New Crowdin translations - uk (#25589)

Co-authored-by: Crowdin Bot <support+bot@crowdin.com>
2026-03-27 01:12:18 +08:00 · 2025-09-24 10:33:34 +10:00
parent db58ecb5eb
commit be3354d238
36 changed files with 301 additions and 154 deletions
--- a/docs/uk/SUMMARY.md
+++ b/docs/uk/SUMMARY.md
@@ -7,6 +7,7 @@
      - [Position Mode (MC)](flight_modes_mc/position.md)
      - [Position Slow Mode (MC)](flight_modes_mc/position_slow.md)
      - [Altitude Mode (MC)](flight_modes_mc/altitude.md)
+      - [Altitude Cruise Mode (MC)](flight_modes_mc/altitude_cruise.md)
      - [Stabilized Mode (MC)](flight_modes_mc/manual_stabilized.md)
      - [Acro Mode (MC)](flight_modes_mc/acro.md)
      - [Orbit Mode (MC)](flight_modes_mc/orbit.md)
--- a/docs/uk/dronecan/ark_rtk_gps.md
+++ b/docs/uk/dronecan/ark_rtk_gps.md
@@ -27,7 +27,7 @@
 - Кнопка безпеки
 - Зумер
 - Два роз'єми стандарту CAN для Pixhawk (4 контакти JST GH)
- Роз'єм F9P "UART 2"
+- F9P `UART 2` Connector
  - 3-контактний JST-GH
  - TX, RX, GND
 - Роз'єм для відлагодження стандарту Pixhawk (6 контактів JST SH)
@@ -87,6 +87,25 @@ You need to set necessary [DroneCAN](index.md) parameters and define offsets if
 - The parameters [EKF2_GPS_POS_X](../advanced_config/parameter_reference.md#EKF2_GPS_POS_X), [EKF2_GPS_POS_Y](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Y) and [EKF2_GPS_POS_Z](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Z) can be set to account for the offset of the ARK RTK GPS from the vehicles centre of gravity.
 - Set [CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) to `1` on the GPS if this it that last node on the CAN bus.

+### Setting Up Rover and Fixed Base
+
+Position of the rover is established using RTCM messages from the RTK base module (the base module is connected to QGC, which sends the RTCM information to PX4 via MAVLink).
+
+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).
+
+Rover module parameters (also [set using QGC](../dronecan/index.md#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).
+
+:::info
+Use [UAVCAN_PUB_MBD](../advanced_config/parameter_reference.md#UAVCAN_PUB_MBD) and [CANNODE_SUB_MBD](../advanced_config/parameter_reference.md#CANNODE_SUB_MBD) instead if you want to implement moving base (see below) at the same time.
+:::
+
+For more information see [Rover and Fixed Base](../dronecan/index.md#rover-and-fixed-base) in the DroneCAN guide.
+
 ### Setting Up Moving Baseline & GPS Heading

 Найпростіший спосіб налаштування рухомого базису та напрямку GPS з двома модулями GPS ARK RTK відбувається через CAN, хоча можна зробити це через UART, щоб зменшити обсяг даних на шині CAN, якщо це потрібно.
@@ -128,10 +147,11 @@ You need to set necessary [DroneCAN](index.md) parameters and define offsets if
 - On the _Moving Base_, set the following:
  - [GPS_UBX_MODE](../advanced_config/parameter_reference.md#GPS_UBX_MODE) to `2`.

+For more information see [Rover and Moving Base](../dronecan/index.md#rover-and-moving-base) in the DroneCAN guide.
+
 ## Значення LED індикаторів

 - Світлодіоди статусу GPS розташовані праворуч від роз'ємів
-
  - Миготіння зеленого - це фіксація GPS
  - Миготіння синього - це отримані корекції та RTK Float
  - Сталий синій - це RTK зафіксовано
--- a/docs/uk/dronecan/escs.md
+++ b/docs/uk/dronecan/escs.md
@@ -9,3 +9,18 @@ PX4 підтримує ESCs, які відповідають стандарту
 - [Vertiq](../peripherals/vertiq.md) (larger modules)
 - [VESC Project](../peripherals/vesc.md)
 - [RaccoonLab Cyphal and DroneCAN PWM nodes](raccoonlab_nodes.md)
+
+## Конфігурація апаратного забезпечення
+
+General DroneCAN hardware configuration is covered in [DroneCAN > Hardware Setup](../dronecan/index.md#hardware-setup).
+
+DroneCAN ESCs should be on their own dedicated CAN interface(s) because ESC messages can saturate the bus and starve other nodes of bandwidth.
+
+## Конфігурація PX4
+
+DroneCAN peripherals are configured by following the procedure outlined in [DroneCAN](../dronecan/index.md).
+
+In addition to the general setup, such as setting `UAVCAN_ENABLE` to `3`:
+
+- Select the specific CAN interface(s) used for ESC data output using the [UAVCAN_ESC_IFACE](../advanced_config/parameter_reference.md#UAVCAN_ESC_IFACE) parameter (all that all interfaces are selected by default).
+- Configure the [motor order and servo outputs](../config/actuators.md).
--- a/docs/uk/dronecan/index.md
+++ b/docs/uk/dronecan/index.md
@@ -276,6 +276,9 @@ If the rangefinder is connected via DroneCAN (whether inbuilt or separate), you

 [DroneCAN ESCs and servos](../dronecan/escs.md) require the [motor order and servo outputs](../config/actuators.md) to be configured.

+Select the specific CAN interface(s) used for ESC data output using the [UAVCAN_ESC_IFACE](../advanced_config/parameter_reference.md#UAVCAN_ESC_IFACE) parameter (all that all interfaces are selected by default).
+Note that DroneCAN ESCs should be on their own dedicated CAN interface(s) because ESC messages can saturate the bus and starve other nodes of bandwidth.
+
 ## Налаштування параметрів CANNODE QGC

 QGroundControl може переглядати та змінювати параметри, що належать до пристроїв CAN, підключених до автопілота, за умови, що пристрої підключені до автопілота до запуску QGC.
@@ -313,7 +316,10 @@ If successful, the firmware binary will be removed from the root directory and t

 **Q**: The motors aren't spinning when armed.

-**A**: Make sure `UAVCAN_ENABLE` is set to `3` to enable DroneCAN ESC output.
+**A**:
+
+- Make sure `UAVCAN_ENABLE` is set to `3` to enable DroneCAN ESC output.
+- Make sure `UAVCAN_ESC_IFACE` is set to enable the CAN interface(s) used for ESCs.

