flycore/amovlab_flycore_pinout.jpg)
+
+## 핀배열
+
+The following pinouts use the signal names from the manufacturer interface definition.
+Pin 1 starts from the right side of the connector, as shown below:
+
+![Amovlab Flycore pin 1 orientation](../../assets/flight_controller/amovlab_flycore/amovlab_flycore_pin1_orientation.png)
+
+### CAN1 Port
+
+| 핀 | 신호                         |
+| - | -------------------------- |
+| 1 | CAN_L |
+| 2 | CAN_H |
+| 3 | GND                        |
+| 4 | VCC                        |
+
+### GPS2 Port
+
+| 핀 | 신호  |
+| - | --- |
+| 1 | RX  |
+| 2 | TX  |
+| 3 | GND |
+| 4 | VCC |
+
+### TELEM3 Port
+
+| 핀 | 신호  |
+| - | --- |
+| 1 | RX  |
+| 2 | TX  |
+| 3 | GND |
+| 4 | VCC |
+
+### I2C1 Port
+
+| 핀 | 신호  |
+| - | --- |
+| 1 | SDA |
+| 2 | SCL |
+| 3 | GND |
+| 4 | VCC |
+
+### I2C4 Port
+
+| 핀 | 신호  |
+| - | --- |
+| 1 | SDA |
+| 2 | SCL |
+| 3 | GND |
+| 4 | VCC |
+
+### PWM Port
+
+| 핀  | 신호                           |
+| -- | ---------------------------- |
+| 1  | GND                          |
+| 2  | BUZZER                       |
+| 3  | FMU_CH8 |
+| 4  | FMU_CH7 |
+| 5  | FMU_CH6 |
+| 6  | FMU_CH5 |
+| 7  | FMU_CH4 |
+| 8  | FMU_CH3 |
+| 9  | FMU_CH2 |
+| 10 | FMU_CH1 |
+
+### TELEM2 Port
+
+| 핀 | 신호  |
+| - | --- |
+| 1 | GND |
+| 2 | RX  |
+| 3 | TX  |
+
+### RTK COM2 Port
+
+| 핀 | 신호  |
+| - | --- |
+| 1 | RX  |
+| 2 | TX  |
+| 3 | GND |
+| 4 | PPS |
+
+## Sensor and Bus Configuration
+
+The default Flycore PX4 port matches the hardware as shipped:
+
+- **Onboard sensors:** BMI088, ICM-42688P, and MS5611.
+- **Onboard GNSS:** UM982 connected to `GPS1`.
+- **External GPS:** `GPS2` is available for an external GPS receiver, but does not provide compass I2C lines.
+- **Default firmware:** `rc.board_sensors` starts only the onboard IMUs and barometer. It does not start magnetometers or other external sensors that are not fitted by default.
+
+Flycore has no onboard magnetometer and its GPS connectors do not include compass I2C.
+If a magnetometer is required, use a supported external magnetometer connected through `I2C1`, `I2C4`, or another compatible interface provided by the vehicle setup.
+
+Without a magnetometer, yaw in flight relies on GPS course when available and other estimator settings as configured in QGroundControl.
+Plan missions accordingly for GPS-denied operation.
+
+## Power {#power}
+
+The flight controller can be powered from the **POWER** connector.
+
+Power ports:
+
+- `POWER`: XT30 connector, 15-28 V input, 0.1 A minimum input current
+
+:::warning
+The PWM output ports are not powered by the POWER port.
+The output rail must be [separately powered](../peripherals/pwm_escs_and_servo.md) if it needs to power servos or other hardware.
+This is generally true for VTOL and fixed-wing vehicles, but not necessarily true for multicopters.
+:::
+
+The battery voltage sensing range is 3S-6S LiPo.
+
+The battery current sensing range is 1-60 A.
+
+PX4 configures analog battery monitoring using `BAT1_V_DIV=10.89` and `BAT1_A_PER_V=36.367515152` by default.
+The board only provides PWM signal outputs; provide external rail power before connecting servos or other payloads that need power from the output rail.
+
+For battery and power module configuration see [Battery and Power Module Setup](../config/battery.md).
+
+## 시리얼 포트 매핑
+
+| UART   | 장치         | 포트              | Flow Control |
+| ------ | ---------- | --------------- | :----------: |
+| USART2 | /dev/ttyS0 | `TELEM1`        |      Yes     |
+| USART3 | /dev/ttyS1 | `TELEM2`        |      No      |
+| UART4  | /dev/ttyS2 | `GPS1`          |      No      |
+| UART5  | /dev/ttyS3 | `TELEM3`        |      No      |
+| USART6 | /dev/ttyS4 | `RC`            |      No      |
+| UART7  | /dev/ttyS5 | `GPS2`          |      No      |
+| UART8  | /dev/ttyS6 | `Debug Console` |      No      |
+
+`GPS1` is used by the onboard UM982 GNSS module.
+`GPS2` is the external GPS port.
+The debug console is exposed on UART8 pads; no connector is fitted by default. The UART8 pad pinout is board-specific.
+
+## Radio Control {#radio_control}
+
+A remote control (RC) radio system is required if you want to _manually_ control your vehicle (PX4 does not require a radio system for autonomous flight modes).
+
+You will need to [select a compatible transmitter/receiver](../getting_started/rc_transmitter_receiver.md) and then _bind_ them so that they communicate (read the instructions that come with your specific transmitter/receiver).
+
+The RC port is connected to the FMU, not to a PX4IO coprocessor.
+
+The `RC` port supports SBUS, DSM/DSMX, CRSF, GHST, and PPM receivers.
+The board configuration enables PX4 RC input and maps the RC serial port to `/dev/ttyS4`.
+
+For PPM and S.Bus receivers, a single signal wire carries all channels.
+If your receiver outputs individual PWM signals (one wire per channel) it must be connected via a PPM encoder.
+For more information, see [RC receivers](../getting_started/rc_transmitter_receiver.md).
+
+## GPS & Compass {#gps_compass}
+
+PX4 supports GPS modules connected to the GPS port(s) listed below.
+GPS modules should be [mounted on the frame](../assembly/mount_gps_compass.md) as far away from other electronics as possible, with the direction marker pointing towards the front of the vehicle.
+
+The GPS ports are:
+
+- `GPS1` (FMU): Internal connection to the onboard UM982 GNSS module. This is not exposed as an external connector and does not include safety-switch pins or compass I2C lines.
+- `GPS2` (FMU): External GPS connector. This port does not include compass I2C lines.
+
+Flycore has no onboard magnetometer.
+The `GPS1` and `GPS2` interfaces do not provide compass I2C, so a GPS/compass module connected to `GPS2` will only use the GPS serial interface unless the compass is connected through another compatible external interface.
+
+## Telemetry Radios (Optional) {#telemetry}
+
+[Telemetry radios](../telemetry/index.md) may be used to communicate and control a vehicle in flight from a ground station (for example, you can direct the UAV to a particular position, or upload a new mission).
+
+The vehicle-based radio should be connected to a TELEM port — **TELEM1**, **TELEM2**, or **TELEM3**.
+If connected to **TELEM1**, no further configuration is required.
+다른 텔레메트리는 일반적으로 지상국 컴퓨터나 모바일 장치에 USB를 통하여 연결됩니다.
+
+## PWM Outputs {#pwm_outputs}
+
+This flight controller supports up to 10 FMU PWM outputs (`MAIN`).
+
+Outputs 1-7 support [DShot](../peripherals/dshot.md) and [Bidirectional DShot](../peripherals/dshot.md#bidirectional-dshot-telemetry).
+
+Outputs 8-10 do not support DShot.
+
+The 10 outputs are split into 3 groups:
+
+- Outputs 1-4 are in group 1, using Timer 1.
+- Outputs 5-7 are in group 2, using Timer 3.
+- Outputs 8-10 are in group 3, using Timer 4.
+
+All outputs within the same group must use the same output protocol and rate.
+
+## SD 카드
+
+This board has a standard SD card slot.
+
+## 펌웨어 빌드
+
+To [build PX4](../dev_setup/building_px4.md) for this target:
+
+```sh
+make amovlab_flycore_default
+```
+
+Build and upload via USB:
+
+```sh
+make amovlab_flycore_default upload
+```
+
+Build the bootloader:
+
+```sh
+make amovlab_flycore_bootloader
+```
+
+## Bootloader / Board ID
+
+- **Board ID:** 1218 (`boards/amovlab/flycore/firmware.prototype`)
+- **Bootloader USB product string:** `PX4 BL AMOV FLYCORE`
+
+## Default Airframe
+
+For hardware type `FLYCORE000000`, `rc.board_defaults` sets `SYS_AUTOSTART` to **4014** (generic multicopter airframe class).
+
+Adjust the airframe in QGroundControl to match your vehicle.
+
+Amovlab recommends this flight controller for the Amovlab SU17 platform.
+
+## 디버그 포트
+
+The PX4 system console is exposed on UART8 pads.
+No connector is fitted by default.
+
+The UART8 pad pinout is board-specific and does not use a standard fitted connector.
+
+## 지원 플랫폼 및 기체
+
+The Flycore can be used with airframes supported by the selected PX4 configuration, including multicopters and other vehicles that match the available PWM, CAN, serial, and sensor interfaces.
+
+Amovlab recommends Flycore for the Amovlab SU17 platform.
+
+## Maintenance
+
+- **Vendor:** Amovlab
+- **PX4 board target:** `amovlab_flycore_default`
+- **PX4 hardware architecture:** `AMOVLAB_FLYCORE`
+- **PX4 hardware type:** `FLYCORE000000`
+- **Hardware version/revision:** `0x000` / `0x000`

docs/ko/flight_controller/autopilot_manufacturer_supported.md

@@ -21,6 +21,7 @@ This category includes boards that are not fully compliant with the pixhawk stan
 - [AEDROX AEDROXH7](../flight_controller/aedrox_aedroxh7.md)
 - [AirMind MindPX](../flight_controller/mindpx.md)
 - [AirMind MindRacer](../flight_controller/mindracer.md)
+- [Amovlab Flycore](../flight_controller/amovlab_flycore.md)
 - [ARK Electronics ARKV6X](../flight_controller/ark_v6x.md) (and [ARK Electronics Pixhawk Autopilot Bus Carrier](../flight_controller/ark_pab.md))
 - [ARK Electronics ARKV6S](../flight_controller/ark_v6s.md)
 - [ARK FPV Flight Controller](../flight_controller/ark_fpv.md)

