New Crowdin translations - ko (#25200)

Co-authored-by: Crowdin Bot <support+bot@crowdin.com>
2026-05-22 06:14:14 +08:00 · 2025-07-13 10:37:31 +10:00
parent a5920edbb1
commit 84cdc05195
92 changed files with 301 additions and 293 deletions
@@ -179,8 +179,6 @@
        - [Wiring Quickstart](assembly/quick_start_durandal.md)
      - [Holybro Pix32 v5](flight_controller/holybro_pix32_v5.md)
        - [Wiring Quickstart](assembly/quick_start_holybro_pix32_v5.md)
-      - [ModalAI Flight Core v1](flight_controller/modalai_fc_v1.md)
-      - [ModalAI VOXL Flight](flight_controller/modalai_voxl_flight.md)
      - [ModalAI VOXL 2](flight_controller/modalai_voxl_2.md)
      - [mRo Control Zero F7](flight_controller/mro_control_zero_f7.md)
      - [Sky-Drones AIRLink](flight_controller/airlink.md)
@@ -205,6 +203,8 @@
      - [Holybro Kakute F7](flight_controller/kakutef7.md)
      - [Holybro Pixfalcon](flight_controller/pixfalcon.md)
      - [Holybro pix32 (FMUv2)](flight_controller/holybro_pix32.md)
+      - [ModalAI Flight Core v1](flight_controller/modalai_fc_v1.md)
+      - [ModalAI VOXL Flight](flight_controller/modalai_voxl_flight.md)
      - [mRo X2.1 (FMUv2)](flight_controller/mro_x2.1.md)
      - [mRo AUAV-X2](flight_controller/auav_x2.md)
      - [NXP RDDRONE-FMUK66 FMU](flight_controller/nxp_rddrone_fmuk66.md)
@@ -833,6 +833,7 @@
      - [시험 MC_04 - 안전 장치 시험](test_cards/mc_04_failsafe_testing.md)
      - [시험 MC_05 - 실내 비행 (수동 모드)](test_cards/mc_05_indoor_flight_manual_modes.md)
    - [단위 테스트](test_and_ci/unit_tests.md)
+      - [Fuzz Tests](test_and_ci/fuzz_tests.md)
    - [지속 통합](test_and_ci/continous_integration.md)
    - [Integration Testing](test_and_ci/integration_testing.md)
      - [MAVSDK 통합 테스트](test_and_ci/integration_testing_mavsdk.md)
@@ -389,7 +389,6 @@ It is further configured using the `EKF2_RNG_A_` parameters:

 - [EKF2_RNG_A_VMAX](../advanced_config/parameter_reference.md#EKF2_RNG_A_VMAX): Maximum horizontal speed, above which range aid is disabled.
 - [EKF2_RNG_A_HMAX](../advanced_config/parameter_reference.md#EKF2_RNG_A_HMAX): Maximum height, above which range aid is disabled.
- [EKF2_RNG_A_IGATE](../advanced_config/parameter_reference.md#EKF2_RNG_A_IGATE): Range aid consistency checks "gate" (a measure of the error before range aid is disabled).

 #### Range height fusion

@@ -246,7 +246,7 @@ Note that Pic2Map is limited to only 40 images.

 ### Reconstruction

-We use [Pix4D](https://pix4d.com/) for 3D reconstruction.
+We use [Pix4D](https://www.pix4d.com/) for 3D reconstruction.

 ![GeoTag](../../assets/camera/geotag.jpg)

@@ -20,7 +20,7 @@ This guide walks through the process of setting up the board and connecting to P
 You will temporarily need the following hardware in order to log into your Jetson and get its IP address, after which you will be able to log in via SSH:

 - External display.
-  If your display doesn't have a mini HDMI connector you will also need a [Mini HDMI to HDMI converter](https://a.co/d/6N815N9) if your external display has HDMI input
+  If your display doesn't have a mini HDMI connector you will also need a [Mini HDMI to HDMI converter](https://www.amazon.com/dp/B014I8UEGY/) if your external display has HDMI input
 - Ethernet cable
 - Mouse and keyboard (the baseboard has 4 USB ports exposed from Jetson, two of which are USB 3.0)

@@ -36,7 +36,7 @@ The main hardware documentation is here: https://wiki.bitcraze.io/projects:crazy
 ## 구매처

 - [Crazyflie 2.0](https://store.bitcraze.io/collections/kits/products/crazyflie-2-0).
- [Crazyradio PA 2.4 GHz USB dongle](https://store.bitcraze.io/collections/kits/products/crazyradio-pa): used for wireless communication between _QGroundControl_ and Crazyflie 2.0.
+- [Crazyradio PA 2.4 GHz USB dongle](https://store.bitcraze.io/products/crazyradio-pa): used for wireless communication between _QGroundControl_ and Crazyflie 2.0.
 - [Breakout deck](https://store.bitcraze.io/collections/decks/products/breakout-deck): breakout expansion board for connecting new peripherals.
 - [Flow deck](https://store.bitcraze.io/collections/decks/products/flow-deck): contains an optical flow sensor to measure movements of the ground and a distance sensor to measure the distance to the ground.
  This will be useful for precise altitude and position control.
@@ -203,7 +203,7 @@ python cfbridge.py

 :::info
 _Cfbridge_ by default tries to initiate the radio link communication on channel 80 and with crazyflie address 0xE7E7E7E7E7.
-If you are using [multiple crazyflies and/or crazyradios](https://github.com/dennisss/cfbridge/blob/master/index.md#advanced-swarming) in the same room and want to use a different channel and/or address for each, first connect the crazyflie with QGroundControl via a USB cable and change the syslink parameters (channel, address) in QGroundControl.
+If you are using [multiple crazyflies and/or crazyradios](https://github.com/dennisss/cfbridge/blob/master/README.md#advanced-swarming) in the same room and want to use a different channel and/or address for each, first connect the crazyflie with QGroundControl via a USB cable and change the syslink parameters (channel, address) in QGroundControl.
 Next, launch the cfbridge by giving the same channel and address as the first and second arguments respectively, e.g: `python cfbridge.py 90 0x0202020202`
 :::

@@ -40,7 +40,7 @@ The vehicle can be purchased here: [Crazyflie 2.1](https://store.bitcraze.io/pro

 Useful peripheral hardware includes:

- [Crazyradio PA 2.4 GHz USB dongle](https://store.bitcraze.io/collections/kits/products/crazyradio-pa): Wireless communication between _QGroundControl_ and Crazyflie 2.0
+- [Crazyradio PA 2.4 GHz USB dongle](https://store.bitcraze.io/products/crazyradio-pa): Wireless communication between _QGroundControl_ and Crazyflie 2.0
 - [Breakout deck](https://store.bitcraze.io/collections/decks/products/breakout-deck): Breakout expansion board for connecting new peripherals.
 - [Flow deck v2](https://store.bitcraze.io/collections/decks/products/flow-deck-v2): Optical flow sensor and a distance sensor for altitude and position control.
 - [Z-ranger deck v2](https://store.bitcraze.io/collections/decks/products/z-ranger-deck-v2): Distance sensor for altitude control (same sensor as the Flow deck).
@@ -220,7 +220,7 @@ To connect Crazyflie 2.1 with crazyradio, **launch cfbridge** by following these

  ::: info
  _Cfbridge_ by default tries to initiate the radio link communication on channel 80 and with crazyflie address 0xE7E7E7E7E7.
-  If you are using [multiple crazyflies and/or crazyradios](https://github.com/dennisss/cfbridge/blob/master/index.md#advanced-swarming) in the same room and want to use a different channel and/or address for each, first connect the crazyflie with QGroundControl via a USB cable and change the syslink parameters (channel, address) in QGroundControl.
+  If you are using [multiple crazyflies and/or crazyradios](https://github.com/dennisss/cfbridge/blob/master/README.md#advanced-swarming) in the same room and want to use a different channel and/or address for each, first connect the crazyflie with QGroundControl via a USB cable and change the syslink parameters (channel, address) in QGroundControl.
  Next, launch the cfbridge by giving the same channel and address as the first and second arguments respectively, e.g: `python cfbridge.py 90 0x0202020202`

 :::
@@ -12,19 +12,16 @@ You can find others on [px4.io](https://px4.io/ecosystem/commercial-systems/) an
 This section lists drone kits that are intended as platforms for further development.
 They may come either fully assembled or in parts.

- [ModalAI VOXL 2 Starling PX4 Development Drone](../complete_vehicles_mc/modalai_starling.md) - SLAM development drone supercharged by VOXL 2 and PX4.
 - [PX4 Vision DevKit](../complete_vehicles_mc/px4_vision_kit.md) - Multicopter used for PX4 computer vision development
+- ~[ModalAI VOXL 2 Starling PX4 Development Drone](../complete_vehicles_mc/modalai_starling.md)~ (Discontinued/superseded) - SLAM development drone supercharged by VOXL 2 and PX4.

 ## PX4 Preinstalled

 This section lists vehicles that are sold fully assembled and ready to fly (RTF), with PX4 installed.