 ---

--- a/docs/uk/flight_modes_fw/index.md
+++ b/docs/uk/flight_modes_fw/index.md
@@ -17,6 +17,8 @@ Manual-Easy:
  Швидкість активно контролюється, якщо встановлений датчик швидкості.
 - [Режим висоти](../flight_modes_fw/altitude.md) — Найпростіший і найбезпечніший _непідтримуваний GPS_ ручний режим.
  Єдина відмінність порівняно з _Режимом положення_ полягає в тому, що пілот завжди безпосередньо керує кутом кочення літака і немає автоматичного утримання курсу.
+- Altitude Cruise mode — It behaves exactly like _Altitude mode_, with the only difference being that the manual control failsafe can be disabled. This is done by setting the corresponding flag in [COM_RCL_EXCEPT](../advanced_config/parameter_reference.md#COM_RCL_EXCEPT). In that case the current altitude, airspeed and heading (by leveling out the roll angle) are kept until the manual control link is regained or the mode is exited.
+  It is highly recommended to only disable the manual control loss failsafe for this mode if there is a stable data link connection to the vehicle at all times, or to enable the data link loss failsafe through [NAV_DLL_ACT](../advanced_config/parameter_reference.md#NAV_DLL_ACT).
 - [Режим стабілізації](../flight_modes_fw/stabilized.md) — Пілот напряму керує кутом крену та тангажу, і апарат зберігає задану точку до тих пір, поки стіки знову не будуть переміщені.
  Тяга безпосередньо встановлюється пілотом.
  Координація повороту все ще обробляється контролером.
--- a/docs/uk/flight_modes_mc/altitude.md
+++ b/docs/uk/flight_modes_mc/altitude.md
@@ -21,7 +21,7 @@ The diagram below shows the mode behaviour visually (for a [mode 2 transmitter](
 RC/manual mode like [Stabilized mode](../flight_modes_mc/manual_stabilized.md) but with _altitude stabilization_ (centred sticks level vehicle and hold it to fixed altitude).
 Горизонтальне положення транспортного засобу може змінюватися через вплив вітру (або наявного імпульсу).

- Центровані палиці (в межах дедбенду):
+- Centered sticks:
  - Рівень RPY прикріплюється до транспортного засобу.
  - Дросель (~50%) утримує поточну висоту стабільно проти вітру.
 - Зовнішній центр:
--- a/docs/uk/flight_modes_mc/altitude_cruise.md
+++ b/docs/uk/flight_modes_mc/altitude_cruise.md
@@ -0,0 +1,45 @@
+# Altitude Cruise Mode (Multicopter)
+
+<img src="../../assets/site/difficulty_easy.png" title="Easy to fly" width="30px" />&nbsp;<img src="../../assets/site/remote_control.svg" title="Manual/Remote control required" width="30px" />&nbsp;<img src="../../assets/site/altitude_icon.svg" title="Altitude required (e.g. Baro, Rangefinder)" width="30px" />
+
+_Altitude Cruise mode_ is a _relatively_ easy-to-fly manual control mode in which roll and pitch sticks control vehicle movement in the left-right and forward-back directions (relative to the "front" of the vehicle), yaw stick controls rate of rotation over the horizontal plane, and throttle controls speed of ascent-descent.
+
+When the sticks are released/centered the vehicle will keep the current tilt and heading angle and maintain the current _altitude_.
+If moving in the horizontal plane the vehicle will accelerate until the wind resistance equals the acceleration caused by the set tilt angle.
+The vehicle will then continue to move with a constant velocity (unlike for Altitude mode, in which the vehicle will eventually slow down and stop).
+If the wind blows the aircraft will drift in the direction of the wind even if flying perfectly level.
+
+:::tip
+_Altitude Cruise mode_ is intended for long distance flights where the same tilt angle is kept for a long period of time. It is just like [Altitude](../flight_modes_mc/altitude.md) mode but does not go back to level tilt when the sticks are released.
+:::
+
+The diagram below shows the mode behaviour visually (for a [mode 2 transmitter](../getting_started/rc_transmitter_receiver.md#transmitter_modes)).
+
+![Altitude Control MC - Mode2 RC Controller](../../assets/flight_modes/altitude_mc.png)
+
+## Технічний підсумок
+
+A manual mode that is similar to [Altitude mode](../flight_modes_mc/altitude.md) but with different interpretation of roll and pitch sticks.
+
+- Centered sticks:
+  - Roll/Pitch sticks: the current tilt is kept.
+  - Yaw: the current heading is kept.
+  - Throttle (~50%) holds current altitude.
+- Зовнішній центр:
+  - Roll/Pitch sticks control the rate of change of the tilt angle, resulting in corresponding left-right and forward-back movement. A maximum stick deflection results in a tilting rate setpoint to go from level to max tilt within 0.5 seconds.
+  - Yaw stick deflection rotates the tilt angle either left or right, causing the vehicle to change course. It is _not_ causing a direct rotation around the body yaw axis like in [Acro mode](../flight_modes_mc/acro.md).
+  - Ручка дроселя керує швидкістю вгору/вниз з попередньо визначеною максимальною швидкістю (та швидкістю руху в інших осях).
+- Зліт:
+  - Після посадки транспортний засіб злетить, якщо важіль керування газом підніметься вище 62.5% від повного діапазону (від низу).
+- Manual control input is required (such as RC control, joystick) to enter this mode. Other than in all other manual modes, it's though possible to disable the manual control loss failsafe by setting the corresponding flag in [COM_RCL_EXCEPT](../advanced_config/parameter_reference.md#COM_RCL_EXCEPT). In that case the current altitude, tilt and heading are kept until the manual control link is regained or the mode is exited.
+  It is highly recommended to only disable the manual control loss failsafe for this mode if there is a stable data link connection to the vehicle at all times, and to enable the data link loss failsafe through [NAV_DLL_ACT](../advanced_config/parameter_reference.md#NAV_DLL_ACT).
+
+## Параметри
+
+Most of the relevant parameters are already covered in the corresponding section in the [Altitude mode](../flight_modes_mc/altitude.md). Here a list of parameters of particular importance for Altitude Cruise.
+
+| Параметр                                                                                                                                                                   | Опис                                                                                                                                                                                   |
+| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| <a id="COM_RCL_EXCEPT"></a>[COM_RCL_EXCEPT](../advanced_config/parameter_reference.md#COM_RCL_EXCEPT)                            | The manual control failsafe can be disabled for Altitude Cruise by setting the corresponding bit in this parameter.                                                    |
+| <a id="NAV_DLL_ACT"></a>[NAV_DLL_ACT](../advanced_config/parameter_reference.md#NAV_DLL_ACT)                                     | Data link lost failsafe action. Recommended to set if the manual control failsafe is disabled to avoid fly-aways.                                      |
+| <a id="MPC_MAN_TILT_MAX"></a>[MPC_MAN_TILT_MAX](../advanced_config/parameter_reference.md#MPC_MAN_TILT_MAX) | The maximum tilt angle the vehicle will go to. At max stick deflection, it will take 0.5 seconds from level flight to this tilt angle. |
--- a/docs/uk/flight_modes_mc/index.md
+++ b/docs/uk/flight_modes_mc/index.md
@@ -21,10 +21,12 @@ Manual-Easy:
 - [Stabilized mode](../flight_modes_mc/manual_stabilized.md) — Releasing the sticks levels and maintains the vehicle horizontal posture (but not altitude or position).
  Транспортний засіб продовжить рухатися з імпульсом, і як висота, так і горизонтальна позиція можуть бути піддані впливу вітру.
  This mode is also used if "Manual mode" is selected in a ground station.
+- [Altitude Cruise mode](../flight_modes_mc/altitude_cruise.md) — Very similar to _Altitude mode_, with the difference that when the roll and pitch sticks are released the vehicle does not level out but keeps the tilt until further inputs are given.
+  Additionally it is possible to disable the manual control failsafe for this mode, having the vehicle continue on it's set path even if there are no new control inputs.

