New Crowdin translations - zh-CN (#24563)

Co-authored-by: Crowdin Bot <support+bot@crowdin.com>
2026-06-01 02:55:07 +08:00 · 2025-03-19 20:59:57 +11:00
parent bd0a59eb1f
commit d04e6695ac
180 changed files with 2417 additions and 2402 deletions
@@ -797,3 +797,4 @@ div.frame_variant td, div.frame_variant th {
 </tbody>
 </table>
 </div>
@@ -49,7 +49,7 @@ The GPS/compass should be [mounted on the frame](../assembly/mount_gps_compass.m
 ![GPS](../../assets/flight_controller/cuav_pixhawk_v6x/quickstart_03.jpg)
 :::info
-Pixhawk V6X<sup>&amp;reg;</sup> is not compatible with NEO V2 GPS built-in buzzer: you should use [NEO3/NEO 3Pro](https://store.cuav.net/shop/neo-3/) instead.
+Pixhawk V6X<sup>&reg;</sup> is not compatible with NEO V2 GPS built-in buzzer: you should use [NEO3/NEO 3Pro](https://store.cuav.net/shop/neo-3/) instead.
 The GPS module's integrated safety switch is enabled _by default_ (when enabled, PX4 will not let you arm the vehicle).
 To disable the safety press and hold the safety switch for 1 second.
 You can press the safety switch again to enable safety and disarm the vehicle (this can be useful if, for whatever reason, you are unable to disarm the vehicle from your remote control or ground station).
@@ -32,4 +32,4 @@ Flight Control boards with in-built accelerometers or gyros are sensitive to vib
 一些可能对您有用的参考资料：
 - [An Introduction to Shock & Vibration Response Spectra, Tom Irvine](http://www.vibrationdata.com/tutorials2/srs_intr.pdf) (free paper)
- [Structural Dynamics and Vibration in Practice - An Engineering Handbook, Douglas Thorby](https://books.google.ch/books?id=PwzDuWDc8AgC\&printsec=frontcover) (preview).
+- Structural Dynamics and Vibration in Practice - An Engineering Handbook, Douglas Thorby (preview).
@@ -69,7 +69,7 @@ To install the RPi CM4 companion computer:
 1. Disconnect the `FAN` wiring.
-   ![HB\_Pixhawk\_CM4\_Fan](../../assets/companion_computer/holybro_pixhawk_rpi_cm4_baseboard/baseboard_fan.jpg)
+  ![HB_Pixhawk_CM4_Fan](../../assets/companion_computer/holybro_pixhawk_rpi_cm4_baseboard/baseboard_fan.jpg)
 2. Remove these 4 screws on the back side of the baseboard.
@@ -77,7 +77,7 @@ To install the RPi CM4 companion computer:
 3. Remove the baseboard case, install the CM4, and use the 4 screws to attach it (as shown):
-   ![HB\_Pixhawk\_CM4\_Screws](../../assets/companion_computer/holybro_pixhawk_rpi_cm4_baseboard/baseboard_screws.jpg)
+  ![HB_Pixhawk_CM4_Screws](../../assets/companion_computer/holybro_pixhawk_rpi_cm4_baseboard/baseboard_screws.jpg)
 4. Reattach the cover.
@@ -247,7 +247,7 @@ Note that we could have used WiFi for the link, but by setting up a dedicated ro
 To set up a local ethernet connection between CM4 and the flight computer, the two Ethernet ports need to be connected using the provided 8 pin to 4 pin connector.
-![HB\_Pixhawk\_CM4\_Ethernet\_Cable](../../assets/companion_computer/holybro_pixhawk_rpi_cm4_baseboard/baseboard_ethernet_cable.png)
+![HB_Pixhawk_CM4_Ethernet_Cable](../../assets/companion_computer/holybro_pixhawk_rpi_cm4_baseboard/baseboard_ethernet_cable.png)
 The pinout of the cable is:
@@ -43,7 +43,7 @@ In most cases the accessible hardware serial ports already have some function (m
 A safe and easy to set up option is to use an FTDI Chip USB-to-serial adapter board to connect from `TELEM2` on the Pixhawk to the USB port on the companion computer.
 The `TELEM2` to FTDI wiring map is shown below.
-| TELEM2 |                              | FTDI | &amp;nbsp;   |
+| TELEM2 |                              | FTDI | &nbsp;       |
 | ------ | ---------------------------- | ---- | -------------------------------- |
 | 1      | + 5v (红色) |      | DO NOT CONNECT!                  |
 | 2      | 2                            | 5    | 5                                |
@@ -184,7 +184,7 @@ Next, adjust the relevant parameters to the appropriate values and add arbitrary
 The diagram below shows a simulation of collision prevention as viewed in Gazebo.
-![RViz image of collision detection using the x500\_lidar\_2d model in Gazebo](../../assets/simulation/gazebo/vehicles/x500_lidar_2d_viz.png)
+![RViz image of collision detection using the x500_lidar_2d model in Gazebo](../../assets/simulation/gazebo/vehicles/x500_lidar_2d_viz.png)
 ## Development Information/Tools
@@ -293,7 +293,7 @@ New sensor data is compared to the existing map, and used to update any sections
 The angles in the `obstacle_distance` topic are defined as follows:
-![Obstacle\_Distance Angles](../../assets/computer_vision/collision_prevention/obstacle_distance_def.svg)
+![Obstacle_Distance Angles](../../assets/computer_vision/collision_prevention/obstacle_distance_def.svg)
 The data from rangefinders, rotary lidars, or companion computers, is processed differently, as described below.
@@ -1,6 +1,6 @@
 # Path Planning Interface
-<Badge type="warning" text="Removed" />
+<Badge type="warning" text="Removed PX4 v1.15" />
 :::warning
 The **Path Planning Interface**, along with the features **Obstacle avoidance in Missions** and **Safe Landing** are no longer supported or maintained, and _should not_ be used in any PX4 version.
@@ -96,7 +96,7 @@ It is rare that a system is set up with an entirely synchronised chain!
 通过检查 IMU 速率和 EV 速率之间的偏移，可以从日志中获取对延迟的粗略估计：
-![ekf2\_ev\_delay log](../../assets/ekf2/ekf2_ev_delay_tuning.png)
+![ekf2_ev_delay log](../../assets/ekf2/ekf2_ev_delay_tuning.png)
 :::info
 A plot of external data vs. onboard estimate (as above) can be generated using [FlightPlot](../log/flight_log_analysis.md#flightplot) or similar flight analysis tools.
@@ -98,9 +98,17 @@ The test steps are:
 4. The drone will first start to perform quick roll motions followed by pitch and yaw motions.
  The progress is shown in the progress bar, next to the _Autotune_ button.
-5. <div style="display: inline;" v-if="$frontmatter.frame === 'Multicopter'">Manually land and disarm to apply the new tuning parameters.
+<div style="display: inline;" v-if="$frontmatter.frame === 'Multicopter'">
-   Takeoff carefully and manually test that the vehicle is stable.</div><div v-else-if="$frontmatter.frame === 'Plane'">The tuning will be immediately/automatically be applied and tested in flight (by default).
+
-   PX4 will then run a 4 second test and revert the new tuning if a problem is detected.</div>
+5. Manually land and disarm to apply the new tuning parameters.