docs/ko/flight_modes/mode_requirements.md

@@ -0,0 +1,294 @@
+# Mode Requirements
+
+:::info
+This documentation was auto-generated from the source code (see [docs/scripts/get_mode_requirements](https://github.com/PX4/PX4-Autopilot/tree/main/docs/scripts/get_mode_requirements)).
+:::
+
+Mode requirements define the set of conditions that must be met in order to arm in a particular flight mode, or to switch to the mode if it is already armed.
+
+Requirements are defined for internal modes in [mode_requirements.cpp](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/commander/ModeUtil/mode_requirements.cpp), and for ROS 2 external modes in [requirement_flags.hpp](https://github.com/Auterion/px4-ros2-interface-lib/blob/main/px4_ros2_cpp/include/px4_ros2/common/requirement_flags.hpp) (Github `Auterion/px4-ros2-interface-lib` repository).
+The mode requirements are the same in both cases.
+
+The following sections provide an overview of the requirements and what modes they are used in.
+
+## Requirements Definitions
+
+| Requirement                                                                                     | Example                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                         |
+| ----------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| <a id="mode_req_angular_velocity">`mode_req_angular_velocity`</a>                               | Angular velocity (gyroscope)                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                 |
+| <a id="mode_req_attitude">`mode_req_attitude`</a>                                               | Attitude/pose (IMU, or theoretically a motion capture system)                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                |
+| <a id="mode_req_local_position">`mode_req_local_position`</a>                                   | Position relative to EKF2 origin ('0') point (GNSS, VIO, mocap)                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                           |
+| <a id="mode_req_local_position_relaxed">`mode_req_local_position_relaxed`</a>                   | Position relative to EKF2 origin ('0') point but accepts poor accuracy (Optical flow) <br><br>Typically optical flow. You set zero when you take off and just integrate up the flow. So the absolute position can be very inaccurate but better than nothing. Useful to not drift away quickly and roughly know where you are.                                                                                                                                                                                                                                                                                                                            |
+| <a id="mode_req_global_position">`mode_req_global_position`</a>                                 | Position measurement updates in a global coordinate frame (GNSS, or local position and global reference to EKF 0)                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            |
+| <a id="mode_req_global_position_relaxed">`mode_req_global_position_relaxed`</a>                 | Position measurement updates in a global coordinate frame but accepts poor accuracy <br><br>Local position and global reference to EKF2 origin                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  |
+| <a id="mode_req_local_alt">`mode_req_local_alt`</a>                                             | Local altitude relative to EKF2 origin ('0') position (Barometer corrected by GNSS altitude over time, distance sensor) <br><br>Usually not the distance sensor because if the ground shifts then the coordinate frame would shift with it (range aid problem).                                                                                                                                                                                                                                                                                                                                                                                                                        |
+| <a id="mode_req_mission">`mode_req_mission`</a>                                                 | Valid mission in autopilot's storage (Mission mode only requirement) <br><br>can be from last time no need to upload fresh                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                   |
+| <a id="mode_req_offboard_signal">`mode_req_offboard_signal`</a>                                 | Offboard heartbeat <br><br>MAVLink messages SET_ATTITUDE_TARGET or SET_POSITION_TARGET_LOCAL_NED or SET_POSITION_TARGET_GLOBAL_INT not timing out. Offboard mode specific requirement.                                                                                                                                                                                                                                                                                                                        |
+| <a id="mode_req_home_position">`mode_req_home_position`</a>                                     | Global home reference must be set <br><br>Specific requirement for Return mode                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  |
+| <a id="mode_req_wind_and_flight_time_compliance">`mode_req_wind_and_flight_time_compliance`</a> | Safety compliance limits on wind and flight time. <br><br>Blocks arming or switching into the mode when the estimated wind speed exceeds `COM_WIND_MAX` (if `COM_WIND_MAX_ACT` is set to an action stronger than a warning), or when the flight time exceeds `COM_FLT_TIME_MAX`. Both limits are disabled by default. Modes commanded by a failsafe are exempt (see also `COM_WIND_WARN`).                                                                                                                                                                                                                                                                |
+| <a id="mode_req_prevent_arming">`mode_req_prevent_arming`</a>                                   | Mode prevents arming <br><br>The vehicle cannot be armed while this mode is selected. Set for modes such as Land, Orbit, and Return that you can't take off in (they can only be entered in flight).                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                         |
+| <a id="mode_req_manual_control">`mode_req_manual_control`</a>                                   | Requires stick input <br><br>Manual control can come from an RC system (RC driver -> channel mapping/calibration -> [`manual_control_input`](../msg_docs/ManualControlSetpoint.md)) or from a joystick (MAVLink [MANUAL_CONTROL](https://mavlink.io/en/messages/common.html#MANUAL_CONTROL) message -> `manual_control_input`). A selector configured with [COM_RC_IN_MODE](../advanced_config/parameter_reference.md#COM_RC_IN_MODE) chooses which source is used and publishes it as `manual_control_setpoint`. The requirement is met while the selected source has not timed out. |
+| <a id="mode_req_other">`mode_req_other`</a>                                                     | Others requirement. <br><br>This is used by external modes. It is intended to specify additional requirements not covered by the existing flags                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                 |
+
+### Naming Conventions
+
+In general requirement flag names are abstracted from specific sensors.
+This is done because particular requirements can often be met by several sensors.
+For example, GNSS is the most common source of global position, but it isn't the only one.
+
+The requirements include frame and accuracy information hints in their names:
+
+- `global` means an absolute world frame, such as that provided by GNSS.
+- `local` means a frame that relative to an initialization point, such as the position of an IMU on boot.
+- `relaxed` means that the mode does not require or rely on accurate data: as long as sensors are providing some data the state is considered valid.
+  Relaxed conditions are used for modes where some sensor data is considered more important than none at all, such as when calculating position via optical flow velocity measurements.
+  By contrast, a position mode that is not relaxed requires reliable sensor data, and will block arming if inaccuracy is detected.
+
+Note that a global position requirement can be met if you have a valid _local position_, by mapping the local frame to a global position.
+This can be done by setting the global position of the local origin using the MAVLink message [SET_GPS_GLOBAL_ORIGIN](https://mavlink.io/en/messages/common.html#SET_GPS_GLOBAL_ORIGIN), either directly or via a GCS (see [External Position Estimate > Enabling Auto Modes with a Local Position](../ros/external_position_estimation#enabling-auto-modes-with-a-local-position)).
+Similarly, if the vehicle has `mode_req_local_position_relaxed`, then you can map to a global position in order to meet the `global_position_relaxed` requirement.
+This allows PX4 automatic flight modes that require a global position to be used locally, such as Mission and Return.
+
+## Fixed-wing (VEHICLE_TYPE_FIXED_WING)
+
+### [Manual Mode](../flight_modes_fw/manual.md) (NAVIGATION_STATE_MANUAL)
+
+- [`mode_req_manual_control`](#mode_req_manual_control)
+
+### [Stabilized Mode](../flight_modes_fw/stabilized.md) (NAVIGATION_STATE_STAB)
+
+- [`mode_req_angular_velocity`](#mode_req_angular_velocity)
+- [`mode_req_attitude`](#mode_req_attitude)
+- [`mode_req_manual_control`](#mode_req_manual_control)
+
+### [Acro Mode](../flight_modes_fw/acro.md) (NAVIGATION_STATE_ACRO)
+
+- [`mode_req_angular_velocity`](#mode_req_angular_velocity)
+- [`mode_req_manual_control`](#mode_req_manual_control)
+
+### [Altitude Mode](../flight_modes_fw/altitude.md) (NAVIGATION_STATE_ALTCTL)
+
+- [`mode_req_angular_velocity`](#mode_req_angular_velocity)
+- [`mode_req_attitude`](#mode_req_attitude)
+- [`mode_req_local_alt`](#mode_req_local_alt)
+- [`mode_req_manual_control`](#mode_req_manual_control)
+
+### [Cruise Mode](../flight_modes_fw/cruise.md) (NAVIGATION_STATE_POSCTL)
+
+- [`mode_req_angular_velocity`](#mode_req_angular_velocity)
+- [`mode_req_attitude`](#mode_req_attitude)
+- [`mode_req_local_alt`](#mode_req_local_alt)
+- [`mode_req_local_position_relaxed`](#mode_req_local_position_relaxed)
+- [`mode_req_manual_control`](#mode_req_manual_control)
+
+### [Guided Course Mode](../flight_modes_fw/guided_course.md) (NAVIGATION_STATE_GUIDED_COURSE)
+
+- [`mode_req_angular_velocity`](#mode_req_angular_velocity)
+- [`mode_req_attitude`](#mode_req_attitude)
+- [`mode_req_local_alt`](#mode_req_local_alt)
+- [`mode_req_local_position_relaxed`](#mode_req_local_position_relaxed)
+- [`mode_req_wind_and_flight_time_compliance`](#mode_req_wind_and_flight_time_compliance)
+
+### [Hold Mode](../flight_modes_fw/hold.md) (NAVIGATION_STATE_AUTO_LOITER)
+
+- [`mode_req_angular_velocity`](#mode_req_angular_velocity)
+- [`mode_req_attitude`](#mode_req_attitude)
+- [`mode_req_global_position_relaxed`](#mode_req_global_position_relaxed)
+- [`mode_req_local_alt`](#mode_req_local_alt)
+- [`mode_req_local_position_relaxed`](#mode_req_local_position_relaxed)
+- [`mode_req_wind_and_flight_time_compliance`](#mode_req_wind_and_flight_time_compliance)
+
+### [Takeoff Mode](../flight_modes_fw/takeoff.md) (NAVIGATION_STATE_AUTO_TAKEOFF)
+
+- [`mode_req_angular_velocity`](#mode_req_angular_velocity)
+- [`mode_req_attitude`](#mode_req_attitude)
+- [`mode_req_local_alt`](#mode_req_local_alt)
+
+### [Descend Mode](../flight_modes_fw/descend.md) (NAVIGATION_STATE_DESCEND)
+
+- [`mode_req_angular_velocity`](#mode_req_angular_velocity)
+- [`mode_req_attitude`](#mode_req_attitude)
+- [`mode_req_prevent_arming`](#mode_req_prevent_arming)
+
+### [Land Mode](../flight_modes_fw/land.md) (NAVIGATION_STATE_AUTO_LAND)
+
+- [`mode_req_angular_velocity`](#mode_req_angular_velocity)
+- [`mode_req_attitude`](#mode_req_attitude)
+- [`mode_req_local_alt`](#mode_req_local_alt)
+- [`mode_req_local_position_relaxed`](#mode_req_local_position_relaxed)
+- [`mode_req_prevent_arming`](#mode_req_prevent_arming)
+
+### [Return Mode](../flight_modes_fw/return.md) (NAVIGATION_STATE_AUTO_RTL)
+
+- [`mode_req_angular_velocity`](#mode_req_angular_velocity)
+- [`mode_req_attitude`](#mode_req_attitude)
+- [`mode_req_global_position_relaxed`](#mode_req_global_position_relaxed)
+- [`mode_req_home_position`](#mode_req_home_position)
+- [`mode_req_local_alt`](#mode_req_local_alt)
+- [`mode_req_local_position_relaxed`](#mode_req_local_position_relaxed)
+- [`mode_req_prevent_arming`](#mode_req_prevent_arming)
+
+### [Mission Mode](../flight_modes_fw/mission.md) (NAVIGATION_STATE_AUTO_MISSION)
+
+- [`mode_req_angular_velocity`](#mode_req_angular_velocity)
+- [`mode_req_attitude`](#mode_req_attitude)
+- [`mode_req_global_position_relaxed`](#mode_req_global_position_relaxed)
+- [`mode_req_local_alt`](#mode_req_local_alt)
+- [`mode_req_local_position_relaxed`](#mode_req_local_position_relaxed)
+- [`mode_req_mission`](#mode_req_mission)
+- [`mode_req_wind_and_flight_time_compliance`](#mode_req_wind_and_flight_time_compliance)
+
+### [Offboard Mode](../flight_modes_fw/offboard.md) (NAVIGATION_STATE_OFFBOARD)
+
+- [`mode_req_angular_velocity`](#mode_req_angular_velocity)
+- [`mode_req_attitude`](#mode_req_attitude)
+- [`mode_req_offboard_signal`](#mode_req_offboard_signal)
+
+### Modes Without a Dedicated Page
+
+The following internal navigation states have no distinct user-facing behaviour or documentation page on this frame type:
+
+- **NAVIGATION_STATE_ALTITUDE_CRUISE** — Behaves identically to [Altitude Mode](../flight_modes_fw/altitude.md) on fixed-wing frames — the control-mode flags are the same and there is no separate implementation.
+- **NAVIGATION_STATE_POSITION_SLOW** — Behaves identically to [Position Mode](../flight_modes_fw/position.md) on fixed-wing frames — the control-mode flags are the same and there is no separate implementation.
+- **NAVIGATION_STATE_ORBIT** — Not implemented for fixed-wing frames; [Hold Mode](../flight_modes_fw/hold.md) is used instead for orbiting a point.
+- **NAVIGATION_STATE_AUTO_VTOL_TAKEOFF** — VTOL-specific transition state used for vertical takeoff before transitioning to forward flight; not applicable to plain fixed-wing frames.
+- **NAVIGATION_STATE_AUTO_PRECLAND** — Not implemented for fixed-wing frames (precision landing requires hover capability).
+- **NAVIGATION_STATE_AUTO_FOLLOW_TARGET** — Not implemented for fixed-wing frames (Follow Me is a multicopter-only flight task).
+- **NAVIGATION_STATE_TERMINATION** — Internal flight-termination failsafe state. Not user-selectable; entered automatically when a failsafe action escalates to termination.
+
+## Multicopter (VEHICLE_TYPE_ROTARY_WING)
+
+### [Manual/Stabilized Mode](../flight_modes_mc/manual_stabilized.md) (NAVIGATION_STATE_MANUAL)
+
+- [`mode_req_manual_control`](#mode_req_manual_control)
+
+### [Manual/Stabilized Mode](../flight_modes_mc/manual_stabilized.md) (NAVIGATION_STATE_STAB)
+
+- [`mode_req_angular_velocity`](#mode_req_angular_velocity)
+- [`mode_req_attitude`](#mode_req_attitude)
+- [`mode_req_manual_control`](#mode_req_manual_control)
+
+### [Acro Mode](../flight_modes_mc/acro.md) (NAVIGATION_STATE_ACRO)
+
+- [`mode_req_angular_velocity`](#mode_req_angular_velocity)
+- [`mode_req_manual_control`](#mode_req_manual_control)
+
+### [Altitude Mode](../flight_modes_mc/altitude.md) (NAVIGATION_STATE_ALTCTL)
+
+- [`mode_req_angular_velocity`](#mode_req_angular_velocity)
+- [`mode_req_attitude`](#mode_req_attitude)
+- [`mode_req_local_alt`](#mode_req_local_alt)
+- [`mode_req_manual_control`](#mode_req_manual_control)
+
+### [Altitude Cruise Mode](../flight_modes_mc/altitude_cruise.md) (NAVIGATION_STATE_ALTITUDE_CRUISE)
+
+- [`mode_req_angular_velocity`](#mode_req_angular_velocity)
+- [`mode_req_attitude`](#mode_req_attitude)
+- [`mode_req_local_alt`](#mode_req_local_alt)
+- [`mode_req_manual_control`](#mode_req_manual_control)
+
+### [Position Mode](../flight_modes_mc/position.md) (NAVIGATION_STATE_POSCTL)
+
+- [`mode_req_angular_velocity`](#mode_req_angular_velocity)
+- [`mode_req_attitude`](#mode_req_attitude)
+- [`mode_req_local_alt`](#mode_req_local_alt)
+- [`mode_req_local_position_relaxed`](#mode_req_local_position_relaxed)
+- [`mode_req_manual_control`](#mode_req_manual_control)
+
+### [Position Slow Mode](../flight_modes_mc/position_slow.md) (NAVIGATION_STATE_POSITION_SLOW)
+
+- [`mode_req_angular_velocity`](#mode_req_angular_velocity)
+- [`mode_req_attitude`](#mode_req_attitude)
+- [`mode_req_local_alt`](#mode_req_local_alt)
+- [`mode_req_local_position_relaxed`](#mode_req_local_position_relaxed)
+- [`mode_req_manual_control`](#mode_req_manual_control)
+
+### [Hold Mode](../flight_modes_mc/hold.md) (NAVIGATION_STATE_AUTO_LOITER)
+
+- [`mode_req_angular_velocity`](#mode_req_angular_velocity)
+- [`mode_req_attitude`](#mode_req_attitude)
+- [`mode_req_global_position`](#mode_req_global_position)
+- [`mode_req_local_alt`](#mode_req_local_alt)
+- [`mode_req_local_position`](#mode_req_local_position)
+- [`mode_req_wind_and_flight_time_compliance`](#mode_req_wind_and_flight_time_compliance)
+
+### [Orbit Mode](../flight_modes_mc/orbit.md) (NAVIGATION_STATE_ORBIT)
+
+- [`mode_req_angular_velocity`](#mode_req_angular_velocity)
+- [`mode_req_attitude`](#mode_req_attitude)
+- [`mode_req_local_alt`](#mode_req_local_alt)
+- [`mode_req_local_position`](#mode_req_local_position)
+- [`mode_req_prevent_arming`](#mode_req_prevent_arming)
+- [`mode_req_wind_and_flight_time_compliance`](#mode_req_wind_and_flight_time_compliance)
+
+### [Takeoff Mode](../flight_modes_mc/takeoff.md) (NAVIGATION_STATE_AUTO_TAKEOFF)
+
+- [`mode_req_angular_velocity`](#mode_req_angular_velocity)
+- [`mode_req_attitude`](#mode_req_attitude)
+- [`mode_req_local_alt`](#mode_req_local_alt)
+- [`mode_req_local_position`](#mode_req_local_position)
+
+### [Descend Mode](../flight_modes_mc/descend.md) (NAVIGATION_STATE_DESCEND)
+
+- [`mode_req_angular_velocity`](#mode_req_angular_velocity)
+- [`mode_req_attitude`](#mode_req_attitude)
+- [`mode_req_prevent_arming`](#mode_req_prevent_arming)
+
+### [Land Mode](../flight_modes_mc/land.md) (NAVIGATION_STATE_AUTO_LAND)
+
+- [`mode_req_angular_velocity`](#mode_req_angular_velocity)
+- [`mode_req_attitude`](#mode_req_attitude)
+- [`mode_req_local_alt`](#mode_req_local_alt)
+- [`mode_req_local_position_relaxed`](#mode_req_local_position_relaxed)
+- [`mode_req_prevent_arming`](#mode_req_prevent_arming)
+
+### [Precision Landing](../advanced_features/precland.md) (NAVIGATION_STATE_AUTO_PRECLAND)
+
+- [`mode_req_angular_velocity`](#mode_req_angular_velocity)
+- [`mode_req_attitude`](#mode_req_attitude)
+- [`mode_req_local_alt`](#mode_req_local_alt)
+- [`mode_req_local_position`](#mode_req_local_position)
+- [`mode_req_prevent_arming`](#mode_req_prevent_arming)
+
+### [Return Mode](../flight_modes_mc/return.md) (NAVIGATION_STATE_AUTO_RTL)
+
+- [`mode_req_angular_velocity`](#mode_req_angular_velocity)
+- [`mode_req_attitude`](#mode_req_attitude)
+- [`mode_req_global_position`](#mode_req_global_position)
+- [`mode_req_home_position`](#mode_req_home_position)
+- [`mode_req_local_alt`](#mode_req_local_alt)
+- [`mode_req_local_position`](#mode_req_local_position)
+- [`mode_req_prevent_arming`](#mode_req_prevent_arming)
+
+### [Mission Mode](../flight_modes_mc/mission.md) (NAVIGATION_STATE_AUTO_MISSION)
+
+- [`mode_req_angular_velocity`](#mode_req_angular_velocity)
+- [`mode_req_attitude`](#mode_req_attitude)
+- [`mode_req_global_position`](#mode_req_global_position)
+- [`mode_req_local_alt`](#mode_req_local_alt)
+- [`mode_req_local_position`](#mode_req_local_position)
+- [`mode_req_mission`](#mode_req_mission)
+- [`mode_req_wind_and_flight_time_compliance`](#mode_req_wind_and_flight_time_compliance)
+
+### [Follow Me Mode](../flight_modes_mc/follow_me.md) (NAVIGATION_STATE_AUTO_FOLLOW_TARGET)
+
+- [`mode_req_angular_velocity`](#mode_req_angular_velocity)
+- [`mode_req_attitude`](#mode_req_attitude)
+- [`mode_req_local_alt`](#mode_req_local_alt)
+- [`mode_req_local_position`](#mode_req_local_position)
+- [`mode_req_prevent_arming`](#mode_req_prevent_arming)
+- [`mode_req_wind_and_flight_time_compliance`](#mode_req_wind_and_flight_time_compliance)
+
+### [Offboard Mode](../flight_modes_mc/offboard.md) (NAVIGATION_STATE_OFFBOARD)
+
+- [`mode_req_angular_velocity`](#mode_req_angular_velocity)
+- [`mode_req_attitude`](#mode_req_attitude)
+- [`mode_req_offboard_signal`](#mode_req_offboard_signal)
+
+### Modes Without a Dedicated Page
+
+The following internal navigation states have no distinct user-facing behaviour or documentation page on this frame type:
+
+- **NAVIGATION_STATE_GUIDED_COURSE** — Not implemented for multicopters (course-hold is a fixed-wing-only flight task).
+- **NAVIGATION_STATE_AUTO_VTOL_TAKEOFF** — VTOL-specific transition state used for vertical takeoff before transitioning to forward flight; not applicable to plain multicopter frames.
+- **NAVIGATION_STATE_TERMINATION** — Internal flight-termination failsafe state. Not user-selectable; entered automatically when a failsafe action escalates to termination.