 Manual-Acrobatic

- [Acro](../flight_modes_mc/acro.md) — Ручний режим для виконання акробатичних маневрів, таких як креніння та петлі.
+- [Acro](../flight_modes_mc/acro.md) — Manual mode for performing acrobatic manoeuvrers, such as rolls and loops.
  Відпускання палиць призупиняє обертання транспортного засобу в площині крена, тангажу та розвороту, але іншим чином не стабілізує транспортний засіб.

 Автономний:
--- a/docs/uk/flight_modes_mc/manual_stabilized.md
+++ b/docs/uk/flight_modes_mc/manual_stabilized.md
@@ -31,7 +31,7 @@ Throttle is rescaled (see [below](#params)) and passed directly to control alloc
 Автопілот контролює положення, це означає що він регулює кути крену та тангажу до нуля коли органи керування пульту РК центровані всередині мертвої зони контролера (як наслідок вирівнюючи положення).
 Автопілот не компенсує дрейф через вітер (або інші джерела).

- Центровані палиці (в межах дедбенду):
+- Centered sticks:
  - Рівень ковзання/крена прикріплюється до транспортного засобу.
 - Зовнішній центр:
  - Палиці кочення/крену керують кутом нахилу у цих орієнтаціях, що призводить до відповідного руху ліворуч-праворуч та вперед-назад.
--- a/docs/uk/flight_modes_mc/position.md
+++ b/docs/uk/flight_modes_mc/position.md
@@ -43,7 +43,7 @@ While very rare on a well calibrated vehicle, sometimes there may be problems wi
 Режим RC, де рульові, кренові, керування газом (RPT) керують рухом у відповідних осях/напрямках.
 Центральні палиці рівняють транспортний засіб і утримують його на фіксованій висоті та позиції проти вітру.

- Centered roll, pitch, throttle sticks (within RC deadzone [MPC_HOLD_DZ](../advanced_config/parameter_reference.md#MPC_HOLD_DZ)) hold x, y, z position steady against any disturbance like wind.
+- Centered roll, pitch, throttle sticks (within RC deadzone [MAN_DEADZONE](#MAN_DEADZONE)) hold x, y, z position steady against any disturbance like wind.
 - Зовнішній центр:
  - Ручки кочення/крена керують горизонтальним прискоренням над землею у ліво-правому та передньо-задньому напрямках транспортного засобу (відповідно).
  - Палиця дросельного клапана контролює швидкість підйому-спуску.
@@ -62,7 +62,7 @@ All the parameters in the [Multicopter Position Control](../advanced_config/para

