New Crowdin translations - zh-CN (#24895)

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

docs/zh/modules/modules_autotune.md

@@ -6,9 +6,7 @@ Source: [modules/fw_autotune_attitude_control](https://github.com/PX4/PX4-Autopi
 
 ### 描述
 
-<a id="fw_autotune_attitude_control_usage"></a>
-
-### 用法
+### Usage {#fw_autotune_attitude_control_usage}
 
 ```
 fw_autotune_attitude_control <command> [arguments...]
@@ -27,9 +25,7 @@ Source: [modules/mc_autotune_attitude_control](https://github.com/PX4/PX4-Autopi
 
 ### 描述
 
-<a id="mc_autotune_attitude_control_usage"></a>
-
-### 用法
+### Usage {#mc_autotune_attitude_control_usage}
 
 ```
 mc_autotune_attitude_control <command> [arguments...]

docs/zh/modules/modules_command.md

@@ -8,9 +8,7 @@ Source: [systemcmds/actuator_test](https://github.com/PX4/PX4-Autopilot/tree/mai
 
 警告：在使用此命令之前移除所有螺旋桨。
 
-<a id="actuator_test_usage"></a>
-
-### 用法
+### Usage {#actuator_test_usage}
 
 ```
 actuator_test <command> [arguments...]
@@ -34,9 +32,9 @@ actuator_test <command> [arguments...]
 
 Source: [systemcmds/bl_update](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/bl_update)
 
-Utility to flash the bootloader from a file <a id="bl_update_usage"></a>
+Utility to flash the bootloader from a file
 
-### 用法
+### Usage {#bl_update_usage}
 
 ```
 bl_update [arguments...]
@@ -50,9 +48,9 @@ bl_update [arguments...]
 
 Source: [systemcmds/bsondump](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/bsondump)
 
-Utility to read BSON from a file and print or output document size. <a id="bsondump_usage"></a>
+Utility to read BSON from a file and print or output document size.
 
-### 用法
+### Usage {#bsondump_usage}
 
 ```
 bsondump [arguments...]
@@ -63,9 +61,9 @@ bsondump [arguments...]
 
 Source: [systemcmds/dumpfile](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/dumpfile)
 
-转储文件实用程序。 以二进制模式（不要用 CR LF 替换 LF）将文件大小和内容打印到标准输出。 <a id="dumpfile_usage"></a>
+Dump file utility. Prints file size and contents in binary mode (don't replace LF with CR LF) to stdout.
 
-### 用法
+### Usage {#dumpfile_usage}
 
 ```
 dumpfile [arguments...]
@@ -78,7 +76,7 @@ Source: [systemcmds/dyn](https://github.com/PX4/PX4-Autopilot/tree/main/src/syst
 
 ### 描述
 
-加载并运行一个没有被编译进 PX4 的二进制文件的动态 PX4 模块
+Load and run a dynamic PX4 module, which was not compiled into the PX4 binary.
 
 ### Example
 
@@ -86,9 +84,7 @@ Source: [systemcmds/dyn](https://github.com/PX4/PX4-Autopilot/tree/main/src/syst
 dyn ./hello.px4mod start
 ```
 
-<a id="dyn_usage"></a>
-
-### 用法
+### Usage {#dyn_usage}
 
 ```
 dyn [arguments...]
@@ -102,21 +98,19 @@ Source: [systemcmds/failure](https://github.com/PX4/PX4-Autopilot/tree/main/src/
 
 ### 描述
 
-向系统中注入故障。
+Inject failures into system.
 
 ### 实现
 
-此系统命令通过 uORB 发送一个机体命令来出发故障。
+This system command sends a vehicle command over uORB to trigger failure.
 
 ### 示例
 
-通过停止GPS来测试GPS故障保护:
+Test the GPS failsafe by stopping GPS:
 
 failure gps off
 
-<a id="failure_usage"></a>
-
-### 用法
+### Usage {#failure_usage}
 
 ```
 failure [arguments...]
@@ -135,7 +129,7 @@ Source: [systemcmds/gpio](https://github.com/PX4/PX4-Autopilot/tree/main/src/sys
 
 ### 描述
 
-此命令用于读写GPIO
+This command is used to read and write GPIOs
 
 ```
 gpio read <PORT><PIN>/<DEVICE> [PULLDOWN|PULLUP] [--force]
@@ -144,7 +138,7 @@ gpio write <PORT><PIN>/<DEVICE> <VALUE> [PUSHPULL|OPENDRAIN] [--force]
 
 ### 示例
 
-读取配置为上拉的 PH4 引脚，它的值为高
+Read the value on port H pin 4 configured as pullup, and it is high
 
 ```
 gpio read H4 PULLUP
@@ -152,7 +146,7 @@ gpio read H4 PULLUP
 
 1 OK
 
-设置 PE7 的输出值为高
+Set the output value on Port E pin 7 to high
 
 ```
 gpio write E7 1 --force
@@ -164,9 +158,7 @@ Set the output value on device /dev/gpio1 to high
 gpio write /dev/gpio1 1
 ```
 
-<a id="gpio_usage"></a>
-
-### 用法
+### Usage {#gpio_usage}
 
 ```
 gpio [arguments...]
@@ -186,13 +178,11 @@ gpio [arguments...]
 
 Source: [systemcmds/hardfault_log](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/hardfault_log)
 
-Hardfault 实用程序
+Hardfault utility
 
-在启动脚本中用于处理 hardfaults。
+Used in startup scripts to handle hardfaults
 
-<a id="hardfault_log_usage"></a>
-
-### 用法
+### Usage {#hardfault_log_usage}
 
 ```
 hardfault_log <command> [arguments...]
@@ -219,9 +209,9 @@ hardfault_log <command> [arguments...]
 
 Source: [systemcmds/hist](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/hist)
 
-Command-line tool to show the px4 message history. There are no arguments. <a id="hist_usage"></a>
+Command-line tool to show the px4 message history. There are no arguments.
 
-### 用法
+### Usage {#hist_usage}
 
 ```
 hist [arguments...]
@@ -231,9 +221,9 @@ hist [arguments...]
 
 Source: [systemcmds/i2cdetect](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/i2cdetect)
 
-Utility to scan for I2C devices on a particular bus. <a id="i2cdetect_usage"></a>
+Utility to scan for I2C devices on a particular bus.
 
-### 用法
+### Usage {#i2cdetect_usage}
 
 ```
 i2cdetect [arguments...]
@@ -249,21 +239,21 @@ Source: [systemcmds/led_control](https://github.com/PX4/PX4-Autopilot/tree/main/
 
 Command-line tool to control & test the (external) LED's.
 
-要使用它，请确保有一个处理 led_control 的 uorb 主题的设备正在运行。
+To use it make sure there's a driver running, which handles the led_control uorb topic.
 
-有不同的优先级，例如一个模块可以设置低优先级的颜色，另一个模块可以高优先级闪烁 N 次，闪烁后 LED 自动返回低优先级状态。 The `reset` command can also be used to return to a lower priority.
+There are different priorities, such that for example one module can set a color with low priority, and another
+module can blink N times with high priority, and the LED's automatically return to the lower priority state
+after the blinking. The `reset` command can also be used to return to a lower priority.
 
 ### 示例
 
-第一个 LED 闪烁蓝光 5 次：
+Blink the first LED 5 times in blue:
 
 ```
 led_control blink -c blue -l 0 -n 5
 ```
 
-<a id="led_control_usage"></a>
-
-### 用法
+### Usage {#led_control_usage}
 
 ```
 led_control <command> [arguments...]
@@ -299,13 +289,11 @@ led_control <command> [arguments...]
 
 Source: [systemcmds/topic_listener](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/topic_listener)
 
-监听 uORB 主题并将数据打印到控制台的实用程序。
+Utility to listen on uORB topics and print the data to the console.
 
-可以通过按 Ctrl+C、Esc 或 Q 随时退出侦听器。
+The listener can be exited any time by pressing Ctrl+C, Esc, or Q.
 