docs/ko/flight_modes/offboard.md

@@ -17,7 +17,9 @@ A good understanding of [PX4 controller diagrams](../flight_stack/controller_dia
 The vehicle obeys position, velocity, acceleration, attitude, attitude rates or thrust/torque setpoints provided by some source that is external to the flight stack, such as a companion computer.
 The setpoints may be provided using MAVLink (or a MAVLink API such as [MAVSDK](https://mavsdk.mavlink.io/)) or by [ROS 2](../ros2/index.md).
 
-PX4 requires that the external controller provides a continuous "proof of life" signal by streaming any of the supported MAVLink setpoint messages or the ROS 2 [OffboardControlMode](../msg_docs/OffboardControlMode.md) message.
+## Technical Summary
+
+PX4 requires that the external controller provides a continuous 2Hz "proof of life" signal, by streaming any of the supported MAVLink setpoint messages or the ROS 2 [OffboardControlMode](../msg_docs/OffboardControlMode.md) message.
 The stream should be active before switching to Offboard mode, and PX4 will trigger the configured Offboard-loss failsafe action ([COM_OBL_RC_ACT](../advanced_config/parameter_reference.md#COM_OBL_RC_ACT)) if proof-of-life messages are not received within the timeout configured by [COM_OF_LOSS_T](#COM_OF_LOSS_T).
 
 ::: info
@@ -31,6 +33,30 @@ The stream should be active before switching to Offboard mode, and PX4 will trig
 
 :::
 
+<!-- AUTO-GENERATED: mode_requirements_fixed_wing_offboard -->
+
+### Mode Requirements — Fixed-Wing
+
+The following requirements must be met to arm in this mode, or to switch to this mode when it is armed.
+
+- [`mode_req_angular_velocity`](../flight_modes/mode_requirements.md#mode_req_angular_velocity) — Angular velocity
+- [`mode_req_attitude`](../flight_modes/mode_requirements.md#mode_req_attitude) — Attitude/pose
+- [`mode_req_offboard_signal`](../flight_modes/mode_requirements.md#mode_req_offboard_signal) — Offboard heartbeat
+
+<!-- END AUTO-GENERATED: mode_requirements_fixed_wing_offboard -->
+
+<!-- AUTO-GENERATED: mode_requirements_rotary_wing_offboard -->
+
+### Mode Requirements — Multicopter
+
+The following requirements must be met to arm in this mode, or to switch to this mode when it is armed.
+
+- [`mode_req_angular_velocity`](../flight_modes/mode_requirements.md#mode_req_angular_velocity) — Angular velocity
+- [`mode_req_attitude`](../flight_modes/mode_requirements.md#mode_req_attitude) — Attitude/pose
+- [`mode_req_offboard_signal`](../flight_modes/mode_requirements.md#mode_req_offboard_signal) — Offboard heartbeat
+
+<!-- END AUTO-GENERATED: mode_requirements_rotary_wing_offboard -->
+
 ## 설명
 
 Offboard mode is used for controlling vehicle movement and attitude, by setting position, velocity, acceleration, attitude, attitude rates or thrust/torque setpoints.

docs/ko/flight_modes/position_fw.md

@@ -1 +1 @@
-<Redirect to="../flight_modes_fw/position" />
+<Redirect to="../flight_modes_fw/cruise" />

docs/ko/flight_modes_fw/acro.md

@@ -16,6 +16,17 @@ Manual mode for performing acrobatic maneuvers e.g. rolls, flips, stalls and acr
 Roll-pitch-yaw stick inputs are translated to angular rate commands that are stabilized by autopilot.
 Throttle is passed directly to control allocation.
 
+<!-- AUTO-GENERATED: mode_requirements_fixed_wing_acro -->
+
+### Mode Requirements
+
+The following requirements must be met to arm in this mode, or to switch to this mode when it is armed.
+
+- [`mode_req_angular_velocity`](../flight_modes/mode_requirements.md#mode_req_angular_velocity) — Angular velocity
+- [`mode_req_manual_control`](../flight_modes/mode_requirements.md#mode_req_manual_control) — Requires stick input
+
+<!-- END AUTO-GENERATED: mode_requirements_fixed_wing_acro -->
+
 ## 매개변수
 
 | Parameter                                                                                                                                                            | 설명                                                                                                                                                                                                                                  |

docs/ko/flight_modes_fw/altitude.md

@@ -8,8 +8,8 @@ The mode will not attempt to hold the vehicle course against wind.
 Airspeed is actively controlled if an airspeed sensor is installed.
 
 :::tip
-_Altitude mode_ is similar to [Position mode](../flight_modes_fw/position.md) in that both modes level the vehicle and maintain altitude when sticks are released.
-The difference is that position mode holds the actual flight path (course) steady against wind, while altitude just holds the heading.
+_Altitude mode_ is similar to [Cruise mode](../flight_modes_fw/cruise.md) in that both modes level the vehicle and maintain altitude when sticks are released.
+The difference is that Cruise mode holds the actual flight path (course) steady against wind, while altitude just holds the heading.
 :::
 
 The vehicle performs a [coordinated turn](https://en.wikipedia.org/wiki/Coordinated_flight) if the roll sticks are non-zero, while the pitch stick controls the rate of ascent/descent.
@@ -43,6 +43,19 @@ The vehicle course is not maintained, and can drift due to wind.
 - Manual control input is required (such as RC control, joystick).
 - An altitude measurement source is required (usually barometer or GPS)
 
+<!-- AUTO-GENERATED: mode_requirements_fixed_wing_altctl -->
+
+### Mode Requirements
+
+The following requirements must be met to arm in this mode, or to switch to this mode when it is armed.
+
+- [`mode_req_angular_velocity`](../flight_modes/mode_requirements.md#mode_req_angular_velocity) — Angular velocity
+- [`mode_req_attitude`](../flight_modes/mode_requirements.md#mode_req_attitude) — Attitude/pose
+- [`mode_req_local_alt`](../flight_modes/mode_requirements.md#mode_req_local_alt) — Local altitude relative to EKF2 origin ('0') position
+- [`mode_req_manual_control`](../flight_modes/mode_requirements.md#mode_req_manual_control) — Requires stick input
+
+<!-- END AUTO-GENERATED: mode_requirements_fixed_wing_altctl -->
+
 ## 매개변수
 
 The mode is affected by the following parameters:

