diff --git a/ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250 b/ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250
index 7ef37051e6..36c39f9a59 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250
+++ b/ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250
@@ -2,7 +2,7 @@
 #
 # @name HolyBro QAV250
 #
-# @url https://docs.px4.io/main/en/frames_multicopter/holybro_qav250_pixhawk4_mini.html
+# @url https://docs.px4.io/main/en/frames_multicopter/holybro_qav250_pixhawk4_mini
 #
 # @type Quadrotor x
 # @class Copter
diff --git a/ROMFS/px4fmu_common/init.d/airframes/50001_aion_robotics_r1_rover b/ROMFS/px4fmu_common/init.d/airframes/50001_aion_robotics_r1_rover
index 3063bd3647..fe6c09678c 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/50001_aion_robotics_r1_rover
+++ b/ROMFS/px4fmu_common/init.d/airframes/50001_aion_robotics_r1_rover
@@ -2,7 +2,7 @@
 #
 # @name Aion Robotics R1 UGV
 #
-# @url https://docs.px4.io/main/en/complete_vehicles_rover/aion_r1.html
+# @url https://docs.px4.io/main/en/complete_vehicles_rover/aion_r1
 #
 # @type Rover
 # @class Rover
diff --git a/src/drivers/ins/microstrain/MicroStrain.cpp b/src/drivers/ins/microstrain/MicroStrain.cpp
index cc78f46300..ab6cb5ba8e 100755
--- a/src/drivers/ins/microstrain/MicroStrain.cpp
+++ b/src/drivers/ins/microstrain/MicroStrain.cpp
@@ -1968,8 +1968,8 @@ Currently supports the following sensors:
 
 -[CV7-AR](https://www.hbkworld.com/en/products/transducers/inertial-sensors/vertical-reference-units--vru-/3dm-cv7-ar)
 -[CV7-AHRS](https://www.hbkworld.com/en/products/transducers/inertial-sensors/attitude-and-heading-reference-systems--ahrs-/3dm-cv7-ahrs)
--[CV7-INS](https://www.hbkworld.com/en/products/transducers/inertial-sensors/inertial-navigation-systems--ins-/3dm-cv7-ins)
--[CV7-GNSS/INS](https://www.hbkworld.com/en/products/transducers/inertial-sensors/inertial-navigation-systems--ins-/3dm-cv7-gnss-ins)
+-[CV7-INS](https://www.hbkworld.com/en/products/transducers/inertial-sensors/navigation/3dm-cv7-ins)
+-[CV7-GNSS/INS](https://www.hbkworld.com/en/products/transducers/inertial-sensors/navigation/3dm-cv7-gnss-ins)
 
 This driver is not included in the firmware by default.
 Include the module in firmware by setting the
diff --git a/src/modules/ekf2/EKF2.cpp b/src/modules/ekf2/EKF2.cpp
index db1014f52a..8e938204e2 100644
--- a/src/modules/ekf2/EKF2.cpp
+++ b/src/modules/ekf2/EKF2.cpp
@@ -2945,7 +2945,7 @@ int EKF2::print_usage(const char *reason)
 ### Description
 Attitude and position estimator using an Extended Kalman Filter. It is used for Multirotors and Fixed-Wing.
 
-The documentation can be found on the [ECL/EKF Overview & Tuning](https://docs.px4.io/main/en/advanced_config/tuning_the_ecl_ekf.html) page.
+The documentation can be found on the [ECL/EKF Overview & Tuning](../advanced_config/tuning_the_ecl_ekf.md) page.
 
 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.
diff --git a/src/modules/gimbal/gimbal.cpp b/src/modules/gimbal/gimbal.cpp
index 85c0338888..a0842a6447 100644
--- a/src/modules/gimbal/gimbal.cpp
+++ b/src/modules/gimbal/gimbal.cpp
@@ -618,7 +618,7 @@ static void usage()
 Mount/gimbal Gimbal control driver. It maps several different input methods (eg. RC or MAVLink) to a configured
 output (eg. AUX channels or MAVLink).
 
-Documentation how to use it is on the [gimbal_control](https://docs.px4.io/main/en/advanced/gimbal_control.html) page.
+Documentation how to use it is on the [gimbal_control](../advanced/gimbal_control.md) page.
 
 ### Examples
 Test the output by setting a angles (all omitted axes are set to 0):
diff --git a/src/modules/replay/Replay.cpp b/src/modules/replay/Replay.cpp
index f1b7648720..174506577b 100644
--- a/src/modules/replay/Replay.cpp
+++ b/src/modules/replay/Replay.cpp
@@ -1259,7 +1259,7 @@ The module is typically used together with uORB publisher rules, to specify whic
 The replay module will just publish all messages that are found in the log. It also applies the parameters from
 the log.
 
-The replay procedure is documented on the [System-wide Replay](https://docs.px4.io/main/en/debug/system_wide_replay.html)
+The replay procedure is documented on the [System-wide Replay](../debug/system_wide_replay.md)
 page.
 )DESCR_STR");