  Takeoff carefully and manually test that the vehicle is stable.
 </div><div v-else-if="$frontmatter.frame === 'Plane'">
 5. The tuning will be immediately/automatically be applied and tested in flight (by default).
  PX4 will then run a 4 second test and revert the new tuning if a problem is detected.
 </div>
 :::warning
 If any strong oscillations occur, land immediately and follow the instructions in the [Troubleshooting](#troubleshooting) section below.
@@ -1,6 +1,6 @@
 ---
 title: Multicopter Auto-Tuning
-frame: 多旋翼
+frame: Multicopter
 newEditLink: en/config/_autotune.md
 ---
@@ -30,3 +30,4 @@ make run_failsafe_web_server
 <script setup>
 import { withBase } from 'vitepress';
 </script>
@@ -148,9 +148,9 @@ Note that there can be negative impacts on performance if `IMU_GYRO_CUTOFF` and
 Below is an example for three different `IMU_DGYRO_CUTOFF` filter values (40Hz, 70Hz, 90Hz).
 At 90 Hz the general noise level starts to increase (especially for roll), and thus a cutoff frequency of 70 Hz is a safe setting.
-![IMU\_DGYRO\_CUTOFF=40](../../assets/config/mc/filter_tuning/actuator_controls_fft_dgyrocutoff_40.png)
+![IMU_DGYRO_CUTOFF=40](../../assets/config/mc/filter_tuning/actuator_controls_fft_dgyrocutoff_40.png)
-![IMU\_DGYRO\_CUTOFF=70](../../assets/config/mc/filter_tuning/actuator_controls_fft_dgyrocutoff_70.png)
+![IMU_DGYRO_CUTOFF=70](../../assets/config/mc/filter_tuning/actuator_controls_fft_dgyrocutoff_70.png)
-![IMU\_DGYRO\_CUTOFF=90](../../assets/config/mc/filter_tuning/actuator_controls_fft_dgyrocutoff_90.png)
+![IMU_DGYRO_CUTOFF=90](../../assets/config/mc/filter_tuning/actuator_controls_fft_dgyrocutoff_90.png)
 :::info
 The plot cannot be compared between different vehicles, as the y axis scale can be different.
@@ -161,7 +161,7 @@ If the flight plots shows significant low frequency spikes, like the one shown i
 In this case you might use the settings: [IMU_GYRO_NF0_FRQ=32](../advanced_config/parameter_reference.md#IMU_GYRO_NF0_FRQ) and [IMU_GYRO_NF0_BW=5](../advanced_config/parameter_reference.md#IMU_GYRO_NF0_BW) (note, this spike is narrower than usual).
 The low pass filters and the notch filter can be tuned independently (i.e. you don't need to set the notch filter before collecting the data for tuning the low pass filter).
-![IMU\_GYRO\_NF0\_FRQ=32 IMU\_GYRO\_NF0\_BW=5](../../assets/config/mc/filter_tuning/actuator_controls_fft_gyro_notch_32.png)
+![IMU_GYRO_NF0_FRQ=32 IMU_GYRO_NF0_BW=5](../../assets/config/mc/filter_tuning/actuator_controls_fft_gyro_notch_32.png)
 ## Additional Tips
@@ -45,7 +45,7 @@ PX4 supports two (mathematically equivalent) forms of the PID rate controller in
 Users can select the form that is used by setting the proportional gain for the other form to "1" (i.e. in the diagram below set **K** to 1 for the parallel form, or **P** to 1 for the standard form - this will replace either the K or P blocks with a line).
-![PID\_Mixed](../../assets/mc_pid_tuning/PID_algorithm_Mixed.png)
+![PID_Mixed](../../assets/mc_pid_tuning/PID_algorithm_Mixed.png)
 <!-- The drawing is on draw.io: https://drive.google.com/file/d/1hXnAJVRyqNAdcreqNa5W4PQFkYnzwgOO/view?usp=sharing -->
@@ -74,14 +74,14 @@ The derivative term (**D**) is on the feedback path in order to avoid an effect
 The _parallel form_ is the simplest form, and is (hence) commonly used in textbooks.
 在这种情况下，控制器的输出只是简单的将比例，积分和微分项相加。
-![PID\_Parallel](../../assets/mc_pid_tuning/PID_algorithm_Parallel.png)
+![PID_Parallel](../../assets/mc_pid_tuning/PID_algorithm_Parallel.png)
 ##### 标准模式
 这种形式在数学上等同于并行形式。 但主要的优点是（即使似乎有点反直觉）将比例增益的调试与积分、微分增益分离开了。
 这意味着一个新的平台通过使用同样大小/推力 无人机的增益，使它更易于调试，只是简单地调整K增益就可正常飞行。
-![PID\_Standard](../../assets/mc_pid_tuning/PID_algorithm_Standard.png)
+![PID_Standard](../../assets/mc_pid_tuning/PID_algorithm_Standard.png)
 #### 角速度 PID 调试
@@ -132,7 +132,7 @@ To switch between branches:
 ## 更新子模块
 Specific PX4 point releases are made as tags of the [release branches](#get-a-release-branch), and are named using the format `v<release>`.
-These are [listed on Github here](https://github.com/PX4/PX4-Autopilot/releases?q=release\&expanded=true) (or you can query all tags using `git tag -l`).
+These are listed on Github here (or you can query all tags using `git tag -l`).
 To get the source code for a _specific older release_ (tag):
@@ -120,7 +120,7 @@ To enable this feature for use in Eclipse:
      (See [PX4 Menuconfig Setup](../hardware/porting_guide_config.md#px4-menuconfig-setup) for more information) on using the config tools).
   - Ensure that the _Enable TCBinfo struct for debug_ is selected as shown:
-     ![NuttX: Menuconfig: CONFIG\_DEBUG\_TCBINFO](../../assets/debug/nuttx_tcb_task_aware.png)
+      ![NuttX: Menuconfig: CONFIG_DEBUG_TCBINFO](../../assets/debug/nuttx_tcb_task_aware.png)
 2. Compile the **jlink-nuttx.so** library in the terminal by running the following command in the terminal: `make jlink-nuttx`
@@ -49,7 +49,7 @@ See the [Embedded Debug Tools][emdbg] for more advanced debug options.
 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)).
-![connector\_jlink\_mini.png](../../assets/debug/connector_jlink_mini.png)
+![connector_jlink_mini.png](../../assets/debug/connector_jlink_mini.png)
 The pin mapping to connect the J-Link Edu Mini to [Pixhawk Debug Mini](swd_debug.md#pixhawk-debug-mini) is shown below.
@@ -65,7 +65,7 @@ Set the following parameters in _QGroundControl_ [Vehicle Setup > Parameters](..
 - [UAVCAN_SUB_BAT](../advanced_config/parameter_reference.md#UAVCAN_SUB_BAT): set to: _Raw data_
-  ![QGC - Set UAVCAN\_SUB\_BAT parameter to raw data](../../assets/hardware/power_module/cuav_can/qgc_set_usavcan_sub_bat.png)
+  ![QGC - Set UAVCAN_SUB_BAT parameter to raw data](../../assets/hardware/power_module/cuav_can/qgc_set_usavcan_sub_bat.png)
 ## 更多信息
@@ -54,7 +54,7 @@ The high-precision PNI RM3100 compass ensures accurate orientation and stability
 The Holybro ZED-F9P GPS is connected to the CAN bus using a Pixhawk standard 4 pin JST GH cable.
