Link fixes - mostly redirects (#25186)

2026-02-06 03:13:00 +08:00 · 2025-07-10 17:35:07 +10:00
parent 5d5e23bcfa
commit dd0dcbb82c
43 changed files with 90 additions and 150 deletions
--- a/docs/en/debug/swd_debug.md
+++ b/docs/en/debug/swd_debug.md
@@ -217,5 +217,5 @@ This reduces the risk or poor wiring contributing to debugging problems, and has
 [swd]: https://developer.arm.com/documentation/ihi0031/a/The-Serial-Wire-Debug-Port--SW-DP-
 [itm]: https://developer.arm.com/documentation/ddi0403/d/Appendices/Debug-ITM-and-DWT-Packet-Protocol?lang=en
 [etm]: https://developer.arm.com/documentation/ihi0064/latest/
-[bm06b-ghs-tbt(lf)(sn)(n)]: https://www.digikey.com/products/en?keywords=455-1582-1-ND
-[sm06b-ghs-tbt(lf)(sn)(n)]: https://www.digikey.com/products/en?keywords=455-1568-1-ND
+[bm06b-ghs-tbt(lf)(sn)(n)]: https://www.digikey.com/en/products/detail/jst-sales-america-inc/BM06B-GHS-TBT/807804
+[sm06b-ghs-tbt(lf)(sn)(n)]: https://www.digikey.com/en/products/detail/jst-sales-america-inc/SM06B-GHS-TB/807790
--- a/docs/en/dev_log/log_encryption.md
+++ b/docs/en/dev_log/log_encryption.md
@@ -190,7 +190,7 @@ You can now build and test.
 ## Download & Decrypt Log Files

 Before you can analyse your logs they must first be downloaded and decrypted.
-PX4 includes Python scripts in [Tools/log_encryption](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/) that make this process easier:
+PX4 includes Python scripts in [Tools/log_encryption](https://github.com/PX4/PX4-Autopilot/tree/main/Tools) that make this process easier:

 - [download_logs.py](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/log_encryption/download_logs.py): Downloads the logs to `/logs/encrypted`.
 - [decrypt_logs.py](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/log_encryption/decrypt_logs.py): Decrypts encrypted logs in `/logs/encrypted` to `/logs/decrypted` using a specified (or default) key.
--- a/docs/en/dev_log/ulog_file_format.md
+++ b/docs/en/dev_log/ulog_file_format.md
@@ -114,7 +114,6 @@ struct ulog_message_flag_bits_s {
 ```

 - `compat_flags`: compatible flag bits
-
  - These flags indicate the presence of features in the log file that are compatible with any ULog parser.
  - `compat_flags[0]`: _DEFAULT_PARAMETERS_ (Bit 0): if set, the log contains [default parameters message](#q-default-parameter-message)

@@ -124,7 +123,6 @@ struct ulog_message_flag_bits_s {
  It means parsers can just ignore the bits if one of the unknown bits is set.

 - `incompat_flags`: incompatible flag bits.
-
  - `incompat_flags[0]`: _DATA_APPENDED_ (Bit 0): if set, the log contains appended data and at least one of the `appended_offsets` is non-zero.

  The rest of the bits are currently not defined and must be set to 0.
@@ -137,7 +135,6 @@ struct ulog_message_flag_bits_s {
  For example, crash dumps.

  A process appending data should do:
-
  - set the relevant `incompat_flags` bit
  - set the first `appended_offsets` that is currently 0 to the length of the log file without the appended data, as that is where the new data will start
  - append any type of messages that are valid for the Data section.
@@ -403,7 +400,6 @@ struct message_logging_tagged_s {
 ```

 - `tag`: id representing source of logged message string. It could represent a process, thread or a class depending upon the system architecture.
-
  - For example, a reference implementation for an onboard computer running multiple processes to control different payloads, external disks, serial devices etc can encode these process identifiers using a `uint16_t enum` into the `tag` attribute of struct as follows:

  ```c
@@ -494,7 +490,7 @@ A valid ULog parser must fulfill the following requirements:
 - [FlightPlot](https://github.com/PX4/FlightPlot): Java, log plotter.
 - [MAVLink](https://github.com/mavlink/mavlink): Messages for ULog streaming via MAVLink (note that appending data is not supported, at least not for cut off messages).