- [ModalAI Starling](../complete_vehicles_mc/modalai_starling.md)
- [ModalAI Sentinel](https://www.modalai.com/sentinel)
 - [MindRacer 210](../complete_vehicles_mc/mindracer210.md)
 - [NanoMind 110](../complete_vehicles_mc/nanomind110.md)
 - [Amovlab F410](../complete_vehicles_mc/amov_F410_drone.md)
- [Teal One](https://px4.io/project/teal-one/) ([superseded](https://tealdrones.com/solutions/teal-2/))

 ## PX4 Compatible

@@ -32,7 +29,6 @@ This section lists vehicles where you can update the software to run PX4.

 - [Holybro Kopis 2](../complete_vehicles_mc/holybro_kopis2.md)
 - [Bitcraze Crazyflie 2.1](../complete_vehicles_mc/crazyflie21.md)
- [BetaFPV Beta75X 2S Brushless Whoop](../complete_vehicles_mc/betafpv_beta75x.md) (discontinued)

 ## Custom PX4

@@ -40,8 +36,8 @@ This section contains consumer vehicles that run a _custom_ version of PX4 (supp
 These may or may not be updatable to run "vanilla" PX4.

 - [Yuneec Typhoon H Plus](https://us.yuneec.com/typhoon-h-plus/)
- [Yuneec Mantis Q](https://px4.io/portfolio/yuneec-mantis-q/)
- [Yuneec H520](https://px4.io/portfolio/yuneec-h520-hexacopter/)
+- [Yuneec Mantis Q](https://px4.io/project/yuneec-mantis-q/)
+- [Yuneec H520](https://px4.io/project/yuneec-h520-hexacopter/)
 - [AeroSense Aerobo (AS-MC02-P)](https://px4.io/project/aerosense-aerobo/)

 ## See Also
@@ -403,7 +403,7 @@ The carrier board pinouts and other information are in the [downloads section](h
 ## Other Development Resources

 - [_UP Core_ Wiki](https://github.com/up-board/up-community/wiki/Ubuntu) - _Up Core_ companion computer technical information
- [Occipital Developer Forum](https://structure.io/developers) - _Structure Core_ camera information
+- [Occipital Developer Forum](https://structure.io/developers/) - _Structure Core_ camera information
 - [Pixhawk 4 Overview](../flight_controller/pixhawk4.md)
 - [Pixhawk 6C Overview](../flight_controller/pixhawk6c.md)

@@ -4,7 +4,7 @@

 The [Aion R1](https://www.aionrobotics.com/) vehicle was chosen to test and improve the differential drive support for PX4, and to improve driver support for Roboclaw Motor Controllers, such as the [RoboClaw 2x15A](https://www.basicmicro.com/RoboClaw-2x15A-Motor-Controller_p_10.html).

-The documentation and driver information here should also make it easier to work with Roboclaw controllers on other vehicles, and to work with vehicles like the [Aion R6](https://www.aionrobotics.com/r6).
+The documentation and driver information here should also make it easier to work with Roboclaw controllers on other vehicle.

 Currently, PX4 supports MANUAL mode for this setup.

@@ -12,8 +12,7 @@ Currently, PX4 supports MANUAL mode for this setup.

 ## 부품 목록

- [Aion R1 (Discontinued)](https://www.aionrobotics.com/)
-  - [Documentation](https://github-docs.readthedocs.io/en/latest/r1-ugv.html)
+- Aion R1 (Discontinued)
 - [RoboClaw 2x15A](https://www.basicmicro.com/RoboClaw-2x15A-Motor-Controller_p_10.html)
  - [R1 Roboclaw specifications](https://resources.basicmicro.com/aion-robotics-r1-autonomous-robot/)
 - [Auterion Skynode](../companion_computer/auterion_skynode.md)
@@ -50,7 +49,6 @@ Use _QGroundControl_ for rover configuration:
 First configure the serial connection:

 1. Navigate to the [Parameters](../advanced_config/parameters.md) section in QGroundControl.
-
  - Set the [RBCLW_SER_CFG](../advanced_config/parameter_reference.md#RBCLW_SER_CFG) parameter to the serial port to which the RoboClaw is connected (such as `GPS2`).
  - [RBCLW_COUNTS_REV](../advanced_config/parameter_reference.md#RBCLW_COUNTS_REV) specifies the number of encoder counts required for one wheel revolution.
    This value should be left at `1200` for the tested `RoboClaw 2x15A Motor Controller`.
@@ -18,7 +18,7 @@ They may come either fully assembled or in parts.

 This section lists VTOL vehicles that are sold fully assembled and ready to fly (RTF), with PX4 installed.

- [Vertical Technologies DeltaQuad](https://px4.io/portfolio/deltaquad-vtol/)
+- [Vertical Technologies DeltaQuad](https://px4.io/project/deltaquad-vtol/)

 <!-- ## PX4 Compatible -->

@@ -27,8 +27,8 @@ This section lists VTOL vehicles that are sold fully assembled and ready to fly
 This section contains consumer vehicles that run a _custom_ version of PX4 (supported by their vendors).
 These may or may not be updatable to run "vanilla" PX4.

- [WingtraOne Tailsitter VTOL](https://px4.io/portfolio/wingtraone-tailsitter-vtol/)
- [Flightwave Edge](https://px4.io/portfolio/flywave-edge/)
+- [WingtraOne Tailsitter VTOL](https://px4.io/project/wingtraone-tailsitter-vtol/)
+- [Flightwave Edge](https://px4.io/project/flywave-edge/)

 ## See Also

@@ -42,11 +42,11 @@ Overview of the mixing pipeline in terms of modules and uORB topics (press to sh
  - publishes the servo trims separately so they can be added as an offset when [testing actuators](../config/actuators.md#actuator-testing) (using the test sliders).
 - the output drivers:
  - handle the hardware initialization and update
-  - use a shared library [src/libs/mixer_module](https://github.com/PX4/PX4-Autopilot/blob/main/src/lib/mixer_module).
+  - use a shared library [src/libs/mixer_module](https://github.com/PX4/PX4-Autopilot/tree/main/src/lib/mixer_module).
    The driver defines a parameter prefix, e.g. `PWM_MAIN` that the library then uses for configuration.
    Its main task is to select from the input topics and assign the right data to the outputs based on the user set `<param_prefix>_FUNCx` parameter values.
    For example if `PWM_MAIN_FUNC3` is set to **Motor 2**, the 3rd output is set to the 2nd motor from `actuator_motors`.
-  - output functions are defined under [src/lib/mixer_module/output_functions.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/lib/mixer_module/output_functions.yaml).
+  - output functions are defined under [src/lib/mixer_module/output_functions.yaml](https://github.com/PX4/PX4-Autopilot/tree/main/src/lib/mixer_module/output_functions.yaml).
 - if you want to control an output from MAVLink, set the relevant output function to **Offboard Actuator Set x**, and then send the [MAV_CMD_DO_SET_ACTUATOR](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_SET_ACTUATOR) MAVLink command.

 ## Adding a new Geometry or Output Function
@@ -3,28 +3,28 @@
 아래 섹션에서는 "일반적인" PX4 시스템의 하드웨어와 소프트웨어 개요를 제공합니다. 하나는 비행 콘트롤러만 있는 것이고 다른 하나는 비행 컨트롤러와 보조 컴퓨터("미션 컴퓨터"라고도 함)가 있습니다.

 :::info
-The [PX4 Architectural Overview](../concept/architecture.md) provides information about the flight stack and middleware.
-Offboard APIs are covered in [ROS](../ros/index.md) and [MAVSDK](https://mavsdk.mavlink.io/main/en/).
+PX4 아키텍처 개요(../concept/architecture.md)는 비행 스택과 미들웨어에 대한 정보를 제공합니다.
+오프보드 API는 ROS(../ros/index.md)와 MAVSDK(https://mavsdk.mavlink.io/main/en/)에서 다루어집니다.
 :::

 ## 비행 콘트롤러

 아래 다이어그램은 비행 콘트롤러 기반 PX4 시스템 개요입니다.

-![PX4 architecture - FC only system](../../assets/diagrams/px4_arch_fc.svg)
+![PX4 구조: 비행 컨트롤러 단독 운용 시스템](../../assets/diagrams/px4_arch_fc.svg)

 <!-- Source for drawing: https://docs.google.com/drawings/d/1_2n43WrbkWTs1kz0w0avVEeebJbfTj5SSqvCmvSOBdU/edit -->

 하드웨어 구성

- [Flight controller](../flight_controller/index.md) (running the PX4 flight stack). 콘트롤러에는 대부분 내부 IMU, 나침반 및 기압계가 포함되어 있습니다.
+- (PX4 비행 제어 소프트웨어를 실행하는) [비행 컨트롤러](../flight_controller/index.md). 콘트롤러에는 대부분 내부 IMU, 나침반 및 기압계가 포함되어 있습니다.
 - [Motor ESCs](../peripherals/esc_motors.md) connected to [PWM outputs](../peripherals/pwm_escs_and_servo.md), [DroneCAN](../dronecan/escs.md) (DroneCAN allows two-way communication, not single direction as shown) or some other bus.
 - Sensors ([GPS](../gps_compass/index.md), [compass](../gps_compass/index.md), distance sensors, barometers, optical flow, barometers, ADSB transponders, etc.) connected via I2C, SPI, CAN, UART etc.
 - [Camera](../camera/index.md) or other payload. 카메라는 PWM 출력에 연결하거나 MAVLink로 연결할 수 있습니다.
 - [Telemetry radios](../telemetry/index.md) for connecting to a ground station computer/software.
 - [RC Control System](../getting_started/rc_transmitter_receiver.md) for manual control

-The left hand side of the diagram shows the software stack, which is horizontally aligned (approximately) with the hardware parts of the diagram.
+도표의 왼쪽은 소프트웨어 스택을 보여주며, 이는 도표의 하드웨어 구성 요소들과 (대략적으로) 수평으로 정렬되어 있습니다.