 For more information, refer to the [CAN Wiring](../can/index.md#wiring) instructions.
-For dual F9P setups leveraging GPS yaw, connect both F9P CAN connectors to the same bus via a CAN or I2C expansion splitter or [hub](https://holybro.com/products/can-hub?_pos=1&_sid=eeb6b74b2&_ss=r).
+For dual F9P setups leveraging GPS yaw, connect both F9P CAN connectors to the same bus via a CAN or I2C expansion splitter or hub.
 ## Firmware Setup
@@ -88,7 +88,7 @@ DroneCAN configuration in PX4 is explained in more detail in [DroneCAN > Enablin
 - For the the single Rover the module should be mounted with the included mast.
 - For the Dual ZED-F9P setup (moving baseline), the DroneCAN modules should be placed at least 30cm apart on the airframe and elevated on a mast also.
-  See the following [mast](https://holybro.com/products/30-antenna-mount?_pos=20&_sid=67b49d76b&_ss=r).
+  See the following mast.
 - F9P module arrow(s) should be pointing forward with respect to the autopilot orientation.
 ## Dual ZED-F9P DroneCAN Modules For Heading
@@ -395,7 +395,7 @@ Frequently asked questions are answered in [FAQ](https://docs.sky-drones.com/air
 - [AIRLink product page](https://sky-drones.com/airlink)
 - [AIRLink documentation](https://docs.sky-drones.com/avionics/airlink)
- [AIRLink datasheet](https://3182378893-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-MTMlWysgDtJq8Hid1v7%2Fuploads%2F8AiuNNSwLYnZSscj7uIV%2FAIRLink-Datasheet.pdf?alt=media\&token=cbf0c4bf-9ab1-40c5-a0af-c6babdddb690)
+- [AIRLink datasheet](https://3182378893-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-MTMlWysgDtJq8Hid1v7%2Fuploads%2F8AiuNNSwLYnZSscj7uIV%2FAIRLink-Datasheet.pdf?alt=media&token=cbf0c4bf-9ab1-40c5-a0af-c6babdddb690)
 - [Buy AIRLink Enterprise 4G](https://sky-drones.com/sets/airlink-enterprise-set.html)
 - [Buy AIRLink Enterprise 5G](https://sky-drones.com/sets/airlink-5g-enterprise-set.html)
 - [Buy AIRLink Core 4G](https://sky-drones.com/autopilots/airlink-core.html)
@@ -86,3 +86,5 @@ See the documentation [Ark Electronics GitBook](https://arkelectron.gitbook.io/a
 ## 针脚定义
 See the [DS-10 Pixhawk Autopilot Bus Standard](https://arkelectron.gitbook.io/ark-documentation/flight-controllers/ark-fpv/pinout)
@@ -13,7 +13,7 @@ Contact the [manufacturer](https://store.mrobotics.io/) for hardware support or
 The [AUAV<sup>&reg;</sup>](http://www.auav.com/) _AUAV-X2 autopilot_ is based on the [Pixhawk<sup>&reg;</sup>-project](https://pixhawk.org/) **FMUv2** open hardware design. It runs PX4 on the [NuttX](https://nuttx.apache.org/) OS.
-![AUAVX2\_case2](../../assets/flight_controller/auav_x2/auavx2_case2.jpg)
+![AUAVX2_case2](../../assets/flight_controller/auav_x2/auavx2_case2.jpg)
 ## 总览
@@ -80,7 +80,7 @@ The remaining 6 PWM ports are still being adapted (so it is not compatible with
 ## 购买渠道
 - [CUAV Store](https://store.cuav.net)<\br>
- [CUAV Aliexpress](https://www.aliexpress.com/item/4001042501927.html?gps-id=8041884\&scm=1007.14677.110221.0\&scm_id=1007.14677.110221.0\&scm-url=1007.14677.110221.0\&pvid=3dc0a3ba-fa82-43d2-b0b3-6280e4329cef\&spm=a2g0o.store_home.promoteRecommendProducts_7913969.58)
+- [CUAV Aliexpress](https://www.aliexpress.com/item/4001042501927.html?gps-id=8041884&scm=1007.14677.110221.0&scm_id=1007.14677.110221.0&scm-url=1007.14677.110221.0&pvid=3dc0a3ba-fa82-43d2-b0b3-6280e4329cef&spm=a2g0o.store_home.promoteRecommendProducts_7913969.58)
 ## Connections (Wiring)
@@ -28,7 +28,7 @@ Pixhawk<sup>&reg;</sup> V6X brings you the ultimate in performance, stability an
 - External sensor bus (SPI5) has two chip select lines and data-ready signals for additional sensors and payload with SPI-interface.
 - Integrated Microchip Ethernet PHY for high-speed communication over Ethernet with onboard devices such as mission computers.
 - Newly designed vibration isolation system to filter out high frequency vibration and reduce noise to ensure accurate readings.
- IMUs are temperature-controlled by onboard heating resistors, allowing optimum working temperature of IMUs&#x20
+- IMUs are temperature-controlled by onboard heating resistors, allowing optimum working temperature of IMUs&#x20;
 - Modular flight controller: separated IMU, FMU, and Base system connected by a 100-pin & a 50-pin Pixhawk® Autopilot Bus connector.
 The Pixhawk® V6X is ideal for corporate research labs, academic research and commercial applications.
@@ -135,8 +135,8 @@ The pinout is as shown.
 ## 外部设备
- [Digital Airspeed Sensor](https://item.taobao.com/item.htm?spm=a1z10.3-c-s.w4002-16371268452.37.6d9f48afsFgGZI\&id=9512463037)
+- [Digital Airspeed Sensor](https://item.taobao.com/item.htm?spm=a1z10.3-c-s.w4002-16371268452.37.6d9f48afsFgGZI&id=9512463037)
- [Telemetry Radio Modules](https://cuav.taobao.com/category-158480951.htm?spm=2013.1.w5002-16371268426.4.410b7a821qYbBq\&search=y\&catName=%CA%FD%B4%AB%B5%E7%CC%A8)
+- [Telemetry Radio Modules](https://cuav.taobao.com/category-158480951.htm?spm=2013.1.w5002-16371268426.4.410b7a821qYbBq&search=y&catName=%CA%FD%B4%AB%B5%E7%CC%A8)
 - [Rangefinders/Distance sensors](../sensor/rangefinders.md)
 ## 支持的平台/机身
@@ -66,9 +66,9 @@ Main FMU Processor: STM32F765◦32 Bit Arm® Cortex®-M7, 216MHz, 2MB memory, 51
 [CUAV Store](https://store.cuav.net/shop/v5-nano/)
-[CUAV Aliexpress](https://www.aliexpress.com/item/33050770314.html?storeId=3257035\&spm=2114.12010612.8148356.9.dbe6790bjW2hpH) (international users)
+CUAV Aliexpress (international users)
-[CUAV Taobao](https://item.taobao.com/item.htm?spm=a230r.1.14.8.26ab5258veQJRu\&id=569404317857\&ns=1\&abbucket=13#detail) (China Mainland users)
+CUAV Taobao (China Mainland users)
 :::info
 Autopilot may be purchased with included Neo GPS module
@@ -167,8 +167,8 @@ The _V5 nano_ has no over current protection.