 - [QGroundControl](https://github.com/mavlink/qgroundcontrol): C++, ULog streaming via MAVLink and minimal parsing for GeoTagging.
- [mavlink-router](https://github.com/01org/mavlink-router): C++, ULog streaming via MAVLink.
+- [mavlink-router](https://github.com/mavlink-router/mavlink-router): C++, ULog streaming via MAVLink.
 - [MAVGAnalysis](https://github.com/ecmnet/MAVGCL): Java, ULog streaming via MAVLink and parser for plotting and analysis.
 - [PlotJuggler](https://github.com/facontidavide/PlotJuggler): C++/Qt application to plot logs and time series. Supports ULog since version 2.1.3.
 - [ulogreader](https://github.com/maxsun/ulogreader): Javascript, ULog reader and parser outputs log in JSON object format.
--- a/docs/en/dev_setup/dev_env_windows_cygwin.md
+++ b/docs/en/dev_setup/dev_env_windows_cygwin.md
@@ -20,7 +20,7 @@ This environment can be used to build PX4 for:

 ## Installation Instructions

-1. Download the latest version of the ready-to-use MSI installer from: [Github releases](https://github.com/PX4/windows-toolchain/releases) or [Amazon S3](https://s3-us-west-2.amazonaws.com/px4-tools/PX4+Windows+Cygwin+Toolchain/PX4+Windows+Cygwin+Toolchain+0.9.msi) (fast download).
+1. Download the latest version of the ready-to-use MSI installer from: [Github releases](https://github.com/PX4/PX4-windows-toolchain/releases) or [Amazon S3](https://s3-us-west-2.amazonaws.com/px4-tools/PX4+Windows+Cygwin+Toolchain/PX4+Windows+Cygwin+Toolchain+0.9.msi) (fast download).
 1. Run it, choose your desired installation location, let it install:

   ![jMAVSimOnWindows](../../assets/toolchain/cygwin_toolchain_installer.png)
--- a/docs/en/dev_setup/dev_env_windows_cygwin_packager_setup.md
+++ b/docs/en/dev_setup/dev_env_windows_cygwin_packager_setup.md
@@ -57,7 +57,6 @@ The toolchain gets maintained and hence these instructions might not cover every
 1. Run the downloaded setup file
 1. In the wizard choose to install into the folder: \*\*C:\PX4\toolchain\cygwin64\*\*
 1. Select to install the default Cygwin base and the newest available version of the following additional packages:
-
   - **Category:Packagename**
   - Devel:cmake (3.3.2 gives no deprecated warnings, 3.6.2 works but has the warnings)
   - Devel:gcc-g++
@@ -84,15 +83,15 @@ The toolchain gets maintained and hence these instructions might not cover every
   :::

   ::: info
-   That's what [cygwin64/install-cygwin-px4.bat](https://github.com/MaEtUgR/PX4Toolchain/blob/master/toolchain/cygwin64/install-cygwin-px4.bat) does.
+   That's what [cygwin64/install-cygwin-px4.bat](https://github.com/PX4/PX4-windows-toolchain/blob/master/toolchain/cygwin64/install-cygwin-px4.bat) does.
   :::

-1. Write up or copy the **batch scripts** [`run-console.bat`](https://github.com/MaEtUgR/PX4Toolchain/blob/master/run-console.bat) and [`setup-environment.bat`](https://github.com/PX4/windows-toolchain/blob/master/toolchain/scripts/setup-environment.bat).
+1. Write up or copy the **batch scripts** [`run-console.bat`](https://github.com/MaEtUgR/PX4Toolchain/blob/master/run-console.bat) and [`setup-environment.bat`](https://github.com/PX4/PX4-windows-toolchain/blob/master/toolchain/scripts/setup-environment.bat).

   The reason to start all the development tools through the prepared batch script is they preconfigure the starting program to use the local, portable Cygwin environment inside the toolchain's folder.
-   This is done by always first calling the script [**setup-environment.bat**](https://github.com/PX4/windows-toolchain/blob/master/toolchain/scripts/setup-environment.bat) and the desired application like the console after that.