 | Параметр                                                                                                                                                                                        | Опис                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              |
 | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| <a id="MPC_HOLD_DZ"></a>[MPC_HOLD_DZ](../advanced_config/parameter_reference.md#MPC_HOLD_DZ)                                                          | Мертва зона палиць, де активовано утримання позиції. За замовчуванням: 0.1 (10% від повного діапазону палиці).                                                                                                                                                                                                                                                                                                                                                                                 |
+| <a id="MAN_DEADZONE"></a>[MAN_DEADZONE](../advanced_config/parameter_reference.md#MAN_DEADZONE)                                                                            | Мертва зона палиць, де активовано утримання позиції. За замовчуванням: 0.1 (10% від повного діапазону палиці).                                                                                                                                                                                                                                                                                                                                                                                 |
 | <a id="MPC_Z_VEL_MAX_UP"></a>[MPC_Z_VEL_MAX_UP](../advanced_config/parameter_reference.md#MPC_Z_VEL_MAX_UP) | Максимальна швидкість вертикального підйому. За замовчуванням: 3 м/с.                                                                                                                                                                                                                                                                                                                                                                                                                                                             |
 | <a id="MPC_Z_VEL_MAX_DN"></a>[MPC_Z_VEL_MAX_DN](../advanced_config/parameter_reference.md#MPC_Z_VEL_MAX_DN) | Максимальна швидкість вертикального спуску. За замовчуванням: 1 m/s.                                                                                                                                                                                                                                                                                                                                                                                                                                                              |
 | <a id="MPC_LAND_ALT1"></a>[MPC_LAND_ALT1](../advanced_config/parameter_reference.md#MPC_LAND_ALT1)                                                    | Висота для спрацювання першої фази повільної посадки. Below this altitude descending velocity gets limited to a value between [MPC_Z_VEL_MAX_DN](#MPC_Z_VEL_MAX_DN) (or `MPC_Z_V_AUTO_DN`) and [MPC_LAND_SPEED](#MPC_LAND_SPEED). Value needs to be higher than [MPC_LAND_ALT2](#MPC_LAND_ALT2). За замовчуванням 10м. |
--- a/docs/uk/middleware/uxrce_dds.md
+++ b/docs/uk/middleware/uxrce_dds.md
@@ -65,7 +65,7 @@ PX4 Micro XRCE-DDS Client is based on version `v2.x` which is not compatible wit
 В Ubuntu ви можете зібрати з вихідного коду і встановити Агент окремо за допомогою наступних команд:

 ```sh
-git clone -b v2.4.2 https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
+git clone -b v2.4.3 https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
 cd Micro-XRCE-DDS-Agent
 mkdir build
 cd build
@@ -126,7 +126,7 @@ This considerably speeds up the build process but requires that the Agent depend

   ```sh
   cd ~/px4_ros_uxrce_dds_ws/src
-   git clone -b v2.4.2 https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
+   git clone -b v2.4.3 https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
   ```

 3. Source the ROS 2 development environment, and compile the workspace using `colcon`:
@@ -279,6 +279,9 @@ The configuration can be done using the [UXRCE-DDS parameters](../advanced_confi
  - [UXRCE_DDS_SYNCT](../advanced_config/parameter_reference.md#UXRCE_DDS_SYNCT): Bridge time synchronization enable.
    Клієнтський модуль uXRCE-DDS може синхронізувати мітку часу повідомлень, якими обмінюються через міст.
    Це стандартна конфігурація. In certain situations, for example during [simulations](../ros2/user_guide.md#ros-gazebo-and-px4-time-synchronization), this feature may be disabled.
+  - [`UXRCE_DDS_NS_IDX`](../advanced_config/parameter_reference.md#UXRCE_DDS_NS_IDX): Index-based namespace definition
+    Setting this parameter to any value other than `-1` creates a namespace with the prefix `uav_` and the specified value, e.g. `uav_0`, `uav_1`, etc.
+    See [namespace](#customizing-the-namespace) for methods to define richer or arbitrary namespaces.

 :::info
 Many ports are already have a default configuration.
@@ -354,7 +357,7 @@ Note that all the messages from PX4 source code are present in the repository, b

 ## Customizing the Namespace

-Custom topic and service namespaces can be applied at build time (changing [dds_topics.yaml](../middleware/dds_topics.md)) or at runtime (which is useful for multi vehicle operations):
+Custom topic and service namespaces can be applied at build time (changing [dds_topics.yaml](../middleware/dds_topics.md)), at runtime, or through a parameter (which is useful for multi vehicle operations):

 - One possibility is to use the `-n` option when starting the [uxrce_dds_client](../modules/modules_system.md#uxrce-dds-client) from command line.
  Ця техніка може бути використана як у симуляторах, так і на реальних транспортних засобах.
@@ -383,6 +386,22 @@ PX4_UXRCE_DDS_NS=uav_1 make px4_sitl gz_x500

 :::

+- A simple index-based namespace can be applied by setting the parameter [`UXRCE_DDS_NS_IDX`](../advanced_config/parameter_reference.md#UXRCE_DDS_NS_IDX) to a value between 0 and 9999.
+  This will generate a namespace such as `/uav_0`, `/uav_1`, and so on.
+  This technique is ideal if vehicles must be persistently associated with namespaces because their clients are automatically started through PX4.
+
+:::info
+PX4 parameters cannot carry rich text strings.
+Therefore, you cannot use [`UXRCE_DDS_NS_IDX`](../advanced_config/parameter_reference.md#UXRCE_DDS_NS_IDX) to automatically start a client with an arbitrary message namespace through PX4.
+You can however specify a namespace when starting the client, using the `-n` argument:
+
+```sh
+# In etc/extras.txt on the MicroSD card
+uxrce_dds_client start -n fancy_uav
+```
+
+This can be included in `etc/extras.txt` as part of a custom [System Startup](../concept/system_startup.md).
+
 ## PX4 ROS 2 QoS Settings

 PX4 QoS settings for publishers are incompatible with the default QoS settings for ROS 2 subscribers.
@@ -516,7 +535,7 @@ For a list of services, details and examples see the [service documentation](../
 These guidelines explain how to migrate from using PX4 v1.13 [Fast-RTPS](../middleware/micrortps.md) middleware to PX4 v1.14 `uXRCE-DDS` middleware.
 These are useful if you have [ROS 2 applications written for PX4 v1.13](https://docs.px4.io/v1.13/en/ros/ros2_comm.html), or you have used Fast-RTPS to interface your applications to PX4 [directly](https://docs.px4.io/v1.13/en/middleware/micrortps.html#agent-in-an-offboard-fast-dds-interface-ros-independent).

-:::info
+::: info
 This section contains migration-specific information.
 You should also read the rest of this page to properly understand uXRCE-DDS.
 :::
--- a/docs/uk/modules/modules_driver_ins.md
+++ b/docs/uk/modules/modules_driver_ins.md
@@ -125,6 +125,31 @@ ilabs <command> [arguments...]
   status        Print driver status
 ```

+## sbgecom
+
+Source: [drivers/ins/sbgecom](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/ins/sbgecom)
+
+Description du module
+
+### Usage {#sbgecom_usage}
+
+```
+sbgecom <command> [arguments...]
+ Commands:
+   start         Start driver
+     [-d <val>]  Serial device
+                 default: /dev/ttyS0
+     [-b <val>]  Baudrate device
+                 default: 921600
+     [-f <val>]  Config JSON file path
+                 default: /etc/extras/sbg_settings\.json
+     [-s <val>]  Config JSON string
+
+   status        Driver status
+
+   stop          Stop driver
+```
+
 ## vectornav

 Source: [drivers/ins/vectornav](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/ins/vectornav)
--- a/docs/uk/modules/modules_system.md
+++ b/docs/uk/modules/modules_system.md
@@ -140,9 +140,9 @@ commander <command> [arguments...]
   transition    VTOL transition

   mode          Change flight mode
-     manual|acro|offboard|stabilized|altctl|posctl|position:slow|auto:mission|au
-                 to:loiter|auto:rtl|auto:takeoff|auto:land|auto:precland|ext1
-                 Flight mode
+     manual|acro|offboard|stabilized|altctl|posctl|altitude_cruise|position:slow
+                 |auto:mission|auto:loiter|auto:rtl|auto:takeoff|auto:land|auto:
+                 precland|ext1 Flight mode

   pair

@@ -154,6 +154,9 @@ commander <command> [arguments...]