 ## 外部设备
- [Digital Airspeed Sensor](https://item.taobao.com/item.htm?spm=a1z10.3-c-s.w4002-16371268452.37.6d9f48afsFgGZI\&id=9512463037)
+- [Digital Airspeed Sensor](https://item.taobao.com/item.htm?spm=a1z10.3-c-s.w4002-16371268452.37.6d9f48afsFgGZI&id=9512463037)
- [Telemetry Radio Modules](https://cuav.taobao.com/category-158480951.htm?spm=2013.1.w5002-16371268426.4.410b7a821qYbBq\&search=y\&catName=%CA%FD%B4%AB%B5%E7%CC%A8)
+- [Telemetry Radio Modules](https://cuav.taobao.com/category-158480951.htm?spm=2013.1.w5002-16371268426.4.410b7a821qYbBq&search=y&catName=%CA%FD%B4%AB%B5%E7%CC%A8)
 - [Rangefinders/Distance sensors](../sensor/rangefinders.md)
 ## 支持的平台/机身
@@ -69,9 +69,9 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo
 <!-- [CUAV Store](https://store.cuav.net/index.php?id_product=95&id_product_attribute=0&rewrite=cuav-new-pixhack-v5-autopilot-m8n-gps-for-fpv-rc-drone-quadcopter-helicopter-flight-simulator-free-shipping-whole-sale&controller=product&id_lang=1) -->
-[CUAV Aliexpress](https://www.aliexpress.com/item/32890380056.html?spm=a2g0o.detail.1000060.1.7a7233e7mLTlVl\&gps-id=pcDetailBottomMoreThisSeller\&scm=1007.13339.90158.0\&scm_id=1007.13339.90158.0\&scm-url=1007.13339.90158.0\&pvid=d899bfab-a7ca-46e1-adf2-72ad1d649822) (International users)
+[CUAV Aliexpress](https://www.aliexpress.com/item/32890380056.html?spm=a2g0o.detail.1000060.1.7a7233e7mLTlVl&gps-id=pcDetailBottomMoreThisSeller&scm=1007.13339.90158.0&scm_id=1007.13339.90158.0&scm-url=1007.13339.90158.0&pvid=d899bfab-a7ca-46e1-adf2-72ad1d649822) (International users)
-[CUAV Taobao](https://item.taobao.com/item.htm?spm=a1z10.5-c.w4002-21303114052.37.a28f697aeYzQx9\&id=594262853015) (China Mainland users)
+CUAV Taobao (China Mainland users)
 :::info
 Autopilot may be purchased with included Neo GPS module
@@ -178,8 +178,8 @@ For more information see [Using JTAG for hardware debugging](#using-jtag-for-har
 ## 外部设备
- [Digital Airspeed Sensor](https://item.taobao.com/item.htm?spm=a1z10.3-c-s.w4002-16371268452.37.6d9f48afsFgGZI\&id=9512463037)
+- [Digital Airspeed Sensor](https://item.taobao.com/item.htm?spm=a1z10.3-c-s.w4002-16371268452.37.6d9f48afsFgGZI&id=9512463037)
- [Telemetry Radio Modules](https://cuav.taobao.com/category-158480951.htm?spm=2013.1.w5002-16371268426.4.410b7a821qYbBq\&search=y\&catName=%CA%FD%B4%AB%B5%E7%CC%A8)
+- [Telemetry Radio Modules](https://cuav.taobao.com/category-158480951.htm?spm=2013.1.w5002-16371268426.4.410b7a821qYbBq&search=y&catName=%CA%FD%B4%AB%B5%E7%CC%A8)
 - [Rangefinders/Distance sensors](../sensor/rangefinders.md)
 ## 支持的平台/机身
@@ -81,7 +81,7 @@ When it runs PX4 firmware, only 8 pwm works, the remaining 6 pwm are still being
 [CUAV Store](https://store.cuav.net)
-[CUAV aliexpress](https://www.aliexpress.com/item/4001042683738.html?spm=a2g0o.detail.1000060.2.1ebb2a9d3WDryi\&gps-id=pcDetailBottomMoreThisSeller\&scm=1007.13339.169870.0\&scm_id=1007.13339.169870.0\&scm-url=1007.13339.169870.0\&pvid=f0df2481-1c0a-44eb-92a4-9c11c6cb3d06&_t=gps-id:pcDetailBottomMoreThisSeller,scm-url:1007.13339.169870.0,pvid:f0df2481-1c0a-44eb-92a4-9c11c6cb3d06,tpp_buckets:668%230%23131923%2320_668%23808%234094%23518_668%23888%233325%2319_668%234328%2319934%23630_668%232846%238115%23807_668%232717%237566%23827_668%231000022185%231000066058%230_668%233468%2315607%2376)
+[CUAV aliexpress](https://www.aliexpress.com/item/4001042683738.html?spm=a2g0o.detail.1000060.2.1ebb2a9d3WDryi&gps-id=pcDetailBottomMoreThisSeller&scm=1007.13339.169870.0&scm_id=1007.13339.169870.0&scm-url=1007.13339.169870.0&pvid=f0df2481-1c0a-44eb-92a4-9c11c6cb3d06&_t=gps-id:pcDetailBottomMoreThisSeller,scm-url:1007.13339.169870.0,pvid:f0df2481-1c0a-44eb-92a4-9c11c6cb3d06,tpp_buckets:668%230%23131923%2320_668%23808%234094%23518_668%23888%233325%2319_668%234328%2319934%23630_668%232846%238115%23807_668%232717%237566%23827_668%231000022185%231000066058%230_668%233468%2315607%2376)
 ## Connections (Wiring)
@@ -36,14 +36,14 @@ This flight controller is perfect for people that is looking for a affordable an
 ### **Processors & Sensors**
- FMU Processor: STM32H743&#x20
+- FMU Processor: STM32H743&#x20;
-  - 32 Bit Arm® Cortex®-M7, 480MHz, 2MB memory, 1MB SRAM&#x20
+  - 32 Bit Arm® Cortex®-M7, 480MHz, 2MB memory, 1MB SRAM&#x20;
 - IO Processor: STM32F103
-  - &#x20;32 Bit Arm® Cortex®-M3, 72MHz, 64KB SRAM&#x20
+  - &#x20;32 Bit Arm® Cortex®-M3, 72MHz, 64KB SRAM&#x20;
- On-board sensors&#x20
+- On-board sensors&#x20;
-  - &#x20;Accel/Gyro: ICM-42688-P&#x20
+  - &#x20;Accel/Gyro: ICM-42688-P&#x20;
-  - Accel/Gyro: BMI055&#x20
+  - Accel/Gyro: BMI055&#x20;
-  - Mag: IST8310&#x20
+  - Mag: IST8310&#x20;
  - 气压计：MS5611
 ### **Electrical data**
@@ -204,5 +204,5 @@ The complete set of supported configurations can be seen in the [Airframes Refer
 - [PM02 Power Module](../power_module/holybro_pm02.md)
 - [PM06 Power Module](../power_module/holybro_pm06_pixhawk4mini_power_module.md)
 - [PM07 Power Module](../power_module/holybro_pm07_pixhawk4_power_module.md)
- [FMUv6C reference design pinout](https://docs.google.com/spreadsheets/d/1FcmWRKd6zjdz3-cnjEDYEmANKZOFzNSc/edit?usp=sharing\&ouid=113251442407318461574\&rtpof=true\&sd=true).