docs/ko/flight_modes_fw/cruise.md

@@ -0,0 +1,82 @@
+# Cruise Mode (Fixed-Wing)
+
+<img src="../../assets/site/difficulty_easy.png" title="Easy to fly" width="30px" />&nbsp;<img src="../../assets/site/remote_control.svg" title="Manual/Remote control required" width="30px" />&nbsp;<img src="../../assets/site/position_fixed.svg" title="Position fix required (e.g. GPS)" width="30px" />
+
+_Cruise mode_ (also shown as _Position_ in some tools) is the easiest and safest manual mode.
+It is supported on vehicles that have a position estimate (e.g. GPS).
+It makes it easier for pilots to control vehicle altitude, and in particular to reach and maintain a fixed altitude.
+The mode will hold the vehicle's course against wind.
+Airspeed is actively controlled if an airspeed sensor is installed.
+
+The vehicle performs a [coordinated turn](https://en.wikipedia.org/wiki/Coordinated_flight) if the roll sticks are non-zero, while the pitch stick controls the rate of ascent/descent.
+The throttle determines airspeed — at 50% throttle the aircraft will hold its current altitude with a preset cruise speed.
+
+When all sticks are released/centered (no roll, pitch, yaw, and ~50% throttle) the aircraft will return to straight, level flight, and keep its current altitude and flight path irrespective of wind.
+This makes it easy to recover from any problems when flying.
+Roll and pitch are angle-controlled (so it is impossible to roll over or loop the vehicle).
+
+The yaw stick can be used to increase/reduce the yaw rate of the vehicle in turns.
+If left at center the controller does the turn coordination by itself, meaning that it will apply the necessary yaw rate for the current roll angle to perform a smooth turn.
+The diagram below shows the mode behaviour visually (for a [mode 2 transmitter](../getting_started/rc_transmitter_receiver.md#transmitter_modes)).
+
+![FW Cruise Mode](../../assets/flight_modes/position_fw.png)
+
+## Technical Description
+
+Cruise mode is like [Altitude mode](../flight_modes_fw/altitude.md) but with course stabilization.
+Airspeed is also stabilized if an airspeed sensor is present.
+
+- Centered Roll/Pitch/Yaw inputs (inside deadband):
+  - Autopilot levels vehicle and maintains altitude, airspeed and course over ground.
+- Outside center:
+  - Pitch stick controls altitude.
+  - Throttle stick controls the airspeed of the aircraft if an airspeed sensor is connected. Without an airspeed sensor the vehicle will fly level at trim throttle ([FW_THR_TRIM](../advanced_config/parameter_reference.md#FW_THR_TRIM)), increasing or decreasing throttle as needed to climb or descend.
+  - Roll stick controls roll angle. Autopilot will maintain [coordinated flight](https://en.wikipedia.org/wiki/Coordinated_flight).
+  - Yaw stick adds an additional yaw rate setpoint (added to the one calculated by the autopilot to maintain coordinated flight).
+    Can be used to manually change the side slip of the vehicle.
+- Manual control input is required (such as RC control, joystick).
+- An altitude measurement source is required (usually barometer or GPS)
+
+<!-- AUTO-GENERATED: mode_requirements_fixed_wing_posctl -->
+
+### Mode Requirements
+
+The following requirements must be met to arm in this mode, or to switch to this mode when it is armed.
+
+- [`mode_req_angular_velocity`](../flight_modes/mode_requirements.md#mode_req_angular_velocity) — Angular velocity
+- [`mode_req_attitude`](../flight_modes/mode_requirements.md#mode_req_attitude) — Attitude/pose
+- [`mode_req_local_alt`](../flight_modes/mode_requirements.md#mode_req_local_alt) — Local altitude relative to EKF2 origin ('0') position
+- [`mode_req_local_position_relaxed`](../flight_modes/mode_requirements.md#mode_req_local_position_relaxed) — Position relative to EKF2 origin ('0') point but accepts poor accuracy
+- [`mode_req_manual_control`](../flight_modes/mode_requirements.md#mode_req_manual_control) — Requires stick input
+
+<!-- END AUTO-GENERATED: mode_requirements_fixed_wing_posctl -->
+
+## 매개변수
+
+The mode is affected by the following parameters:
+
+| Parameter                                                                                                                                                                                       | 설명                                                                                                                   |
+| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------- |
+| <a id="FW_AIRSPD_MIN"></a>[FW_AIRSPD_MIN](../advanced_config/parameter_reference.md#FW_AIRSPD_MIN)                                                    | Min airspeed. Default: 10 m/s.                                       |
+| <a id="FW_AIRSPD_MAX"></a>[FW_AIRSPD_MAX](../advanced_config/parameter_reference.md#FW_AIRSPD_MAX)                                                    | Max airspeed. Default: 20 m/s.                                       |
+| <a id="FW_AIRSPD_TRIM"></a>[FW_AIRSPD_TRIM](../advanced_config/parameter_reference.md#FW_AIRSPD_TRIM)                                                 | Cruise speed. Default: 15 m/s.                                       |
+| <a id="FW_MAN_P_MAX"></a>[FW_MAN_P_MAX](../advanced_config/parameter_reference.md#FW_MAN_P_MAX)                                  | Max pitch setpoint in attitude stabilized mode. Default: 45 degrees. |
+| <a id="FW_MAN_R_MAX"></a>[FW_MAN_R_MAX](../advanced_config/parameter_reference.md#FW_MAN_R_MAX)                                  | Max roll setpoint in attitude stabilized mode. Default: 45 degrees.  |
+| <a id="FW_T_CLMB_R_SP"></a>[FW_T_CLMB_R_SP](../advanced_config/parameter_reference.md#FW_T_CLMB_R_SP)       | Max climb rate setpoint. 기본값: 3 m/s.                                 |
+| <a id="FW_T_SINK_R_SP"></a>[FW_T_SINK_R_SP](../advanced_config/parameter_reference.md#FW_T_SINK_R_SP)       | Max sink rate setpoint. Default: 2 m/s.                              |
+| <a id="FW_PN_R_SLEW_MAX"></a>[FW_PN_R_SLEW_MAX](../advanced_config/parameter_reference.md#FW_PN_R_SLEW_MAX) | Roll setpoint slew rate limit. Default: 90 °/s.                      |
+
+## MAVLink Commands
+
+The following commands are relevant to this mode:
+
+- [MAV_CMD_DO_CHANGE_SPEED](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_CHANGE_SPEED) — Sets the cruise airspeed for centred throttle stick.
+
+  This requires an airspeed sensor.
+  Only the airspeed speed type is handled (`param1` must be `0`); other speed types are ignored.
+  At centered throttle the vehicle holds the commanded airspeed (`param2`) if a positive value is set (non-positive values are ignored).
+  The value is constrained between [FW_AIRSPD_MIN](../advanced_config/parameter_reference.md#FW_AIRSPD_MIN) and [FW_AIRSPD_MAX](../advanced_config/parameter_reference.md#FW_AIRSPD_MAX), and defaults to [FW_AIRSPD_TRIM](../advanced_config/parameter_reference.md#FW_AIRSPD_TRIM) if no airspeed has been commanded.
+  Deflecting the throttle stick scales the airspeed toward `FW_AIRSPD_MIN` (back) or `FW_AIRSPD_MAX` (forward) around this value.
+  The commanded airspeed resets to `FW_AIRSPD_TRIM` on every flight mode change.
+
+Note, other commands may be supported.

docs/ko/flight_modes_fw/descend.md

@@ -1,7 +1,7 @@
 # Descend Mode (Fixed-Wing)
 
-_Descend_ is a [failsafe](../config/safety.md) fallback mode.
-It is activated automatically by PX4 and cannot be selected by the pilot. It only appears as a status label.
+_Descend_ is a [failsafe](../config/safety.md) fallback mode that is activated automatically by PX4.
+The mode is published when active but cannot be selected by the pilot.
 
 The vehicle descends open-loop: it circles at a fixed bank angle ([FW_GPSF_R](../advanced_config/parameter_reference.md#FW_GPSF_R)) and descends at a fixed 0.5 m/s, but does not control its ground position, so the circle drifts with the wind.
 It is the last resort used when the vehicle must come down but has no valid position estimate for a controlled descent.
@@ -14,21 +14,45 @@ It is the last resort used when the vehicle must come down but has no valid posi
 
 :::
 
-## When It Occurs
+## Technical Description
 
-Descend is the bottom of the failsafe chain (`Hold → Return → Land → Descend`).
-PX4 falls through to it whenever a failsafe needs to bring the vehicle down or hold position but the position estimate is missing, so none of the higher options can run. 예:
+### When It Occurs
+
+Descend mode is at the bottom of the failsafe chain (along with [Flight termination](../advanced_config/flight_termination.md)):
+
+```text
+Hold → Return → Land → ( Descend | Terminate )
+```
+
+:::tip
+[COM_POS_FS_ACT](../advanced_config/parameter_reference.md#COM_POS_FS_ACT) <Badge type="tip" text="main (PX4 v2.0)" /> selects whether `Descend` or `Terminate` is used as the failsafe.
+:::
+
+PX4 falls through to Descend mode whenever a failsafe needs to bring the vehicle down or hold position but the position estimate is missing, so none of the higher options can run.
+예:
 
 - Losing the position estimate while landing, e.g. GNSS and airspeed sensors fail during [Land](../flight_modes_fw/land.md): the vehicle keeps descending, but now open-loop as _Descend_.
 - Losing the position estimate in [Hold](../flight_modes_fw/hold.md), [Mission](../flight_modes_fw/mission.md) or [Return](../flight_modes_fw/return.md): with no position to hold, fly to, or return with, the failsafe escalates down to _Descend_.
 - A Return or Land failsafe (from manual control loss, GCS/data link loss, low battery, geofence breach, …) triggered while no valid position estimate is available: Return and Land can't run, so it degrades to _Descend_.
 
-## Exiting Descend
+### Exiting Descend
 
-Descend ends when either:
+Descend ends when either the:
 
-- the failsafe condition is resolved (e.g. the position estimate recovers), and the vehicle returns to its previous mode; or
-- the pilot takes over by switching to a manual mode ([Position](../flight_modes_fw/position.md), [Altitude](../flight_modes_fw/altitude.md) or [Stabilized](../flight_modes_fw/stabilized.md)).
+- failsafe condition is resolved (e.g. the position estimate recovers), and the vehicle returns to its previous mode; or
+- pilot takes over by switching to a manual mode ([Cruise](../flight_modes_fw/cruise.md), [Altitude](../flight_modes_fw/altitude.md) or [Stabilized](../flight_modes_fw/stabilized.md)).
+
+<!-- AUTO-GENERATED: mode_requirements_fixed_wing_descend -->
+
+### Mode Requirements
+
+The following requirements must be met to arm in this mode, or to switch to this mode when it is armed.
+
+- [`mode_req_angular_velocity`](../flight_modes/mode_requirements.md#mode_req_angular_velocity) — Angular velocity
+- [`mode_req_attitude`](../flight_modes/mode_requirements.md#mode_req_attitude) — Attitude/pose
+- [`mode_req_prevent_arming`](../flight_modes/mode_requirements.md#mode_req_prevent_arming) — Mode prevents arming
+
+<!-- END AUTO-GENERATED: mode_requirements_fixed_wing_descend -->
 
 ## See Also
 

docs/ko/flight_modes_fw/guided_course.md

@@ -3,7 +3,7 @@
 <img src="../../assets/site/position_fixed.svg" title="Position required (e.g. GPS)" width="30px" />
 
 _Guided Course mode_ maintains a constant ground track (course), altitude, and airspeed without any manual stick input.
-The operator controls the vehicle entirely using [GCS commands](#supported-commands), making it the guided equivalent of [Position mode](../flight_modes_fw/position.md).
+The operator controls the vehicle entirely using [GCS commands](#supported-commands), making it the guided equivalent of [Cruise mode](../flight_modes_fw/cruise.md).
 
 :::tip
 This mode is suited to situations where an operator wants to guide a fixed-wing vehicle from a GCS without manual control.
@@ -47,7 +47,21 @@ The navigator mode (`course.cpp`) sets a position setpoint with `course` (ground
 The fixed-wing mode manager (`FixedWingModeManager`) detects the finite `course` field and bypasses normal waypoint sequencing, calling `navigateBearing()` from the directional guidance library to compute lateral acceleration and course setpoints.
 Longitudinal control targets the altitude and airspeed from the setpoint.
 
-## Failsafe Behaviour
+<!-- AUTO-GENERATED: mode_requirements_fixed_wing_guided_course -->
+
+### Mode Requirements
+
+The following requirements must be met to arm in this mode, or to switch to this mode when it is armed.
+
+- [`mode_req_angular_velocity`](../flight_modes/mode_requirements.md#mode_req_angular_velocity) — Angular velocity
+- [`mode_req_attitude`](../flight_modes/mode_requirements.md#mode_req_attitude) — Attitude/pose
+- [`mode_req_local_alt`](../flight_modes/mode_requirements.md#mode_req_local_alt) — Local altitude relative to EKF2 origin ('0') position
+- [`mode_req_local_position_relaxed`](../flight_modes/mode_requirements.md#mode_req_local_position_relaxed) — Position relative to EKF2 origin ('0') point but accepts poor accuracy
+- [`mode_req_wind_and_flight_time_compliance`](../flight_modes/mode_requirements.md#mode_req_wind_and_flight_time_compliance) — Safety compliance limits on wind and flight time.
+
+<!-- END AUTO-GENERATED: mode_requirements_fixed_wing_guided_course -->
+
+### Failsafe Behaviour
 
 Guided Course is classified as an `AUTO` mode for failsafe purposes.
 The following failsafe exception parameters apply:

docs/ko/flight_modes_fw/hold.md

@@ -94,6 +94,21 @@ Any remaining altitude error is then removed by climbing or sinking once the veh
 The ramp is (re)started whenever the target altitude changes; a reposition that keeps the same altitude does not change the vehicle's altitude.
 :::
 
+<!-- AUTO-GENERATED: mode_requirements_fixed_wing_auto_loiter -->
+
+### Mode Requirements
+
+The following requirements must be met to arm in this mode, or to switch to this mode when it is armed.
+
+- [`mode_req_angular_velocity`](../flight_modes/mode_requirements.md#mode_req_angular_velocity) — Angular velocity
+- [`mode_req_attitude`](../flight_modes/mode_requirements.md#mode_req_attitude) — Attitude/pose
+- [`mode_req_global_position_relaxed`](../flight_modes/mode_requirements.md#mode_req_global_position_relaxed) — Position measurement updates in a global coordinate frame but accepts poor accuracy
+- [`mode_req_local_alt`](../flight_modes/mode_requirements.md#mode_req_local_alt) — Local altitude relative to EKF2 origin ('0') position
+- [`mode_req_local_position_relaxed`](../flight_modes/mode_requirements.md#mode_req_local_position_relaxed) — Position relative to EKF2 origin ('0') point but accepts poor accuracy
+- [`mode_req_wind_and_flight_time_compliance`](../flight_modes/mode_requirements.md#mode_req_wind_and_flight_time_compliance) — Safety compliance limits on wind and flight time.
+
+<!-- END AUTO-GENERATED: mode_requirements_fixed_wing_auto_loiter -->
+
 ## 매개변수
 
 Hold mode behaviour can be configured using the parameters below.

docs/ko/flight_modes_fw/index.md

@@ -11,12 +11,12 @@ Manual modes provide different levels of autopilot support when flying manually
 
 Manual-Easy:
 
-- [Position mode](../flight_modes_fw/position.md) — Easiest and safest manual mode for vehicles that have a position fix/GPS.
+- [Cruise mode](../flight_modes_fw/cruise.md) — Easiest and safest manual mode for vehicles that have a position fix/GPS.
   The vehicle performs a [coordinated turn](https://en.wikipedia.org/wiki/Coordinated_flight) if the roll stick is non-zero, while the pitch stick controls the rate of ascent/descent.
   If the sticks are released the vehicle levels out and holds a straight flight path, even against wind.
   Airspeed is actively controlled if an airspeed sensor is installed.
 - [Altitude](../flight_modes_fw/altitude.md) — Easiest and safest _non-GPS_ manual mode.
-  The only difference compared to _Position mode_ is that the pilot always directly controls the roll angle of the plane and there is no automatic course holding.
+  The only difference compared to _Cruise mode_ is that the pilot always directly controls the roll angle of the plane and there is no automatic course holding.
 - Altitude Cruise mode — It behaves exactly like _Altitude mode_, with the only difference being that the manual control failsafe can be disabled. This is done by setting the corresponding flag in [COM_RCL_EXCEPT](../advanced_config/parameter_reference.md#COM_RCL_EXCEPT). In that case the current altitude, airspeed and heading (by leveling out the roll angle) are kept until the manual control link is regained or the mode is exited.
   It is highly recommended to only disable the manual control loss failsafe for this mode if there is a stable data link connection to the vehicle at all times, or to enable the data link loss failsafe through [NAV_DLL_ACT](../advanced_config/parameter_reference.md#NAV_DLL_ACT).
 - [Stabilized mode](../flight_modes_fw/stabilized.md) — The pilot directly commands the roll and pitch angle and the vehicle keeps the setpoint until the sticks are moved again.

docs/ko/flight_modes_fw/land.md

@@ -37,6 +37,20 @@ The vehicle will flare if configured to do so (see [Flaring](../flight_modes_fw/
 
 [Manual nudging](../flight_modes_fw/mission.md#automatic-abort) and [automatic land abort](../flight_modes_fw/mission.md#nudging) are not available in land mode.
 
