New Crowdin translations - zh-CN (#25202)

Co-authored-by: Crowdin Bot <support+bot@crowdin.com>
2026-05-19 19:04:33 +08:00 · 2025-07-13 10:37:13 +10:00
parent ce4dfaf39a
commit a01f39707e
91 changed files with 253 additions and 246 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 @@
      - [测试 MC_04 -故障安全测试](test_cards/mc_04_failsafe_testing.md)
      - [测试 MC_05-室内飞行（手动模式）](test_cards/mc_05_indoor_flight_manual_modes.md)
    - [单元测试](test_and_ci/unit_tests.md)
+      - [Fuzz Tests](test_and_ci/fuzz_tests.md)
    - [持续集成](test_and_ci/continous_integration.md)
    - [Integration Testing](test_and_ci/integration_testing.md)
      - [MAVSDK集成测试](test_and_ci/integration_testing_mavsdk.md)
@@ -388,7 +388,6 @@ 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
 ## 购买渠道

 - [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)

 ## 定制 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.

 ## 配件列表

- [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 @@ PX4将这个转换逻辑区分开，这个逻辑被称为从姿态/角速率控
  - 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).
 - 输出驱动：
  - 处理硬件初始化和更新
-  - 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.

 ## 添加新构型或输出函数
@@ -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.
-
  - Verify that the motor is spinning very slowly in this position.
  - 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

 ## 操作前提

-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).
 Joysticks are also commonly used to allow developers to fly the vehicle in simulation.

 ![Joystick MicroNav](../../assets/peripherals/joystick/micronav.jpg)
@@ -319,8 +319,8 @@ The [failure detector](#failure-detector), if [enabled](#CBRK_FLIGHTTERM), can a
 The external trigger system must be connected to flight controller port AUX5 (or MAIN5 on boards that do not have AUX ports), and is configured using the parameters below.

 :::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).
 :::

 | 参数                                                                                                                                                                      | 描述                                                               |
@@ -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.
-
-### 技术支持
-
-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 项目使用三分支 Git 模型：
 - [beta](https://github.com/PX4/PX4-Autopilot/tree/beta) has been thoroughly tested. 它是供飞行测试人员使用的。
 - [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).
 然而，由于全球团队和快速的发展，我们可能有时会进行合并。

-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.
@@ -59,7 +59,7 @@ The instructions below explain how to get git and use it on your local computer.

 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. Clone (copy) your forked repository to your local computer:

@@ -8,7 +8,7 @@ Adding a feature to PX4 follows a defined workflow. In order to share your contr

 - [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))

 - 将分支克隆到本地计算机

@@ -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
 在议程中，为重大影响的回拉请求，给与回答。

 - 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 @@ Setup PX4 by following the normal guidelines:

 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. Extract the Eclipse folder and copy it anywhere (there is no need to run any install scripts).
 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. 自版本2.1.3支持 ULog。
 - [ulogreader](https://github.com/maxsun/ulogreader): Javascript, ULog reader and parser outputs log in JSON object format.
@@ -20,7 +20,7 @@ See [Toolchain Installation](../dev_setup/dev_env.md) for information about the

 ## 安装说明

-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. 将其安装在 Windows 系统上。

-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.
   This will enhance performance and usability of your VM usage:
-
   - Significantly enhanced graphics performance
   - Proper support for hardware device usage like USB port allocation (important for target upload), proper mouse wheel scrolling, sound support
   - Guest display resolution adaption to the window size
@@ -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).

 根据本文的指示构建的开发环境可以用编译：

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

 ## 综述

-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>
-
 ## 硬件安装

 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

 ## 购买渠道

- [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

 ## 硬件安装

@@ -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 @@ The boards in this category are:
 - [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).

 ## Cross Compiler Build (Recommend)

@@ -140,7 +140,7 @@ Simply connect the FTDI cable to the DSU7 connector (the product list contains t

 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:

 | 针脚   | 信号                                | 电压                    |
 | ---- | --------------------------------- | --------------------- |
@@ -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 @@ For information about wiring and using this port see:

 ## 外部设备

- [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 board does not have an I/O debug interface.

 ![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:

 | 针脚   | 信号                                | 电压                    |
 | ---- | --------------------------------- | --------------------- |
@@ -132,7 +132,7 @@ The board does not have an I/O debug interface.

 ![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:

 | 针脚   | 信号                                | 电压                    |
 | ---- | --------------------------------- | --------------------- |
@@ -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.
 It is an ideal choice for industrial drones and large-scale heavy-duty drones.
 It is mainly supplied to commercial manufacturers.

@@ -151,7 +151,7 @@ Simply connect the FTDI cable to the DSU7 connector (the product list contains t

 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:

 | 针脚   | 信号                                | 电压                    |
 | ---- | --------------------------------- | --------------------- |
@@ -177,11 +177,10 @@ For direct connection to _Segger Jlink_ we recommended you use the 3.3 Volts fro

 ## 支持的平台/机身

-Any multicopter / airplane / rover or boat that can be controlled with normal RC servos or Futaba S-Bus servos.
+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).

 ## 更多信息

- [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

 ## 购买渠道

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

 ## Connections

@@ -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>
-
-## 调试接口
+## 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

 ## 购买渠道

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

 ### 配件

- [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)

 ## 编译固件
@@ -95,7 +95,7 @@ This flight controller is perfect for people that is looking for a affordable an

 ## 购买渠道

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

 ## 针脚定义

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

 ## 外部设备

- [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.
@@ -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 Kakute H7 mini](https://holybro.com/collections/autopilot-flight-controllers/products/kakute-h7-mini) flight controller is intended for lightweight frame builds (such as racers, etc.).
+The [Holybro Kakute H7 mini](https://holybro.com/products/kakute-h7-mini) flight controller is intended for lightweight frame builds (such as racers, etc.).

 This flight controller is full of features including HD camera plug, dual plug-and-play 4in1 ESC ports, VTX ON/OFF Pit Switch (Battery Voltage), barometer, OSD, 6x UARTs, 128MB Flash for logging (not supported with PX4 yet), 5V BEC, and bigger soldering pad with easy layout and much more.

--- a/Show More
+++ b/Show More