+- FMUv6C reference design pinout.
 - [Pixhawk Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf).
@@ -135,4 +135,4 @@ The [SWD interface](../debug/swd_debug.md) (JTAG) pins are:
 These are shown below.
-![SWD Pins on Kakute F7 - CLK SWO](../../assets/flight_controller/kakutef7/debug_swd_port.jpg) ![SWD Pins on Kakute F7:  GND and VDD\_3V3](../../assets/flight_controller/kakutef7/debug_swd_port_gnd_vcc3_3.jpg)
+![SWD Pins on Kakute F7 - CLK SWO](../../assets/flight_controller/kakutef7/debug_swd_port.jpg) ![SWD Pins on Kakute F7:  GND and VDD_3V3](../../assets/flight_controller/kakutef7/debug_swd_port_gnd_vcc3_3.jpg)
@@ -36,7 +36,7 @@ The main hardware documentation is [here](http://mindpx.net/assets/accessories/m
 - DroneCode<sup>&reg;</sup> standard compliance connector
 |                    Item                    |                                                     描述                                                    |
-| :----------------------------------------: | :-----------------------------------------------------------------------------------------------------------: |
+| :----------------------------------------: | :-------------------------------------------------------------------------------------------------------: |
 |         Flight controller/Processor        |                                                  F427VIT6                                                 |
 |                     重量                     |                                            ~6g                                            |
 |                  Dimension                 |                                                  35x35mm                                                  |
@@ -44,7 +44,7 @@ The main hardware documentation is [here](http://mindpx.net/assets/accessories/m
 |                     IMU                    |                                                   10DOF                                                   |
 |                IMU isolation               |                                                YES/Optional                                               |
 |               Radio Receiver               |                                S.BUS/PPM/DSM/DSM2/DSMX/SUMD                               |
-|                  Telemetry                 | FrSky<sup>&amp;reg;</sup> D.Port, S.Port, Wifi, 3DR radio |
+|                  Telemetry                 | FrSky<sup>&reg;</sup> D.Port, S.Port, Wifi, 3DR radio |
 | On board TF card for flight data recording |                                                    YES                                                    |
 |             OneShot ESC Support            |                                                    YES                                                    |
 |               Expansion Slots              |                                       2x7(pin)x2                                       |
@@ -8,7 +8,7 @@ Contact the [manufacturer](https://store.mrobotics.io/) for hardware support or
 The _mRo Pixhawk<sup>&reg;</sup>_ is a hardware compatible version of the original [Pixhawk 1](../flight_controller/pixhawk.md). It runs PX4 on the [NuttX](https://nuttx.apache.org/) OS.
 :::tip
-The controller can be used as a drop-in replacement for the 3DR<sup>&amp;reg;</sup> [Pixhawk 1](../flight_controller/pixhawk.md).
+The controller can be used as a drop-in replacement for the 3DR<sup>&reg;</sup> [Pixhawk 1](../flight_controller/pixhawk.md).
 The main difference is that it is based on the [Pixhawk-project](https://pixhawk.org/) **FMUv3** open hardware design, which corrects a bug that limited the original Pixhawk 1 to 1MB of flash.
 :::
@@ -80,7 +80,7 @@ This product can be ordered at the [mRobotics<sup>&reg;</sup> Store](https://sto
 ## 接线指南
-![mRo\_X2.1\_Wiring](../../assets/flight_controller/mro/mro_x21_wiring.png)
+![mRo_X2.1_Wiring](../../assets/flight_controller/mro/mro_x21_wiring.png)
 ## 编译固件
@@ -60,7 +60,7 @@ Similar variants will be available from our licensees.
 - Triple-redundancy domains: Completely isolated sensor domains with separate buses and separate power control
 - Newly designed vibration isolation system to filter out high frequency vibration and reduce noise to ensure accurate readings
 - 100Base-T1 2-Wire Ethernet interface for high-speed mission computer integration
- IMUs are temperature-controlled by onboard heating resistors, allowing optimum working temperature of IMUs&#x20
+- IMUs are temperature-controlled by onboard heating resistors, allowing optimum working temperature of IMUs&#x20;
 ### Processors & Sensors
@@ -126,6 +126,6 @@ You only need to supply the 3S/4S LiPo battery.
 - [HoverGames online documentation](https://nxp.gitbook.io/hovergames) PX4 user and programming guide, specific assembly, construction, debugging, programming instructions.
- 3DModels supporting HoverGames and RDDRONE-FMUK66 can be found on _Thingiverse_ at these search links: [fmuk66](https://www.thingiverse.com/search?q=fmuk66\&type=things\&sort=relevant), [hovergames](https://www.thingiverse.com/search?q=hovergames\&type=things\&sort=relevant).
+- 3DModels supporting HoverGames and RDDRONE-FMUK66 can be found on _Thingiverse_ at these search links: fmuk66, hovergames.
 ![HoverGamesDronelogo](../../assets/flight_controller/nxp_rddrone_fmuk66/hovergames_colored_small.png)
@@ -53,7 +53,7 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo
 The board can be purchased from:
- [store.cuav.net](http://store.cuav.net/index.php?id_product=8\&id_product_attribute=0\&rewrite=pixhack-v3-autopilot\&controller=product\&id_lang=3)
+- [store.cuav.net](http://store.cuav.net/index.php?id_product=8&id_product_attribute=0&rewrite=pixhack-v3-autopilot&controller=product&id_lang=3)
 - [leixun.aliexpress.com/store](https://leixun.aliexpress.com/store)
 ## 编译固件
@@ -325,7 +325,7 @@ make px4_fmu-v2_default
 - **ARM MINI JTAG (J6)**: 1.27 mm 10pos header (SHROUDED), for Black Magic Probe: FCI 20021521-00010D4LF ([Distrelec](https://www.distrelec.ch/en/minitek-127-straight-male-pcb-header-surface-mount-rows-10-contacts-27mm-pitch-amphenol-fci-20021521-00010d4lf/p/14352308), [Digi-Key](https://www.digikey.com/en/products/detail/20021521-00010T1LF/609-4054-ND/2414951),) or Samtec FTSH-105-01-F-DV-K (untested) or Harwin M50-3600542 ([Digikey](https://www.digikey.com/en/products/detail/harwin-inc/M50-3600542/2264370) or [Mouser](http://ch.mouser.com/ProductDetail/Harwin/M50-3600542/?qs=%2fha2pyFadujTt%2fIEz8xdzrYzHAVUnbxh8Ki%252bwWYPNeEa09PYvTkIOQ%3d%3d))
  - JTAG Adapter Option #1: [BlackMagic Probe](https://1bitsquared.com/products/black-magic-probe). Note, may come without cables (check with manufacturer).
-    If so, you will need the **Samtec FFSD-05-D-06.00-01-N** cable ([Samtec sample service](https://www.samtec.com/products/ffsd-05-d-06.00-01-n) or [Digi-Key Link: SAM8218-ND](http://www.digikey.com/product-search/en?x=0\&y=0\&lang=en\&site=us\&KeyWords=FFSD-05-D-06.00-01-N)) or [Tag Connect Ribbon](http://www.tag-connect.com/CORTEXRIBBON10) and a Mini-USB cable.