+<!-- AUTO-GENERATED: mode_requirements_fixed_wing_auto_land -->
+
+### Mode Requirements
+
+The following requirements must be met to arm in this mode, or to switch to this mode when it is armed.
+
+- [`mode_req_angular_velocity`](../flight_modes/mode_requirements.md#mode_req_angular_velocity) — Angular velocity
+- [`mode_req_attitude`](../flight_modes/mode_requirements.md#mode_req_attitude) — Attitude/pose
+- [`mode_req_local_alt`](../flight_modes/mode_requirements.md#mode_req_local_alt) — Local altitude relative to EKF2 origin ('0') position
+- [`mode_req_local_position_relaxed`](../flight_modes/mode_requirements.md#mode_req_local_position_relaxed) — Position relative to EKF2 origin ('0') point but accepts poor accuracy
+- [`mode_req_prevent_arming`](../flight_modes/mode_requirements.md#mode_req_prevent_arming) — Mode prevents arming
+
+<!-- END AUTO-GENERATED: mode_requirements_fixed_wing_auto_land -->
+
 ### 매개변수
 
 Land mode behaviour can be configured using the parameters below.

docs/ko/flight_modes_fw/manual.md

@@ -20,6 +20,16 @@ Manual mode where stick input is sent directly to control allocation (for "fully
 
 This is the only mode that overrides the FMU (commands are sent via the safety coprocessor). It provides a safety mechanism that allows full control of throttle, elevator, ailerons and rudder via RC in the event of an FMU firmware malfunction.
 
+<!-- AUTO-GENERATED: mode_requirements_fixed_wing_manual -->
+
+### Mode Requirements
+
+The following requirements must be met to arm in this mode, or to switch to this mode when it is armed.
+
+- [`mode_req_manual_control`](../flight_modes/mode_requirements.md#mode_req_manual_control) — Requires stick input
+
+<!-- END AUTO-GENERATED: mode_requirements_fixed_wing_manual -->
+
 ## 매개변수
 
 | Parameter                                                                                                                                                   | 설명                                                                                                                                                                                                                                                                                         |

docs/ko/flight_modes_fw/mission.md

@@ -8,12 +8,28 @@ The mission is typically created and uploaded with a Ground Control Station (GCS
 ::: info
 
 - This mode requires a global 3d position estimate (from GPS or inferred from a [local position](../ros/external_position_estimation.md#enabling-auto-modes-with-a-local-position)).
-- The vehicle must be armed before this mode can be engaged.
+- The mission will start once the vehicle is armed.
 - This mode is automatic - no user intervention is _required_ to control the vehicle.
-- RC 제어 스위치는 기체의 비행 모드를 변경할 수 있습니다.
+- Sticks/switches can be used to switch out of mission mode on any vehicle.
 
 :::
 
+<!-- AUTO-GENERATED: mode_requirements_fixed_wing_auto_mission -->
+
+### Mode Requirements
+
+The following requirements must be met to arm in this mode, or to switch to this mode when it is armed.
+
+- [`mode_req_angular_velocity`](../flight_modes/mode_requirements.md#mode_req_angular_velocity) — Angular velocity
+- [`mode_req_attitude`](../flight_modes/mode_requirements.md#mode_req_attitude) — Attitude/pose
+- [`mode_req_global_position_relaxed`](../flight_modes/mode_requirements.md#mode_req_global_position_relaxed) — Position measurement updates in a global coordinate frame but accepts poor accuracy
+- [`mode_req_local_alt`](../flight_modes/mode_requirements.md#mode_req_local_alt) — Local altitude relative to EKF2 origin ('0') position
+- [`mode_req_local_position_relaxed`](../flight_modes/mode_requirements.md#mode_req_local_position_relaxed) — Position relative to EKF2 origin ('0') point but accepts poor accuracy
+- [`mode_req_mission`](../flight_modes/mode_requirements.md#mode_req_mission) — Valid mission in autopilot's storage
+- [`mode_req_wind_and_flight_time_compliance`](../flight_modes/mode_requirements.md#mode_req_wind_and_flight_time_compliance) — Safety compliance limits on wind and flight time.
+
+<!-- END AUTO-GENERATED: mode_requirements_fixed_wing_auto_mission -->
+
 ## 설명
 
 Missions are usually created in a ground control station (e.g. [QGroundControl](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/plan_view/plan_view.html)) and uploaded prior to launch.
@@ -57,7 +73,7 @@ At high level all vehicle types behave in the same way when MISSION mode is enga
 
 :::
 
-Missions can be paused by switching out of mission mode to any other mode (such as [Hold mode](../flight_modes_fw/hold.md) or [Position mode](../flight_modes_fw/position.md)), and resumed by switching back to mission mode.
+Missions can be paused by switching out of mission mode to any other mode (such as [Hold mode](../flight_modes_fw/hold.md) or [Cruise mode](../flight_modes_fw/cruise.md)), and resumed by switching back to mission mode.
 If the vehicle was not capturing images when it was paused, on resuming it will head from its _current position_ towards the same waypoint as it as was heading towards originally.
 If the vehicle was capturing images (has camera trigger items) it will instead head from its current position towards the last waypoint it traveled through (before pausing), and then retrace its path at the same speed and with the same camera triggering behaviour.
 This ensures that in survey/camera missions the planned path is captured.
@@ -374,7 +390,7 @@ Note that if the wheel controller is enabled ([FW_W_EN](#FW_W_EN)), the controll
 
 :::info
 Nudging should not be used to supplement poor position control tuning.
-If the vehicle is regularly showing poor tracking performance on a defined path, please refer to the [fixed-wing control tuning guide](../flight_modes_fw/position.md) for instruction.
+If the vehicle is regularly showing poor tracking performance on a defined path, please refer to the [fixed-wing control tuning guide](../flight_modes_fw/cruise.md) for instruction.
 :::
 
 | Parameter                                                                                                                                                         | 설명                                                                                                 |

docs/ko/flight_modes_fw/position.md

@@ -1,68 +1 @@
-# Position Mode (Fixed-Wing)
-
-<img src="../../assets/site/difficulty_easy.png" title="Easy to fly" width="30px" />&nbsp;<img src="../../assets/site/remote_control.svg" title="Manual/Remote control required" width="30px" />&nbsp;<img src="../../assets/site/position_fixed.svg" title="Position fix required (e.g. GPS)" width="30px" />
-
-_Position mode_ is the easiest and safest manual mode.
-It is supported on vehicles that have a position estimate (e.g. GPS).
-It makes it easier for pilots to control vehicle altitude, and in particular to reach and maintain a fixed altitude.
-The mode will hold the vehicle's course against wind.
-Airspeed is actively controlled if an airspeed sensor is installed.
-
-The vehicle performs a [coordinated turn](https://en.wikipedia.org/wiki/Coordinated_flight) if the roll sticks are non-zero, while the pitch stick controls the rate of ascent/descent.
-The throttle determines airspeed — at 50% throttle the aircraft will hold its current altitude with a preset cruise speed.
-
-When all sticks are released/centered (no roll, pitch, yaw, and ~50% throttle) the aircraft will return to straight, level flight, and keep its current altitude and flight path irrespective of wind.
-This makes it easy to recover from any problems when flying.
-Roll and pitch are angle-controlled (so it is impossible to roll over or loop the vehicle).
-
-The yaw stick can be used to increase/reduce the yaw rate of the vehicle in turns.
-If left at center the controller does the turn coordination by itself, meaning that it will apply the necessary yaw rate for the current roll angle to perform a smooth turn.
-The diagram below shows the mode behaviour visually (for a [mode 2 transmitter](../getting_started/rc_transmitter_receiver.md#transmitter_modes)).
-
-![FW Position Mode](../../assets/flight_modes/position_fw.png)
-
-## Technical Description
-
-Position mode is like [Stabilized mode](../flight_modes_fw/altitude.md) but with course stabilization.
-Airspeed is also stabilized if an airspeed sensor is present.
-
-- Centered Roll/Pitch/Yaw inputs (inside deadband):
-  - Autopilot levels vehicle and maintains altitude, airspeed and course over ground.
-- Outside center:
-  - Pitch stick controls altitude.
-  - Throttle stick controls the airspeed of the aircraft if an airspeed sensor is connected. Without an airspeed sensor the vehicle will fly level at trim throttle ([FW_THR_TRIM](../advanced_config/parameter_reference.md#FW_THR_TRIM)), increasing or decreasing throttle as needed to climb or descend.
-  - Roll stick controls roll angle. Autopilot will maintain [coordinated flight](https://en.wikipedia.org/wiki/Coordinated_flight).
-  - Yaw stick adds an additional yaw rate setpoint (added to the one calculated by the autopilot to maintain coordinated flight).
-    Can be used to manually change the side slip of the vehicle.
-- Manual control input is required (such as RC control, joystick).
-- An altitude measurement source is required (usually barometer or GPS)
-
-## 매개변수
-
-The mode is affected by the following parameters:
-
-| Parameter                                                                                                                                                                                       | 설명                                                                                                                   |
-| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------- |
-| <a id="FW_AIRSPD_MIN"></a>[FW_AIRSPD_MIN](../advanced_config/parameter_reference.md#FW_AIRSPD_MIN)                                                    | Min airspeed. Default: 10 m/s.                                       |
-| <a id="FW_AIRSPD_MAX"></a>[FW_AIRSPD_MAX](../advanced_config/parameter_reference.md#FW_AIRSPD_MAX)                                                    | Max airspeed. Default: 20 m/s.                                       |
-| <a id="FW_AIRSPD_TRIM"></a>[FW_AIRSPD_TRIM](../advanced_config/parameter_reference.md#FW_AIRSPD_TRIM)                                                 | Cruise speed. Default: 15 m/s.                                       |
-| <a id="FW_MAN_P_MAX"></a>[FW_MAN_P_MAX](../advanced_config/parameter_reference.md#FW_MAN_P_MAX)                                  | Max pitch setpoint in attitude stabilized mode. Default: 45 degrees. |
-| <a id="FW_MAN_R_MAX"></a>[FW_MAN_R_MAX](../advanced_config/parameter_reference.md#FW_MAN_R_MAX)                                  | Max roll setpoint in attitude stabilized mode. Default: 45 degrees.  |
-| <a id="FW_T_CLMB_R_SP"></a>[FW_T_CLMB_R_SP](../advanced_config/parameter_reference.md#FW_T_CLMB_R_SP)       | Max climb rate setpoint. 기본값: 3 m/s.                                 |
-| <a id="FW_T_SINK_R_SP"></a>[FW_T_SINK_R_SP](../advanced_config/parameter_reference.md#FW_T_SINK_R_SP)       | Max sink rate setpoint. Default: 2 m/s.                              |
-| <a id="FW_PN_R_SLEW_MAX"></a>[FW_PN_R_SLEW_MAX](../advanced_config/parameter_reference.md#FW_PN_R_SLEW_MAX) | Roll setpoint slew rate limit. Default: 90 °/s.                      |
-
-## MAVLink Commands
-
-The following commands are relevant to this mode:
-
-- [MAV_CMD_DO_CHANGE_SPEED](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_CHANGE_SPEED) — Sets the cruise airspeed for centred throttle stick.
-
-  This requires an airspeed sensor.
-  Only the airspeed speed type is handled (`param1` must be `0`); other speed types are ignored.
-  At centered throttle the vehicle holds the commanded airspeed (`param2`) if a positive value is set (non-positive values are ignored).
-  The value is constrained between [FW_AIRSPD_MIN](../advanced_config/parameter_reference.md#FW_AIRSPD_MIN) and [FW_AIRSPD_MAX](../advanced_config/parameter_reference.md#FW_AIRSPD_MAX), and defaults to [FW_AIRSPD_TRIM](../advanced_config/parameter_reference.md#FW_AIRSPD_TRIM) if no airspeed has been commanded.
-  Deflecting the throttle stick scales the airspeed toward `FW_AIRSPD_MIN` (back) or `FW_AIRSPD_MAX` (forward) around this value.
-  The commanded airspeed resets to `FW_AIRSPD_TRIM` on every flight mode change.
-
-Note, other commands may be supported.
+<Redirect to="../flight_modes_fw/cruise" />

docs/ko/flight_modes_fw/return.md

@@ -47,6 +47,22 @@ When the destination is a rally point or the home location, on arrival the vehic
 The vehicle can be forced to land at the destination by changing [RTL_LAND_DELAY](#RTL_LAND_DELAY) so it is not -1.
 In this case the vehicle will land in the same way as [Land mode](../flight_modes_fw/land.md).
 