   lat|lon|alt   Origin latitude longitude altitude

+   set_heading   Set current heading
+     heading     degrees from True North [0 360]
+
   poweroff      Power off board (if supported)

   stop
@@ -1062,7 +1065,9 @@ uxrce_dds_client <command> [arguments...]
                 values: <IP>
     [-p <val>]  Agent listening port. If not provided, defaults to
                 UXRCE_DDS_PRT
-     [-n <val>]  Client DDS namespace
+     [-n <val>]  Client DDS namespace. If not provided but UXRCE_DDS_NS_IDX is
+                 between 0 and 9999 inclusive, then uav_ + UXRCE_DDS_NS_IDX will
+                 be used

   stop

--- a/docs/uk/msg_docs/ActuatorMotors.md
+++ b/docs/uk/msg_docs/ActuatorMotors.md
@@ -18,7 +18,7 @@ uint32 MESSAGE_VERSION = 0
 uint64 timestamp         # [us] Time since system start
 uint64 timestamp_sample  # [us] Sampling timestamp of the data this control response is based on

-uint16 reversible_flags  # Bitset indicating which motors are configured to be reversible
+uint16 reversible_flags  # [-] Bitset indicating which motors are configured to be reversible

 uint8 ACTUATOR_FUNCTION_MOTOR1 = 101 #

--- a/docs/uk/msg_docs/ActuatorServos.md
+++ b/docs/uk/msg_docs/ActuatorServos.md
@@ -19,6 +19,6 @@ uint64 timestamp         # [us] Time since system start
 uint64 timestamp_sample  # [us] Sampling timestamp of the data this control response is based on

 uint8 NUM_CONTROLS = 8  #
-float32[8] control      # [@range -1, 1] Normalized output. 1 means maximum positive position. -1 maximum negative position (if not supported by the output, <0 maps to NaN). NaN maps to disarmed.
+float32[8] control      # [-] [@range -1, 1] Normalized output. 1 means maximum positive position. -1 maximum negative position (if not supported by the output, <0 maps to NaN). NaN maps to disarmed.

 ```
--- a/docs/uk/msg_docs/ArmingCheckReply.md
+++ b/docs/uk/msg_docs/ArmingCheckReply.md
@@ -1,6 +1,6 @@
 # ArmingCheckReply (повідомлення UORB)

-Arming check reply.
+Arming check reply

 This is a response to an ArmingCheckRequest message sent by the FMU to an external component, such as a ROS 2 navigation mode.
 The response contains the current set of external mode requirements, and a queue of events indicating recent failures to set the mode (which the FMU may then forward to a ground station).
@@ -12,7 +12,7 @@ The message is not used by internal/FMU components, as their mode requirements a
 [source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ArmingCheckReply.msg)

 ```c
-# Arming check reply.
+# Arming check reply
 #
 # This is a response to an ArmingCheckRequest message sent by the FMU to an external component, such as a ROS 2 navigation mode.
 # The response contains the current set of external mode requirements, and a queue of events indicating recent failures to set the mode (which the FMU may then forward to a ground station).
@@ -25,33 +25,33 @@ uint32 MESSAGE_VERSION  = 1

 uint64 timestamp # [us] Time since system start.

-uint8 request_id       # Id of ArmingCheckRequest for which this is a response.
-uint8 registration_id  # Id of external component emitting this response.
+uint8 request_id       # [-] Id of ArmingCheckRequest for which this is a response
+uint8 registration_id  # [-] Id of external component emitting this response

-uint8 HEALTH_COMPONENT_INDEX_NONE = 0  # Index of health component for which this response applies.
+uint8 HEALTH_COMPONENT_INDEX_NONE = 0  # Index of health component for which this response applies

 uint8 health_component_index      # [@enum HEALTH_COMPONENT_INDEX]
-bool health_component_is_present  # Unused. Intended for use with health events interface (health_component_t in events.json).
-bool health_component_warning     # Unused. Intended for use with health events interface (health_component_t in events.json).
-bool health_component_error       # Unused. Intended for use with health events interface (health_component_t in events.json).
+bool health_component_is_present  # Unused. Intended for use with health events interface (health_component_t in events.json)
+bool health_component_warning     # Unused. Intended for use with health events interface (health_component_t in events.json)
+bool health_component_error       # Unused. Intended for use with health events interface (health_component_t in events.json)

-bool can_arm_and_run  # True if the component can arm. For navigation mode components, true if the component can arm in the mode or switch to the mode when already armed.
+bool can_arm_and_run  # True if the component can arm. For navigation mode components, true if the component can arm in the mode or switch to the mode when already armed

-uint8 num_events  # Number of queued failure messages (Event) in the events field.
+uint8 num_events  # Number of queued failure messages (Event) in the events field

-Event[5] events  # Arming failure reasons (Queue of events to report to GCS).
+Event[5] events  # Arming failure reasons (Queue of events to report to GCS)

 # Mode requirements
-bool mode_req_angular_velocity         # Requires angular velocity estimate (e.g. from gyroscope).
-bool mode_req_attitude                 # Requires an attitude estimate.
-bool mode_req_local_alt                # Requires a local altitude estimate.
-bool mode_req_local_position           # Requires a local position estimate.
-bool mode_req_local_position_relaxed   # Requires a more relaxed global position estimate.
-bool mode_req_global_position          # Requires a global position estimate.
-bool mode_req_global_position_relaxed  # Requires a relaxed global position estimate.
-bool mode_req_mission                  # Requires an uploaded mission.
-bool mode_req_home_position            # Requires a home position (such as RTL/Return mode).
-bool mode_req_prevent_arming           # Prevent arming (such as in Land mode).
+bool mode_req_angular_velocity         # Requires angular velocity estimate (e.g. from gyroscope)
+bool mode_req_attitude                 # Requires an attitude estimate
+bool mode_req_local_alt                # Requires a local altitude estimate
+bool mode_req_local_position           # Requires a local position estimate
+bool mode_req_local_position_relaxed   # Requires a more relaxed global position estimate
+bool mode_req_global_position          # Requires a global position estimate
+bool mode_req_global_position_relaxed  # Requires a relaxed global position estimate
+bool mode_req_mission                  # Requires an uploaded mission
+bool mode_req_home_position            # Requires a home position (such as RTL/Return mode)
+bool mode_req_prevent_arming           # Prevent arming (such as in Land mode)
 bool mode_req_manual_control           # Requires a manual controller

 uint8 ORB_QUEUE_LENGTH  = 4
--- a/docs/uk/msg_docs/ArmingCheckRequest.md
+++ b/docs/uk/msg_docs/ArmingCheckRequest.md
@@ -1,6 +1,6 @@
 # ArmingCheckRequest (повідомлення UORB)