+    If so, you will need the **Samtec FFSD-05-D-06.00-01-N** cable ([Samtec sample service](https://www.samtec.com/products/ffsd-05-d-06.00-01-n) or Digi-Key Link: SAM8218-ND) or Tag Connect Ribbon and a Mini-USB cable.
  - JTAG Adapter Option #2: [Digi-Key Link: ST-LINK/V2](https://www.digikey.com/product-detail/en/stmicroelectronics/ST-LINK-V2/497-10484-ND) / [ST USER MANUAL](http://www.st.com/internet/com/TECHNICAL_RESOURCES/TECHNICAL_LITERATURE/USER_MANUAL/DM00026748.pdf), needs an ARM Mini JTAG to 20pos adapter: [Digi-Key Link: 726-1193-ND](https://www.digikey.com/en/products/detail/texas-instruments/MDL-ADA2/1986451)
  - JTAG Adapter Option #3: [SparkFun Link: Olimex ARM-TINY](http://www.sparkfun.com/products/8278) or any other OpenOCD-compatible ARM Cortex JTAG adapter, needs an ARM Mini JTAG to 20pos adapter: [Digi-Key Link: 726-1193-ND](https://www.digikey.com/en/products/detail/texas-instruments/MDL-ADA2/1986451)
 - **USARTs**: Hirose DF13 6 pos ([Digi-Key Link: DF13A-6P-1.25H(20)](https://www.digikey.com/products/en?keywords=H3371-ND))
@@ -33,20 +33,20 @@ The Pixhawk® 6C is perfect for developers at corporate research labs, startups,
 - High performance STM32H743 Processor with more computing power & RAM
 - New cost-effective design with low-profile form factor
 - Newly designed integrated vibration isolation system to filter out high frequency vibration and reduce noise to ensure accurate readings
- IMUs are temperature-controlled by onboard heating resistors, allowing optimum working temperature of IMUs&#x20
+- IMUs are temperature-controlled by onboard heating resistors, allowing optimum working temperature of IMUs&#x20;
 # Technical Specification
 ### **Processors & Sensors**
- FMU Processor: STM32H743&#x20
+- FMU Processor: STM32H743&#x20;
-  - 32 Bit Arm® Cortex®-M7, 480MHz, 2MB memory, 1MB SRAM&#x20
+  - 32 Bit Arm® Cortex®-M7, 480MHz, 2MB memory, 1MB SRAM&#x20;
 - IO Processor: STM32F103
-  - &#x20;32 Bit Arm® Cortex®-M3, 72MHz, 64KB SRAM&#x20
+  - &#x20;32 Bit Arm® Cortex®-M3, 72MHz, 64KB SRAM&#x20;
- On-board sensors&#x20
+- On-board sensors&#x20;
-  - &#x20;Accel/Gyro: ICM-42688-P&#x20
+  - &#x20;Accel/Gyro: ICM-42688-P&#x20;
-  - Accel/Gyro: BMI055&#x20
+  - Accel/Gyro: BMI055&#x20;
-  - Mag: IST8310&#x20
+  - Mag: IST8310&#x20;
  - 气压计：MS5611
 ### **Electrical data**
@@ -210,5 +210,5 @@ The complete set of supported configurations can be seen in the [Airframes Refer
 - [PM02 Power Module](../power_module/holybro_pm02.md)
 - [PM06 Power Module](../power_module/holybro_pm06_pixhawk4mini_power_module.md)
 - [PM07 Power Module](../power_module/holybro_pm07_pixhawk4_power_module.md)
- [FMUv6C reference design pinout](https://docs.google.com/spreadsheets/d/1FcmWRKd6zjdz3-cnjEDYEmANKZOFzNSc/edit?usp=sharing\&ouid=113251442407318461574\&rtpof=true\&sd=true).
+- FMUv6C reference design pinout.
 - [Pixhawk Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf).
@@ -212,5 +212,5 @@ The complete set of supported configurations can be seen in the [Airframes Refer
 - [PM06 Power Module](../power_module/holybro_pm06_pixhawk4mini_power_module.md)
 - [PM07 Power Module](../power_module/holybro_pm07_pixhawk4_power_module.md)
 - [PM08 Power Module](https://holybro.com/products/pm08-power-module-14s-200a)
- [FMUv6C reference design pinout](https://docs.google.com/spreadsheets/d/1FcmWRKd6zjdz3-cnjEDYEmANKZOFzNSc/edit?usp=sharing\&ouid=113251442407318461574\&rtpof=true\&sd=true).
+- FMUv6C reference design pinout.
 - [Pixhawk Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf).
@@ -43,7 +43,7 @@ The Pixhawk® 6X-RT is perfect for developers at corporate research labs, sta
 - Triple redundancy domains: Completely isolated sensor domains with separate buses and separate power control
 - Newly designed vibration isolation system to filter out high frequency vibration and reduce noise to ensure accurate readings
 - Ethernet interface for high-speed mission computer integration
- IMUs are temperature-controlled by onboard heating resistors, allowing optimum working temperature of IMUs&#x20
+- IMUs are temperature-controlled by onboard heating resistors, allowing optimum working temperature of IMUs&#x20;
 ### Processors & Sensors
@@ -63,7 +63,7 @@ The Pixhawk® 6X is perfect for developers at corporate research labs, startu
 - Triple redundancy domains: Completely isolated sensor domains with separate buses and separate power control
 - Newly designed vibration isolation system to filter out high frequency vibration and reduce noise to ensure accurate readings
 - Ethernet interface for high-speed mission computer integration
- IMUs are temperature-controlled by onboard heating resistors, allowing optimum working temperature of IMUs&#x20
+- IMUs are temperature-controlled by onboard heating resistors, allowing optimum working temperature of IMUs&#x20;
 ### Processors & Sensors
@@ -15,7 +15,7 @@ The Pixhawk Mini is based on the PX4 open-hardware project and has been optimize
 Wiring information is available [below](#wiring).
 :::info
-This flight controller was designed by 3DR in collaboration with HobbyKing<sup>&amp;reg;</sup>.
+This flight controller was designed by 3DR in collaboration with HobbyKing<sup>&reg;</sup>.
 It was formerly known as the 3DR Pixhawk Mini.
 :::
@@ -48,9 +48,9 @@ It is based on the **Pixhawk-project FMUv3** open hardware design and runs **PX4
 ## 连接器
-![pinmap\_top](../../assets/flight_controller/thepeach_k1/pinmap_top.png)
+![pinmap_top](../../assets/flight_controller/thepeach_k1/pinmap_top.png)
-![pinmap\_bottom](../../assets/flight_controller/thepeach_k1/pinmap_bottom.png)
+![pinmap_bottom](../../assets/flight_controller/thepeach_k1/pinmap_bottom.png)
 ## 串口映射
@@ -9,7 +9,7 @@ Contact the [manufacturer](https://thepeach.kr/) for hardware support or complia
 It is based on the **Pixhawk-project FMUv3** open hardware design and runs **PX4** on **Nuttx OS**.