+   This is done by always first calling the script [**setup-environment.bat**](https://github.com/PX4/PX4-windows-toolchain/blob/master/toolchain/scripts/setup-environment.bat) and the desired application like the console after that.

-   The script [setup-environment.bat](https://github.com/PX4/windows-toolchain/blob/master/toolchain/scripts/setup-environment.bat) locally sets environmental variables for the workspace root directory `PX4_DIR`, all binary locations `PATH`, and the home directory of the unix environment `HOME`.
+   The script [setup-environment.bat](https://github.com/PX4/PX4-windows-toolchain/blob/master/toolchain/scripts/setup-environment.bat) locally sets environmental variables for the workspace root directory `PX4_DIR`, all binary locations `PATH`, and the home directory of the unix environment `HOME`.

 1. Add necessary **python packages** to your setup by opening the Cygwin toolchain console (double clicking **run-console.bat**) and executing

@@ -109,18 +108,17 @@ The toolchain gets maintained and hence these instructions might not cover every
 1. Download the [**ARM GCC compiler**](https://developer.arm.com/open-source/gnu-toolchain/gnu-rm/downloads) as zip archive of the binaries for Windows and unpack the content to the folder `C:\PX4\toolchain\gcc-arm`.

   ::: info
-   This is what the toolchain does in: [gcc-arm/install-gcc-arm.bat](https://github.com/MaEtUgR/PX4Toolchain/blob/master/toolchain/gcc-arm/install-gcc-arm.bat).
+   This is what the toolchain does in: [gcc-arm/install-gcc-arm.bat](https://github.com/PX4/PX4-windows-toolchain/blob/master/toolchain/gcc-arm/install-gcc-arm.bat).
   :::

 1. Install the JDK:
-
-   - Download Java 14 from [Oracle](https://www.oracle.com/java/technologies/javase-jdk14-downloads.html) or [AdoptOpenJDK](https://adoptopenjdk.net/).
+   - Download Java 14 from [Oracle](https://www.oracle.com/java/technologies/downloads/) or [AdoptOpenJDK](https://adoptopenjdk.net/).
   - Because sadly there is no portable archive containing the binaries directly you have to install it.
   - Find the binaries and move/copy them to **C:\PX4\toolchain\jdk**.
   - You can uninstall the Kit from your Windows system again, we only needed the binaries for the toolchain.

   ::: info
-   This is what the toolchain does in: [jdk/install-jdk.bat](https://github.com/MaEtUgR/PX4Toolchain/blob/master/toolchain/jdk/install-jdk.bat).
+   This is what the toolchain does in: [jdk/install-jdk.bat](https://github.com/PX4/PX4-windows-toolchain/blob/master/toolchain/jdk/install-jdk.bat).
   :::

 1. Download [**Apache Ant**](https://ant.apache.org/bindownload.cgi) as zip archive of the binaries for Windows and unpack the content to the folder `C:\PX4\toolchain\apache-ant`.
@@ -130,11 +128,10 @@ The toolchain gets maintained and hence these instructions might not cover every
   :::

   ::: info
-   This is what the toolchain does in: [apache-ant/install-apache-ant.bat](https://github.com/MaEtUgR/PX4Toolchain/blob/master/toolchain/apache-ant/install-apache-ant.bat).
+   This is what the toolchain does in: [apache-ant/install-apache-ant.bat](https://github.com/PX4/PX4-windows-toolchain/blob/master/toolchain/apache-ant/install-apache-ant.bat).
   :::

 1. Download, build and add _genromfs_ to the path:
-
   - Clone the source code to the folder **C:\PX4\toolchain\genromfs\genromfs-src** with

     ```sh
@@ -151,4 +148,4 @@ The toolchain gets maintained and hence these instructions might not cover every

   - Copy the resulting binary **genromfs.exe** one folder level out to: **C:\PX4\toolchain\genromfs**

-1. Make sure all the binary folders of all the installed components are correctly listed in the `PATH` variable configured by [**setup-environment.bat**](https://github.com/PX4/windows-toolchain/blob/master/toolchain/scripts/setup-environment.bat).
+1. Make sure all the binary folders of all the installed components are correctly listed in the `PATH` variable configured by [**setup-environment.bat**](https://github.com/PX4/PX4-windows-toolchain/blob/master/toolchain/scripts/setup-environment.bat).