-Arming check request.
+Arming check request

 Broadcast message to request arming checks be reported by all registered components, such as external ROS 2 navigation modes.
 All registered components should respond with an ArmingCheckReply message that indicates their current mode requirements, and any arming failure information.
@@ -12,7 +12,7 @@ The reply will also include the registration_id for each external component, pro
 [source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ArmingCheckRequest.msg)

 ```c
-# Arming check request.
+# Arming check request
 #
 # Broadcast message to request arming checks be reported by all registered components, such as external ROS 2 navigation modes.
 # All registered components should respond with an ArmingCheckReply message that indicates their current mode requirements, and any arming failure information.
@@ -23,10 +23,10 @@ The reply will also include the registration_id for each external component, pro

 uint32 MESSAGE_VERSION = 1

-uint64 timestamp  # [us] Time since system start.
+uint64 timestamp  # [us] Time since system start

-uint8 request_id  # Id of this request. Allows correlation with associated ArmingCheckReply messages.
+uint8 request_id  # [-] Id of this request. Allows correlation with associated ArmingCheckReply messages.

-uint32 valid_registrations_mask # Bitmask of valid registration ID's (the bit is also cleared if flagged as unresponsive)
+uint32 valid_registrations_mask # [-] Bitmask of valid registration ID's (the bit is also cleared if flagged as unresponsive)

 ```
--- a/docs/uk/msg_docs/BatteryStatus.md
+++ b/docs/uk/msg_docs/BatteryStatus.md
@@ -16,19 +16,20 @@ Battery instance information is also logged and streamed in MAVLink telemetry.
 # Battery instance information is also logged and streamed in MAVLink telemetry.

 uint32 MESSAGE_VERSION = 1
-uint8 MAX_INSTANCES = 4
+uint8 MAX_INSTANCES = 3

 uint64 timestamp  # [us] Time since system start
+
 bool connected             # Whether or not a battery is connected. For power modules this is based on a voltage threshold.
 float32 voltage_v          # [V] [@invalid 0] Battery voltage
 float32 current_a          # [A] [@invalid -1] Battery current
 float32 current_average_a  # [A] [@invalid -1] Battery current average (for FW average in level flight)
 float32 discharged_mah     # [mAh] [@invalid -1] Discharged amount
 float32 remaining          # [@range 0,1] [@invalid -1] Remaining capacity
-float32 scale # [@range 1,] [@invalid -1] Scaling factor to compensate for lower actuation power caused by voltage sag
+float32 scale              # [-] [@range 1,] [@invalid -1] Scaling factor to compensate for lower actuation power caused by voltage sag
 float32 time_remaining_s   # [s] [@invalid NaN] Predicted time remaining until battery is empty under previous averaged load
 float32 temperature        # [°C] [@invalid NaN] Temperature of the battery
-uint8 cell_count # [@invalid 0] Number of cells
+uint8 cell_count           # [-] [@invalid 0] Number of cells


 uint8 source                   # [@enum SOURCE] Battery source
@@ -36,18 +37,18 @@ uint8 SOURCE_POWER_MODULE = 0 # Power module
 uint8 SOURCE_EXTERNAL = 1      # External
 uint8 SOURCE_ESCS = 2          # ESCs

-uint8 priority # Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1
+uint8 priority                # [-] Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1
 uint16 capacity               # [mAh] Capacity of the battery when fully charged
-uint16 cycle_count # Number of discharge cycles the battery has experienced
+uint16 cycle_count            # [-] Number of discharge cycles the battery has experienced
 uint16 average_time_to_empty  # [minutes] Predicted remaining battery capacity based on the average rate of discharge
-uint16 manufacture_date # Manufacture date, part of serial number of the battery pack. Formatted as: Day + Month×32 + (Year–1980)×512
+uint16 manufacture_date       # [-] Manufacture date, part of serial number of the battery pack. Formatted as: Day + Month×32 + (Year–1980)×512
 uint16 state_of_health        # [%] [@range 0, 100] State of health. FullChargeCapacity/DesignCapacity
 uint16 max_error              # [%] [@range 1, 100] Max error, expected margin of error in the state-of-charge calculation
-uint8 id # ID number of a battery. Should be unique and consistent for the lifetime of a vehicle. 1-indexed
-uint16 interface_error # Interface error counter
+uint8 id                      # [-] ID number of a battery. Should be unique and consistent for the lifetime of a vehicle. 1-indexed
+uint16 interface_error        # [-] Interface error counter

 float32[14] voltage_cell_v      # [V] [@invalid 0] Battery individual cell voltages
-float32 max_cell_voltage_delta # Max difference between individual cell voltages
+float32 max_cell_voltage_delta  # [V] Max difference between individual cell voltages

 bool is_powering_off  # Power off event imminent indication, false if unknown
 bool is_required      # Set if the battery is explicitly required before arming
@@ -77,15 +78,15 @@ uint8 FAULT_COUNT = 11 # Counter. Keep this as last element

 float32 full_charge_capacity_wh  # [Wh] Compensated battery capacity
 float32 remaining_capacity_wh    # [Wh] Compensated battery capacity remaining
-uint16 over_discharge_count # Number of battery overdischarge
+uint16 over_discharge_count      # [-] Number of battery overdischarge
 float32 nominal_voltage          # [V] Nominal voltage of the battery pack