-![ThePeach\_R1](../../assets/flight_controller/thepeach_r1/main.png)
+![ThePeach_R1](../../assets/flight_controller/thepeach_r1/main.png)
 ## 产品规格
@@ -55,7 +55,7 @@ It is based on the **Pixhawk-project FMUv3** open hardware design and runs **PX4
 ## 连接器
-![pinmap\_top](../../assets/flight_controller/thepeach_r1/pinmap.png)
+![pinmap_top](../../assets/flight_controller/thepeach_r1/pinmap.png)
 ## 串口映射
@@ -1,3 +1,4 @@
 <Redirect to="../flight_modes/offboard" />
 # Offboard Mode (VTOL)
@@ -14,8 +14,8 @@ Key information
 The components needed for this build are:
- Flight controller: [CUAV V5+](https://store.cuav.net/index.php?id_product=95\&id_product_attribute=0\&rewrite=cuav-new-pixhack-v5-autopilot-m8n-gps-for-fpv-rc-drone-quadcopter-helicopter-flight-simulator-free-shipping-whole-sale\&controller=product\&id_lang=1):
+- Flight controller: CUAV V5+:
-  - GPS: [CUAV NEO V2 GPS](https://store.cuav.net/index.php?id_product=97\&id_product_attribute=0\&rewrite=cuav-new-ublox-neo-m8n-gps-module-with-shell-stand-holder-for-flight-controller-gps-compass-for-pixhack-v5-plus-rc-parts-px4\&controller=product\&id_lang=1)
+  - GPS: [CUAV NEO V2 GPS](https://store.cuav.net/index.php?id_product=97&id_product_attribute=0&rewrite=cuav-new-ublox-neo-m8n-gps-module-with-shell-stand-holder-for-flight-controller-gps-compass-for-pixhack-v5-plus-rc-parts-px4&controller=product&id_lang=1)
  - Power Module
 - Frame: [DJI F450](https://www.amazon.com/Flame-Wheel-Basic-Quadcopter-Drone/dp/B00HNMVQHY)
 - Propellers: [DJI Phantom Built-in Nut Upgrade Propellers 9.4x5](https://www.masterairscrew.com/products/dji-phantom-built-in-nut-upgrade-propellers-in-black-mr-9-4x5-prop-set-x4-phantom)
@@ -78,11 +78,11 @@ This power module is supplied by a battery (4S 16.8V 5200 mAh)
 The motors are powered through the power distribution board, as shown in the diagram below.
-![motors\_pdb\_pixhawk6c](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk6c/motors_pdb_pixhawk6c.png)
+![motors_pdb_pixhawk6c](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk6c/motors_pdb_pixhawk6c.png)
 Note that the ESC connectors are color-coded and must be inserted in the PWM out such that the white cable faces up.
-![esc\_connector\_pixhawk6c](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk6c/esc_connector.jpg)
+![esc_connector_pixhawk6c](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk6c/esc_connector.jpg)
 ### Arms
@@ -161,7 +161,7 @@ The X500 kit is provides space for a companion computer, such as Raspberry Pi or
 - Cameras such as Intel Realsense depth/ tracking camera or Structure Core can be mounted using the Depth Camera Mount
 - Simply insert the mount inside the 2 bars and use the screws according to the camera you’re using.
-![payloads\_x500v2](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk6c/payloads_x500v2.png)
+![payloads_x500v2](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk6c/payloads_x500v2.png)
 ## Install/Configure PX4
@@ -19,7 +19,7 @@ The components needed for this build are:
    You can select your own flight controller of choice, it just needs to support 8 DShot outputs.
 :::
-  - GPS: [ZED-F9P](https://www.gnss.store/gnss-gps-modules/105-ublox-zed-f9p-rtk-gnss-receiver-board-with-sma-base-or-rover.html?search_query=ZED-F9P\&results=11)
+  - GPS: [ZED-F9P](https://www.gnss.store/gnss-gps-modules/105-ublox-zed-f9p-rtk-gnss-receiver-board-with-sma-base-or-rover.html?search_query=ZED-F9P&results=11)
  - [GPS helix antenna](https://www.gnss.store/rf-gps-antennas/28-high-performance-multi-band-gnss-active-quad-helix-antenna-for-rtk.html)
    ::: info
    Any other GPS may work as well, however a helix antenna is expected to perform better for inverted flights.
@@ -40,7 +40,7 @@ Key build features
 ## Parts list
- [Reptile Dragon 2 kit](https://usa.banggood.com/REPTILE-DRAGON-2-1200mm-Wingspan-Twin-Motor-Double-Tail-EPP-FPV-RC-Airplane-KIT-or-PNP-p-1805237.html?cur_warehouse=CN\&ID=531466)
+- [Reptile Dragon 2 kit](https://usa.banggood.com/REPTILE-DRAGON-2-1200mm-Wingspan-Twin-Motor-Double-Tail-EPP-FPV-RC-Airplane-KIT-or-PNP-p-1805237.html?cur_warehouse=CN&ID=531466)
 - [ARK6X FMU](https://arkelectron.com/product/arkv6x/)
@@ -44,12 +44,12 @@ The following options have been tested:
 - [GPS F9P (included in Skynode eval. kit)](../gps_compass/rtk_gps_holybro_h-rtk-f9p.md)
 - [GPS M9N (cheaper alternative to F9P)](../gps_compass/rtk_gps_holybro_h-rtk-m8p.md)
 - [Airspeed sensor (included in Skynode eval. kit)](https://www.dualrc.com/parts/airspeed-sensor-sdp33) — recommended for improved safety and performance
- [Airspeed sensor (cheaper alternative)](https://holybro.com/products/digital-air-speed-sensor?pr_prod_strat=use_description\&pr_rec_id=236dfda00\&pr_rec_pid=7150470561981\&pr_ref_pid=7150472462525\&pr_seq=uniform)
+- [Airspeed sensor (cheaper alternative)](https://holybro.com/products/digital-air-speed-sensor?pr_prod_strat=use_description&pr_rec_id=236dfda00&pr_rec_pid=7150470561981&pr_ref_pid=7150472462525&pr_seq=uniform)
 - [Lidar Lightware lw20-c (included in Skynode eval. kit)](../sensor/sfxx_lidar.md) (Optional)
 - [Lidar Seeed Studio PSK-CM8JL65-CC5 (cheaper alternative)](https://www.seeedstudio.com/PSK-CM8JL65-CC5-Infrared-Distance-Measuring-Sensor-p-4028.html) (Optional)
 - [Radio (RC) System](../getting_started/rc_transmitter_receiver.md) of your preference
 - [Groundstation and Radio link](https://holybro.com/collections/rc-radio-transmitter-receiver/products/skydroid-h12?variant=42940989931709)