 - The ground station computer typically runs [QGroundControl](../getting_started/px4_basic_concepts.md#qgc) (or some other ground station software).
  It may also run robotics software like [MAVSDK](https://mavsdk.mavlink.io/) or [ROS](../ros/index.md).
@@ -42,11 +42,11 @@ The flight controller runs the normal PX4 flight stack, while a companion comput
 The two systems are connected using a fast serial or IP link, and typically communicate using the [MAVLink protocol](https://mavlink.io/en/).
 Communications with the ground stations and the cloud are usually routed via the companion computer (e.g. using the [MAVLink Router](https://github.com/mavlink-router/mavlink-router) (from Intel)).

-PX4 systems typically run a Linux OS on the companion computer.
+PX4 기반 시스템에서는 보조 컴퓨터에 리눅스 운영체제를 쓰는 경우가 많습니다.
 Linux는 NuttX보다 "일반" 소프트웨어 개발을 위한 플랫폼입니다. 많은 Linux 개발자와 유용한 소프트웨어가 이미 개발되어 있습니다(예: 컴퓨터 비전, 통신, 클라우드 통합, 하드웨어 드라이버용).
 보조 컴퓨터는 때때로 같은 이유로 Android를 사용합니다.

 :::info
-The diagram shows a cloud or ground station connection via LTE, an approach that has been used a number of PX4-based systems.
+이 다이어그램은 LTE를 통해 클라우드 또는 지상국과 연결하는 방식을 보여주며, 이 방식은 여러 PX4 기반 시스템에서 사용되어 왔습니다.
 PX4는 특별히 LTE와 클라우드 통합을 위한 소프트웨어를 제공하지 않습니다(사용자 맞춤형 개발이 필요함).
 :::
@@ -379,7 +379,7 @@ The following functions can only be applied to FMU outputs:
  Enabled when [`PPS_CAP_ENABLE==0`](../advanced_config/parameter_reference.md#PPS_CAP_ENABLE)

 :::info
-The functions are defined in source at [/src/lib/mixer_module/output_functions.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/lib/mixer_module/output_functions.yaml).
+The functions are defined in source at [/src/lib/mixer_module/output_functions.yaml](https://github.com/PX4/PX4-Autopilot/tree/main/src/lib/mixer_module/output_functions.yaml).
 This list is correct at PX4 v1.15.
 :::

@@ -507,7 +507,6 @@ For each motor:

 2. Slowly move the slider up until it snaps to the _minimum_ position.
  In this position the motor is set to the outputs `minimum` value.
-
  - 이 위치에서 모터가 매우 느리게 회전하는 지 확인합니다.
  - If the motor is not spinning, or spinning too fast you will need to adjust the corresponding PWM `minimum` value in the [Actuator Outputs](#actuator-outputs) such that the motors barely spin.

@@ -518,7 +517,6 @@ For each motor:
 :::

 3. Increase the slider value to a level where you can verify that the motor is spinning in the correct direction and that it would give a positive thrust in the expected direction.
-
  - The expected thrust direction can vary by vehicle type.
    For example in multicopters the thrust should always point upwards, while in a fixed-wing vehicle the thrust will push the vehicle forwards.
  - For VTOL, thrust should point upwards when the Tilt Servo is at 0 degrees as defined the [Tilt Servo Convention](#tilt-servo-coordinate-system).
@@ -568,7 +566,6 @@ To set these up:
  If the control surface moves in the opposite direction, click on the `Rev Range` checkbox to reverse the range.

 3. Move the slider again to the middle and check if the Control Surfaces are aligned in the neutral position of the wing.
-
  - If it is not aligned, you can set the **Trim** value for the control surface.

    ::: info
@@ -7,7 +7,7 @@ Most other steps can be done out of order, except for [tuning](#tuning), which m

 ## 전제 조건

-Before starting you should [Download QGroundControl](https://qgroundcontrol.com/downloads/) and install it on your **desktop** computer.
+Before starting you should [Download QGroundControl](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/getting_started/download_and_install.html) and install it on your **desktop** computer.
 Then open the QGC application menu ("Q" icon in the top-left corner) and choose **Vehicle Setup** in the _Select Tool_ popup:

 ![QGC Main Menu Popup: highlighting Vehicle Setup](../../assets/qgc/setup/menu_setup.png)
@@ -2,7 +2,7 @@

 A [computer joystick](https://en.wikipedia.org/wiki/Joystick) or gamepad connected through _QGroundControl_ can be used to manually control the vehicle (_instead_ of using an [RC Transmitter](../config/radio.md)).

-This approach may be used by manual control units that have an integrated ground control station (like the _UAVComponents_ [MicroNav](https://uxvtechnologies.com/ground-control-stations/micronav/) shown below).
+This approach may be used by manual control units that have an integrated ground control station (like the _UAVComponents_ [MicroNav](https://www.uxvtechnologies.com/ground-control-stations/micronav) shown below).
 조이스틱은 일반적으로 비행 시뮬레이션용으로 많이 사용합니다.

 ![Joystick MicroNav](../../assets/peripherals/joystick/micronav.jpg)
@@ -319,8 +319,8 @@ The [failure detector](#failure-detector), if [enabled](#CBRK_FLIGHTTERM), can a
 외부 작동 시스템은 비행 컨트롤러 포트 AUX5 (또는 AUX 포트가없는 보드의 MAIN5)에 연결되어야 하며 아래의 매개 변수들을 사용하여 설정합니다.

 :::info
-External ATS is required by [ASTM F3322-18](https://webstore.ansi.org/Standards/ASTM/ASTMF332218).
-One example of an ATS device is the [FruityChutes Sentinel Automatic Trigger System](https://fruitychutes.com/uav_rpv_drone_recovery_parachutes/sentinel-automatic-trigger-system.htm).
+External ATS is required by [ASTM F3322-18](https://webstore.ansi.org/standards/astm/ASTMF332218).
+One example of an ATS device is the [FruityChutes Sentinel Automatic Trigger System (SATS-MINI)](https://fruitychutes.com/uav_rpv_drone_recovery_parachutes/sentinel-automatic-trigger-system).
 :::

 | 매개변수                                                                                                                                                                    | 설명                                                                                                                                                                               |
@@ -155,7 +155,3 @@ When transitioning from **multirotor to fixed-wing** (transition switch is on/fi
 When transitioning from **fixed-wing to multirotor** for this type of VTOL the switch is immediate so there isn’t really a backing out option here, unlike for tilt rotor VTOLs.
 If you want it to go back into fixed-wing you will need to go through the full transition.
 If it’s still travelling fast this should happen quickly.
-
-### 지원
-
-If you have any questions regarding your VTOL conversion or configuration please see [discuss.px4.io/c/px4/vtol](https://discuss.px4.io/c/px4/vtol).
@@ -8,10 +8,10 @@ PX4 프로젝트는 3가지 Git 분기 모델을 사용합니다.
 - [beta](https://github.com/PX4/PX4-Autopilot/tree/beta) has been thoroughly tested. 비행 테스터를 위한 것입니다.
 - [stable](https://github.com/PX4/PX4-Autopilot/tree/stable) points to the last release.

-We try to retain a [linear history through rebases](https://www.atlassian.com/git/tutorials/rewriting-history) and avoid the [Github flow](https://docs.github.com/en/get-started/quickstart/github-flow).
+We try to retain a [linear history through rebases](https://www.atlassian.com/git/tutorials/rewriting-history) and avoid the [Github flow](https://docs.github.com/en/get-started/using-github/github-flow).
 그러나, 전세계의 역동적인 개발팀과 수시로 병합 작업을 진행합니다.

-To contribute new functionality, [sign up for Github](https://docs.github.com/en/get-started/signing-up-for-github/signing-up-for-a-new-github-account), then [fork](https://docs.github.com/en/get-started/quickstart/fork-a-repo) the repository, [create a new branch](https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/proposing-changes-to-your-work-with-pull-requests/creating-and-deleting-branches-within-your-repository), add your [changes as commits](#commits-and-commit-messages), and finally [send a pull request](#pull-requests).
+To contribute new functionality, [sign up for Github](https://docs.github.com/en/get-started/using-github/github-flow), then [fork](https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/working-with-forks/fork-a-repo) the repository, [create a new branch](https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/proposing-changes-to-your-work-with-pull-requests/creating-and-deleting-branches-within-your-repository), add your [changes as commits](#commits-and-commit-messages), and finally [send a pull request](#pull-requests).
 Changes will be merged when they pass our [continuous integration](https://en.wikipedia.org/wiki/Continuous_integration) tests.

 All code contributions have to be under the permissive [BSD 3-clause license](https://opensource.org/license/BSD-3-Clause) and all code must not impose any further constraints on the use.
@@ -60,7 +60,7 @@ If you already have a clone of the [PX4-Autopilot](https://github.com/PX4/PX4-Au

 2. [Sign up](https://github.com/signup) for Github if you haven't already

-3. Create a copy (Fork) of the [PX4-Autopilot repo](https://github.com/PX4/PX4-Autopilot) on Github ([instructions here](https://docs.github.com/en/get-started/quickstart/fork-a-repo)).
+3. Create a copy (Fork) of the [PX4-Autopilot repo](https://github.com/PX4/PX4-Autopilot) on Github ([instructions here](https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/working-with-forks/fork-a-repo)).