+<!-- AUTO-GENERATED: mode_requirements_fixed_wing_auto_rtl -->
+
+### Mode Requirements
+
+The following requirements must be met to arm in this mode, or to switch to this mode when it is armed.
+
+- [`mode_req_angular_velocity`](../flight_modes/mode_requirements.md#mode_req_angular_velocity) — Angular velocity
+- [`mode_req_attitude`](../flight_modes/mode_requirements.md#mode_req_attitude) — Attitude/pose
+- [`mode_req_global_position_relaxed`](../flight_modes/mode_requirements.md#mode_req_global_position_relaxed) — Position measurement updates in a global coordinate frame but accepts poor accuracy
+- [`mode_req_home_position`](../flight_modes/mode_requirements.md#mode_req_home_position) — Global home reference must be set
+- [`mode_req_local_alt`](../flight_modes/mode_requirements.md#mode_req_local_alt) — Local altitude relative to EKF2 origin ('0') position
+- [`mode_req_local_position_relaxed`](../flight_modes/mode_requirements.md#mode_req_local_position_relaxed) — Position relative to EKF2 origin ('0') point but accepts poor accuracy
+- [`mode_req_prevent_arming`](../flight_modes/mode_requirements.md#mode_req_prevent_arming) — Mode prevents arming
+
+<!-- END AUTO-GENERATED: mode_requirements_fixed_wing_auto_rtl -->
+
 ## 매개변수
 
 The RTL parameters are listed in [Parameter Reference > Return Mode](../advanced_config/parameter_reference.md#return-mode).

docs/ko/flight_modes_fw/stabilized.md

@@ -37,6 +37,18 @@ The vehicle course and altitude are not maintained, and can drift due to wind.
   Can be used to manually change the side slip of the vehicle.
 - Manual control input is required (such as RC control, joystick).
 
+<!-- AUTO-GENERATED: mode_requirements_fixed_wing_stab -->
+
+### Mode Requirements
+
+The following requirements must be met to arm in this mode, or to switch to this mode when it is armed.
+
+- [`mode_req_angular_velocity`](../flight_modes/mode_requirements.md#mode_req_angular_velocity) — Angular velocity
+- [`mode_req_attitude`](../flight_modes/mode_requirements.md#mode_req_attitude) — Attitude/pose
+- [`mode_req_manual_control`](../flight_modes/mode_requirements.md#mode_req_manual_control) — Requires stick input
+
+<!-- END AUTO-GENERATED: mode_requirements_fixed_wing_stab -->
+
 ## 매개변수
 
 The mode is affected by the following parameters:

docs/ko/flight_modes_fw/takeoff.md

@@ -55,6 +55,18 @@ If the local position is invalid or becomes invalid while executing the takeoff,
 
 :::
 
+<!-- AUTO-GENERATED: mode_requirements_fixed_wing_auto_takeoff -->
+
+### Mode Requirements
+
+The following requirements must be met to arm in this mode, or to switch to this mode when it is armed.
+
+- [`mode_req_angular_velocity`](../flight_modes/mode_requirements.md#mode_req_angular_velocity) — Angular velocity
+- [`mode_req_attitude`](../flight_modes/mode_requirements.md#mode_req_attitude) — Attitude/pose
+- [`mode_req_local_alt`](../flight_modes/mode_requirements.md#mode_req_local_alt) — Local altitude relative to EKF2 origin ('0') position
+
+<!-- END AUTO-GENERATED: mode_requirements_fixed_wing_auto_takeoff -->
+
 ### 매개변수
 
 Parameters that affect both catapult/hand-launch and runway takeoffs:
@@ -123,9 +135,38 @@ The _runway takeoff mode_ has the following phases:
 2. **Clamped to runway**: Pitch fixed, no roll and takeoff path controlled until the rotation airspeed ([RWTO_ROT_AIRSPD](../advanced_config/parameter_reference.md#RWTO_ROT_AIRSPD)) is reached. The operator is able to nudge the vehicle left/right via yaw stick.
 3. **Climbout**: Increase pitch setpoint and climb to takeoff altitude. To prevent wingstrikes, the controller will keep the roll setpoint locked to 0 when close to the ground, and then gradually allow more roll while climbing. It is based on the vehicle geometry as configured in [FW_WING_SPAN](#FW_WING_SPAN) and [FW_WING_HEIGHT](#FW_WING_HEIGHT).
 
+### Wheel Controller {#wheel_controller}
+
+The wheel controller steers the vehicle on the ground using the steerable nose/tail wheel.
+It is enabled with [FW_W_EN](#FW_W_EN) and only runs in automatic modes during runway takeoff and during the landing rollout.
+Whenever it is not active (in all manual modes, or if it is disabled), the yaw stick is mapped directly to the wheel.
+
+The controller is cascaded:
+
+1. **Heading controller**: The heading (yaw) error is converted into a yaw rate setpoint with a fixed time constant of 0.1s, limited to [FW_W_RMAX](#FW_W_RMAX).
+2. **Rate controller**: A P-I-FF controller ([FW_WR_P](#FW_WR_P), [FW_WR_I](#FW_WR_I), [FW_WR_FF](#FW_WR_FF), integrator limited by [FW_WR_IMAX](#FW_WR_IMAX)) turns the yaw rate setpoint into a normalized wheel steering command in the range [-1, 1].
+
+The heading setpoint during the ground roll is the bearing from the takeoff position to the takeoff waypoint, so the nose is kept aligned with the intended runway direction.
+If no navigation reference is available (takeoff without takeoff waypoint), and during the landing rollout, the controller instead holds the heading that was captured at the moment the wheel steering engaged.
+
+![Wheel steering heading setpoint during the ground roll](../../assets/flight_modes/fw_runway_takeoff_wheel_steering.svg)
+
+Operator yaw stick input is added on top of the controller output to "nudge" the vehicle (enabled with [RWTO_NUDGE](#RWTO_NUDGE) for takeoff, and [FW_LND_NUDGE](../advanced_config/parameter_reference.md#FW_LND_NUDGE) for landing).
+
 :::info
-For a smooth takeoff, the runway wheel controller possibly needs to be tuned.
-It consists of a rate controller (P-I-FF-controller with the parameters [FW_WR_P](../advanced_config/parameter_reference.md#FW_WR_P), [FW_WR_I](../advanced_config/parameter_reference.md#FW_WR_I), [FW_WR_FF](../advanced_config/parameter_reference.md#FW_WR_FF)).
+The gains are scaled with groundspeed (using [FW_AIRSPD_STALL](../advanced_config/parameter_reference.md#FW_AIRSPD_STALL) as the reference speed) so that the steering becomes less aggressive as the vehicle accelerates.
+This means the controller should be tuned at low speed, around stall airspeed.
+:::
+
+For a smooth takeoff the wheel controller usually needs to be tuned:
+
+1. Start with [FW_WR_P](#FW_WR_P) and [FW_WR_FF](#FW_WR_FF) only (set [FW_WR_I](#FW_WR_I) to 0) and taxi/roll the vehicle in _Mission mode_ with active Takeoff waypoint item at low speed.
+2. Increase the gains until the vehicle tracks the runway heading without noticeable oscillation of the nose.
+3. Add [FW_WR_I](#FW_WR_I) to remove a remaining constant heading offset (e.g. caused by wheel misalignment or crosswind).
+
+:::warning
+Excessive gains lead to oscillations of the nose during the ground roll, which can quickly become dangerous at higher groundspeed.
+Always test with increasing speed step by step.
 :::
 
 ### Parameters (Runway Takeoff)
@@ -145,6 +186,19 @@ Runway takeoff is affected by the following parameters:
 | <a id="FW_WING_SPAN"></a>[FW_WING_SPAN](../advanced_config/parameter_reference.md#FW_WING_SPAN)          | The wingspan of the vehicle. Used to prevent wingstrikes.                                                                                                                                    |
 | <a id="FW_WING_HEIGHT"></a>[FW_WING_HEIGHT](../advanced_config/parameter_reference.md#FW_WING_HEIGHT)    | The height of the wings above ground (ground clearance). Used to prevent wingstrikes.                                                                                     |
 
+### Parameters (Wheel Controller)
+
+The [wheel controller](#wheel_controller) is affected by the following parameters:
+
+| Parameter                                                                                                                           | 설명                                                                                      |
+| ----------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------- |
+| [FW_W_EN](#FW_W_EN)                                                                       | Enable wheel controller                                                                 |
+| <a id="FW_W_RMAX"></a>[FW_W_RMAX](../advanced_config/parameter_reference.md#FW_W_RMAX)    | Maximum yaw rate setpoint the heading controller outputs                                |
+| <a id="FW_WR_P"></a>[FW_WR_P](../advanced_config/parameter_reference.md#FW_WR_P)          | Yaw rate controller proportional gain                                                   |
+| <a id="FW_WR_I"></a>[FW_WR_I](../advanced_config/parameter_reference.md#FW_WR_I)          | Yaw rate controller integrator gain (trims a constant heading error) |
+| <a id="FW_WR_IMAX"></a>[FW_WR_IMAX](../advanced_config/parameter_reference.md#FW_WR_IMAX) | Yaw rate controller integrator limit                                                    |
+| <a id="FW_WR_FF"></a>[FW_WR_FF](../advanced_config/parameter_reference.md#FW_WR_FF)       | Yaw rate controller feed forward gain                                                   |
+
 ## See Also
 
 - [Takeoff Mode (MC)](../flight_modes_mc/takeoff.md)

docs/ko/flight_modes_mc/acro.md

@@ -25,6 +25,17 @@ Manual control input is required (such as RC control, joystick):
 - Throttle: Manual control via RC sticks.
   RC input is sent directly to control allocation.
 
+<!-- AUTO-GENERATED: mode_requirements_rotary_wing_acro -->
+
+### Mode Requirements
+
+The following requirements must be met to arm in this mode, or to switch to this mode when it is armed.
+
+- [`mode_req_angular_velocity`](../flight_modes/mode_requirements.md#mode_req_angular_velocity) — Angular velocity
+- [`mode_req_manual_control`](../flight_modes/mode_requirements.md#mode_req_manual_control) — Requires stick input
+
+<!-- END AUTO-GENERATED: mode_requirements_rotary_wing_acro -->
+
 ## Stick Input Mapping
 
 The default values for expo and rate [parameters](#parameters) are _beginner friendly_, reducing the chance that users will flip the vehicle when first trying this mode, or when using Acro mode for manual rate tuning.

docs/ko/flight_modes_mc/altitude.md

@@ -39,6 +39,19 @@ The horizontal position of the vehicle can move due to wind (or pre-existing mom
   - Yaw: Assistance from autopilot to stabilize the attitude rate.
     Position of RC stick maps to the rate of rotation of vehicle in that orientation.
 
+<!-- AUTO-GENERATED: mode_requirements_rotary_wing_altctl -->
+
+### Mode Requirements
+
+The following requirements must be met to arm in this mode, or to switch to this mode when it is armed.
+
+- [`mode_req_angular_velocity`](../flight_modes/mode_requirements.md#mode_req_angular_velocity) — Angular velocity
+- [`mode_req_attitude`](../flight_modes/mode_requirements.md#mode_req_attitude) — Attitude/pose
+- [`mode_req_local_alt`](../flight_modes/mode_requirements.md#mode_req_local_alt) — Local altitude relative to EKF2 origin ('0') position
+- [`mode_req_manual_control`](../flight_modes/mode_requirements.md#mode_req_manual_control) — Requires stick input
+
+<!-- END AUTO-GENERATED: mode_requirements_rotary_wing_altctl -->
+
 ## 매개변수
 
 The mode is affected by the following parameters:

docs/ko/flight_modes_mc/altitude_cruise.md

@@ -34,6 +34,19 @@ A manual mode that is similar to [Altitude mode](../flight_modes_mc/altitude.md)
 - Manual control input is required (such as RC control, joystick) to enter this mode. Other than in all other manual modes, it's though possible to disable the manual control loss failsafe by setting the corresponding flag in [COM_RCL_EXCEPT](../advanced_config/parameter_reference.md#COM_RCL_EXCEPT). In that case the current altitude, tilt and heading are kept until the manual control link is regained or the mode is exited.
   It is highly recommended to only disable the manual control loss failsafe for this mode if there is a stable data link connection to the vehicle at all times, and to enable the data link loss failsafe through [NAV_DLL_ACT](../advanced_config/parameter_reference.md#NAV_DLL_ACT).
 
+<!-- AUTO-GENERATED: mode_requirements_rotary_wing_altitude_cruise -->
+
+### Mode Requirements
+
+The following requirements must be met to arm in this mode, or to switch to this mode when it is armed.
+
+- [`mode_req_angular_velocity`](../flight_modes/mode_requirements.md#mode_req_angular_velocity) — Angular velocity
+- [`mode_req_attitude`](../flight_modes/mode_requirements.md#mode_req_attitude) — Attitude/pose
+- [`mode_req_local_alt`](../flight_modes/mode_requirements.md#mode_req_local_alt) — Local altitude relative to EKF2 origin ('0') position
+- [`mode_req_manual_control`](../flight_modes/mode_requirements.md#mode_req_manual_control) — Requires stick input
+
+<!-- END AUTO-GENERATED: mode_requirements_rotary_wing_altitude_cruise -->
+
 ## 매개변수
 
 Most of the relevant parameters are already covered in the corresponding section in the [Altitude mode](../flight_modes_mc/altitude.md). Here a list of parameters of particular importance for Altitude Cruise.

docs/ko/flight_modes_mc/descend.md

@@ -1,7 +1,7 @@
 # Descend Mode (Multicopter)
 
-_Descend_ is a [failsafe](../config/safety.md) fallback mode.
-It is activated automatically by PX4 and cannot be selected by the pilot. It only appears as a status label.
+_Descend_ is a [failsafe](../config/safety.md) fallback mode that is activated automatically by PX4.
+The mode is published when active but cannot be selected by the pilot.
 