-<a id="listener_usage"></a>
-
-### 用法
+### Usage {#listener_usage}
 
 ```
 listener <command> [arguments...]
@@ -323,9 +311,9 @@ listener <command> [arguments...]
 
 Source: [systemcmds/mft](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/mft)
 
-Utility interact with the manifest <a id="mfd_usage"></a>
+Utility interact with the manifest
 
-### 用法
+### Usage {#mfd_usage}
 
 ```
 mfd <command> [arguments...]
@@ -337,9 +325,9 @@ mfd <command> [arguments...]
 
 Source: [systemcmds/mft_cfg](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/mft_cfg)
 
-Tool to set and get manifest configuration <a id="mft_cfg_usage"></a>
+Tool to set and get manifest configuration
 
-### 用法
+### Usage {#mft_cfg_usage}
 
 ```
 mft_cfg <command> [arguments...]
@@ -358,9 +346,9 @@ mft_cfg <command> [arguments...]
 
 Source: [systemcmds/mtd](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/mtd)
 
-Utility to mount and test partitions (based on FRAM/EEPROM storage as defined by the board) <a id="mtd_usage"></a>
+Utility to mount and test partitions (based on FRAM/EEPROM storage as defined by the board)
 
-### 用法
+### Usage {#mtd_usage}
 
 ```
 mtd <command> [arguments...]
@@ -386,14 +374,12 @@ mtd <command> [arguments...]
 
 Source: [systemcmds/nshterm](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/nshterm)
 
-在指定端口启动一个 NSH shell。
+Start an NSH shell on a given port.
 
-该命令此前被用于在 USB 串口端口开启一个 shell。
-现在运行mavlink，并且可以在mavlink 上使用shell。
+This was previously used to start a shell on the USB serial port.
+Now there runs mavlink, and it is possible to use a shell over mavlink.
 
-<a id="nshterm_usage"></a>
-
-### 用法
+### Usage {#nshterm_usage}
 
 ```
 nshterm [arguments...]
@@ -406,22 +392,24 @@ Source: [systemcmds/param](https://github.com/PX4/PX4-Autopilot/tree/main/src/sy
 
 ### 描述
 
-通过 shell 或脚本访问和操作参数的命令。
+Command to access and manipulate parameters via shell or script.
 
-例如，这在启动脚本中用于设置特定于机身的参数。
+This is used for example in the startup script to set airframe-specific parameters.
 
-Parameters are automatically saved when changed, eg. with `param set`. 它们通常存储在 FRAM 或 SD 卡中。 `param select` can be used to change the storage location for subsequent saves (this will
+Parameters are automatically saved when changed, eg. with `param set`. They are typically stored to FRAM
+or to the SD card. `param select` can be used to change the storage location for subsequent saves (this will
 need to be (re-)configured on every boot).
 
 If the FLASH-based backend is enabled (which is done at compile time, e.g. for the Intel Aero or Omnibus),
 `param select` has no effect and the default is always the FLASH backend. However `param save/load <file>`
 can still be used to write to/read from files.
 
-每个参数有一个“已使用”的标志，此标志在启动过程参数被读取后被置位。 它只是用于向地面控制站显示相关参数。
+Each parameter has a 'used' flag, which is set when it's read during boot. It is used to only show relevant
+parameters to a ground control station.
 
 ### 示例
 
-更改机身并确保已加载机身的默认参数：
+Change the airframe and make sure the airframe's default parameters are loaded:
 
 ```
 param set SYS_AUTOSTART 4001
@@ -429,9 +417,7 @@ param set SYS_AUTOCONFIG 1
 reboot
 ```
 
-<a id="param_usage"></a>
-
-### 用法
+### Usage {#param_usage}
 
 ```
 param <command> [arguments...]
@@ -509,9 +495,7 @@ Source: [modules/payload_deliverer](https://github.com/PX4/PX4-Autopilot/tree/ma
 Handles payload delivery with either Gripper or a Winch with an appropriate timeout / feedback sensor setting,
 and communicates back the delivery result as an acknowledgement internally
 
-<a id="payload_deliverer_usage"></a>
-
-### 用法
+### Usage {#payload_deliverer_usage}
 
 ```
 payload_deliverer <command> [arguments...]
@@ -533,9 +517,9 @@ payload_deliverer <command> [arguments...]
 
 Source: [systemcmds/perf](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/perf)
 
-Tool to print performance counters <a id="perf_usage"></a>
+Tool to print performance counters
 
-### 用法
+### Usage {#perf_usage}
 
 ```
 perf [arguments...]
@@ -550,9 +534,9 @@ perf [arguments...]
 
 Source: [systemcmds/reboot](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/reboot)
 
-Reboot the system <a id="reboot_usage"></a>
+Reboot the system
 
-### 用法
+### Usage {#reboot_usage}
 
 ```
 reboot [arguments...]
@@ -565,9 +549,9 @@ reboot [arguments...]
 
 Source: [systemcmds/sd_bench](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/sd_bench)
 
-Test the speed of an SD Card <a id="sd_bench_usage"></a>
+Test the speed of an SD Card
 
-### 用法
+### Usage {#sd_bench_usage}
 
 ```
 sd_bench [arguments...]
@@ -588,9 +572,9 @@ sd_bench [arguments...]
 
 Source: [systemcmds/sd_stress](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/sd_stress)
 
-Test operations on an SD Card <a id="sd_stress_usage"></a>
+Test operations on an SD Card
 
-### 用法
+### Usage {#sd_stress_usage}
 
 ```
 sd_stress [arguments...]
@@ -604,13 +588,11 @@ sd_stress [arguments...]
 
 Source: [systemcmds/serial_passthru](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/serial_passthru)
 
-把数据从一个设备传输到另一个设备。
+Pass data from one device to another.
 
 This can be used to use u-center connected to USB with a GPS on a serial port.
 
-<a id="serial_passthru_usage"></a>
-
-### 用法
+### Usage {#serial_passthru_usage}
 
 ```
 serial_passthru [arguments...]
@@ -623,7 +605,7 @@ serial_passthru [arguments...]
      [-t]        Track the External devices baudrate on internal device
 ```
 
-## 系统时间
+## system_time
 
 Source: [systemcmds/system_time](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/system_time)
 
@@ -640,9 +622,7 @@ system_time set 1600775044
 system_time get
 ```
 
-<a id="system_time_usage"></a>
-
-### 用法
+### Usage {#system_time_usage}
 
 ```
 system_time <command> [arguments...]
@@ -656,9 +636,9 @@ system_time <command> [arguments...]
 
 Source: [systemcmds/top](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/top)
 
-Monitor running processes and their CPU, stack usage, priority and state <a id="top_usage"></a>
+Monitor running processes and their CPU, stack usage, priority and state
 
-### 用法
+### Usage {#top_usage}
 
 ```
 top [arguments...]
@@ -670,9 +650,9 @@ top [arguments...]
 Source: [systemcmds/usb_connected](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/usb_connected)
 
 Utility to check if USB is connected. Was previously used in startup scripts.
-A return value of 0 means USB is connected, 1 otherwise. <a id="usb_connected_usage"></a>
+A return value of 0 means USB is connected, 1 otherwise.
 
-### 用法
+### Usage {#usb_connected_usage}
 
 ```
 usb_connected [arguments...]
@@ -682,9 +662,9 @@ usb_connected [arguments...]
 
 Source: [systemcmds/ver](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/ver)
 
-Tool to print various version information <a id="ver_usage"></a>
+Tool to print various version information
 
-### 用法
+### Usage {#ver_usage}
 
 ```
 ver <command> [arguments...]

docs/zh/modules/modules_communication.md

@@ -4,9 +4,9 @@
 
 Source: [drivers/telemetry/frsky_telemetry](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/telemetry/frsky_telemetry)
 
-FrSky 数传支持， FrSky Telemetry support. Auto-detects D or S.PORT protocol. <a id="frsky_telemetry_usage"></a>
+FrSky 数传支持， FrSky Telemetry support. Auto-detects D or S.PORT protocol.
 