--- a/docs/en/dev_setup/dev_env_windows_vm.md
+++ b/docs/en/dev_setup/dev_env_windows_vm.md
@@ -31,7 +31,7 @@ VMWare performance is acceptable for basic usage (building Firmware) but not for

 1. Download [VMWare Player Freeware](https://www.vmware.com/products/workstation-player/workstation-player-evaluation.html)
 1. Install it on your Windows system
-1. Download the desired version of [Ubuntu Desktop ISO Image](https://www.ubuntu.com/download/desktop).
+1. Download the desired version of [Ubuntu Desktop ISO Image](https://ubuntu.com/download/desktop).
   (see [Linux Instructions Page](../dev_setup/dev_env_linux.md) for recommended Ubuntu version).
 1. Open _VMWare Player_.
 1. Enable 3D acceleration in the VM's settings: **VM > Settings > Hardware > Display > Accelerate 3D graphics**
@@ -49,7 +49,6 @@ VMWare performance is acceptable for basic usage (building Firmware) but not for
   Remember all settings are only for within your host operating system usage and hence you can disable any screen saver and local workstation security features which do not increase risk of a network attack.
 1. Once the new VM is booted up make sure you install _VMWare tools drivers and tools extension_ inside your guest system.
   This will enhance performance and usability of your VM usage:
-
   - Significantly enhanced graphics performance
   - Proper support for hardware device usage like USB port allocation (important for target upload), proper mouse wheel scrolling, sound support
   - Guest display resolution adaption to the window size
@@ -85,7 +84,6 @@ To allow this, you need to configure USB passthrough settings:
 1. Enable serial port(s) in VM: **VirtualBox > Settings > Serial Ports 1/2/3/etc...**
 1. Enable USB controller in VM: **VirtualBox > Settings > USB**
 1. Add USB filters for the bootloader in VM: **VirtualBox > Settings > USB > Add new USB filter**.
-
   - Open the menu and plug in the USB cable connected to your autopilot.
     Select the `...Bootloader` device when it appears in the UI.

--- a/docs/en/dev_setup/dev_env_windows_wsl.md
+++ b/docs/en/dev_setup/dev_env_windows_wsl.md
@@ -1,6 +1,6 @@
 # Windows Development Environment (WSL2-Based)

-The following instructions explain how to set up a PX4 development environment on Windows 10 or 11, running on Ubuntu Linux within [WSL2](https://docs.microsoft.com/en-us/windows/wsl/about).
+The following instructions explain how to set up a PX4 development environment on Windows 10 or 11, running on Ubuntu Linux within [WSL2](https://learn.microsoft.com/en-us/windows/wsl/about).

 This environment can be used to build PX4 for:

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

 ## Overview

-The [Windows Subsystem for Linux](https://docs.microsoft.com/en-us/windows/wsl/about) ([WSL2](https://docs.microsoft.com/en-us/windows/wsl/compare-versions)) allows users to install and run the [Ubuntu Development Environment](../dev_setup/dev_env_linux_ubuntu.md) on Windows, _almost_ as though we were running it on a Linux computer.
+The [Windows Subsystem for Linux](https://learn.microsoft.com/en-us/windows/wsl/about) ([WSL2](https://learn.microsoft.com/en-us/windows/wsl/compare-versions)) allows users to install and run the [Ubuntu Development Environment](../dev_setup/dev_env_linux_ubuntu.md) on Windows, _almost_ as though we were running it on a Linux computer.

 With this environment developers can:

@@ -52,7 +52,6 @@ To install WSL2 with Ubuntu on a new installation of Windows 10 or 11:
 1. Open _cmd.exe_ as administrator.
   This can be done by pressing the start key, typing `cmd`, right-clicking on the _Command prompt_ entry and selecting **Run as administrator**.
 1. Execute the following commands to install WSL2 and a particular Ubuntu version:
-
   - Default version (Ubuntu 22.04):

     ```sh
@@ -91,7 +90,6 @@ If you're using [Windows Terminal](https://learn.microsoft.com/en-us/windows/ter
 To open a WSL shell using a command prompt:

 1. Open a command prompt:
-
   - Press the Windows **Start** key.