 The vehicle descends open-loop: it keeps its attitude and reduces altitude, but does not control its horizontal position, so it drifts with the wind.
 It is the last resort used when the vehicle must come down but has no valid position estimate for a controlled descent.
@@ -14,21 +14,46 @@ It is the last resort used when the vehicle must come down but has no valid posi
 
 :::
 
-## When It Occurs
+## Technical Description
 
-Descend is the bottom of the failsafe chain (`Hold → Return → Land → Descend`).
-PX4 falls through to it whenever a failsafe needs to bring the vehicle down or hold position but the position estimate is missing, so none of the higher options can run. 예:
+### When It Occurs
+
+Descend mode is at the bottom of the failsafe chain (along with [Flight termination](../advanced_config/flight_termination.md)):
+
+```text
+Hold → Return → Land → ( Descend | Terminate )
+```
+
+:::tip
+[COM_POS_FS_ACT](../advanced_config/parameter_reference.md#COM_POS_FS_ACT) <Badge type="tip" text="main (PX4 v2.0)" /> selects whether `Descend` or `Terminate` is used as the failsafe.
+:::
+
+PX4 falls through to Descend mode whenever a failsafe needs to bring the vehicle down or hold position but the position estimate is missing, so none of the higher options can run.
+예:
 
 - Losing the position estimate while landing, e.g. GNSS fails during [Land](../flight_modes_mc/land.md): the vehicle keeps descending, but now open-loop as _Descend_.
 - Losing the position estimate in [Hold](../flight_modes_mc/hold.md), [Mission](../flight_modes_mc/mission.md) or [Return](../flight_modes_mc/return.md): with no position to hold, fly to, or return with, the failsafe escalates down to _Descend_.
 - A Return or Land failsafe (from manual control loss, GCS/data link loss, low battery, geofence breach, …) triggered while no valid position estimate is available: Return and Land can't run, so it degrades to _Descend_.
 
-## Exiting Descend
+### Exiting Descend
 
-Descend ends when either:
+Descend ends when either the:
 
-- the failsafe condition is resolved (e.g. the position estimate recovers), and the vehicle returns to its previous mode; or
-- the pilot takes over by switching to a manual mode ([Position](../flight_modes_mc/position.md), [Altitude](../flight_modes_mc/altitude.md) or [Stabilized](../flight_modes_mc/manual_stabilized.md)). On a multicopter, moving the sticks does this [by default](../flight_modes_mc/land.md#MAN_OVERRIDE_SPD).
+- failsafe condition is resolved (e.g. the position estimate recovers), and the vehicle returns to its previous mode; or
+- pilot takes over by switching to a manual mode ([Position](../flight_modes_mc/position.md), [Altitude](../flight_modes_mc/altitude.md) or [Stabilized](../flight_modes_mc/manual_stabilized.md)).
+  On a multicopter, moving the sticks does this [by default](../flight_modes_mc/land.md#MAN_OVERRIDE_SPD).
+
+<!-- AUTO-GENERATED: mode_requirements_rotary_wing_descend -->
+
+### Mode Requirements
+
+The following requirements must be met to arm in this mode, or to switch to this mode when it is armed.
+
+- [`mode_req_angular_velocity`](../flight_modes/mode_requirements.md#mode_req_angular_velocity) — Angular velocity
+- [`mode_req_attitude`](../flight_modes/mode_requirements.md#mode_req_attitude) — Attitude/pose
+- [`mode_req_prevent_arming`](../flight_modes/mode_requirements.md#mode_req_prevent_arming) — Mode prevents arming
+
+<!-- END AUTO-GENERATED: mode_requirements_rotary_wing_descend -->
 
 ## See Also
 

docs/ko/flight_modes_mc/follow_me.md

@@ -20,6 +20,21 @@ _Follow Me_ mode allows a multicopter to autonomously hold position and altitude
 
 :::
 
+<!-- AUTO-GENERATED: mode_requirements_rotary_wing_auto_follow_target -->
+
+### Mode Requirements
+
+The following requirements must be met to arm in this mode, or to switch to this mode when it is armed.
+
+- [`mode_req_angular_velocity`](../flight_modes/mode_requirements.md#mode_req_angular_velocity) — Angular velocity
+- [`mode_req_attitude`](../flight_modes/mode_requirements.md#mode_req_attitude) — Attitude/pose
+- [`mode_req_local_alt`](../flight_modes/mode_requirements.md#mode_req_local_alt) — Local altitude relative to EKF2 origin ('0') position
+- [`mode_req_local_position`](../flight_modes/mode_requirements.md#mode_req_local_position) — Position relative to EKF2 origin ('0') point
+- [`mode_req_prevent_arming`](../flight_modes/mode_requirements.md#mode_req_prevent_arming) — Mode prevents arming
+- [`mode_req_wind_and_flight_time_compliance`](../flight_modes/mode_requirements.md#mode_req_wind_and_flight_time_compliance) — Safety compliance limits on wind and flight time.
+
+<!-- END AUTO-GENERATED: mode_requirements_rotary_wing_auto_follow_target -->
+
 ## 개요
 
 ![Follow-me Concept](../../assets/flight_modes/followme_concept.png)

docs/ko/flight_modes_mc/hold.md

@@ -31,6 +31,21 @@ The vehicle will first ascend to [NAV_MIN_LTR_ALT](#NAV_MIN_LTR_ALT) if the mode
 
 Stick movement will change the vehicle to [Position mode](../flight_modes_mc/position.md) (by [default](#MAN_OVERRIDE_SPD)).
 
+<!-- AUTO-GENERATED: mode_requirements_rotary_wing_auto_loiter -->
+
+### Mode Requirements
+
+The following requirements must be met to arm in this mode, or to switch to this mode when it is armed.
+
+- [`mode_req_angular_velocity`](../flight_modes/mode_requirements.md#mode_req_angular_velocity) — Angular velocity
+- [`mode_req_attitude`](../flight_modes/mode_requirements.md#mode_req_attitude) — Attitude/pose
+- [`mode_req_global_position`](../flight_modes/mode_requirements.md#mode_req_global_position) — Position measurement updates in a global coordinate frame
+- [`mode_req_local_alt`](../flight_modes/mode_requirements.md#mode_req_local_alt) — Local altitude relative to EKF2 origin ('0') position
+- [`mode_req_local_position`](../flight_modes/mode_requirements.md#mode_req_local_position) — Position relative to EKF2 origin ('0') point
+- [`mode_req_wind_and_flight_time_compliance`](../flight_modes/mode_requirements.md#mode_req_wind_and_flight_time_compliance) — Safety compliance limits on wind and flight time.
+
+<!-- END AUTO-GENERATED: mode_requirements_rotary_wing_auto_loiter -->
+
 ### 매개변수
 
 Hold mode behaviour can be configured using the parameters below.

docs/ko/flight_modes_mc/land.md

@@ -27,6 +27,20 @@ The vehicle descends at the rate specified in [MPC_LAND_SPEED](#MPC_LAND_SPEED)
 
 Stick movement will change the vehicle to [Position mode](../flight_modes_mc/position.md) (by [default](#MAN_OVERRIDE_SPD)).
 
+<!-- AUTO-GENERATED: mode_requirements_rotary_wing_auto_land -->
+
+### Mode Requirements
+
+The following requirements must be met to arm in this mode, or to switch to this mode when it is armed.
+
+- [`mode_req_angular_velocity`](../flight_modes/mode_requirements.md#mode_req_angular_velocity) — Angular velocity
+- [`mode_req_attitude`](../flight_modes/mode_requirements.md#mode_req_attitude) — Attitude/pose
+- [`mode_req_local_alt`](../flight_modes/mode_requirements.md#mode_req_local_alt) — Local altitude relative to EKF2 origin ('0') position
+- [`mode_req_local_position_relaxed`](../flight_modes/mode_requirements.md#mode_req_local_position_relaxed) — Position relative to EKF2 origin ('0') point but accepts poor accuracy
+- [`mode_req_prevent_arming`](../flight_modes/mode_requirements.md#mode_req_prevent_arming) — Mode prevents arming
+
+<!-- END AUTO-GENERATED: mode_requirements_rotary_wing_auto_land -->
+
 ### 매개변수
 
 Land mode behaviour can be configured using the parameters below.

docs/ko/flight_modes_mc/manual_stabilized.md

@@ -1,4 +1,4 @@
-# Stabilized Mode (Multicopter)
+# Manual/Stabilized Mode (Multicopter)
 
 <img src="../../assets/site/difficulty_medium.png" title="Medium difficulty to fly" width="30px" />&nbsp;<img src="../../assets/site/remote_control.svg" title="Manual/Remote control required" width="30px" />&nbsp;
 
@@ -6,14 +6,15 @@ The _Stabilized_ manual mode stabilizes and levels the multicopter when the RC c
 To move/fly the vehicle you move the sticks outside of the centre.
 
 :::info
-This mode is also enabled if you set the flight mode to _Manual_.
+PX4 has separate MC _Manual_ and _Stabilized_ navigation states, which correspond to separate flight modes that can be set (and displayed via MAVLink).
+These modes behave identically in flight, but have different arming requirements — see [Mode Requirements](#mode-requirements) below.
 :::
 
 When sticks are outside the centre, the roll and pitch sticks control the _angle_ of the vehicle (attitude) around the respective axes, the yaw stick controls the rate of rotation above the horizontal plane, and the throttle controls altitude/speed.
 
 조종 스틱을 놓으면 중앙 데드 존으로 돌아갑니다.
 롤 포크와 피치 스틱이 중앙에 오면 멀티 피터가 수평을 유지하고 정지합니다.
-The vehicle will then hover in place/maintain altitude - provided it is properly balanced, throttle is set appropriately (see [below](#params)), and no external forces are applied (e.g. wind).
+The vehicle will then hover in place/maintain altitude - provided it is properly balanced, throttle is set appropriately (see [below](#parameters)), and no external forces are applied (e.g. wind).
 기체는는 바람 방향으로 표류하게 되며, 고도를 유지하기 위해서는 스로틀을 제어하여야 합니다.
 
 ![MC Manual Flight](../../assets/flight_modes/stabilized_mc.png)
@@ -27,7 +28,7 @@ RC mode where centered sticks level vehicle.
 :::
 
 조종사의 입력은 롤 및 피치 각 명령과 요 율 명령으로 전달됩니다.
-Throttle is rescaled (see [below](#params)) and passed directly to control allocation.
+Throttle is rescaled (see [below](#parameters)) and passed directly to control allocation.
 자동 조종 장치는 자세를 제어합니다. 즉, RC 스틱이 컨트롤러 데드 존 내부에 집중 될 때 롤과 피치 각을 제로로 조절합니다 (결과적으로 태도가 수평이 됨).
 자동 조종 장치는 바람 (또는 다른 원인)으로 인한 드리프트를 보상하지 않습니다.
 
@@ -44,7 +45,35 @@ Throttle is rescaled (see [below](#params)) and passed directly to control alloc
   - Yaw: Assistance from autopilot to stabilize the attitude rate.
     Position of RC stick maps to the rate of rotation of vehicle in that orientation.
 
-<a id="params"></a>
+<!-- AUTO-GENERATED: mode_requirements_rotary_wing_stab -->
+
+### Mode Requirements
+
+The following requirements must be met to arm in this mode, or to switch to this mode when it is armed.
+
+- [`mode_req_angular_velocity`](../flight_modes/mode_requirements.md#mode_req_angular_velocity) — Angular velocity
+- [`mode_req_attitude`](../flight_modes/mode_requirements.md#mode_req_attitude) — Attitude/pose
+- [`mode_req_manual_control`](../flight_modes/mode_requirements.md#mode_req_manual_control) — Requires stick input
+
+<!-- END AUTO-GENERATED: mode_requirements_rotary_wing_stab -->
+
+:::info
+These requirements are form arming in Stabilized mode.
+:::
+
+<!-- AUTO-GENERATED: mode_requirements_rotary_wing_manual -->
+
+### Mode Requirements
+
+The following requirements must be met to arm in this mode, or to switch to this mode when it is armed.
+
+- [`mode_req_manual_control`](../flight_modes/mode_requirements.md#mode_req_manual_control) — Requires stick input
+
+<!-- END AUTO-GENERATED: mode_requirements_rotary_wing_manual -->
+
+:::info
+These requirements are for arming in Manual mode.
+:::
 
 ## 매개변수
 

docs/ko/flight_modes_mc/mission.md

@@ -17,6 +17,22 @@ The mission is typically created and uploaded with a Ground Control Station (GCS
 
 :::
 
+<!-- AUTO-GENERATED: mode_requirements_rotary_wing_auto_mission -->
+
+### Mode Requirements
+
+The following requirements must be met to arm in this mode, or to switch to this mode when it is armed.
+
+- [`mode_req_angular_velocity`](../flight_modes/mode_requirements.md#mode_req_angular_velocity) — Angular velocity
+- [`mode_req_attitude`](../flight_modes/mode_requirements.md#mode_req_attitude) — Attitude/pose
+- [`mode_req_global_position`](../flight_modes/mode_requirements.md#mode_req_global_position) — Position measurement updates in a global coordinate frame
+- [`mode_req_local_alt`](../flight_modes/mode_requirements.md#mode_req_local_alt) — Local altitude relative to EKF2 origin ('0') position
+- [`mode_req_local_position`](../flight_modes/mode_requirements.md#mode_req_local_position) — Position relative to EKF2 origin ('0') point
+- [`mode_req_mission`](../flight_modes/mode_requirements.md#mode_req_mission) — Valid mission in autopilot's storage
+- [`mode_req_wind_and_flight_time_compliance`](../flight_modes/mode_requirements.md#mode_req_wind_and_flight_time_compliance) — Safety compliance limits on wind and flight time.
+
+<!-- END AUTO-GENERATED: mode_requirements_rotary_wing_auto_mission -->
+
 ## 설명
 
 Missions are usually created in a ground control station (e.g. [QGroundControl](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/plan_view/plan_view.html)) and uploaded prior to launch.

docs/ko/flight_modes_mc/orbit.md

@@ -8,18 +8,30 @@ The _Orbit_ guided flight mode allows you to command a multicopter (or VTOL in m
 
 - Mode is automatic - no user intervention is _required_ to control the vehicle.
 - Mode requires at least a valid local position estimate (does not require a global position).
-  - Flying vehicles can't switch to this mode without valid local position.
   - Flying vehicles will failsafe if they lose the position estimate.
 - Mode prevents arming (vehicle cannot be armed while this mode is selected).
 - Mode requires wind and flight time are within allowed limits (specified via parameters).
-- This mode is currently only supported on multicopter (or VTOL in MC mode).
+- Mode is currently only supported on multicopter (or VTOL in MC mode).
 - RC stick movement can control ascent/descent and orbit speed and direction.
-- The mode can be triggered using the [MAV_CMD_DO_ORBIT](https://mavlink.io/en/messages/common.html#MMAV_CMD_DO_ORBIT) MAVLink command.
-
-<!-- https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/commander/ModeUtil/mode_requirements.cpp -->
+- Mode can be triggered using the [MAV_CMD_DO_ORBIT](https://mavlink.io/en/messages/common.html#MMAV_CMD_DO_ORBIT) MAVLink command.
 