-### 用法
+### Usage {#frsky_telemetry_usage}
 
 ```
 frsky_telemetry <command> [arguments...]
@@ -64,9 +64,7 @@ mavlink start -u 14556 -r 1000000
 mavlink stream -u 14556 -s HIGHRES_IMU -r 50
 ```
 
-<a id="mavlink_usage"></a>
-
-### 用法
+### Usage {#mavlink_usage}
 
 ```
 mavlink <command> [arguments...]
@@ -129,7 +127,7 @@ Source: [systemcmds/uorb](https://github.com/PX4/PX4-Autopilot/tree/main/src/sys
 
 ### 描述
 
-uORB 是各模块之间进行通讯的基于 发布-订阅 机制的内部消息传递系统。
+uORB is the internal pub-sub messaging system, used for communication between modules.
 
 ### 实现
 
@@ -140,19 +138,18 @@ The code is optimized to minimize the memory footprint and the latency to exchan
 
 Messages are defined in the `/msg` directory. They are converted into C/C++ code at build-time.
 
-该接口基于文件描述符（file descriptor）实现：它在内部使用 <code>read</code>、<code>write</code> 和 <code>ioctl</code>。 The interface is based on file descriptors: internally it uses <code>read</code>, <code>write</code> and <code>ioctl</code>. Except for the publications, which use <code>orb_advert_t</code> handles, so that they can be used from interrupts as well (on NuttX).
+If compiled with ORB_USE_PUBLISHER_RULES, a file with uORB publication rules can be used to configure which
+modules are allowed to publish which topics. This is used for system-wide replay.
 
 ### 示例
 
-Messages are defined in the <code>/msg</code> directory. They are converted into C/C++ code at build-time. Besides `top`, this is an important command for general system inspection:
+Monitor topic publication rates. Besides `top`, this is an important command for general system inspection:
 
 ```
 uorb top
 ```
 
-<a id="uorb_usage"></a>
-
-### 用法
+### Usage {#uorb_usage}
 
 ```
 uorb <command> [arguments...]

docs/zh/modules/modules_controller.md

@@ -16,9 +16,7 @@ Currently it is feeding the `manual_control_setpoint` topic directly to the actu
 
 To reduce control latency, the module directly polls on the gyro topic published by the IMU driver.
 
-<a id="airship_att_control_usage"></a>
-
-### 用法
+### Usage {#airship_att_control_usage}
 
 ```
 airship_att_control <command> [arguments...]
@@ -39,9 +37,7 @@ Source: [modules/control_allocator](https://github.com/PX4/PX4-Autopilot/tree/ma
 This implements control allocation. It takes torque and thrust setpoints
 as inputs and outputs actuator setpoint messages.
 
-<a id="control_allocator_usage"></a>
-
-### 用法
+### Usage {#control_allocator_usage}
 
 ```
 control_allocator <command> [arguments...]
@@ -53,7 +49,7 @@ control_allocator <command> [arguments...]
    status        print status info
 ```
 
-## fw_pos_control_l1
+## flight_mode_manager
 
 Source: [modules/flight_mode_manager](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/flight_mode_manager)
 
@@ -62,9 +58,7 @@ Source: [modules/flight_mode_manager](https://github.com/PX4/PX4-Autopilot/tree/
 This implements the setpoint generation for all modes. It takes the current mode state of the vehicle as input
 and outputs setpoints for controllers.
 
-<a id="flight_mode_manager_usage"></a>
-
-### 用法
+### Usage {#flight_mode_manager_usage}
 
 ```
 flight_mode_manager <command> [arguments...]
@@ -76,7 +70,7 @@ flight_mode_manager <command> [arguments...]
    status        print status info
 ```
 
-## mc_att_control
+## fw_att_control
 
 Source: [modules/fw_att_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/fw_att_control)
 
@@ -84,9 +78,7 @@ Source: [modules/fw_att_control](https://github.com/PX4/PX4-Autopilot/tree/main/
 
 fw_att_control is the fixed wing attitude controller.
 
-<a id="fw_att_control_usage"></a>
-
-### 用法
+### Usage {#fw_att_control_usage}
 
 ```
 fw_att_control <command> [arguments...]
@@ -107,9 +99,7 @@ Source: [modules/fw_pos_control](https://github.com/PX4/PX4-Autopilot/tree/main/
 
 fw_pos_control is the fixed-wing position controller.
 
-<a id="fw_pos_control_usage"></a>
-
-### 用法
+### Usage {#fw_pos_control_usage}
 
 ```
 fw_pos_control <command> [arguments...]
@@ -130,9 +120,7 @@ Source: [modules/fw_rate_control](https://github.com/PX4/PX4-Autopilot/tree/main
 
 fw_rate_control is the fixed-wing rate controller.
 
-<a id="fw_rate_control_usage"></a>
-
-### 用法
+### Usage {#fw_rate_control_usage}
 
 ```
 fw_rate_control <command> [arguments...]
@@ -156,13 +144,14 @@ setpoints (`vehicle_attitude_setpoint`) as inputs and outputs a rate setpoint.
 
 The controller has a P loop for angular error
 
-The different internal modes are implemented as separate classes that inherit from a common base class <code>NavigatorMode</code>. The member <code>_navigation_mode</code> contains the current active mode.
+Publication documenting the implemented Quaternion Attitude Control:
+Nonlinear Quadrocopter Attitude Control (2013)
+by Dario Brescianini, Markus Hehn and Raffaello D'Andrea
+Institute for Dynamic Systems and Control (IDSC), ETH Zurich
 
 https://www.research-collection.ethz.ch/bitstream/handle/20.500.11850/154099/eth-7387-01.pdf
 
-<a id="mc_att_control_usage"></a>
-
-### 用法
+### Usage {#mc_att_control_usage}
 
 ```
 mc_att_control <command> [arguments...]
@@ -175,7 +164,7 @@ mc_att_control <command> [arguments...]
    status        print status info
 ```
 
-## navigator
+## mc_pos_control
 
 Source: [modules/mc_pos_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mc_pos_control)
 
@@ -188,9 +177,7 @@ Output of the velocity controller is thrust vector that is split to thrust direc
 The controller doesn't use Euler angles for its work, they are generated only for more human-friendly control and
 logging.
 
-<a id="mc_pos_control_usage"></a>
-
-### 用法
+### Usage {#mc_pos_control_usage}
 
 ```
 mc_pos_control <command> [arguments...]
@@ -214,9 +201,7 @@ via `manual_control_setpoint` topic) as inputs and outputs actuator control mess
 
 The controller has a PID loop for angular rate error.
 
-<a id="mc_rate_control_usage"></a>
-
-### 用法
+### Usage {#mc_rate_control_usage}
 
 ```
 mc_rate_control <command> [arguments...]
@@ -247,9 +232,7 @@ The member `_navigation_mode` contains the current active mode.
 Navigator publishes position setpoint triplets (`position_setpoint_triplet_s`), which are then used by the position
 controller.
 
-<a id="navigator_usage"></a>
-
-### 用法
+### Usage {#navigator_usage}
 
 ```
 navigator <command> [arguments...]
@@ -273,9 +256,7 @@ Source: [modules/rover_ackermann](https://github.com/PX4/PX4-Autopilot/tree/main
 
 Rover ackermann module.
 
-<a id="rover_ackermann_usage"></a>
-
-### 用法
+### Usage {#rover_ackermann_usage}
 
 ```
 rover_ackermann <command> [arguments...]
@@ -295,9 +276,7 @@ Source: [modules/rover_differential](https://github.com/PX4/PX4-Autopilot/tree/m
 
 Rover differential module.
 
-<a id="rover_differential_usage"></a>
-
-### 用法
+### Usage {#rover_differential_usage}
 
 ```
 rover_differential <command> [arguments...]
@@ -317,9 +296,7 @@ Source: [modules/rover_mecanum](https://github.com/PX4/PX4-Autopilot/tree/main/s
 
 Rover mecanum module.
 
-<a id="rover_mecanum_usage"></a>
-
-### 用法
+### Usage {#rover_mecanum_usage}
 
 ```
 rover_mecanum <command> [arguments...]
@@ -359,9 +336,7 @@ rover_pos_control status
 rover_pos_control stop
 ```
 
-<a id="rover_pos_control_usage"></a>
-
-### 用法
+### Usage {#rover_pos_control_usage}
 
 ```
 rover_pos_control <command> [arguments...]
@@ -384,9 +359,7 @@ It takes torque and thrust setpoints as inputs and outputs
 actuator setpoint messages.
 ```
 
-<a id="spacecraft_usage"></a>
-
-### 用法
+### Usage {#spacecraft_usage}
 
 ```
 spacecraft <command> [arguments...]
@@ -425,9 +398,7 @@ uuv_att_control status
 uuv_att_control stop
 ```
 
-<a id="uuv_att_control_usage"></a>
-
-### 用法
+### Usage {#uuv_att_control_usage}
 
 ```
 uuv_att_control <command> [arguments...]
@@ -465,9 +436,7 @@ uuv_pos_control status
 uuv_pos_control stop
 ```
 
-<a id="uuv_pos_control_usage"></a>
-
-### 用法
+### Usage {#uuv_pos_control_usage}
 
 ```
 uuv_pos_control <command> [arguments...]
@@ -487,9 +456,7 @@ Source: [modules/vtol_att_control](https://github.com/PX4/PX4-Autopilot/tree/mai
 
 fw_att_control is the fixed wing attitude controller.
 
