New Crowdin translations - uk (#25201)

Co-authored-by: Crowdin Bot <support+bot@crowdin.com>
2026-05-23 22:58:10 +08:00 · 2025-07-13 10:37:19 +10:00
parent a01f39707e
commit a5920edbb1
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 @@
      - [Тест MC_04 - Тестування відмовостійкості](test_cards/mc_04_failsafe_testing.md)
      - [Тест MC_05 - Політ у приміщенні (ручні режими)](test_cards/mc_05_indoor_flight_manual_modes.md)
    - [Модульні Тести](test_and_ci/unit_tests.md)
+      - [Fuzz Tests](test_and_ci/fuzz_tests.md)
    - [Безперервна інтеграція](test_and_ci/continous_integration.md)
    - [Integration Testing](test_and_ci/integration_testing.md)
      - [MAVSDK Тестування інтеграції ](test_and_ci/integration_testing_mavsdk.md)
@@ -382,7 +382,6 @@ _Умовна допомога діапазону_ включається шля

 - [EKF2_RNG_A_VMAX](../advanced_config/parameter_reference.md#EKF2_RNG_A_VMAX): Максимальна горизонтальна швидкість, при перевищенні якої відключається допомога датчика дальності.
 - [EKF2_RNG_A_HMAX](../advanced_config/parameter_reference.md#EKF2_RNG_A_HMAX): Максимальна висота, при перевищенні якої відключається допомога датчика дальності.
- [EKF2_RNG_A_IGATE](../advanced_config/parameter_reference.md#EKF2_RNG_A_IGATE): Ворота перевірки узгодженості допомоги датчика дальності (вимірювання помилки до відключення допомоги датчика дальності).

 #### Об'єднання висоти дальності

@@ -246,7 +246,7 @@ PX4 видає повідомлення MAVLink [CAMERA_TRIGGER](https://mavlink

 ### Реконструкція

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

 ![Геомаркування](../../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 @@ _Crazyflie 2.0_ було [припинено/замінено](../flight_control
 ## Де купити

 - [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): використовується для бездротового зв'язку між _QGroundControl_ та 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): плата розширення для підключення нових периферійних пристроїв.
 - [Дека потоку](https://store.bitcraze.io/collections/decks/products/flow-deck): містить оптичний сенсор потоку для вимірювання рухів землі та датчик відстані для вимірювання відстані до землі.
  Це буде корисно для точного контролю висоти та положення.
@@ -203,7 +203,7 @@ python cfbridge.py

 :::info
 _Cfbridge_ за замовчуванням намагається ініціювати комунікацію радіоканалу на каналі 80 та з адресою crazyflie 0xE7E7E7E7E7.
-Якщо ви використовуєте [кілька crazyflies та/або crazyradios](https://github.com/dennisss/cfbridge/blob/master/index.md#advanced-swarming) в одній кімнаті і хочете використовувати різні канали та/або адреси для кожного, спочатку підключіть crazyflie до QGroundControl через USB-кабель і змініть параметри syslink (канал, адреса) в 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.
 Після цього запустіть cfbridge, надаючи той самий канал та адресу як перший та другий аргументи відповідно, наприклад: `python cfbridge.py 90 0x0202020202`
 :::

@@ -40,7 +40,7 @@ Crazyflie 2.1 може літати лише в режимі [Стабілізо

 Корисне периферійне обладнання включає в себе:

- [Crazyradio PA 2.4 GHz USB dongle](https://store.bitcraze.io/collections/kits/products/crazyradio-pa): використовується для бездротового зв'язку між _QGroundControl_ та 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): плата розширення для підключення нових периферійних пристроїв.
 - [Flow deck v2](https://store.bitcraze.io/collections/decks/products/flow-deck-v2): Оптичний сенсор потоку та датчик відстані для управління висотою та позицією.
 - [Z-ranger deck v2](https://store.bitcraze.io/collections/decks/products/z-ranger-deck-v2): Датчик відстані для керування висотою (той самий датчик, що й Flow deck).
@@ -220,7 +220,7 @@ Crazyflie 2.1 може літати лише в режимі [Стабілізо