- [USB-C extension cable](https://www.digitec.ch/en/s1/product/powerguard-usb-c-usb-c-025-m-usb-cables-22529949?dbq=1\&gclid=Cj0KCQjw2cWgBhDYARIsALggUhrh-z-7DSU0wKfLBVa8filkXLQaxUpi7pC0ffQyRzLng8Ph01h2R1gaAp0mEALw_wcB\&gclsrc=aw.ds)
+- [USB-C extension cable](https://www.digitec.ch/en/s1/product/powerguard-usb-c-usb-c-025-m-usb-cables-22529949?dbq=1&gclid=Cj0KCQjw2cWgBhDYARIsALggUhrh-z-7DSU0wKfLBVa8filkXLQaxUpi7pC0ffQyRzLng8Ph01h2R1gaAp0mEALw_wcB&gclsrc=aw.ds)
 - [I2C Splitter](https://www.3dxr.co.uk/autopilots-c2/the-cube-aka-pixhawk-2-1-c9/cube-cables-accessories-sensors-c15/cubepilot-i2c-can-splitter-jst-gh-4pin-p2840)
 - [3D-Printed mounts](https://github.com/PX4/PX4-user_guide/raw/main/assets/airframes/vtol/foxtech_loong_2160/loong-3d-prints.zip)
  - 1x Baseplate
@@ -61,9 +61,9 @@ The following options have been tested:
  - 1x USB-C Holder 1
  - 1x USB-C Holder 2
 - [Messing threaded inserts](https://cnckitchen.store/products/gewindeeinsatz-threaded-insert-set-standard-200-stk-pcs)
- [XT30 connectors](https://www.amazon.com/Connectors-Female-Pieces-Shrink-Battery/dp/B0875MBLNH/ref=sr_1_1?keywords=xt30+connector\&qid=1700643604\&sr=8-1)
+- [XT30 connectors](https://www.amazon.com/Connectors-Female-Pieces-Shrink-Battery/dp/B0875MBLNH/ref=sr_1_1?keywords=xt30+connector&qid=1700643604&sr=8-1)
- [Div. Screws](https://de.aliexpress.com/item/1005005999729125.html?spm=a2g0o.productlist.main.1.7fe0c7fcvInMsM\&algo_pvid=2e5373e9-747f-4a28-9739-cd59d05d64f1\&aem_p4p_detail=202311220106396068090130108300006423842\&algo_exp_id=2e5373e9-747f-4a28-9739-cd59d05d64f1-0\&pdp_npi=4%40dis%21CHF%2114.42%213.72%21%21%2116.01%21%21%402101f04d17006439995917563eeeb0%2112000035246480339%21sea%21CH%210%21AB\&curPageLogUid=24AixvgVOlG3\&search_p4p_id=202311220106396068090130108300006423842_1)
+- [Div. Screws](https://de.aliexpress.com/item/1005005999729125.html?spm=a2g0o.productlist.main.1.7fe0c7fcvInMsM&algo_pvid=2e5373e9-747f-4a28-9739-cd59d05d64f1&aem_p4p_detail=202311220106396068090130108300006423842&algo_exp_id=2e5373e9-747f-4a28-9739-cd59d05d64f1-0&pdp_npi=4%40dis%21CHF%2114.42%213.72%21%21%2116.01%21%21%402101f04d17006439995917563eeeb0%2112000035246480339%21sea%21CH%210%21AB&curPageLogUid=24AixvgVOlG3&search_p4p_id=202311220106396068090130108300006423842_1)
- [Zip ties](https://www.amazon.com/Superun-Cable-Tie-Kit-Assorted/dp/B07TMKJP5S/ref=sr_1_2?crid=968Z3XJK9N3J\&keywords=zip%2Bties%2Bset\&qid=1700644053\&sprefix=zip%2Bties%2Bset%2Caps%2C155\&sr=8-2\&th=1)
+- [Zip ties](https://www.amazon.com/Superun-Cable-Tie-Kit-Assorted/dp/B07TMKJP5S/ref=sr_1_2?crid=968Z3XJK9N3J&keywords=zip%2Bties%2Bset&qid=1700644053&sprefix=zip%2Bties%2Bset%2Caps%2C155&sr=8-2&th=1)
 - [Antenna extension cable - matching your radio system](https://www.digikey.ch/de/products/detail/amphenol-rf/095-902-536-012/13246174)
 - [Recommended Battery (12S 22Ah)](https://genstattu.com/tattu-22-2v-30c-6s-22000mah-lipo-battery-with-xt90-s-plug-for-uav.html)
@@ -73,7 +73,7 @@ The following tools were used for this build.
 - Hex driver set
 - Wrench set
- [Soldering station](https://www.amazon.com/UY-CHAN-Programmable-Pocket-size-Soldering/dp/B07G71CKC4/ref=sr_1_7?crid=2S2XK6363XRDF\&keywords=ts+80+soldering+iron\&qid=1700644208\&sprefix=ts+80%2Caps%2C151\&sr=8-7)
+- [Soldering station](https://www.amazon.com/UY-CHAN-Programmable-Pocket-size-Soldering/dp/B07G71CKC4/ref=sr_1_7?crid=2S2XK6363XRDF&keywords=ts+80+soldering+iron&qid=1700644208&sprefix=ts+80%2Caps%2C151&sr=8-7)
 - Glue: Hot glue, 5 min Epoxy
 - Tape
 - 3M Double sided tape ([3M VHB tape](https://www.amazon.in/3M-VHB-Tape-4910-Length/dp/B00GTABM3Y))
@@ -35,7 +35,7 @@ The minimal equipment required is:
 The structure is made out of aluminum booms as shown below.
-![quad\_frame](../../assets/airframes/vtol/funcub_pixhawk/fun_cub_aluminium_frame_for_vtol.jpg)
+![quad_frame](../../assets/airframes/vtol/funcub_pixhawk/fun_cub_aluminium_frame_for_vtol.jpg)
 ![Fun Cub -frame for vtol mounted](../../assets/airframes/vtol/funcub_pixhawk/fun_cub_aluminium_frame_for_vtol_mounted.jpg)
 ## 布线
@@ -79,3 +79,4 @@ After you finish calibration the VTOL is ready to fly.
 ## 技术支持
 If you have any questions regarding your VTOL conversion or configuration please visit <https://discuss.px4.io/c/px4/vtol>.
--- a/Show More
+++ b/Show More
`@@ -86,3 +86,5 @@ See the documentation [Ark Electronics GitBook](https://arkelectron.gitbook.io/a`
	`## 针脚定义`	`## 针脚定义`

	`See the [DS-10 Pixhawk Autopilot Bus Standard](https://arkelectron.gitbook.io/ark-documentation/flight-controllers/ark-fpv/pinout)`	`See the [DS-10 Pixhawk Autopilot Bus Standard](https://arkelectron.gitbook.io/ark-documentation/flight-controllers/ark-fpv/pinout)`
`@@ -135,4 +135,4 @@ The [SWD interface](../debug/swd_debug.md) (JTAG) pins are:`

	`These are shown below.`	`These are shown below.`

	`![SWD Pins on Kakute F7 - CLK SWO](../../assets/flight_controller/kakutef7/debug_swd_port.jpg) ![SWD Pins on Kakute F7: GND and VDD\_3V3](../../assets/flight_controller/kakutef7/debug_swd_port_gnd_vcc3_3.jpg)`	`![SWD Pins on Kakute F7 - CLK SWO](../../assets/flight_controller/kakutef7/debug_swd_port.jpg) ![SWD Pins on Kakute F7: GND and VDD_3V3](../../assets/flight_controller/kakutef7/debug_swd_port_gnd_vcc3_3.jpg)`
`@@ -1,3 +1,4 @@`
	`<Redirect to="../flight_modes/offboard" />`	`<Redirect to="../flight_modes/offboard" />`

	`# Offboard Mode (VTOL)`	`# Offboard Mode (VTOL)`