-<a id="vtol_att_control_usage"></a>
-
-### 用法
+### Usage {#vtol_att_control_usage}
 
 ```
 vtol_att_control <command> [arguments...]

docs/zh/modules/modules_driver_airspeed_sensor.md

@@ -13,9 +13,7 @@ This is not included by default in firmware. It can be included with terminal co
 or in default.px4board with adding the line: "CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_ASP5033=y"
 It can be enabled with the "SENS_EN_ASP5033" parameter set to 1.
 
-<a id="asp5033_usage"></a>
-
-### 用法
+### Usage {#asp5033_usage}
 
 ```
 asp5033 <command> [arguments...]
@@ -39,9 +37,7 @@ asp5033 <command> [arguments...]
 
 Source: [drivers/differential_pressure/auav](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/differential_pressure/auav)
 
-<a id="auav_usage"></a>
-
-### 用法
+### Usage {#auav_usage}
 
 ```
 auav <command> [arguments...]
@@ -67,9 +63,7 @@ auav <command> [arguments...]
 
 Source: [drivers/differential_pressure/ets](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/differential_pressure/ets)
 
-<a id="ets_airspeed_usage"></a>
-
-### 用法
+### Usage {#ets_airspeed_usage}
 
 ```
 ets_airspeed <command> [arguments...]
@@ -93,9 +87,7 @@ ets_airspeed <command> [arguments...]
 
 Source: [drivers/differential_pressure/ms4515](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/differential_pressure/ms4515)
 
-<a id="ms4515_usage"></a>
-
-### 用法
+### Usage {#ms4515_usage}
 
 ```
 ms4515 <command> [arguments...]
@@ -119,9 +111,7 @@ ms4515 <command> [arguments...]
 
 Source: [drivers/differential_pressure/ms4525do](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/differential_pressure/ms4525do)
 
-<a id="ms4525do_usage"></a>
-
-### 用法
+### Usage {#ms4525do_usage}
 
 ```
 ms4525do <command> [arguments...]
@@ -145,9 +135,7 @@ ms4525do <command> [arguments...]
 
 Source: [drivers/differential_pressure/ms5525dso](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/differential_pressure/ms5525dso)
 
-<a id="ms5525dso_usage"></a>
-
-### 用法
+### Usage {#ms5525dso_usage}
 
 ```
 ms5525dso <command> [arguments...]
@@ -171,9 +159,7 @@ ms5525dso <command> [arguments...]
 
 Source: [drivers/differential_pressure/sdp3x](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/differential_pressure/sdp3x)
 
-<a id="sdp3x_usage"></a>
-
-### 用法
+### Usage {#sdp3x_usage}
 
 ```
 sdp3x <command> [arguments...]

docs/zh/modules/modules_driver_baro.md

@@ -4,9 +4,7 @@
 
 Source: [drivers/barometer/bmp280](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/barometer/bmp280)
 
-<a id="bmp280_usage"></a>
-
-### 用法
+### Usage {#bmp280_usage}
 
 ```
 bmp280 <command> [arguments...]
@@ -42,9 +40,7 @@ bmp280 <command> [arguments...]
 
 Source: [drivers/barometer/bmp388](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/barometer/bmp388)
 
-<a id="bmp388_usage"></a>
-
-### 用法
+### Usage {#bmp388_usage}
 
 ```
 bmp388 <command> [arguments...]
@@ -72,9 +68,7 @@ bmp388 <command> [arguments...]
 
 Source: [drivers/barometer/bmp581](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/barometer/bmp581)
 
-<a id="bmp581_usage"></a>
-
-### 用法
+### Usage {#bmp581_usage}
 
 ```
 bmp581 <command> [arguments...]
@@ -102,9 +96,7 @@ bmp581 <command> [arguments...]
 
 Source: [drivers/barometer/dps310](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/barometer/dps310)
 
-<a id="dps310_usage"></a>
-
-### 用法
+### Usage {#dps310_usage}
 
 ```
 dps310 <command> [arguments...]
@@ -140,9 +132,7 @@ dps310 <command> [arguments...]
 
 Source: [drivers/barometer/invensense/icp101xx](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/barometer/invensense/icp101xx)
 
-<a id="icp101xx_usage"></a>
-
-### 用法
+### Usage {#icp101xx_usage}
 
 ```
 icp101xx <command> [arguments...]
@@ -166,9 +156,7 @@ icp101xx <command> [arguments...]
 
 Source: [drivers/barometer/invensense/icp201xx](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/barometer/invensense/icp201xx)
 
-<a id="icp201xx_usage"></a>
-
-### 用法
+### Usage {#icp201xx_usage}
 
 ```
 icp201xx <command> [arguments...]
@@ -192,9 +180,7 @@ icp201xx <command> [arguments...]
 
 Source: [drivers/barometer/lps22hb](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/barometer/lps22hb)
 
-<a id="lps22hb_usage"></a>
-
-### 用法
+### Usage {#lps22hb_usage}
 
 ```
 lps22hb <command> [arguments...]
@@ -220,9 +206,7 @@ lps22hb <command> [arguments...]
 
 Source: [drivers/barometer/lps25h](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/barometer/lps25h)
 
-<a id="lps25h_usage"></a>
-
-### 用法
+### Usage {#lps25h_usage}
 
 ```
 lps25h <command> [arguments...]
@@ -248,9 +232,7 @@ lps25h <command> [arguments...]
 
 Source: [drivers/barometer/lps33hw](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/barometer/lps33hw)
 
-<a id="lps33hw_usage"></a>
-
-### 用法
+### Usage {#lps33hw_usage}
 
 ```
 lps33hw <command> [arguments...]
@@ -279,9 +261,7 @@ lps33hw <command> [arguments...]
 
 Source: [drivers/barometer/maiertek/mpc2520](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/barometer/maiertek/mpc2520)
 
-<a id="mpc2520_usage"></a>
-
-### 用法
+### Usage {#mpc2520_usage}
 
 ```
 mpc2520 <command> [arguments...]
@@ -305,9 +285,7 @@ mpc2520 <command> [arguments...]
 
 Source: [drivers/barometer/mpl3115a2](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/barometer/mpl3115a2)
 
-<a id="mpl3115a2_usage"></a>
-
-### 用法
+### Usage {#mpl3115a2_usage}
 
 ```
 mpl3115a2 <command> [arguments...]
@@ -331,9 +309,7 @@ mpl3115a2 <command> [arguments...]
 
 Source: [drivers/barometer/ms5611](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/barometer/ms5611)
 
-<a id="ms5611_usage"></a>
-
-### 用法
+### Usage {#ms5611_usage}
 
 ```
 ms5611 <command> [arguments...]
@@ -369,9 +345,7 @@ ms5611 <command> [arguments...]
 
 Source: [drivers/barometer/ms5837](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/barometer/ms5837)
 
-<a id="ms5837_usage"></a>
-
-### 用法
+### Usage {#ms5837_usage}
 
 ```
 ms5837 <command> [arguments...]
@@ -393,9 +367,7 @@ ms5837 <command> [arguments...]
 
 Source: [drivers/barometer/goertek/spa06](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/barometer/goertek/spa06)
 
-<a id="spa06_usage"></a>
-
-### 用法
+### Usage {#spa06_usage}
 
 ```
 spa06 <command> [arguments...]
@@ -431,9 +403,7 @@ spa06 <command> [arguments...]
 