 float32 internal_resistance_estimate  # [Ohm] Internal resistance per cell estimate
 float32 ocv_estimate                  # [V] Open circuit voltage estimate
 float32 ocv_estimate_filtered         # [V] Filtered open circuit voltage estimate
-float32 volt_based_soc_estimate # [@range 0, 1] Normalized volt based state of charge estimate
+float32 volt_based_soc_estimate       # [-] [@range 0, 1] Normalized volt based state of charge estimate
 float32 voltage_prediction            # [V] Predicted voltage
 float32 prediction_error              # [V] Prediction error
-float32 estimation_covariance_norm # Norm of the covariance matrix
+float32 estimation_covariance_norm    # [-] Norm of the covariance matrix

 ```
--- a/docs/uk/msg_docs/EstimatorStatus.md
+++ b/docs/uk/msg_docs/EstimatorStatus.md
@@ -52,7 +52,9 @@ uint8 CS_SYNTHETIC_MAG_Z = 25	# 25 - true when we are using a synthesized measur
 uint8 CS_VEHICLE_AT_REST = 26	# 26 - true when the vehicle is at rest
 uint8 CS_GPS_YAW_FAULT = 27	# 27 - true when the GNSS heading has been declared faulty and is no longer being used
 uint8 CS_RNG_FAULT = 28		# 28 - true when the range finder has been declared faulty and is no longer being used
-uint8 CS_GNSS_VEL = 44		# 44 - true if GNSS velocity measurements are being fused
+uint8 CS_GNSS_VEL = 44		# 44 - true if GNSS velocity measurement fusion is intended
+uint8 CS_GNSS_FAULT = 45        # 45 - true if GNSS measurements have been declared faulty and are no longer used
+uint8 CS_YAW_MANUAL = 46        # 46 - true if yaw has been set manually

 uint32 filter_fault_flags	# Bitmask to indicate EKF internal faults
 # 0 - true if the fusion of the magnetometer X-axis has encountered a numerical error
--- a/docs/uk/msg_docs/EstimatorStatusFlags.md
+++ b/docs/uk/msg_docs/EstimatorStatusFlags.md
@@ -54,6 +54,8 @@ bool cs_valid_fake_pos          # 41 - true if a valid constant position is bein
 bool cs_constant_pos            # 42 - true if the vehicle is at a constant position
 bool cs_baro_fault	        # 43 - true when the current baro has been declared faulty and is no longer being used
 bool cs_gnss_vel                # 44 - true if GNSS velocity measurement fusion is intended
+bool cs_gnss_fault              # 45 - true if GNSS measurements have been declared faulty and are no longer used
+bool cs_yaw_manual              # 46 - true if yaw has been set manually

 # fault status
 uint32 fault_status_changes   # number of filter fault status (fs) changes
--- a/docs/uk/msg_docs/RoverRateStatus.md
+++ b/docs/uk/msg_docs/RoverRateStatus.md
@@ -10,6 +10,6 @@ Rover Rate Status
 uint64 timestamp                    # [us] Time since system start
 float32 measured_yaw_rate           # [rad/s] [@range -inf, inf] [@frame NED] Measured yaw rate
 float32 adjusted_yaw_rate_setpoint  # [rad/s] [@range -inf, inf] [@frame NED] Yaw rate setpoint that is being tracked (Applied slew rates)
-float32 pid_yaw_rate_integral #  [] [@range -1, 1] Integral of the PID for the closed loop yaw rate controller
+float32 pid_yaw_rate_integral       # [-] [@range -1, 1] Integral of the PID for the closed loop yaw rate controller

 ```
--- a/docs/uk/msg_docs/RoverSpeedStatus.md
+++ b/docs/uk/msg_docs/RoverSpeedStatus.md
@@ -10,9 +10,9 @@ Rover Velocity Status
 uint64 timestamp                        # [us] Time since system start
 float32 measured_speed_body_x           # [m/s] [@range -inf (Backwards), inf (Forwards)] [@frame Body] Measured speed in body x direction
 float32 adjusted_speed_body_x_setpoint  # [m/s] [@range -inf (Backwards), inf (Forwards)] [@frame Body] Speed setpoint in body x direction that is being tracked (Applied slew rates)
-float32 pid_throttle_body_x_integral # [] [@range -1, 1] Integral of the PID for the closed loop controller of the speed in body x direction
+float32 pid_throttle_body_x_integral    # [-] [@range -1, 1] Integral of the PID for the closed loop controller of the speed in body x direction
 float32 measured_speed_body_y           # [m/s] [@range -inf (Left), inf (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Measured speed in body y direction
 float32 adjusted_speed_body_y_setpoint  # [m/s] [@range -inf (Left), inf (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Speed setpoint in body y direction that is being tracked (Applied slew rates)
-float32 pid_throttle_body_y_integral # [] [@range -1, 1] [@invalid NaN If not mecanum] Mecanum only: Integral of the PID for the closed loop controller of the speed in body y direction
+float32 pid_throttle_body_y_integral    # [-] [@range -1, 1] [@invalid NaN If not mecanum] Mecanum only: Integral of the PID for the closed loop controller of the speed in body y direction

 ```
--- a/docs/uk/msg_docs/RoverSteeringSetpoint.md
+++ b/docs/uk/msg_docs/RoverSteeringSetpoint.md
@@ -8,6 +8,6 @@ Rover Steering setpoint
 # Rover Steering setpoint

 uint64 timestamp                      # [us] Time since system start
-float32 normalized_steering_setpoint # [@range -1 (Left), 1 (Right)] [@frame Body] Ackermann: Normalized steering angle, Differential/Mecanum: Normalized speed difference between the left and right wheels
+float32 normalized_steering_setpoint  # [-] [@range -1 (Left), 1 (Right)] [@frame Body] Ackermann: Normalized steering angle, Differential/Mecanum: Normalized speed difference between the left and right wheels

 ```
--- a/docs/uk/msg_docs/RoverThrottleSetpoint.md
+++ b/docs/uk/msg_docs/RoverThrottleSetpoint.md
@@ -8,7 +8,7 @@ Rover Throttle setpoint
 # Rover Throttle setpoint