 :::
 
+<!-- AUTO-GENERATED: mode_requirements_rotary_wing_orbit -->
+
+### Mode Requirements
+
+The following requirements must be met to arm in this mode, or to switch to this mode when it is armed.
+
+- [`mode_req_angular_velocity`](../flight_modes/mode_requirements.md#mode_req_angular_velocity) — Angular velocity
+- [`mode_req_attitude`](../flight_modes/mode_requirements.md#mode_req_attitude) — Attitude/pose
+- [`mode_req_local_alt`](../flight_modes/mode_requirements.md#mode_req_local_alt) — Local altitude relative to EKF2 origin ('0') position
+- [`mode_req_local_position`](../flight_modes/mode_requirements.md#mode_req_local_position) — Position relative to EKF2 origin ('0') point
+- [`mode_req_prevent_arming`](../flight_modes/mode_requirements.md#mode_req_prevent_arming) — Mode prevents arming
+- [`mode_req_wind_and_flight_time_compliance`](../flight_modes/mode_requirements.md#mode_req_wind_and_flight_time_compliance) — Safety compliance limits on wind and flight time.
+
+<!-- END AUTO-GENERATED: mode_requirements_rotary_wing_orbit -->
+
 ## 개요
 
 ![Orbit Mode - MC](../../assets/flying/orbit.jpg)

docs/ko/flight_modes_mc/position.md

@@ -56,6 +56,20 @@ Centered sticks level vehicle and hold it to fixed altitude and position against
   - Yaw: Assistance from autopilot to stabilize the attitude rate.
     Position of RC stick maps to the rate of rotation of vehicle in that orientation.
 
+<!-- AUTO-GENERATED: mode_requirements_rotary_wing_posctl -->
+
+### Mode Requirements
+
+The following requirements must be met to arm in this mode, or to switch to this mode when it is armed.
+
+- [`mode_req_angular_velocity`](../flight_modes/mode_requirements.md#mode_req_angular_velocity) — Angular velocity
+- [`mode_req_attitude`](../flight_modes/mode_requirements.md#mode_req_attitude) — Attitude/pose
+- [`mode_req_local_alt`](../flight_modes/mode_requirements.md#mode_req_local_alt) — Local altitude relative to EKF2 origin ('0') position
+- [`mode_req_local_position_relaxed`](../flight_modes/mode_requirements.md#mode_req_local_position_relaxed) — Position relative to EKF2 origin ('0') point but accepts poor accuracy
+- [`mode_req_manual_control`](../flight_modes/mode_requirements.md#mode_req_manual_control) — Requires stick input
+
+<!-- END AUTO-GENERATED: mode_requirements_rotary_wing_posctl -->
+
 ### 매개변수
 
 All the parameters in the [Multicopter Position Control](../advanced_config/parameter_reference.md#multicopter-position-control) group are relevant. A few parameters of particular note are listed below.

docs/ko/flight_modes_mc/position_slow.md

@@ -14,6 +14,20 @@ The velocity limits can be set using parameters, from an [RC Controller](../gett
 Limits set using an RC controller override those set by MAVLink, which in turn override those set using parameters.
 The limits can only be reduced below those for normal _Position_ mode.
 
+<!-- AUTO-GENERATED: mode_requirements_rotary_wing_position_slow -->
+
+### Mode Requirements
+
+The following requirements must be met to arm in this mode, or to switch to this mode when it is armed.
+
+- [`mode_req_angular_velocity`](../flight_modes/mode_requirements.md#mode_req_angular_velocity) — Angular velocity
+- [`mode_req_attitude`](../flight_modes/mode_requirements.md#mode_req_attitude) — Attitude/pose
+- [`mode_req_local_alt`](../flight_modes/mode_requirements.md#mode_req_local_alt) — Local altitude relative to EKF2 origin ('0') position
+- [`mode_req_local_position_relaxed`](../flight_modes/mode_requirements.md#mode_req_local_position_relaxed) — Position relative to EKF2 origin ('0') point but accepts poor accuracy
+- [`mode_req_manual_control`](../flight_modes/mode_requirements.md#mode_req_manual_control) — Requires stick input
+
+<!-- END AUTO-GENERATED: mode_requirements_rotary_wing_position_slow -->
+
 ## Set Limits using Parameters
 
 The maximum values for slow mode horizontal velocity, vertical velocity, and yaw rate can be set using parameters.

docs/ko/flight_modes_mc/return.md

@@ -39,6 +39,22 @@ For this return type the copter:
 - It waits for a configurable time ([RTL_LAND_DELAY](#RTL_LAND_DELAY)), which may be used for deploying landing gear.
 - Then lands.
 
+<!-- AUTO-GENERATED: mode_requirements_rotary_wing_auto_rtl -->
+
+### Mode Requirements
+
+The following requirements must be met to arm in this mode, or to switch to this mode when it is armed.
+
+- [`mode_req_angular_velocity`](../flight_modes/mode_requirements.md#mode_req_angular_velocity) — Angular velocity
+- [`mode_req_attitude`](../flight_modes/mode_requirements.md#mode_req_attitude) — Attitude/pose
+- [`mode_req_global_position`](../flight_modes/mode_requirements.md#mode_req_global_position) — Position measurement updates in a global coordinate frame
+- [`mode_req_home_position`](../flight_modes/mode_requirements.md#mode_req_home_position) — Global home reference must be set
+- [`mode_req_local_alt`](../flight_modes/mode_requirements.md#mode_req_local_alt) — Local altitude relative to EKF2 origin ('0') position
+- [`mode_req_local_position`](../flight_modes/mode_requirements.md#mode_req_local_position) — Position relative to EKF2 origin ('0') point
+- [`mode_req_prevent_arming`](../flight_modes/mode_requirements.md#mode_req_prevent_arming) — Mode prevents arming
+
+<!-- END AUTO-GENERATED: mode_requirements_rotary_wing_auto_rtl -->
+
 ### 목적지에 호버링/착륙
 
 By default the _minimum return altitude_ is set using [RTL_RETURN_ALT](#RTL_RETURN_ALT), and the vehicle will just return at the higher of `RTL_RETURN_ALT` or the initial vehicle altitude.

docs/ko/flight_modes_mc/takeoff.md

@@ -15,8 +15,6 @@ The _Takeoff_ flight mode causes the vehicle to take off to a specified height a
 - Stick movement will [by default](#MAN_OVERRIDE_SPD) change the vehicle to [Position mode](../flight_modes_mc/position.md) unless prevented by the active failsafe state.
 - The [Failure Detector](../config/safety.md#failure-detector) will automatically stop the engines if there is a problem on takeoff.
 
-<!-- https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/commander/ModeUtil/mode_requirements.cpp -->
-
 :::
 
 ## Technical Summary
@@ -25,6 +23,19 @@ A multi rotor ascends vertically to the altitude defined in [MIS_TAKEOFF_ALT](..
 
 Stick movement will change the vehicle to [Position mode](../flight_modes_mc/position.md) (by [default](#MAN_OVERRIDE_SPD)).
 
+<!-- AUTO-GENERATED: mode_requirements_rotary_wing_auto_takeoff -->
+
+### Mode Requirements
+
+The following requirements must be met to arm in this mode, or to switch to this mode when it is armed.
+
+- [`mode_req_angular_velocity`](../flight_modes/mode_requirements.md#mode_req_angular_velocity) — Angular velocity
+- [`mode_req_attitude`](../flight_modes/mode_requirements.md#mode_req_attitude) — Attitude/pose
+- [`mode_req_local_alt`](../flight_modes/mode_requirements.md#mode_req_local_alt) — Local altitude relative to EKF2 origin ('0') position
+- [`mode_req_local_position`](../flight_modes/mode_requirements.md#mode_req_local_position) — Position relative to EKF2 origin ('0') point
+
+<!-- END AUTO-GENERATED: mode_requirements_rotary_wing_auto_takeoff -->
+
 ### 매개변수
 
 Takeoff is affected by the following parameters:

docs/ko/flying/basic_flying_fw.md

@@ -41,7 +41,7 @@ We recommend using with the automatic modes instead, especially for inexperience
 :::
 
 [Stabilized mode](../flight_modes_fw/stabilized.md), [Acro mode](../flight_modes_fw/acro.md) or [Manual mode](../flight_modes_fw/manual.md) mode are recommended for manual takeoff.
-[Position mode](../flight_modes_fw/position.md) and [Altitude mode](../flight_modes_fw/altitude.md) can also be used, but it is important to accelerate the vehicle sufficiently before bringing them airborne — strong thrust if hand-launched, long runway phase for runway takeoff (this is required because the controller in these modes can prioritize airspeed over altitude tracking).
+[Cruise mode](../flight_modes_fw/cruise.md) and [Altitude mode](../flight_modes_fw/altitude.md) can also be used, but it is important to accelerate the vehicle sufficiently before bringing them airborne — strong thrust if hand-launched, long runway phase for runway takeoff (this is required because the controller in these modes can prioritize airspeed over altitude tracking).
 
 Manual takeoffs with hand-launched planes:
 
@@ -106,7 +106,7 @@ The following three modes are highly recommended for new users:
 
 - [Stabilized Mode](../flight_modes_fw/stabilized.md) - Vehicle hard to flip, and will level-out if the sticks are released (but not hold position)
 - [Altitude Mode)](../flight_modes_fw/altitude.md) - Climb and drop are controlled to have a maximum rate.
-- [Position Mode](../flight_modes_fw/position.md) - When sticks are released the vehicle will stop (and hold position against wind drift)
+- [Cruise Mode](../flight_modes_fw/cruise.md) - When sticks are released the vehicle will stop (and hold position against wind drift)
 
 :::info
 You can also engage automatic modes through the _QGroundControl_ main flight screen.

docs/ko/frames_plane/reptile_dragon_2.md

@@ -387,7 +387,7 @@ In particular you should check:
 
 ### 무선 조종기 설정
 
-You should enable Manual, Acro, and Position modes on your controller (at least for the first flight).
+You should enable Manual, Acro, and Cruise modes on your controller (at least for the first flight).
 For instructions see [Flight mode Configuration](../config/flight_mode.md)
 
 We also recommend configuring an [autotuning switch](../config/autotune_fw.md#enable-disable-autotune-switch) for the first flight, as this makes it easier to enable/disable autotuning while flying.
@@ -453,7 +453,7 @@ It's critical to be ready to give aft stick input to prevent the airplane from i
 Once the airplane is successfully airborne, cruise up to an altitude of a few hundred feet and switch to [Acro mode](../flight_modes_fw/acro.md).
 This is a good time to use [Autotuning](../config/autotune_fw.md) to tune the airframe.
 
-If the airplane is well behaved in _Acro mode_, switch to [Position mode](../flight_modes_fw/position.md).
+If the airplane is well behaved in _Acro mode_, switch to [Cruise mode](../flight_modes_fw/cruise.md).
 
 ## Build Results & Performance
 

docs/ko/frames_vtol/vtol_quadplane_foxtech_loong_2160.md

@@ -324,7 +324,7 @@ Then calibrate the main sensors:
 [Calibrate your RC Controller](../config/radio.md) and setup the [flight mode switches](../config/flight_mode.md).
 
 We recommend you assign RC switches for the set of modes defined in [Flight Mode Configuration > What Flight Modes and Switches Should I Set?](../config/flight_mode.md#what-flight-modes-and-switches-should-i-set).
-In particular you should assign a _VTOL Transition Switch_, _Kill Switch_, and a switch to select [Stabilized mode](../flight_modes_fw/stabilized.md) and [Position mode](../flight_modes_fw/position.md).
+In particular you should assign a _VTOL Transition Switch_, _Kill Switch_, and a switch to select [Stabilized mode](../flight_modes_fw/stabilized.md) and [Cruise mode](../flight_modes_fw/cruise.md).
 
 ### Actuator Setup and ESC Calibration
 
@@ -397,5 +397,5 @@ increase the throttle a bit if you can't see a reaction since [Airmode](../confi
 - If a [kill-switch](../config/safety.md#kill-switch) is used, make sure it's working properly and will not be activated accidentally in flight!
 - Arm in [Stabilized mode](../flight_modes_fw/stabilized.md) and check if motors respond to the commands, e.g. roll left increases throttle on the right motor
 - Takeoff in [Stabilized mode](../flight_modes_fw/stabilized.md) and make some basic maneuvers
-- If everything went without any issue, takeoff in [Position mode](../flight_modes_fw/position.md) and do a transition at around 50m.
+- If everything went without any issue, takeoff in [Cruise mode](../flight_modes_fw/cruise.md) and do a transition at around 50m.
   If something goes wrong switch back to multicopter mode as fast as possible (using the transition switch).