   - Type `cmd` and press **Enter** to open the prompt.

@@ -156,7 +154,6 @@ To install the development toolchain:

   ::: info
   This installs tools to build PX4 for Pixhawk and either Gazebo or Gazebo Classic targets:
-
   - You can use the `--no-nuttx` and `--no-sim-tools` options to omit the NuttX and/or simulation tools.
   - Other Linux build targets are untested (you can try these by entering the appropriate commands in [Ubuntu Development Environment](../dev_setup/dev_env_linux_ubuntu.md) into the WSL shell).
     :::
--- a/docs/en/dronecan/development.md
+++ b/docs/en/dronecan/development.md
@@ -8,6 +8,6 @@ Additional documentation on how to use Babel/other SLCAN adapters, the DroneCAN

 ## Debugging with Zubax Babel

-A great tool to debug the transmission on the CAN bus is the [Zubax Babel](https://zubax.com/products/babel) in combination with the [GUI tool](https://dronecan.github.io/GUI_Tool/Overview/).
+A great tool to debug the transmission on the CAN bus is the [Zubax Babel](https://shop.zubax.com/products/zubax-babel) in combination with the [GUI tool](https://dronecan.github.io/GUI_Tool/Overview/).

 They can also be used independently from Pixhawk hardware in order to test a node or manually control DroneCAN enabled ESCs.
--- a/docs/en/dronecan/index.md
+++ b/docs/en/dronecan/index.md
@@ -37,7 +37,7 @@ Supported hardware includes (this is not an exhaustive list):
 - [ESC/Motor controllers](../dronecan/escs.md)
 - Airspeed sensors
  - [Holybro High Precision DroneCAN Airspeed Sensor - DLVR](https://holybro.com/collections/sensors/products/high-precision-dronecan-airspeed-sensor-dlvr)
-  - [RaccoonLab airspeed sensor](https://docs.raccoonlab.co/guide/airspeed)
+  - [RaccoonLab airspeed sensor](https://docs.raccoonlab.co/guide/airspeed/)
  - [Thiemar airspeed sensor](https://github.com/thiemar/airspeed)
 - GNSS receivers for GNSS (GPS, GLONASS, BeiDou, and so on)
  - [ARK GPS](../dronecan/ark_gps.md)
@@ -134,8 +134,8 @@ Sensor parameters may not exist (be visible in QGC) until you have enabled the a
 For example, [SENS_FLOW_MINHGT](../advanced_config/parameter_reference.md#SENS_FLOW_MINHGT) does not exist until [UAVCAN_SUB_FLOW](../advanced_config/parameter_reference.md#UAVCAN_SUB_FLOW) is enabled.
 :::

-For example, to use a connected DroneCAN smart battery you would enable the [UAVCAN_SUB_BAT](../advanced_config/parameter_reference.md#UAVCAN_SUB_BAT) parameter, which would subscribe PX4 to receive [BatteryInfo](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#batteryinfo) DroneCAN messages.
-If using a peripheral that needs to know if PX4 is armed, you would need to set the [UAVCAN_PUB_ARM](../advanced_config/parameter_reference.md#UAVCAN_PUB_ARM) parameter so that PX4 starts publishing [ArmingStatus](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#armingstatus) messages.
+For example, to use a connected DroneCAN smart battery you would enable the [UAVCAN_SUB_BAT](../advanced_config/parameter_reference.md#UAVCAN_SUB_BAT) parameter, which would subscribe PX4 to receive [BatteryInfo](https://dronecan.github.io/Specification/1._Introduction//7._List_of_standard_data_types/#batteryinfo) DroneCAN messages.
+If using a peripheral that needs to know if PX4 is armed, you would need to set the [UAVCAN_PUB_ARM](../advanced_config/parameter_reference.md#UAVCAN_PUB_ARM) parameter so that PX4 starts publishing [ArmingStatus](https://dronecan.github.io/Specification/1._Introduction//7._List_of_standard_data_types/#armingstatus) messages.

 The parameter names are prefixed with `UAVCAN_SUB_` and `UAVCAN_PUB_` to indicate whether they enable PX4 subscribing or publishing.
 The remainder of the name indicates the specific message/feature being set.