 4. 복사된 저장소를 로컬 컴퓨터에 복제합니다.

@@ -8,7 +8,7 @@ PX4 기능 추가 절차는 다음과 같습니다. 다음 예제를 따라 PX4

 - [Sign up](https://github.com/signup) for github if you haven't already

- Fork the PX4-Autopilot repo (see [here](https://docs.github.com/en/get-started/quickstart/fork-a-repo))
+- Fork the PX4-Autopilot repo (see [here](https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/working-with-forks/fork-a-repo))

 - 포크된 저장소를 로컬 컴퓨터에 복제합니다.

@@ -1,7 +1,7 @@
 # Maintainer Role

 Dronecode maintainers have technical leadership and responsibility for specific areas of PX4, and for other ecosystem components such as MAVLink, MAVSDK, QGroundControl, and others.
-The maintainer role is defined by the community with help and supervision from the [Dronecode Foundation](https://www.dronecode.org/).
+The maintainer role is defined by the community with help and supervision from the [Dronecode Foundation](https://dronecode.org/).

 To find the most up-to-date maintainers list, visit [PX4-Autopilot README](https://github.com/PX4/PX4-Autopilot#maintenance-team).

@@ -22,7 +22,7 @@ Once accepted every maintainers will go through the following process:
 1. **Discord** server admin will grant you the `dev team` role, which gives you:
   1. Basic admin privileges on discord.
   2. Access to the `#maintainers` channel.
-2. You will be given access to the GitHub team: "[`Dev Team`](https://github.com/orgs/PX4/teams/dev-team)"  which grants you:
+2. You will be given access to the GitHub team: "[`Dev Team`](https://github.com/orgs/PX4/teams/dev-team)" which grants you:
   1. Permission to merge the PR of any of PX4 workspace repositories after it's approved
   2. Permission to trigger GitHub actions when a new contributor opens a PR.
   3. Permission to edit Issue/PR contents.
@@ -29,7 +29,7 @@ The Discuss Forum is much preferred because it is indexed by search engines and
 문제의 원인이 무엇인지 확실하지 않고 문제 분석의 도움을 원하시면,

 - Upload logs to [Flight Log Review](https://logs.px4.io/)
- Open a discussion on [PX4 Discuss](https://discuss.px4.io/c/flight-testing/) with a flight report and links to logs.
+- Open a discussion on [PX4 Discuss](https://discuss.px4.io/c/flight-testing/10) with a flight report and links to logs.
 - The dev team may prompt you to [raise an issue](#issue-bug-reporting) if the problem is caused by a bug.

 ## Issue & Bug Reporting
@@ -8,7 +8,7 @@ This can help analyse changes that (may) cause `px4_fmu-v2_default` to hit the 1
 :::