  ::: info
  _Cfbridge_ за замовчуванням намагається ініціювати комунікацію радіоканалу на каналі 80 та з адресою crazyflie 0xE7E7E7E7E7.
-  Якщо ви використовуєте [кілька crazyflies та/або crazyradios](https://github.com/dennisss/cfbridge/blob/master/index.md#advanced-swarming) в одній кімнаті і хочете використовувати різні канали та/або адреси для кожного, спочатку підключіть crazyflie до QGroundControl через USB-кабель і змініть параметри syslink (канал, адреса) в 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.
  Після цього запустіть cfbridge, надаючи той самий канал та адресу як перший та другий аргументи відповідно, наприклад: `python cfbridge.py 90 0x0202020202`

 :::
@@ -12,19 +12,16 @@
 Цей розділ містить перелік наборів дронів, які призначені як платформи для подальшого розвитку.
 Вони можуть бути як повністю зібраними, так і у частинах.

- [MODALAI VOXL 2 STARLING PX4 РОЗРОБКА ДРОНА](../complete_vehicles_mc/modalai_starling.md) - ДРОН ДЛЯ РОЗРОБКИ SLAM, ПОТУЖЕНИЙ НАДМІЧКОЮ VOXL 2 ТА PX4.
 - [PX4 Vision DevKit](../complete_vehicles_mc/px4_vision_kit.md) - Мультикоптер, що використовується для розробки комп'ютерного зору PX4
+- ~[ModalAI VOXL 2 Starling PX4 Development Drone](../complete_vehicles_mc/modalai_starling.md)~ (Discontinued/superseded) - SLAM development drone supercharged by VOXL 2 and PX4.

 ## Попередньо встановлене PX4

 У цьому розділі перелічені транспортні засоби, які продаються повністю зібраними та готові до польоту (RTF), з встановленим PX4.

- [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/))

 ## Сумісні з PX4

@@ -32,7 +29,6 @@

 - [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) (припинено)

 ## Кастомне PX4

@@ -40,8 +36,8 @@
 Вони можуть оновлюватися або не оновлюватися для запуску "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/)

 ## Дивіться також
@@ -403,7 +403,7 @@ You can modify PX4 itself, and [install it as custom firmware](../config/firmwar
 ## Інші Ресурси Розробника

 - [_UP Core_ Wiki](https://github.com/up-board/up-community/wiki/Ubuntu) - _Up Core_ супутниковий комп'ютер технічна інформація
- [Форум розробників Occipital](https://structure.io/developers) - інформація про камеру _Structure Core_
+- [Occipital Developer Forum](https://structure.io/developers/) - _Structure Core_ camera information
 - [Огляд Pixhawk 4](../flight_controller/pixhawk4.md)
 - [Огляд Pixhawk 6C](../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).

-Документація та інформація про драйвери тут також повинна полегшити роботу з контролерами Roboclaw на інших транспортних засобах, а також з транспортними засобами, такими як [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.

 На даний момент PX4 підтримує режим MANUAL для цієї настройки.

@@ -12,8 +12,7 @@ The [Aion R1](https://www.aionrobotics.com/) vehicle was chosen to test and impr

 ## Список деталей

- [Aion R1 (Припинено)](https://www.aionrobotics.com/)
-  - [Документація](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)
  - [Характеристики R1 Roboclaw](https://resources.basicmicro.com/aion-robotics-r1-autonomous-robot/)
 - [Auterion Skynode](../companion_computer/auterion_skynode.md)
@@ -50,7 +49,6 @@ RoboClaw повинен бути підключений до відповідн
 Спочатку налаштуйте послідовне з'єднання:

 1. Перейдіть до розділу [Параметри](../advanced_config/parameters.md) в QGroundControl.
-
  - Встановіть параметр [RBCLW_SER_CFG](../advanced_config/parameter_reference.md#RBCLW_SER_CFG) на послідовний порт, до якого підключений RoboClaw (наприклад, `GPS2`).
  - [RBCLW_COUNTS_REV](../advanced_config/parameter_reference.md#RBCLW_COUNTS_REV) визначає кількість лічильників енкодера, необхідних для одного оберту колеса.
    Це значення повинно бути залишено на `1200` для протестованого `Контролера руху RoboClaw 2x15A`.
@@ -18,7 +18,7 @@ They may come either fully assembled or in parts.