 Source: [drivers/barometer/goertek/spl06](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/barometer/goertek/spl06)
 
-<a id="spl06_usage"></a>
-
-### 用法
+### Usage {#spl06_usage}
 
 ```
 spl06 <command> [arguments...]

docs/zh/modules/modules_driver_camera.md

@@ -34,9 +34,7 @@ In particular:
 
 [Setup/usage information](../camera/index.md).
 
-<a id="camera_trigger_usage"></a>
-
-### 用法
+### Usage {#camera_trigger_usage}
 
 ```
 camera_trigger <command> [arguments...]

docs/zh/modules/modules_driver_distance_sensor.md

@@ -16,15 +16,13 @@ Attempt to start driver on a specified serial device.
 afbrs50 start
 ```
 
-设置/使用 信息： https://docs.px4.io/master/en/sensor/leddar_one.html
+Stop driver
 
 ```
 afbrs50 stop
 ```
 
-<a id="afbrs50_usage"></a>
-
-### 用法
+### Usage {#afbrs50_usage}
 
 ```
 afbrs50 <command> [arguments...]
@@ -43,9 +41,7 @@ afbrs50 <command> [arguments...]
 
 Source: [drivers/distance_sensor/gy_us42](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/gy_us42)
 
-<a id="gy_us42_usage"></a>
-
-### 用法
+### Usage {#gy_us42_usage}
 
 ```
 gy_us42 <command> [arguments...]
@@ -73,7 +69,7 @@ Source: [drivers/distance_sensor/leddar_one](https://github.com/PX4/PX4-Autopilo
 
 Serial bus driver for the LeddarOne LiDAR.
 
-针对 Lightware SFxx 系列 LIDAR 测距仪的 I2C 总线驱动： SF10/a, SF10/b, SF10/c, SF11/c, SF/LW20。
+Most boards are configured to enable/start the driver on a specified UART using the SENS_LEDDAR1_CFG parameter.
 
 Setup/usage information: https://docs.px4.io/main/en/sensor/leddar_one.html
 
@@ -85,15 +81,13 @@ Attempt to start driver on a specified serial device.
 leddar_one start -d /dev/ttyS1
 ```
 
-设置/使用 信息： https://docs.px4.io/master/en/sensor/leddar_one.html
+Stop driver
 
 ```
 leddar_one stop
 ```
 
-<a id="leddar_one_usage"></a>
-
-### 用法
+### Usage {#leddar_one_usage}
 
 ```
 leddar_one <command> [arguments...]
@@ -112,13 +106,11 @@ Source: [drivers/distance_sensor/lightware_laser_i2c](https://github.com/PX4/PX4
 
 ### 描述
 
-设置/使用 信息： https://docs.px4.io/master/en/sensor/sfxx_lidar.html
+I2C bus driver for Lightware SFxx series LIDAR rangefinders: SF10/a, SF10/b, SF10/c, SF11/c, SF/LW20.
 
 Setup/usage information: https://docs.px4.io/main/en/sensor/sfxx_lidar.html
 
-<a id="lightware_laser_i2c_usage"></a>
-
-### 用法
+### Usage {#lightware_laser_i2c_usage}
 
 ```
 lightware_laser_i2c <command> [arguments...]
@@ -160,15 +152,13 @@ Attempt to start driver on a specified serial device.
 lightware_laser_serial start -d /dev/ttyS1
 ```
 
-设置/使用 信息： https://docs.px4.io/master/en/sensor/leddar_one.html
+Stop driver
 
 ```
 lightware_laser_serial stop
 ```
 
-<a id="lightware_laser_serial_usage"></a>
-
-### 用法
+### Usage {#lightware_laser_serial_usage}
 
 ```
 lightware_laser_serial <command> [arguments...]
@@ -197,15 +187,13 @@ Attempt to start driver on a specified serial device.
 lightware_sf45_serial start -d /dev/ttyS1
 ```
 
-设置/使用 信息： https://docs.px4.io/master/en/sensor/leddar_one.html
+Stop driver
 
 ```
 lightware_sf45_serial stop
 ```
 
-<a id="lightware_sf45_serial_usage"></a>
-
-### 用法
+### Usage {#lightware_sf45_serial_usage}
 
 ```
 lightware_sf45_serial <command> [arguments...]
@@ -224,13 +212,11 @@ Source: [drivers/distance_sensor/ll40ls_pwm](https://github.com/PX4/PX4-Autopilo
 
 PWM driver for LidarLite rangefinders.
 
-超声笔测距仪驱动，负责处理与设备的用心并通过 uORB 将距离信息发布出去。
+The sensor/driver must be enabled using the parameter SENS_EN_LL40LS.
 
 Setup/usage information: https://docs.px4.io/main/en/sensor/lidar_lite.html
 
-<a id="ll40ls_usage"></a>
-
-### 用法
+### Usage {#ll40ls_usage}
 
 ```
 ll40ls <command> [arguments...]
@@ -244,13 +230,11 @@ ll40ls <command> [arguments...]
    stop          Stop driver
 ```
 
-## pga460
+## mappydot
 
 Source: [drivers/distance_sensor/mappydot](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/mappydot)
 
-<a id="mappydot_usage"></a>
-
-### 用法
+### Usage {#mappydot_usage}
 
 ```
 mappydot <command> [arguments...]
@@ -272,9 +256,7 @@ mappydot <command> [arguments...]
 
 Source: [drivers/distance_sensor/mb12xx](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/mb12xx)
 
-<a id="mb12xx_usage"></a>
-
-### 用法
+### Usage {#mb12xx_usage}
 
 ```
 mb12xx <command> [arguments...]
@@ -312,9 +294,7 @@ running. A simple algorithm to detect false readings is implemented at the drive
 the quality of data that is being published. The driver will not publish data at all if it deems the sensor data
 to be invalid or unstable.
 
-<a id="pga460_usage"></a>
-
-### 用法
+### Usage {#pga460_usage}
 
 ```
 pga460 <command> [arguments...]
@@ -333,9 +313,7 @@ pga460 <command> [arguments...]
 
 Source: [drivers/distance_sensor/srf02](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/srf02)
 
-<a id="srf02_usage"></a>
-
-### 用法
+### Usage {#srf02_usage}
 
 ```
 srf02 <command> [arguments...]
@@ -367,9 +345,7 @@ Driver for HY-SRF05 / HC-SR05 and HC-SR04 rangefinders.
 
 The sensor/driver must be enabled using the parameter SENS_EN_HXSRX0X.
 
-<a id="srf05_usage"></a>
-
-### 用法
+### Usage {#srf05_usage}
 
 ```
 srf05 <command> [arguments...]
@@ -399,9 +375,7 @@ The sensor/driver must be enabled using the parameter SENS_EN_TRANGER.
 
 Setup/usage information: https://docs.px4.io/main/en/sensor/rangefinders.html#teraranger-rangefinders
 
-<a id="teraranger_usage"></a>
-
-### 用法
+### Usage {#teraranger_usage}
 
 ```
 teraranger <command> [arguments...]
@@ -427,9 +401,7 @@ teraranger <command> [arguments...]
 
 Source: [drivers/distance_sensor/tf02pro](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/tf02pro)
 
-<a id="tf02pro_usage"></a>
-
-### 用法
+### Usage {#tf02pro_usage}
 
 ```
 tf02pro <command> [arguments...]
@@ -471,15 +443,13 @@ Attempt to start driver on a specified serial device.
 tfmini start -d /dev/ttyS1
 ```
 
-设置/使用 信息： https://docs.px4.io/master/en/sensor/leddar_one.html
+Stop driver
 
 ```
 tfmini stop
 ```
 
-<a id="tfmini_usage"></a>
-
-### 用法
+### Usage {#tfmini_usage}
 
 ```
 tfmini <command> [arguments...]
@@ -514,15 +484,13 @@ Attempt to start driver on a specified serial device.
 ulanding_radar start -d /dev/ttyS1
 ```
 
-设置/使用 信息： https://docs.px4.io/master/en/sensor/leddar_one.html
+Stop driver
 
 ```
 ulanding_radar stop
 ```
 
-<a id="ulanding_radar_usage"></a>
-
-### 用法
+### Usage {#ulanding_radar_usage}
 
 ```
 ulanding_radar <command> [arguments...]
@@ -540,9 +508,7 @@ ulanding_radar <command> [arguments...]
 
 Source: [drivers/distance_sensor/vl53l0x](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/vl53l0x)
 
-<a id="vl53l0x_usage"></a>
-
-### 用法
+### Usage {#vl53l0x_usage}
 
 ```
 vl53l0x <command> [arguments...]
@@ -568,9 +534,7 @@ vl53l0x <command> [arguments...]
 