 _Bloaty_ must be in your path and found at _cmake_ configure time.
-The PX4 [docker files](https://github.com/PX4/containers/blob/master/docker/Dockerfile_nuttx-bionic) install _bloaty_ as shown:
+The PX4 [docker files](https://github.com/PX4/PX4-containers/blob/master/docker/Dockerfile_nuttx-bionic) install _bloaty_ as shown:

 ```sh
 git clone --recursive https://github.com/google/bloaty.git /tmp/bloaty \
@@ -21,7 +21,7 @@ This topic explains how to setup and use [MCU Eclipse](https://gnu-mcu-eclipse.g

 To install _Eclipse_:

-1. Download [Eclipse CDT for C/C++ Developers](https://github.com/gnu-mcu-eclipse/org.eclipse.epp.packages/releases/) (MCU GitHub).
+1. Download [Eclipse CDT for C/C++ Developers](https://github.com/eclipse-embed-cdt/org.eclipse.epp.packages/releases) (MCU GitHub).
 2. Eclipse 폴더의 압축을 풀고 적당한 폴더에 복사합니다(설치 스크립트를 실행할 필요가 없음).
 3. Run _Eclipse_ and choose a location for your initial workbench.

@@ -21,7 +21,7 @@ The _6-pos DF13_ connector that comes with the probe cannot be used for SWD debu

 :::info
 To debug STM32F7 or later (FMUv5 and newer) the Zubax BugFace BF1 / Blackmagic probe likely requires a firmware update.
-You can find how to update the [blackmagic probe here](https://github.com/blacksphere/blackmagic/wiki/Upgrading-Firmware).
+You can find how to update the [blackmagic probe here](https://black-magic.org/upgrade.html).
 :::

 To use a Zubax BugFace BF1 with GDB, start GDB with the exact ELF file that is currently flashed on the autopilot:
@@ -47,7 +47,7 @@ See the [Embedded Debug Tools][emdbg] for more advanced debug options.
 ### Segger JLink EDU Mini Debug Probe

 The [Segger JLink EDU Mini](https://www.segger.com/products/debug-probes/j-link/models/j-link-edu-mini/) is an inexpensive and popular SWD debug probe.
-The probe's connector pinout looks like the image below (connect to this using an ARM 10-pin mini connector like [FTSH-105-01-F-DV-K](https://www.digikey.com/products/en?keywords=SAM8796-ND)).
+The probe's connector pinout looks like the image below (connect to this using an ARM 10-pin mini connector like [FTSH-105-01-F-DV-K](https://www.digikey.com/en/products/detail/samtec-inc/FTSH-105-01-F-DV-K/2649974)).

 ![connector_jlink_mini.png](../../assets/debug/connector_jlink_mini.png)

@@ -217,5 +217,5 @@ This reduces the risk or poor wiring contributing to debugging problems, and has
 [swd]: https://developer.arm.com/documentation/ihi0031/a/The-Serial-Wire-Debug-Port--SW-DP-
 [itm]: https://developer.arm.com/documentation/ddi0403/d/Appendices/Debug-ITM-and-DWT-Packet-Protocol?lang=en
 [etm]: https://developer.arm.com/documentation/ihi0064/latest/
-[bm06b-ghs-tbt(lf)(sn)(n)]: https://www.digikey.com/products/en?keywords=455-1582-1-ND
-[sm06b-ghs-tbt(lf)(sn)(n)]: https://www.digikey.com/products/en?keywords=455-1568-1-ND
+[bm06b-ghs-tbt(lf)(sn)(n)]: https://www.digikey.com/en/products/detail/jst-sales-america-inc/BM06B-GHS-TBT/807804
+[sm06b-ghs-tbt(lf)(sn)(n)]: https://www.digikey.com/en/products/detail/jst-sales-america-inc/SM06B-GHS-TB/807790
@@ -191,7 +191,7 @@ You can now build and test.
 ## Download & Decrypt Log Files

 Before you can analyse your logs they must first be downloaded and decrypted.
-PX4 includes Python scripts in [Tools/log_encryption](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/) that make this process easier:
+PX4 includes Python scripts in [Tools/log_encryption](https://github.com/PX4/PX4-Autopilot/tree/main/Tools) that make this process easier:

 - [download_logs.py](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/log_encryption/download_logs.py): Downloads the logs to `/logs/encrypted`.
 - [decrypt_logs.py](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/log_encryption/decrypt_logs.py): Decrypts encrypted logs in `/logs/encrypted` to `/logs/decrypted` using a specified (or default) key.
@@ -495,7 +495,7 @@ Since the Definitions and Data Sections use the same message header format, they
 - [FlightPlot](https://github.com/PX4/FlightPlot): Java, log plotter.
 - [MAVLink](https://github.com/mavlink/mavlink): Messages for ULog streaming via MAVLink (note that appending data is not supported, at least not for cut off messages).
 - [QGroundControl](https://github.com/mavlink/qgroundcontrol): C++, ULog streaming via MAVLink and minimal parsing for GeoTagging.
- [mavlink-router](https://github.com/01org/mavlink-router): C++, ULog streaming via MAVLink.
+- [mavlink-router](https://github.com/mavlink-router/mavlink-router): C++, ULog streaming via MAVLink.
 - [MAVGAnalysis](https://github.com/ecmnet/MAVGCL): Java, ULog streaming via MAVLink and parser for plotting and analysis.
 - [PlotJuggler](https://github.com/facontidavide/PlotJuggler): C++/Qt application to plot logs and time series. 버전 2.1.3부터 ULog를 지원합니다.
 - [ulogreader](https://github.com/maxsun/ulogreader): Javascript, ULog reader and parser outputs log in JSON object format.
@@ -20,7 +20,7 @@ PX4 빌드에 사용되어 집니다.

 ## 설치 방법

-1. Download the latest version of the ready-to-use MSI installer from: [Github releases](https://github.com/PX4/windows-toolchain/releases) or [Amazon S3](https://s3-us-west-2.amazonaws.com/px4-tools/PX4+Windows+Cygwin+Toolchain/PX4+Windows+Cygwin+Toolchain+0.9.msi) (fast download).
+1. Download the latest version of the ready-to-use MSI installer from: [Github releases](https://github.com/PX4/PX4-windows-toolchain/releases) or [Amazon S3](https://s3-us-west-2.amazonaws.com/px4-tools/PX4+Windows+Cygwin+Toolchain/PX4+Windows+Cygwin+Toolchain+0.9.msi) (fast download).

 2. Run it, choose your desired installation location, let it install:

@@ -91,16 +91,16 @@ The toolchain gets maintained and hence these instructions might not cover every
 :::

   ::: info
-   That's what [cygwin64/install-cygwin-px4.bat](https://github.com/MaEtUgR/PX4Toolchain/blob/master/toolchain/cygwin64/install-cygwin-px4.bat) does.
+   That's what [cygwin64/install-cygwin-px4.bat](https://github.com/PX4/PX4-windows-toolchain/blob/master/toolchain/cygwin64/install-cygwin-px4.bat) does.

 :::

-6. Write up or copy the **batch scripts** [`run-console.bat`](https://github.com/MaEtUgR/PX4Toolchain/blob/master/run-console.bat) and [`setup-environment.bat`](https://github.com/PX4/windows-toolchain/blob/master/toolchain/scripts/setup-environment.bat).
+6. Write up or copy the **batch scripts** [`run-console.bat`](https://github.com/MaEtUgR/PX4Toolchain/blob/master/run-console.bat) and [`setup-environment.bat`](https://github.com/PX4/PX4-windows-toolchain/blob/master/toolchain/scripts/setup-environment.bat).

   The reason to start all the development tools through the prepared batch script is they preconfigure the starting program to use the local, portable Cygwin environment inside the toolchain's folder.
-   This is done by always first calling the script [**setup-environment.bat**](https://github.com/PX4/windows-toolchain/blob/master/toolchain/scripts/setup-environment.bat) and the desired application like the console after that.
+   This is done by always first calling the script [**setup-environment.bat**](https://github.com/PX4/PX4-windows-toolchain/blob/master/toolchain/scripts/setup-environment.bat) and the desired application like the console after that.

-   The script [setup-environment.bat](https://github.com/PX4/windows-toolchain/blob/master/toolchain/scripts/setup-environment.bat) locally sets environmental variables for the workspace root directory `PX4_DIR`, all binary locations `PATH`, and the home directory of the unix environment `HOME`.
+   The script [setup-environment.bat](https://github.com/PX4/PX4-windows-toolchain/blob/master/toolchain/scripts/setup-environment.bat) locally sets environmental variables for the workspace root directory `PX4_DIR`, all binary locations `PATH`, and the home directory of the unix environment `HOME`.

 7. Add necessary **python packages** to your setup by opening the Cygwin toolchain console (double clicking **run-console.bat**) and executing

@@ -118,19 +118,19 @@ The toolchain gets maintained and hence these instructions might not cover every
 8. Download the [**ARM GCC compiler**](https://developer.arm.com/open-source/gnu-toolchain/gnu-rm/downloads) as zip archive of the binaries for Windows and unpack the content to the folder `C:\PX4\toolchain\gcc-arm`.

   ::: info
-   This is what the toolchain does in: [gcc-arm/install-gcc-arm.bat](https://github.com/MaEtUgR/PX4Toolchain/blob/master/toolchain/gcc-arm/install-gcc-arm.bat).
+   This is what the toolchain does in: [gcc-arm/install-gcc-arm.bat](https://github.com/PX4/PX4-windows-toolchain/blob/master/toolchain/gcc-arm/install-gcc-arm.bat).

 :::

 9. Install the JDK:

-   - Download Java 14 from [Oracle](https://www.oracle.com/java/technologies/javase-jdk14-downloads.html) or [AdoptOpenJDK](https://adoptopenjdk.net/).
+   - Download Java 14 from [Oracle](https://www.oracle.com/java/technologies/downloads/) or [AdoptOpenJDK](https://adoptopenjdk.net/).
   - Because sadly there is no portable archive containing the binaries directly you have to install it.
   - Find the binaries and move/copy them to **C:\PX4\toolchain\jdk**.
   - You can uninstall the Kit from your Windows system again, we only needed the binaries for the toolchain.

   ::: info
-   This is what the toolchain does in: [jdk/install-jdk.bat](https://github.com/MaEtUgR/PX4Toolchain/blob/master/toolchain/jdk/install-jdk.bat).
+   This is what the toolchain does in: [jdk/install-jdk.bat](https://github.com/PX4/PX4-windows-toolchain/blob/master/toolchain/jdk/install-jdk.bat).

 :::

@@ -142,12 +142,11 @@ The toolchain gets maintained and hence these instructions might not cover every
 :::

   ::: info
-   This is what the toolchain does in: [apache-ant/install-apache-ant.bat](https://github.com/MaEtUgR/PX4Toolchain/blob/master/toolchain/apache-ant/install-apache-ant.bat).