 У цьому розділі перелічені ВЗІП транспортні засоби, які продаються повністю зібраними та готові до польоту (RTF), з встановленим PX4.

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

 <!-- ## PX4 Compatible -->

@@ -27,8 +27,8 @@ They may come either fully assembled or in parts.
 Цей розділ містить споживчі транспортні засоби, які працюють на _спеціальній_ версії PX4 (підтримується їхніми постачальниками).
 Вони можуть оновлюватися або не оновлюватися для запуску "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/)

 ## Дивіться також

@@ -42,11 +42,11 @@ PX4 відокремлює цю логіку перекладу, що назив
  - публікує корекції для сервоприводів окремо щоб їх можна було додати як відхилення при [перевірці приводів](../config/actuators.md#actuator-testing) (використовуючи тестувальні повзунки).
 - Драйвери виходу:
  - обробляють апаратну ініціалізацію та оновлення
-  - 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).
    Драйвер визначає префікс параметру, наприклад `PWM_MAIN`, який бібліотека використовує для налаштування.
    Її головне завдання зробити вибірку з вхідних дані та призначити правильні дані на виходи засновуючись на встановлених користувачем значеннях параметрів `<param_prefix>_FUNCx`.
    Наприклад, якщо `PWM_MAIN_FUNC3` встановлено у **Motor 2**, це означає що на 2-й двигун з `actuator_motors` встановлено 3-й вивід.
-  - функції виводу визначаються у [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).
 - якщо ви хочете керувати виводом з MAVLink, встановіть відповідну вихідну функцію в **Offboard Actuator Set x**, а потім відправте MAVLink команду [MAV_CMD_DO_SETUATOR](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_SET_ACTUATOR).

 ## Додавання нової геометрії або функції виводу
@@ -379,7 +379,7 @@ Output functions are used to map the "logical functions" of an airframe, such as
  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 @@ Remove propellers!

 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.
-
  - Перевірте, чи двигун обертається дуже повільно в цьому положенні.
  - 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 @@ Remove propellers!
 :::

 3. Збільште значення слайдера до рівня, на якому ви можете перевірити, що двигун обертається в правильному напрямку і що він надасть позитивний тяговий потік в очікуваному напрямку.
-
  - Очікувана напрямок тяги може відрізнятися в залежності від типу транспортного засобу.
    Наприклад, у багатороторних літаках тяга завжди повинна вказувати вгору, тоді як у повітряному судні з фіксованим крилом тяга буде тягти судно вперед.
  - 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

 ## Передумови

-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).
 Джойстики також часто використовуються для того, щоб дозволити розробникам літати на транспортному засобі у симуляції.

 ![Joystick MicroNav](../../assets/peripherals/joystick/micronav.jpg)
@@ -317,8 +317,8 @@ The [failure detector](#failure-detector), if [enabled](#CBRK_FLIGHTTERM), can a
 Зовнішня система тригера повинна бути підключена до порту керування польотом AUX5 (або MAIN5 на платах, які не мають додаткових портів), і налаштовується за допомогою наведених нижче параметрів.

 :::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).
 :::

 | Параметр                                                                                                                                                                | Опис                                                                                                                                                                                                                                                                    |
@@ -156,7 +156,3 @@ 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.
 Якщо ви хочете, щоб він повернувся у режим фіксованих крил, вам потрібно буде пройти повний перехід.
 Якщо він все ще рухається швидко, це має відбутися швидко.
-
-### Підтримка
-
-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 @@
 - [beta](https://github.com/PX4/PX4-Autopilot/tree/beta) has been thoroughly tested. Він призначений для тестерів на польоти.
 - [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).
 Однак через глобальну команду і швидкий розвиток ми можемо одночасно вдаватися до збоїв.