 Source: [drivers/distance_sensor/vl53l1x](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/vl53l1x)
 
-<a id="vl53l1x_usage"></a>
-
-### 用法
+### Usage {#vl53l1x_usage}
 
 ```
 vl53l1x <command> [arguments...]

docs/zh/modules/modules_driver_imu.md

@@ -4,9 +4,7 @@
 
 Source: [drivers/imu/analog_devices/adis16448](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/analog_devices/adis16448)
 
-<a id="adis16448_usage"></a>
-
-### 用法
+### Usage {#adis16448_usage}
 
 ```
 adis16448 <command> [arguments...]
@@ -32,9 +30,7 @@ adis16448 <command> [arguments...]
 
 Source: [drivers/imu/analog_devices/adis16470](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/analog_devices/adis16470)
 
-<a id="adis16470_usage"></a>
-
-### 用法
+### Usage {#adis16470_usage}
 
 ```
 adis16470 <command> [arguments...]
@@ -60,9 +56,7 @@ adis16470 <command> [arguments...]
 
 Source: [drivers/imu/analog_devices/adis16477](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/analog_devices/adis16477)
 
-<a id="adis16477_usage"></a>
-
-### 用法
+### Usage {#adis16477_usage}
 
 ```
 adis16477 <command> [arguments...]
@@ -88,9 +82,7 @@ adis16477 <command> [arguments...]
 
 Source: [drivers/imu/analog_devices/adis16497](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/analog_devices/adis16497)
 
-<a id="adis16497_usage"></a>
-
-### 用法
+### Usage {#adis16497_usage}
 
 ```
 adis16497 <command> [arguments...]
@@ -116,9 +108,7 @@ adis16497 <command> [arguments...]
 
 Source: [drivers/imu/analog_devices/adis16507](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/analog_devices/adis16507)
 
-<a id="adis16507_usage"></a>
-
-### 用法
+### Usage {#adis16507_usage}
 
 ```
 adis16507 <command> [arguments...]
@@ -144,9 +134,7 @@ adis16507 <command> [arguments...]
 
 Source: [drivers/imu/bosch/bmi055](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/bosch/bmi055)
 
-<a id="bmi055_usage"></a>
-
-### 用法
+### Usage {#bmi055_usage}
 
 ```
 bmi055 <command> [arguments...]
@@ -174,9 +162,7 @@ bmi055 <command> [arguments...]
 
 Source: [drivers/imu/bosch/bmi085](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/bosch/bmi085)
 
-<a id="bmi085_usage"></a>
-
-### 用法
+### Usage {#bmi085_usage}
 
 ```
 bmi085 <command> [arguments...]
@@ -204,9 +190,7 @@ bmi085 <command> [arguments...]
 
 Source: [drivers/imu/bosch/bmi088](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/bosch/bmi088)
 
-<a id="bmi088_usage"></a>
-
-### 用法
+### Usage {#bmi088_usage}
 
 ```
 bmi088 <command> [arguments...]
@@ -234,9 +218,7 @@ bmi088 <command> [arguments...]
 
 Source: [drivers/imu/bosch/bmi088_i2c](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/bosch/bmi088_i2c)
 
-<a id="bmi088_i2c_usage"></a>
-
-### 用法
+### Usage {#bmi088_i2c_usage}
 
 ```
 bmi088_i2c <command> [arguments...]
@@ -264,9 +246,7 @@ bmi088_i2c <command> [arguments...]
 
 Source: [drivers/imu/bosch/bmi270](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/bosch/bmi270)
 
-<a id="bmi270_usage"></a>
-
-### 用法
+### Usage {#bmi270_usage}
 
 ```
 bmi270 <command> [arguments...]
@@ -292,9 +272,7 @@ bmi270 <command> [arguments...]
 
 Source: [drivers/imu/nxp/fxas21002c](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/nxp/fxas21002c)
 
-<a id="fxas21002c_usage"></a>
-
-### 用法
+### Usage {#fxas21002c_usage}
 
 ```
 fxas21002c <command> [arguments...]
@@ -328,9 +306,7 @@ fxas21002c <command> [arguments...]
 
 Source: [drivers/imu/nxp/fxos8701cq](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/nxp/fxos8701cq)
 
-<a id="fxos8701cq_usage"></a>
-
-### 用法
+### Usage {#fxos8701cq_usage}
 
 ```
 fxos8701cq <command> [arguments...]
@@ -364,9 +340,7 @@ fxos8701cq <command> [arguments...]
 
 Source: [drivers/imu/invensense/iam20680hp](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/iam20680hp)
 
-<a id="iam20680hp_usage"></a>
-
-### 用法
+### Usage {#iam20680hp_usage}
 
 ```
 iam20680hp <command> [arguments...]
@@ -392,9 +366,7 @@ iam20680hp <command> [arguments...]
 
 Source: [drivers/imu/invensense/icm20602](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/icm20602)
 
-<a id="icm20602_usage"></a>
-
-### 用法
+### Usage {#icm20602_usage}
 
 ```
 icm20602 <command> [arguments...]
@@ -420,9 +392,7 @@ icm20602 <command> [arguments...]
 
 Source: [drivers/imu/invensense/icm20608g](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/icm20608g)
 
-<a id="icm20608g_usage"></a>
-
-### 用法
+### Usage {#icm20608g_usage}
 
 ```
 icm20608g <command> [arguments...]
@@ -448,9 +418,7 @@ icm20608g <command> [arguments...]
 
 Source: [drivers/imu/invensense/icm20649](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/icm20649)
 
-<a id="icm20649_usage"></a>
-
-### 用法
+### Usage {#icm20649_usage}
 
 ```
 icm20649 <command> [arguments...]
@@ -476,9 +444,7 @@ icm20649 <command> [arguments...]
 
 Source: [drivers/imu/invensense/icm20689](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/icm20689)
 
-<a id="icm20689_usage"></a>
-
-### 用法
+### Usage {#icm20689_usage}
 
 ```
 icm20689 <command> [arguments...]
@@ -504,9 +470,7 @@ icm20689 <command> [arguments...]
 
 Source: [drivers/imu/invensense/icm20948](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/icm20948)
 
-<a id="icm20948_usage"></a>
-
-### 用法
+### Usage {#icm20948_usage}
 
 ```
 icm20948 <command> [arguments...]
@@ -533,9 +497,7 @@ icm20948 <command> [arguments...]
 
 Source: [drivers/imu/invensense/icm20948](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/icm20948)
 
-<a id="icm20948_i2c_passthrough_usage"></a>
-
-### 用法
+### Usage {#icm20948_i2c_passthrough_usage}
 
 ```
 icm20948_i2c_passthrough <command> [arguments...]
@@ -559,9 +521,7 @@ icm20948_i2c_passthrough <command> [arguments...]
 
 Source: [drivers/imu/invensense/icm40609d](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/icm40609d)
 
-<a id="icm40609d_usage"></a>
-
-### 用法
+### Usage {#icm40609d_usage}
 
 ```
 icm40609d <command> [arguments...]
@@ -587,9 +547,7 @@ icm40609d <command> [arguments...]
 
 Source: [drivers/imu/invensense/icm42605](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/icm42605)
 
-<a id="icm42605_usage"></a>
-
-### 用法
+### Usage {#icm42605_usage}
 
 ```
 icm42605 <command> [arguments...]
@@ -615,9 +573,7 @@ icm42605 <command> [arguments...]
 
 Source: [drivers/imu/invensense/icm42670p](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/icm42670p)
 
-<a id="icm42670p_usage"></a>
-
-### 用法
+### Usage {#icm42670p_usage}
 
 ```
 icm42670p <command> [arguments...]
@@ -643,9 +599,7 @@ icm42670p <command> [arguments...]
 
 Source: [drivers/imu/invensense/icm42688p](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/icm42688p)
 
-<a id="icm42688p_usage"></a>
-
-### 用法
+### Usage {#icm42688p_usage}
 
 ```
 icm42688p <command> [arguments...]
@@ -674,9 +628,7 @@ icm42688p <command> [arguments...]
 