+   This is what the toolchain does in: [apache-ant/install-apache-ant.bat](https://github.com/PX4/PX4-windows-toolchain/blob/master/toolchain/apache-ant/install-apache-ant.bat).

 :::

 11. Download, build and add _genromfs_ to the path:
-
   - Clone the source code to the folder **C:\PX4\toolchain\genromfs\genromfs-src** with

      ```sh
@@ -164,4 +163,4 @@ The toolchain gets maintained and hence these instructions might not cover every

   - Copy the resulting binary **genromfs.exe** one folder level out to: **C:\PX4\toolchain\genromfs**

-12. Make sure all the binary folders of all the installed components are correctly listed in the `PATH` variable configured by [**setup-environment.bat**](https://github.com/PX4/windows-toolchain/blob/master/toolchain/scripts/setup-environment.bat).
+12. Make sure all the binary folders of all the installed components are correctly listed in the `PATH` variable configured by [**setup-environment.bat**](https://github.com/PX4/PX4-windows-toolchain/blob/master/toolchain/scripts/setup-environment.bat).
@@ -33,7 +33,7 @@ VMWare performance is acceptable for basic usage (building Firmware) but not for

 2. 윈도우 시스템에 설치합니다.

-3. Download the desired version of [Ubuntu Desktop ISO Image](https://www.ubuntu.com/download/desktop).
+3. Download the desired version of [Ubuntu Desktop ISO Image](https://ubuntu.com/download/desktop).
   (see [Linux Instructions Page](../dev_setup/dev_env_linux.md) for recommended Ubuntu version).

 4. Open _VMWare Player_.
@@ -58,7 +58,6 @@ VMWare performance is acceptable for basic usage (building Firmware) but not for

 10. Once the new VM is booted up make sure you install _VMWare tools drivers and tools extension_ inside your guest system.
   이렇게 하면 다음과 같은 VM 사용의 성능과 유용성들이 향상됩니다.
-
   - 크게 향상된 그래픽 성능
   - Proper support for hardware device usage like USB port allocation (important for target upload), proper mouse wheel scrolling, sound support
   - 창 크기에 따른 게스트 디스플레이 해상도 조정
@@ -96,7 +95,6 @@ To allow this, you need to configure USB passthrough settings:
 3. Enable USB controller in VM: **VirtualBox > Settings > USB**

 4. Add USB filters for the bootloader in VM: **VirtualBox > Settings > USB > Add new USB filter**.
-
   - Open the menu and plug in the USB cable connected to your autopilot.
      Select the `...Bootloader` device when it appears in the UI.

@@ -1,6 +1,6 @@
 # Windows Development Environment (WSL2-Based)

-The following instructions explain how to set up a PX4 development environment on Windows 10 or 11, running on Ubuntu Linux within [WSL2](https://docs.microsoft.com/en-us/windows/wsl/about).
+The following instructions explain how to set up a PX4 development environment on Windows 10 or 11, running on Ubuntu Linux within [WSL2](https://learn.microsoft.com/en-us/windows/wsl/about).

 PX4 빌드에 사용되어 집니다.

@@ -16,7 +16,7 @@ The list above are those targets that are regularly tested.

 ## 개요

-The [Windows Subsystem for Linux](https://docs.microsoft.com/en-us/windows/wsl/about) ([WSL2](https://docs.microsoft.com/en-us/windows/wsl/compare-versions)) allows users to install and run the [Ubuntu Development Environment](../dev_setup/dev_env_linux_ubuntu.md) on Windows, _almost_ as though we were running it on a Linux computer.
+The [Windows Subsystem for Linux](https://learn.microsoft.com/en-us/windows/wsl/about) ([WSL2](https://learn.microsoft.com/en-us/windows/wsl/compare-versions)) allows users to install and run the [Ubuntu Development Environment](../dev_setup/dev_env_linux_ubuntu.md) on Windows, _almost_ as though we were running it on a Linux computer.

 With this environment developers can:

@@ -94,7 +94,6 @@ If you're using [Windows Terminal](https://learn.microsoft.com/en-us/windows/ter
 To open a WSL shell using a command prompt:

 1. Open a command prompt:
-
  - Press the Windows **Start** key.
  - Type `cmd` and press **Enter** to open the prompt.

@@ -8,6 +8,6 @@ Additional documentation on how to use Babel/other SLCAN adapters, the DroneCAN

 ## Debugging with Zubax Babel

-A great tool to debug the transmission on the CAN bus is the [Zubax Babel](https://zubax.com/products/babel) in combination with the [GUI tool](https://dronecan.github.io/GUI_Tool/Overview/).
+A great tool to debug the transmission on the CAN bus is the [Zubax Babel](https://shop.zubax.com/products/zubax-babel) in combination with the [GUI tool](https://dronecan.github.io/GUI_Tool/Overview/).

 They can also be used independently from Pixhawk hardware in order to test a node or manually control DroneCAN enabled ESCs.
@@ -38,7 +38,7 @@ Supported hardware includes (this is not an exhaustive list):

 - Airspeed sensors
  - [Holybro High Precision DroneCAN Airspeed Sensor - DLVR](https://holybro.com/collections/sensors/products/high-precision-dronecan-airspeed-sensor-dlvr)
-  - [RaccoonLab airspeed sensor](https://docs.raccoonlab.co/guide/airspeed)
+  - [RaccoonLab airspeed sensor](https://docs.raccoonlab.co/guide/airspeed/)
  - [Thiemar airspeed sensor](https://github.com/thiemar/airspeed)

 - GNSS receivers for GNSS (GPS, GLONASS, BeiDou, and so on)
@@ -140,8 +140,8 @@ Sensor parameters may not exist (be visible in QGC) until you have enabled the a
 For example, [SENS_FLOW_MINHGT](../advanced_config/parameter_reference.md#SENS_FLOW_MINHGT) does not exist until [UAVCAN_SUB_FLOW](../advanced_config/parameter_reference.md#UAVCAN_SUB_FLOW) is enabled.
 :::

-For example, to use a connected DroneCAN smart battery you would enable the [UAVCAN_SUB_BAT](../advanced_config/parameter_reference.md#UAVCAN_SUB_BAT) parameter, which would subscribe PX4 to receive [BatteryInfo](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#batteryinfo) DroneCAN messages.
-If using a peripheral that needs to know if PX4 is armed, you would need to set the [UAVCAN_PUB_ARM](../advanced_config/parameter_reference.md#UAVCAN_PUB_ARM) parameter so that PX4 starts publishing [ArmingStatus](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#armingstatus) messages.
+For example, to use a connected DroneCAN smart battery you would enable the [UAVCAN_SUB_BAT](../advanced_config/parameter_reference.md#UAVCAN_SUB_BAT) parameter, which would subscribe PX4 to receive [BatteryInfo](https://dronecan.github.io/Specification/1._Introduction//7._List_of_standard_data_types/#batteryinfo) DroneCAN messages.
+If using a peripheral that needs to know if PX4 is armed, you would need to set the [UAVCAN_PUB_ARM](../advanced_config/parameter_reference.md#UAVCAN_PUB_ARM) parameter so that PX4 starts publishing [ArmingStatus](https://dronecan.github.io/Specification/1._Introduction//7._List_of_standard_data_types/#armingstatus) messages.

 The parameter names are prefixed with `UAVCAN_SUB_` and `UAVCAN_PUB_` to indicate whether they enable PX4 subscribing or publishing.
 The remainder of the name indicates the specific message/feature being set.
@@ -165,7 +165,7 @@ The DroneCAN sensor parameters/subscriptions that you can enable are (in PX4 v1.
 - [UAVCAN_SUB_DPRES](../advanced_config/parameter_reference.md#UAVCAN_SUB_DPRES): Differential pressure
 - [UAVCAN_SUB_FLOW](../advanced_config/parameter_reference.md#UAVCAN_SUB_FLOW): Optical flow
 - [UAVCAN_SUB_GPS](../advanced_config/parameter_reference.md#UAVCAN_SUB_GPS): GPS
- [UAVCAN_SUB_GPS_R](../advanced_config/parameter_reference.md#UAVCAN_SUB_GPS_R)<Badge type="tip" text="PX4 v1.15" />: Subscribes to GNSS relative message ([RelPosHeading](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#relposheading)).
+- [UAVCAN_SUB_GPS_R](../advanced_config/parameter_reference.md#UAVCAN_SUB_GPS_R)<Badge type="tip" text="PX4 v1.15" />: Subscribes to GNSS relative message ([RelPosHeading](https://dronecan.github.io/Specification/1._Introduction//7._List_of_standard_data_types/#relposheading)).
  Only used for logging in PX4 v1.15.
 - [UAVCAN_SUB_HYGRO](../advanced_config/parameter_reference.md#UAVCAN_SUB_HYGRO): Hygrometer
 - [UAVCAN_SUB_ICE](../advanced_config/parameter_reference.md#UAVCAN_SUB_ICE): Internal combustion engine (ICE).
@@ -201,15 +201,15 @@ Position of rover is established using RTCM messages from the RTK base module (t
 PX4 DroneCAN parameters:

 - [UAVCAN_PUB_RTCM](../advanced_config/parameter_reference.md#UAVCAN_PUB_RTCM):
-  - Makes PX4 publish RTCM messages ([RTCMStream](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#rtcmstream)) to the bus (which it gets from the RTK base module via QGC).
+  - Makes PX4 publish RTCM messages ([RTCMStream](https://dronecan.github.io/Specification/1._Introduction//7._List_of_standard_data_types/#rtcmstream)) to the bus (which it gets from the RTK base module via QGC).

 Rover module parameters (also [set using QGC](#qgc-cannode-parameter-configuration)):

- [CANNODE_SUB_RTCM](../advanced_config/parameter_reference.md#CANNODE_SUB_RTCM) tells the rover that it should subscribe to [RTCMStream](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#rtcmstream) RTCM messages on the bus (from the moving base).
+- [CANNODE_SUB_RTCM](../advanced_config/parameter_reference.md#CANNODE_SUB_RTCM) tells the rover that it should subscribe to [RTCMStream](https://dronecan.github.io/Specification/1._Introduction//7._List_of_standard_data_types/#rtcmstream) RTCM messages on the bus (from the moving base).

 :::info
 You could instead use [UAVCAN_PUB_MBD](../advanced_config/parameter_reference.md#UAVCAN_PUB_MBD) and [CANNODE_SUB_MBD](../advanced_config/parameter_reference.md#CANNODE_SUB_MBD), which also publish RTCM messages (these are newer).
-Using the [RTCMStream](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#rtcmstream) message means that you can implement moving base (see below) at the same time.
+Using the [RTCMStream](https://dronecan.github.io/Specification/1._Introduction//7._List_of_standard_data_types/#rtcmstream) message means that you can implement moving base (see below) at the same time.