-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 @@ 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. Клонуйте ваш форкнутий репозиторій на локальний комп'ютер:

@@ -8,7 +8,7 @@

 - [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))

 - Клонуйте ваш форкнутий репозиторій на локальний комп'ютер

@@ -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
 Якщо ви не впевнені в тому, що є ця проблема, і вам потрібна допомога для діагностики

 - 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. Розпакуйте папку Eclipse та скопіюйте її куди завгодно (немає потреби запускати будь-які сценарії установки).
 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.
 ### Embedded Debug Tools

 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 @@ Where possible, we highly recommend that you create or obtain an adapter board r
 [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 @@ struct message_dropout_s {
 - [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. Підтримує ULog з версії 2.1.3.
 - [ulogreader](https://github.com/maxsun/ulogreader): Javascript, ULog reader and parser outputs log in JSON object format.
@@ -20,7 +20,7 @@ The [Windows WSL2-Based Development Environment](../dev_setup/dev_env_windows_ws

 ## Інструкції з установки

-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. Запустіть, оберіть потрібне місце установки, дочекайтесь встановлення:

@@ -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).

   Причиною запуску всіх інструментів розробки через підготовлений пакетні скрипти є те, що вони налаштовують початкову програму використовувати локальне, портативне середовище Cygwin всередині директорії інструментарію.
-   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. Встановіть 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/).
   - Оскільки, на жаль, не існує портативного архіву, який містить безпосередньо бінарні файли вам потрібно встановити Java.
   - Find the binaries and move/copy them to **C:\PX4\toolchain\jdk**.
   - Ви можете видалити Java із вашої системи Windows, нам були потрібні лише бінарні файли для набору інструментів.

   ::: 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 @@ Allocate as many CPU cores and memory resources to the VM as possible.

 2. Установіть його на вашу Windows систему

-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 @@ Allocate as many CPU cores and memory resources to the VM as possible.

 10. Once the new VM is booted up make sure you install _VMWare tools drivers and tools extension_ inside your guest system.
   Це підвищить продуктивність та зручність користування віртуальною машиною:
-
   - Значно поліпшена продуктивність графіки
   - Належна підтримка використання апаратного забезпечення, наприклад розподілу портів USB (важливо для завантаження прошивок), прокручування коліщатком миші, підтримка звуку
   - Адаптація роздільної здатності дисплею гостя до розміру вікна емулятора
@@ -96,7 +95,6 @@ One limitation of virtual machines is that you can't automatically connect to a
 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**.
-
   - Відкрийте меню і під'єднайте USB-кабель, підключений до автопілота.
      Select the `...Bootloader` device when it appears in the UI.

@@ -1,6 +1,6 @@
 # Середовище розробки Windows (засноване на WSL2)

-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).

 Це середовище може бути використане для збірки PX4 для:

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

 ## Загальний огляд

-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.

 В цьому середовищі розробники можуть:

@@ -94,7 +94,6 @@ If you're using [Windows Terminal](https://learn.microsoft.com/en-us/windows/ter
 Щоб відкрити оболонку WSL за допомогою командного рядка:

 1. Відкрийте командний рядок:
-
  - Press the Windows **Start** key.
  - Type `cmd` and press **Enter** to open the prompt.

@@ -8,6 +8,6 @@ This article is a stub.

 ## Відлагодження з 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/).

 Вони також можуть бути використані незалежно від апаратного забезпечення Pixhawk для тестування вузла або ручного керування ESC, сумісних з DroneCAN.
@@ -38,7 +38,7 @@ DroneCAN was previously known as UAVCAN v0 (or just UAVCAN).

 - Датчики швидкості повітря
  - [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)

 - Приймачі ГНСС для ГНСС (GPS, GLONASS, BeiDou та інше)
@@ -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.
 Решта назви вказує на конкретне повідомлення/функцію, яка встановлюється.
@@ -165,7 +165,7 @@ Note that a peripheral might might not use `CANNODE_` parameters, in which case
 - [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 @@ Set the same parameters as for [GPS](#gps) above.
 Параметри PX4 DroneCAN:

 - [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.
 :::

 ##### Ровер та Рухома База
@@ -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

 Параметри PX4 DroneCAN:

- [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
 ## Корисні посилання

 - [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

 Декілька постачальників продають апаратне забезпечення ESC, яке працює на прошивці sapog:

- [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>
-
 ## Налаштування програмного забезпечення

 ESCs підключені до шини CAN за допомогою стандартного кабелю Pixhawk 4 pin JST GH.
@@ -81,15 +56,15 @@ You can skip this section if there is only one ESC in your setup, because the ES

 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)

-  Ви почуєте звук, що вказує на те, що керування польотом увійшло в режим переліку ESC.
+   Ви почуєте звук, що вказує на те, що керування польотом увійшло в режим переліку ESC.