 Source: [drivers/imu/invensense/icm45686](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/icm45686)
 
-<a id="icm45686_usage"></a>
-
-### 用法
+### Usage {#icm45686_usage}
 
 ```
 icm45686 <command> [arguments...]
@@ -704,9 +656,7 @@ icm45686 <command> [arguments...]
 
 Source: [drivers/imu/invensense/iim42652](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/iim42652)
 
-<a id="iim42652_usage"></a>
-
-### 用法
+### Usage {#iim42652_usage}
 
 ```
 iim42652 <command> [arguments...]
@@ -734,9 +684,7 @@ iim42652 <command> [arguments...]
 
 Source: [drivers/imu/invensense/iim42653](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/iim42653)
 
-<a id="iim42653_usage"></a>
-
-### 用法
+### Usage {#iim42653_usage}
 
 ```
 iim42653 <command> [arguments...]
@@ -764,9 +712,7 @@ iim42653 <command> [arguments...]
 
 Source: [drivers/imu/st/l3gd20](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/st/l3gd20)
 
-<a id="l3gd20_usage"></a>
-
-### 用法
+### Usage {#l3gd20_usage}
 
 ```
 l3gd20 <command> [arguments...]
@@ -796,9 +742,7 @@ l3gd20 <command> [arguments...]
 
 Source: [drivers/imu/st/lsm303d](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/st/lsm303d)
 
-<a id="lsm303d_usage"></a>
-
-### 用法
+### Usage {#lsm303d_usage}
 
 ```
 lsm303d <command> [arguments...]
@@ -824,9 +768,7 @@ lsm303d <command> [arguments...]
 
 Source: [drivers/imu/st/lsm9ds1](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/st/lsm9ds1)
 
-<a id="lsm9ds1_usage"></a>
-
-### 用法
+### Usage {#lsm9ds1_usage}
 
 ```
 lsm9ds1 <command> [arguments...]
@@ -852,9 +794,7 @@ lsm9ds1 <command> [arguments...]
 
 Source: [drivers/imu/invensense/mpu6000](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/mpu6000)
 
-<a id="mpu6000_usage"></a>
-
-### 用法
+### Usage {#mpu6000_usage}
 
 ```
 mpu6000 <command> [arguments...]
@@ -880,9 +820,7 @@ mpu6000 <command> [arguments...]
 
 Source: [drivers/imu/invensense/mpu9250](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/mpu9250)
 
-<a id="mpu9250_usage"></a>
-
-### 用法
+### Usage {#mpu9250_usage}
 
 ```
 mpu9250 <command> [arguments...]
@@ -909,9 +847,7 @@ mpu9250 <command> [arguments...]
 
 Source: [drivers/imu/invensense/mpu9250](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/mpu9250)
 
-<a id="mpu9250_i2c_usage"></a>
-
-### 用法
+### Usage {#mpu9250_i2c_usage}
 
 ```
 mpu9250_i2c <command> [arguments...]
@@ -937,9 +873,7 @@ mpu9250_i2c <command> [arguments...]
 
 Source: [drivers/imu/invensense/mpu6500](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/mpu6500)
 
-<a id="mpu9520_usage"></a>
-
-### 用法
+### Usage {#mpu9520_usage}
 
 ```
 mpu9520 <command> [arguments...]
@@ -965,9 +899,7 @@ mpu9520 <command> [arguments...]
 
 Source: [drivers/imu/murata/sch16t](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/murata/sch16t)
 
-<a id="sch16t_usage"></a>
-
-### 用法
+### Usage {#sch16t_usage}
 
 ```
 sch16t <command> [arguments...]

docs/zh/modules/modules_driver_ins.md

@@ -20,15 +20,13 @@ Attempt to start driver on a specified serial device.
 vectornav start -d /dev/ttyS1
 ```
 
-设置/使用 信息： https://docs.px4.io/master/en/sensor/leddar_one.html
+Stop driver
 
 ```
 vectornav stop
 ```
 
-<a id="vectornav_usage"></a>
-
-### 用法
+### Usage {#vectornav_usage}
 
 ```
 vectornav <command> [arguments...]

docs/zh/modules/modules_driver_magnetometer.md

@@ -4,9 +4,7 @@
 
 Source: [drivers/magnetometer/akm/ak09916](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/magnetometer/akm/ak09916)
 
-<a id="ak09916_usage"></a>
-
-### 用法
+### Usage {#ak09916_usage}
 
 ```
 ak09916 <command> [arguments...]
@@ -32,9 +30,7 @@ ak09916 <command> [arguments...]
 
 Source: [drivers/magnetometer/akm/ak8963](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/magnetometer/akm/ak8963)
 
-<a id="ak8963_usage"></a>
-
-### 用法
+### Usage {#ak8963_usage}
 
 ```
 ak8963 <command> [arguments...]
@@ -60,9 +56,7 @@ ak8963 <command> [arguments...]
 
 Source: [drivers/magnetometer/bosch/bmm150](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/magnetometer/bosch/bmm150)
 
-<a id="bmm150_usage"></a>
-
-### 用法
+### Usage {#bmm150_usage}
 
 ```
 bmm150 <command> [arguments...]
@@ -88,9 +82,7 @@ bmm150 <command> [arguments...]
 
 Source: [drivers/magnetometer/bosch/bmm350](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/magnetometer/bosch/bmm350)
 
-<a id="bmm350_usage"></a>
-
-### 用法
+### Usage {#bmm350_usage}
 
 ```
 bmm350 <command> [arguments...]
@@ -116,9 +108,7 @@ bmm350 <command> [arguments...]
 
 Source: [drivers/magnetometer/hmc5883](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/magnetometer/hmc5883)
 
-<a id="hmc5883_usage"></a>
-
-### 用法
+### Usage {#hmc5883_usage}
 
 ```
 hmc5883 <command> [arguments...]
@@ -147,9 +137,7 @@ hmc5883 <command> [arguments...]
 
 Source: [drivers/magnetometer/st/iis2mdc](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/magnetometer/st/iis2mdc)
 
-<a id="iis2mdc_usage"></a>
-
-### 用法
+### Usage {#iis2mdc_usage}
 
 ```
 iis2mdc <command> [arguments...]
@@ -173,9 +161,7 @@ iis2mdc <command> [arguments...]
 
 Source: [drivers/magnetometer/isentek/ist8308](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/magnetometer/isentek/ist8308)
 
-<a id="ist8308_usage"></a>
-
-### 用法
+### Usage {#ist8308_usage}
 
 ```
 ist8308 <command> [arguments...]
@@ -201,9 +187,7 @@ ist8308 <command> [arguments...]
 
 Source: [drivers/magnetometer/isentek/ist8310](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/magnetometer/isentek/ist8310)
 
-<a id="ist8310_usage"></a>
-
-### 用法
+### Usage {#ist8310_usage}
 
 ```
 ist8310 <command> [arguments...]
@@ -229,9 +213,7 @@ ist8310 <command> [arguments...]
 
 Source: [drivers/magnetometer/lis3mdl](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/magnetometer/lis3mdl)
 
-<a id="lis3mdl_usage"></a>
-
-### 用法
+### Usage {#lis3mdl_usage}
 
 ```
 lis3mdl <command> [arguments...]
@@ -263,9 +245,7 @@ lis3mdl <command> [arguments...]
 
 Source: [drivers/magnetometer/lsm9ds1_mag](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/magnetometer/lsm9ds1_mag)
 
-<a id="lsm9ds1_mag_usage"></a>
-
-### 用法
+### Usage {#lsm9ds1_mag_usage}
 
 ```
 lsm9ds1_mag <command> [arguments...]
@@ -291,9 +271,7 @@ lsm9ds1_mag <command> [arguments...]
 
 Source: [drivers/magnetometer/memsic/mmc5983ma](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/magnetometer/memsic/mmc5983ma)
 
-<a id="mmc5983ma_usage"></a>
-
-### 用法
+### Usage {#mmc5983ma_usage}
 
 ```
 mmc5983ma <command> [arguments...]
@@ -325,9 +303,7 @@ mmc5983ma <command> [arguments...]
 