 :::

 ##### Rover and Moving Base
@@ -219,8 +219,8 @@ In this setup the vehicle has a _moving base_ RTK GPS and a _rover_ RTK GPS.

 These parameters can be [set on moving base and rover RTK CAN nodes](#qgc-cannode-parameter-configuration), respectively:

- [CANNODE_PUB_MBD](../advanced_config/parameter_reference.md#CANNODE_PUB_MBD) causes a moving base GPS unit to publish [MovingBaselineData](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#movingbaselinedata)RTCM messages onto the bus (for the rover)
- [CANNODE_SUB_MBD](../advanced_config/parameter_reference.md#CANNODE_SUB_MBD) tells the rover that it should subscribe to [MovingBaselineData](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#movingbaselinedata) RTCM messages on the bus (from the moving base).
+- [CANNODE_PUB_MBD](../advanced_config/parameter_reference.md#CANNODE_PUB_MBD) causes a moving base GPS unit to publish [MovingBaselineData](https://dronecan.github.io/Specification/1._Introduction//7._List_of_standard_data_types/#movingbaselinedata)RTCM messages onto the bus (for the rover)
+- [CANNODE_SUB_MBD](../advanced_config/parameter_reference.md#CANNODE_SUB_MBD) tells the rover that it should subscribe to [MovingBaselineData](https://dronecan.github.io/Specification/1._Introduction//7._List_of_standard_data_types/#movingbaselinedata) RTCM messages on the bus (from the moving base).

 For PX4 you will also need to set [GPS_YAW_OFFSET](../advanced_config/parameter_reference.md#GPS_YAW_OFFSET) to indicate the relative position of the moving base and rover: 0 if your Rover is in front of your Moving Base, 90 if Rover is right of Moving Base, 180 if Rover is behind Moving Base, or 270 if Rover is left of Moving Base.

@@ -270,7 +270,7 @@ If the rangefinder is connected via DroneCAN (whether inbuilt or separate), you

 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.
+- [UAVCAN_PUB_ARM](../advanced_config/parameter_reference.md#UAVCAN_PUB_ARM) ([Arming Status](https://dronecan.github.io/Specification/1._Introduction//7._List_of_standard_data_types/#armingstatus)): Publish when using DroneCAN components that require the PX4 arming status as a precondition for use.

 ### ESC & Servos

@@ -324,6 +324,6 @@ If successful, the firmware binary will be removed from the root directory and t
 ## Useful Links

 - [Home Page](https://dronecan.github.io) (dronecan.github.io)
- [Protocol Specification](https://dronecan.github.io/Specification) (dronecan.github.io)
+- [Protocol Specification](https://dronecan.github.io/Specification/1._Introduction/) (dronecan.github.io)
 - [Implementations](https://dronecan.github.io/Implementations/) (dronecan.github.io)
 - [Cyphal/CAN Device Interconnection](https://wiki.zubax.com/public/cyphal/CyphalCAN-device-interconnection?pageId=2195476) (kb.zubax.com)
@@ -2,7 +2,7 @@

 ## CAN Power Connectors

-CAN power connectors are designed for light unmanned aerial (UAV) and other vehicles for providing power over CAN using [CAN power cables](https://docs.raccoonlab.co/guide/pmu/wires/).
+CAN power connectors are designed for light unmanned aerial (UAV) and other vehicles for providing power over CAN using [CAN power cables](https://docs.raccoonlab.co/guide/pmu/wires.html).

 There are two types of devices:

@@ -8,33 +8,8 @@ While it can be controlled using traditional PWM input, it is designed to operat

 Multiple vendors sell ESC hardware that runs sapog firmware:

- [Zubax Orel 20](https://zubax.com/products/orel_20)
 - [Holybro Kotleta20](https://holybro.com/products/kotleta20)

-<style>
-#image_container {
-  height: 100%;
-  width: 100%;
-  display: flex;
-}
-.image_column {
-  width: 33%;
-  text-align: center;
-}
-
-</style>
-
-<div id="image_container">
-  <div class="image_column">
-  <img src="../../assets/peripherals/esc_uavcan_zubax_orel20/orel20_top.jpg" alt="Orel20 - Top"/>
-  <br><a href="https://zubax.com/products/orel_20">Zubax Orel 20</a>
-  </div>
-  <div class="image_column">
-    <img src="../../assets/peripherals/esc_uavcan_holybro_kotleta20/kotleta20_top.jpg" alt="Holybro Kotleta20 top" />
-    <br><a href="https://holybro.com/products/kotleta20">Holybro Kotleta20</a>
-  </div>
-</div>
-
 ## 하드웨어 설정

 ESCs are connected to the CAN bus using a Pixhawk standard 4 pin JST GH cable.
@@ -81,15 +56,15 @@ To enumerate the ESC:

 3. Start the process of ESC auto-enumeration by pressing the **Start Assignment** button, as shown on the screenshot below.

-  ![QGC - DroneCAN ESC auto-enumeration](../../assets/peripherals/esc_qgc/qgc_uavcan_settings.jpg)
+   ![QGC - DroneCAN ESC auto-enumeration](../../assets/peripherals/esc_qgc/qgc_uavcan_settings.jpg)

-  You will hear a sound indicating that the flight controller has entered the ESC enumeration mode.
+   You will hear a sound indicating that the flight controller has entered the ESC enumeration mode.

 4. Manually turn each motor in the correct direction of its rotation (as specified in the [Airframe Reference](../airframes/airframe_reference.md)), starting from the first motor and finishing with the last motor.
-  Each time you turn a motor, you should hear a confirmation beep.
+   Each time you turn a motor, you should hear a confirmation beep.

-  ::: info
-  Make sure to turn each of the motors in the correct direction, as the ESC will automatically learn and remember the direction (i.e. motors that spin clockwise during normal operation must also be turned clockwise during enumeration).
+   ::: info
+   Make sure to turn each of the motors in the correct direction, as the ESC will automatically learn and remember the direction (i.e. motors that spin clockwise during normal operation must also be turned clockwise during enumeration).

 :::

@@ -1,13 +1,13 @@
 # Zubax Telega ESCs

 Zubax Telega is a high end, proprietary sensorless FOC motor control technology.
-It is used in multiple products, including the [Zubax Myxa](https://zubax.com/products/myxa) ESC, [Zubax Mitochondrik](https://zubax.com/products/mitochondrik) motor controller module, and Zubax Sadulli integrated drive.
+It is used in multiple products, including the [Zubax Myxa](https://shop.zubax.com/products/zubax-myxa) ESC, [Zubax Mitochondrik](https://shop.zubax.com/products/mitochondrik) motor controller module, and Zubax Sadulli integrated drive.

 While Telega can be controlled using traditional PWM input, it is designed to operate over CAN bus using [DroneCAN](index.md).

 :::info
 ESCs based on Zubax Telega require non-trivial tuning of the propulsion system in order to deliver adequate performance and ensure robust operation.
-Users who lack the necessary tuning expertise are advised to either [purchase pre-tuned UAV propulsion kits](https://zubax.com/products/uav_propulsion_kits) or to use Zubax Robotic's professional tuning service.
+Users who lack the necessary tuning expertise are advised to either [purchase pre-tuned UAV propulsion kits](https://zubax.com/products#electric-drives) or to use Zubax Robotic's professional tuning service.
 Questions on this matter should be addressed to: [support@zubax.com](mailto:support@zubax.com).
 :::

@@ -15,10 +15,9 @@ Questions on this matter should be addressed to: [support@zubax.com](mailto:supp

 ## 구매처

- [Zubax Myxa](https://zubax.com/products/myxa): High-end PMSM/BLDC motor controller (FOC ESC) for light unmanned aircraft and watercraft.
- [Zubax Mitochondrik](https://zubax.com/products/mitochondrik): Integrated sensorless PMSM/BLDC motor controller chip (used in ESCs and integrated drives)
- [Zubax Komar](https://shop.zubax.com/products/komar-motor-controller-open-hardware-reference-design-for-mitochondrik?variant=32931555868771): Open hardware reference design for Mitochondrik
- [Zubax Sadulli Integrated Drive](https://shop.zubax.com/collections/integrated-drives/products/sadulli-integrated-drive-open-hardware-reference-design-for-mitochondrik?variant=27740841181283)
+- [Zubax Myxa](https://shop.zubax.com/products/zubax-myxa): High-end PMSM/BLDC motor controller (FOC ESC) for light unmanned aircraft and watercraft.
+- [Zubax Mitochondrik](https://shop.zubax.com/products/mitochondrik): Integrated sensorless PMSM/BLDC motor controller chip (used in ESCs and integrated drives)
+- [Zubax Komar](https://shop.zubax.com/products/zubax-ad0510-komar-esc?variant=32931555868771): Open hardware reference design for Mitochondrik

 ## 하드웨어 설정

@@ -27,10 +26,10 @@ For more information, refer to the [CAN Wiring](../can/index.md#wiring) instruct

 ## Firmware Setup

-Motor enumeration for [Telega-based ESCs](https://zubax.com/products/telega) is usually performed using the [Kucher tool](https://files.zubax.com/products/com.zubax.kucher/) (or less "GUI-friendly" [DroneCAN GUI Tool](https://dronecan.github.io/GUI_Tool/Overview/)).
+Motor enumeration for [Telega-based ESCs](https://telega.zubax.com/) is usually performed using the [Kucher tool](https://files.zubax.com/products/com.zubax.kucher/) (or less "GUI-friendly" [DroneCAN GUI Tool](https://dronecan.github.io/GUI_Tool/Overview/)).
 Telega does NOT support automatic enumeration by spinning the motor.

-There is some guidance here: [Quick start guide for Myxa v0.1](https://forum.zubax.com/t/quick-start-guide-for-myxa-v0-1/911) (Zubax blog).
+There is some guidance here: [Quick start guide for Myxa v0.1](https://forum.zubax.com/t/quick-start-guide-for-myxa/911) (Zubax blog).

 Telega ESCs also require other motor setup and configuration for reliable performance. See the above guide and other Zubax documentation for more information.

@@ -17,6 +17,8 @@ They are listed because you may be using them in an existing drone, and because
 - [Holybro Pixhawk Mini](../flight_controller/pixhawk_mini.md) (FMUv3)
 - [Holybro Pixfalcon](../flight_controller/pixfalcon.md) (Pixhawk FMUv2)
 - [Holybro Pix32](../flight_controller/holybro_pix32.md) (FMUv2)