 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.
-  Кожного разу, коли ви ввімкнете мотор, ви повинні почути підтвердний сигнал.
+   Кожного разу, коли ви ввімкнете мотор, ви повинні почути підтвердний сигнал.

-  ::: 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 - це високотехнологічна, власна технологія бездатчикового керування двигуном FOC.
-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

 ## Де купити

- [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

 ## Налаштування програмного забезпечення

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

 ## Налаштування прошивки

-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 НЕ підтримує автоматичне перелічення, приводячи в рух двигун.

-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).

 Також для надійної продуктивності регулятори швидкості Telega потребують іншої налаштування та конфігурації двигуна. Дивіться вищезазначений посібник та іншу документацію Zubax для отримання додаткової інформації.

@@ -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).

 ## Збірка для крос-компіляторів (рекомендується)

@@ -140,7 +140,7 @@ The system's serial console and SWD interface operate on the **DSU7** port.

 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:

 | Pin                        | Сигнал                            | Вольтаж               |
 | -------------------------- | --------------------------------- | --------------------- |
@@ -96,7 +96,6 @@ Pixhawk® V6X ідеально підходить для корпоративн
  - Baseboard: 56г
 - Operating & storage temperature: -20 ~ 85°c
 - Розмір
-
  - Політний контролер

    ![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

 ## Периферійні пристрої

- [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:

 | Pin                        | Сигнал                            | Вольтаж               |
 | -------------------------- | --------------------------------- | --------------------- |
@@ -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:

 | Pin                        | Сигнал                            | Вольтаж               |
 | -------------------------- | --------------------------------- | --------------------- |
@@ -12,7 +12,7 @@ PX4 не розробляє цей (або будь-який інший) авт
 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.
 Це ідеальний вибір для промислових дронів і великомасштабних важких дронів.
 В основному постачається комерційним виробникам.

@@ -151,7 +151,7 @@ The system's serial console and SWD interface operate on the **DSU7** port.

 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:

 | Pin                        | Сигнал                            | Вольтаж               |
 | -------------------------- | --------------------------------- | --------------------- |
@@ -177,11 +177,10 @@ For direct connection to _Segger Jlink_ we recommended you use the 3.3 Volts fro

 ## Підтримувані платформи / Конструкції

-Будь-який мультикоптер / літак / наземна платформа / човен, який може керуватися звичайними RC сервоприводами або сервоприводами Futaba S-Bus.
+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).

 ## Подальша інформація

- [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

 ## Де купити

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

 ## З'єднання

@@ -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>
-
-## Відладочний порт
+## 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 не розробляє цей (або будь-який інший) авт
 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

 ## Де купити

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

 ### Аксесуари

- [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)

 ## Збірка прошивки
@@ -95,7 +95,7 @@ Pix32 v6’s H7 MCU містить ядро Arm® Cortex®-M7 до 480 MHz, ма

 ## Де купити

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

 ## Схема розташування виводів

@@ -188,7 +188,7 @@ The pinouts and connector comply with the [Pixhawk Debug Full](../debug/swd_debu

 ## Периферійні пристрої

- [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
+Ця модель знятий з виробництва (../flight_controller/autopilot_experimental.md) і більше комерційно не доступна.
+:::
+
 :::warning
 PX4 не розробляє цей (або будь-який інший) автопілот.
 Contact the [manufacturer](https://holybro.com/) for hardware support or compliance issues.
@@ -7,7 +7,7 @@ PX4 не розробляє цей (або будь-який інший) авт
 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.).

 Цей контролер польоту повний функцій, включаючи роз'єм для HD-камери, подвійні роз'єми ESC 4in1 plug-and-play, перемикач VTX ON/OFF Pit (напруга батареї), барометр, OSD, 6x UART, 128 МБ Flash для журналювання (ще не підтримується з PX4), BEC на 5В, та більші пластини для паяння з простим розташуванням та багато іншого.

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