 uint64 timestamp         # [us] Time since system start
-float32 throttle_body_x # [] [@range -1 (Backwards), 1 (Forwards)] [@frame Body] Throttle setpoint along body X axis
-float32 throttle_body_y # [] [@range -1 (Left), 1 (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Throttle setpoint along body Y axis
+float32 throttle_body_x  # [-] [@range -1 (Backwards), 1 (Forwards)] [@frame Body] Throttle setpoint along body X axis
+float32 throttle_body_y  # [-] [@range -1 (Left), 1 (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Throttle setpoint along body Y axis

 ```
--- a/docs/uk/msg_docs/VehicleCommand.md
+++ b/docs/uk/msg_docs/VehicleCommand.md
@@ -96,6 +96,7 @@ uint16 VEHICLE_CMD_REQUEST_CAMERA_INFORMATION = 521 # Request camera information
 uint16 VEHICLE_CMD_SET_CAMERA_MODE = 530 # Set camera capture mode (photo, video, etc.).
 uint16 VEHICLE_CMD_SET_CAMERA_ZOOM = 531 # Set camera zoom.
 uint16 VEHICLE_CMD_SET_CAMERA_FOCUS = 532
+uint16 VEHICLE_CMD_EXTERNAL_ATTITUDE_ESTIMATE = 620 # Set an external estimate of vehicle attitude in degrees.
 uint16 VEHICLE_CMD_DO_GIMBAL_MANAGER_PITCHYAW = 1000 # Setpoint to be sent to a gimbal manager to set a gimbal pitch and yaw.
 uint16 VEHICLE_CMD_DO_GIMBAL_MANAGER_CONFIGURE = 1001 # Gimbal configuration to set which sysid/compid is in primary and secondary control.
 uint16 VEHICLE_CMD_IMAGE_START_CAPTURE = 2000 # Start image capture sequence.
--- a/docs/uk/msg_docs/VehicleStatus.md
+++ b/docs/uk/msg_docs/VehicleStatus.md
@@ -48,7 +48,7 @@ uint8 NAVIGATION_STATE_AUTO_LOITER = 4          # Auto loiter mode
 uint8 NAVIGATION_STATE_AUTO_RTL = 5             # Auto return to launch mode
 uint8 NAVIGATION_STATE_POSITION_SLOW = 6
 uint8 NAVIGATION_STATE_FREE5 = 7
-uint8 NAVIGATION_STATE_FREE4 = 8
+uint8 NAVIGATION_STATE_ALTITUDE_CRUISE = 8      # Altitude with Cruise mode
 uint8 NAVIGATION_STATE_FREE3 = 9
 uint8 NAVIGATION_STATE_ACRO = 10                # Acro mode
 uint8 NAVIGATION_STATE_FREE2 = 11
--- a/docs/uk/msg_docs/index.md
+++ b/docs/uk/msg_docs/index.md
@@ -16,8 +16,8 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
 - [ActuatorMotors](ActuatorMotors.md) — Motor control message
 - [ActuatorServos](ActuatorServos.md) — Servo control message
 - [AirspeedValidated](AirspeedValidated.md)
- [ArmingCheckReply](ArmingCheckReply.md) — Arming check reply.
- [ArmingCheckRequest](ArmingCheckRequest.md) — Arming check request.
+- [ArmingCheckReply](ArmingCheckReply.md) — Arming check reply
+- [ArmingCheckRequest](ArmingCheckRequest.md) — Arming check request
 - [BatteryStatus](BatteryStatus.md) — Battery status
 - [ConfigOverrides](ConfigOverrides.md) — Configurable overrides by (external) modes or mode executors
 - [Event](Event.md) — Events interface
--- a/docs/uk/releases/main.md
+++ b/docs/uk/releases/main.md
@@ -44,7 +44,9 @@ Please continue reading for [upgrade instructions](#upgrade-guide).

 ### Управління

- Уточнюється
+- Added new flight mode(s): [Altitude Cruise (MC)](../flight_modes_mc/altitude_cruise.md), Altitude Cruise (FW).
+  For fixed-wing the mode behaves the same as Altitude mode but you can disable the manual control loss failsafe. (PX4-Autopilot#25435: Add new flight mode: Altitude Cruise
+  ).

 ### Оцінки

@@ -72,7 +74,8 @@ Please continue reading for [upgrade instructions](#upgrade-guide).

 ### Мульти-Ротор

- Уточнюється
+- Removed parameters `MPC_{XY/Z/YAW}_MAN_EXPO` and use default value instead, as they were not deemed necessary anymore. ([PX4-Autopilot#25435: Add new flight mode: Altitude Cruise](https://github.com/PX4/PX4-Autopilot/pull/25435)).
+- Renamed `MPC_HOLD_DZ` to `MAN_DEADZONE` to have it globally available in modes that allow for a dead zone. ([PX4-Autopilot#25435: Add new flight mode: Altitude Cruise](https://github.com/PX4/PX4-Autopilot/pull/25435)).

 ### VTOL

--- a/docs/uk/ros2/user_guide.md
+++ b/docs/uk/ros2/user_guide.md
@@ -156,7 +156,7 @@ To setup and start the agent:
 2. Введіть наступні команди для витягування та побудови агента з вихідного коду:

   ```sh
-   git clone -b v2.4.2 https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
+   git clone -b v2.4.3 https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
   cd Micro-XRCE-DDS-Agent
   mkdir build
   cd build
--- a/docs/uk/sensor/sbgecom.md
+++ b/docs/uk/sensor/sbgecom.md
@@ -84,7 +84,6 @@ To use the sbgECom driver:
   If you don't want to have this fallback mechanism, you must disable unwanted sensors.

 :::
-
   4. If using the sbgECom as an INS, disable EKF2 using [EKF2_EN](../advanced_config/parameter_reference.md#EKF2_EN).

 6. Перезавантажте PX4.
@@ -96,7 +95,7 @@ IMU data should be published at 200Hz.

 All High Performance and Ellipse 3.0 and higher SBG Systems INS can be configured directly from PX4 firmware:

-1. Enable [SBG_CONFIGURATION_EN](../advanced_config/parameter_reference.md#SBG_CONFIGURATION_EN)
+1. Enable [SBG_CONFIGURE_EN](../advanced_config/parameter_reference.md#SBG_CONFIGURE_EN).

 2. Provide a JSON file `sbg_settings.json` containing SBG Systems INS settings to be applied in your PX4 board `extras` directory (ex: `boards/px4/fmu-v5/extras`). The settings JSON file will be installed in `/etc/extras/sbg_settings.json` on the board.

@@ -111,7 +110,6 @@ All High Performance and Ellipse 3.0 and higher SBG Systems INS can be configure
 :::

 3. For testing purpose, it's also possible to modify SBG Systems INS settings on the fly:
-
   - By passing a JSON file path as argument when starting sbgecom driver (ex: `sbgecom start -f /fs/microsd/new_sbg_settings.json`)
   - By passing a JSON string as argument when starting sbgecom driver: (ex: `sbgecom start -s {"output":{"comA":{"messages":{"airData":"onChange"}}}}`)