+- [ModalAI VOXL Flight](../flight_controller/modalai_voxl_flight.md)
+- [ModalAI Flight Core v1](../flight_controller/modalai_fc_v1.md)
 - [mRobotics-X2.1](../flight_controller/mro_x2.1.md) (FMUv2)
 - [mRo AUAV-X2](../flight_controller/auav_x2.md) (Pixhawk FMUv2)
 - [NXP FMUK66](../flight_controller/nxp_rddrone_fmuk66.md) (Discontinued)
@@ -25,12 +25,9 @@ This category includes boards that are not fully compliant with the pixhawk stan
 - [CubePilot Cube Yellow](../flight_controller/cubepilot_cube_yellow.md)
 - [Holybro Kakute H7v2](../flight_controller/kakuteh7v2.md)
 - [Holybro Kakute H7mini](../flight_controller/kakuteh7mini.md)
- [Holybro Kakute F7](../flight_controller/kakutef7.md) - Discontinued
 - [Holybro Kakute H7](../flight_controller/kakuteh7.md)
 - [Holybro Durandal](../flight_controller/durandal.md)
 - [Holybro Pix32 v5](../flight_controller/holybro_pix32_v5.md)
- [ModalAI Flight Core v1](../flight_controller/modalai_fc_v1.md)
- [ModalAI VOXL Flight](../flight_controller/modalai_voxl_flight.md)
 - [ModalAI VOXL 2](../flight_controller/modalai_voxl_2.md)
 - [mRo Control Zero](../flight_controller/mro_control_zero_f7.md)
 - [Sky-Drones AIRLink](../flight_controller/airlink.md)
@@ -27,7 +27,7 @@ Other useful information can be found in the [FAQ](https://github.com/beagleboar
 Optionally you can update to a realtime kernel, and if you do, re-check if _librobotcontrol_ works properly with the realtime kernel.
 :::

-The latest OS images at time of updating this document is [bone-debian-10.3-iot-armhf-2020-04-06-4gb.img.xz](https://debian.beagle.cc/images/bone-debian-10.3-iot-armhf-2020-04-06-4gb.img.xz).
+The latest OS images at time of updating this document is [AM3358 Debian 10.3 2020-04-06 4GB SD IoT](https://www.beagleboard.org/distros/am3358-debian-10-3-2020-04-06-4gb-sd-iot).

 ## 크로스 컴파일러 빌드 (권장)

@@ -140,7 +140,7 @@ FTDI 케이블을 DSU7 커넥터에 연결하기만 하면됩니다. 제품 목

 The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debug/swd_debug.md) operate on the **FMU Debug** port (`DSU7`).

-The debug port (`DSU7`) uses a [JST BM06B](https://www.digikey.com.au/product-detail/en/jst-sales-america-inc/BM06B-GHS-TBT-LF-SN-N/455-1582-1-ND/807850) connector and has the following pinout:
+The debug port (`DSU7`) uses a [JST BM06B](https://www.digikey.com.au/en/products/detail/jst-sales-america-inc/BM06B-GHS-TBT-LF-SN-N/807850) connector and has the following pinout:

 | 핀                         | 신호                              | 전압                    |
 | ------------------------- | ------------------------------- | --------------------- |
@@ -96,7 +96,6 @@ The Pixhawk® V6X is ideal for corporate research labs, academic research and co
  - Baseboard: 56g
 - Operating & storage temperature: -20 ~ 85°c
 - Size
-
  - Flight controller

    ![Pixhawk V6X](../../assets/flight_controller/cuav_pixhawk_v6x/v6x_size.jpg)
@@ -206,7 +205,7 @@ The pinouts and connector comply with the [Pixhawk Debug Full](../debug/swd_debu

 ## 주변 장치

- [Digital Airspeed Sensor](https://holybro.com/products/digital-air-speed-sensor)
+- [Digital Airspeed Sensor](https://holybro.com/products/digital-air-speed-sensor-ms4525do)
 - [Telemetry Radio Modules](https://holybro.com/collections/telemetry-radios?orderby=date)
 - [Rangefinders/Distance sensors](../sensor/rangefinders.md)

@@ -104,7 +104,7 @@ The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debu

 ![Debug port (DSU7)](../../assets/flight_controller/cuav_v5_nano/debug_port_dsu7.jpg)

-The debug port (`DSU7`) uses a [JST BM06B](https://www.digikey.com.au/product-detail/en/jst-sales-america-inc/BM06B-GHS-TBT-LF-SN-N/455-1582-1-ND/807850) connector and has the following pinout:
+The debug port (`DSU7`) uses a [JST BM06B](https://www.digikey.com.au/en/products/detail/jst-sales-america-inc/BM06B-GHS-TBT-LF-SN-N/807850) connector and has the following pinout:

 | 핀                         | 신호                              | 전압                    |
 | ------------------------- | ------------------------------- | --------------------- |
@@ -132,7 +132,7 @@ The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debu

 ![Debug port (DSU7)](../../assets/flight_controller/cuav_v5_plus/debug_port_dsu7.jpg)

-The debug port (`DSU7`) uses a [JST BM06B](https://www.digikey.com.au/product-detail/en/jst-sales-america-inc/BM06B-GHS-TBT-LF-SN-N/455-1582-1-ND/807850) connector and has the following pinout:
+The debug port (`DSU7`) uses a [JST BM06B](https://www.digikey.com.au/en/products/detail/jst-sales-america-inc/BM06B-GHS-TBT-LF-SN-N/807850) connector and has the following pinout:

 | 핀                         | 신호                              | 전압                    |
 | ------------------------- | ------------------------------- | --------------------- |
@@ -12,7 +12,7 @@ PX4 does not manufacture this (or any) autopilot.
 Contact the [manufacturer](https://www.cuav.net) for hardware support or compliance issues.
 :::

-The [X7](http://doc.cuav.net/flight-controller/x7/en/x7.html)<sup>&reg;</sup> flight controller is a high-performance autopilot.
+The [X7](https://doc.cuav.net/controller/x7/en/)<sup>&reg;</sup> flight controller is a high-performance autopilot.
 산업용 드론과 대형 대형 드론에 적합합니다.
 주로 상용 제조업체에 공급됩니다.

@@ -151,7 +151,7 @@ FTDI 케이블을 DSU7 커넥터에 연결하기만 하면됩니다. 제품 목

 The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debug/swd_debug.md) operate on the **FMU Debug** port (`DSU7`).

-The debug port (`DSU7`) uses a [JST BM06B](https://www.digikey.com.au/product-detail/en/jst-sales-america-inc/BM06B-GHS-TBT-LF-SN-N/455-1582-1-ND/807850) connector and has the following pinout:
+The debug port (`DSU7`) uses a [JST BM06B](https://www.digikey.com.au/en/products/detail/jst-sales-america-inc/BM06B-GHS-TBT-LF-SN-N/807850) connector and has the following pinout:

 | 핀                         | 신호                              | 전압                    |
 | ------------------------- | ------------------------------- | --------------------- |
@@ -177,11 +177,10 @@ For direct connection to _Segger Jlink_ we recommended you use the 3.3 Volts fro

 ## 지원 플랫폼 및 기체

-일반 RC 서보 또는 Futaba S-Bus 서보로 제어 가능한 모든 멀티콥터/비행기/로버 또는 보트.
+Any multicopter / plane / rover or boat that can be controlled with normal RC servos or Futaba S-Bus servos.
 The complete set of supported configurations can be seen in the [Airframes Reference](../airframes/airframe_reference.md).

 ## 추가 정보

- [Quick start](http://doc.cuav.net/flight-controller/x7/en/quick-start/quick-start-x7.html)
 - [CUAV docs](https://doc.cuav.net/)
 - [x7 schematic](https://github.com/cuav/hardware/tree/master/X7_Autopilot)
@@ -90,9 +90,7 @@ For more information see: [Durandal Technical Data Sheet](https://cdn.shopify.co

 ## 구매처

-Order from [Holybro](https://holybro.com/collections/autopilot-flight-controllers/products/durandal).
-
-<a id="connections"></a>
+Order from [Holybro](https://holybro.com/products/durandal).

 ## 연결

@@ -182,9 +180,7 @@ make holybro_durandal-v1_default

 <!-- Note: Got ports using https://github.com/PX4/PX4-user_guide/pull/672#issuecomment-598198434 -->

-<a id="debug_port"></a>
-
-## 디버그 포트
+## Debug Port {#debug_port}

 The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debug/swd_debug.md) run on the _Debug Port_.

@@ -7,7 +7,7 @@ PX4 does not manufacture this (or any) autopilot.
 Contact the [manufacturer](https://holybro.com/) for hardware support or compliance issues.
 :::

-The Holybro<sup>&reg;</sup> [pix32 autopilot](https://holybro.com/collections/autopilot-flight-controllers/products/pix32pixhawk-flight-controller) (also known as "Pixhawk 2", and formerly as HKPilot32) is based on the [Pixhawk<sup>&reg;</sup>-project](https://pixhawk.org/) **FMUv2** open hardware design.
+The Holybro<sup>&reg;</sup> [pix32 autopilot](https://holybro.com/products/pix32pixhawk-flight-controller) (also known as "Pixhawk 2", and formerly as HKPilot32) is based on the [Pixhawk<sup>&reg;</sup>-project](https://pixhawk.org/) **FMUv2** open hardware design.
 This board is based on hardware version Pixhawk 2.4.6.
 It runs the PX4 flight stack on the [NuttX](https://nuttx.apache.org/) OS.

@@ -58,12 +58,11 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo

 ## 구매처

-[shop.holybro.com](https://holybro.com/collections/autopilot-flight-controllers/products/pix32pixhawk-flight-controller)
+[shop.holybro.com](https://holybro.com/products/pix32pixhawk-flight-controller)

 ### 소품

- [Digital airspeed sensor](https://holybro.com/products/digital-air-speed-sensor)
- [Hobbyking<sup>&reg;</sup> Wifi Telemetry](https://hobbyking.com/en_us/apm-pixhawk-wireless-wifi-radio-module.html)
+- [Digital airspeed sensor](https://holybro.com/products/digital-air-speed-sensor-ms4525do)
 - [HolyBro SiK Telemetry Radio (EU 433 MHz, US 915 MHz)](../telemetry/holybro_sik_radio.md)

 ## 펌웨어 빌드
@@ -95,7 +95,7 @@ This flight controller is perfect for people that is looking for a affordable an

 ## 구매처

-Order from [Holybro](https://holybro.com/collections/autopilot-flight-controllers/products/pix32-v6).
+Order from [Holybro](https://holybro.com/products/pix32-v6).

 ## 핀배열

@@ -188,7 +188,7 @@ For information about using this port see:

 ## 주변 장치

- [Digital Airspeed Sensor](https://holybro.com/products/digital-air-speed-sensor)
+- [Digital Airspeed Sensor](https://holybro.com/products/digital-air-speed-sensor-ms4525do)
 - [Telemetry Radio Modules](https://holybro.com/collections/telemetry-radios?orderby=date)
 - [Rangefinders/Distance sensors](../sensor/rangefinders.md)

@@ -2,6 +2,10 @@

 <Badge type="info" text="Discontinued" />

+:::warning
+This frame has been [discontinued](../flight_controller/autopilot_experimental.md) and is no longer commercially available.
+:::
+
 :::warning
 PX4 does not manufacture this (or any) autopilot.
 Contact the [manufacturer](https://holybro.com/) for hardware support or compliance issues.
--- a/Show More
+++ b/Show More