 Source: [drivers/magnetometer/qmc5883l](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/magnetometer/qmc5883l)
 
-<a id="qmc5883l_usage"></a>
-
-### 用法
+### Usage {#qmc5883l_usage}
 
 ```
 qmc5883l <command> [arguments...]
@@ -353,9 +329,7 @@ qmc5883l <command> [arguments...]
 
 Source: [drivers/magnetometer/rm3100](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/magnetometer/rm3100)
 
-<a id="rm3100_usage"></a>
-
-### 用法
+### Usage {#rm3100_usage}
 
 ```
 rm3100 <command> [arguments...]
@@ -383,9 +357,7 @@ rm3100 <command> [arguments...]
 
 Source: [drivers/magnetometer/vtrantech/vcm1193l](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/magnetometer/vtrantech/vcm1193l)
 
-<a id="vcm1193l_usage"></a>
-
-### 用法
+### Usage {#vcm1193l_usage}
 
 ```
 vcm1193l <command> [arguments...]

docs/zh/modules/modules_driver_optical_flow.md

@@ -20,15 +20,13 @@ Attempt to start driver on a specified serial device.
 thoneflow start -d /dev/ttyS1
 ```
 
-设置/使用 信息： https://docs.px4.io/master/en/sensor/leddar_one.html
+Stop driver
 
 ```
 thoneflow stop
 ```
 
-<a id="thoneflow_usage"></a>
-
-### 用法
+### Usage {#thoneflow_usage}
 
 ```
 thoneflow <command> [arguments...]

docs/zh/modules/modules_driver_radio_control.md

@@ -0,0 +1,122 @@
+# Modules Reference: Radio Control (Driver)
+
+## crsf_rc
+
+Source: [drivers/rc/crsf_rc](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/rc/crsf_rc)
+
+### 描述
+
+This module parses the CRSF RC uplink protocol and generates CRSF downlink telemetry data
+
+### Usage {#crsf_rc_usage}
+
+```
+crsf_rc <command> [arguments...]
+ Commands:
+   start
+     [-d <val>]  RC device
+                 values: <file:dev>, default: /dev/ttyS3
+
+   stop
+
+   status        print status info
+```
+
+## dsm_rc
+
+Source: [drivers/rc/dsm_rc](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/rc/dsm_rc)
+
+### 描述
+
+This module does Spektrum DSM RC input parsing.
+
+### Usage {#dsm_rc_usage}
+
+```
+dsm_rc <command> [arguments...]
+ Commands:
+   start
+     [-d <val>]  RC device
+                 values: <file:dev>, default: /dev/ttyS3
+
+   bind          Send a DSM bind command (module must be running)
+
+   stop
+
+   status        print status info
+```
+
+## ghst_rc
+
+Source: [drivers/rc/ghst_rc](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/rc/ghst_rc)
+
+### 描述
+
+This module does Ghost (GHST) RC input parsing.
+
+### Usage {#ghst_rc_usage}
+
+```
+ghst_rc <command> [arguments...]
+ Commands:
+   start
+     [-d <val>]  RC device
+                 values: <file:dev>, default: /dev/ttyS3
+
+   stop
+
+   status        print status info
+```
+
+## rc_input
+
+Source: [drivers/rc_input](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/rc_input)
+
+### 描述
+
+This module does the RC input parsing and auto-selecting the method. Supported methods are:
+
+- PPM
+- SBUS
+- DSM
+- SUMD
+- ST24
+- TBS Crossfire (CRSF)
+
+### Usage {#rc_input_usage}
+
+```
+rc_input <command> [arguments...]
+ Commands:
+   start
+     [-d <val>]  RC device
+                 values: <file:dev>, default: /dev/ttyS3
+
+   bind          Send a DSM bind command (module must be running)
+
+   stop
+
+   status        print status info
+```
+
+## sbus_rc
+
+Source: [drivers/rc/sbus_rc](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/rc/sbus_rc)
+
+### 描述
+
+This module does SBUS RC input parsing.
+
+### Usage {#sbus_rc_usage}
+
+```
+sbus_rc <command> [arguments...]
+ Commands:
+   start
+     [-d <val>]  RC device
+                 values: <file:dev>, default: /dev/ttyS3
+
+   stop
+
+   status        print status info
+```

docs/zh/modules/modules_driver_rpm_sensor.md

@@ -4,9 +4,7 @@
 
 Source: [drivers/rpm/pcf8583](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/rpm/pcf8583)
 
-<a id="pcf8583_usage"></a>
-
-### 用法
+### Usage {#pcf8583_usage}
 
 ```
 pcf8583 <command> [arguments...]

docs/zh/modules/modules_driver_transponder.md

@@ -24,9 +24,7 @@ Set the Squawk Code
 $ sagetech_mxs squawk 1200
 ```
 
-<a id="sagetech_mxs_usage"></a>
-
-### 用法
+### Usage {#sagetech_mxs_usage}
 
 ```
 sagetech_mxs <command> [arguments...]

docs/zh/modules/modules_estimator.md

@@ -8,9 +8,7 @@ Source: [modules/attitude_estimator_q](https://github.com/PX4/PX4-Autopilot/tree
 
 Attitude and position estimator using an Extended Kalman Filter. It is used for Multirotors and Fixed-Wing.
 
-<a id="AttitudeEstimatorQ_usage"></a>
-
-### 用法
+### Usage {#AttitudeEstimatorQ_usage}
 
 ```
 AttitudeEstimatorQ <command> [arguments...]
@@ -36,9 +34,7 @@ to a valid sensor in case of failure detection. For failure detection as well as
 the estimation of a scale factor from IAS to CAS, it runs several wind estimators
 and also publishes those.
 
-<a id="airspeed_estimator_usage"></a>
-
-### 用法
+### Usage {#airspeed_estimator_usage}
 
 ```
 airspeed_estimator <command> [arguments...]
@@ -63,9 +59,7 @@ The documentation can be found on the [ECL/EKF Overview & Tuning](https://docs.p
 ekf2 can be started in replay mode (`-r`): in this mode, it does not access the system time, but only uses the
 timestamps from the sensor topics.
 
-<a id="ekf2_usage"></a>
-
-### 用法
+### Usage {#ekf2_usage}
 
 ```
 ekf2 <command> [arguments...]
@@ -90,9 +84,7 @@ Source: [modules/local_position_estimator](https://github.com/PX4/PX4-Autopilot/
 
 基于扩展卡尔曼滤波器的姿态和位置估计器。
 
-<a id="local_position_estimator_usage"></a>
-
-### 用法
+### Usage {#local_position_estimator_usage}
 
 ```
 local_position_estimator <command> [arguments...]
@@ -110,9 +102,7 @@ Source: [modules/mc_hover_thrust_estimator](https://github.com/PX4/PX4-Autopilot
 
 ### 描述
 
-<a id="mc_hover_thrust_estimator_usage"></a>
-
-### 用法
+### Usage {#mc_hover_thrust_estimator_usage}
 
 ```
 mc_hover_thrust_estimator <command> [arguments...]

docs/zh/modules/modules_simulation.md

@@ -21,9 +21,7 @@ signals given by the control allocation module.
 积分计算采用前向欧拉法。
 为避免堆栈溢出，大部分变量在 .hpp 文件中声明为全局变量。
 
-<a id="simulator_sih_usage"></a>
-
-### 用法
+### Usage {#simulator_sih_usage}
 
 ```
 simulator_sih <command> [arguments...]

docs/zh/modules/modules_template.md

@@ -22,9 +22,7 @@ CLI usage example:
 module start -f -p 42
 ```
 
-<a id="module_usage"></a>
-
-### 用法
+### Usage {#module_usage}
 
 ```
 module <command> [arguments...]
@@ -47,9 +45,7 @@ Source: [examples/work_item](https://github.com/PX4/PX4-Autopilot/tree/main/src/
 
 Example of a simple module running out of a work queue.
 
-<a id="work_item_example_usage"></a>
-
-### 用法
+### Usage {#work_item_example_usage}
 
 ```
 work_item_example <command> [arguments...]