@@ -159,7 +159,7 @@ The DroneCAN sensor parameters/subscriptions that you can enable are (in PX4 v1.
 - [UAVCAN_SUB_DPRES](../advanced_config/parameter_reference.md#UAVCAN_SUB_DPRES): Differential pressure
 - [UAVCAN_SUB_FLOW](../advanced_config/parameter_reference.md#UAVCAN_SUB_FLOW): Optical flow
 - [UAVCAN_SUB_GPS](../advanced_config/parameter_reference.md#UAVCAN_SUB_GPS): GPS
- [UAVCAN_SUB_GPS_R](../advanced_config/parameter_reference.md#UAVCAN_SUB_GPS_R)<Badge type="tip" text="PX4 v1.15" />: Subscribes to GNSS relative message ([RelPosHeading](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#relposheading)).
+- [UAVCAN_SUB_GPS_R](../advanced_config/parameter_reference.md#UAVCAN_SUB_GPS_R)<Badge type="tip" text="PX4 v1.15" />: Subscribes to GNSS relative message ([RelPosHeading](https://dronecan.github.io/Specification/1._Introduction//7._List_of_standard_data_types/#relposheading)).
  Only used for logging in PX4 v1.15.
 - [UAVCAN_SUB_HYGRO](../advanced_config/parameter_reference.md#UAVCAN_SUB_HYGRO): Hygrometer
 - [UAVCAN_SUB_ICE](../advanced_config/parameter_reference.md#UAVCAN_SUB_ICE): Internal combustion engine (ICE).
@@ -195,15 +195,15 @@ Position of rover is established using RTCM messages from the RTK base module (t
 PX4 DroneCAN parameters:

 - [UAVCAN_PUB_RTCM](../advanced_config/parameter_reference.md#UAVCAN_PUB_RTCM):
-  - Makes PX4 publish RTCM messages ([RTCMStream](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#rtcmstream)) to the bus (which it gets from the RTK base module via QGC).
+  - Makes PX4 publish RTCM messages ([RTCMStream](https://dronecan.github.io/Specification/1._Introduction//7._List_of_standard_data_types/#rtcmstream)) to the bus (which it gets from the RTK base module via QGC).

 Rover module parameters (also [set using QGC](#qgc-cannode-parameter-configuration)):

- [CANNODE_SUB_RTCM](../advanced_config/parameter_reference.md#CANNODE_SUB_RTCM) tells the rover that it should subscribe to [RTCMStream](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#rtcmstream) RTCM messages on the bus (from the moving base).
+- [CANNODE_SUB_RTCM](../advanced_config/parameter_reference.md#CANNODE_SUB_RTCM) tells the rover that it should subscribe to [RTCMStream](https://dronecan.github.io/Specification/1._Introduction//7._List_of_standard_data_types/#rtcmstream) RTCM messages on the bus (from the moving base).

 ::: info
 You could instead use [UAVCAN_PUB_MBD](../advanced_config/parameter_reference.md#UAVCAN_PUB_MBD) and [CANNODE_SUB_MBD](../advanced_config/parameter_reference.md#CANNODE_SUB_MBD), which also publish RTCM messages (these are newer).
-Using the [RTCMStream](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#rtcmstream) message means that you can implement moving base (see below) at the same time.
+Using the [RTCMStream](https://dronecan.github.io/Specification/1._Introduction//7._List_of_standard_data_types/#rtcmstream) message means that you can implement moving base (see below) at the same time.
 :::

 ##### Rover and Moving Base
@@ -213,8 +213,8 @@ In this setup the vehicle has a _moving base_ RTK GPS and a _rover_ RTK GPS.

 These parameters can be [set on moving base and rover RTK CAN nodes](#qgc-cannode-parameter-configuration), respectively:

- [CANNODE_PUB_MBD](../advanced_config/parameter_reference.md#CANNODE_PUB_MBD) causes a moving base GPS unit to publish [MovingBaselineData](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#movingbaselinedata)RTCM messages onto the bus (for the rover)
- [CANNODE_SUB_MBD](../advanced_config/parameter_reference.md#CANNODE_SUB_MBD) tells the rover that it should subscribe to [MovingBaselineData](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#movingbaselinedata) RTCM messages on the bus (from the moving base).
+- [CANNODE_PUB_MBD](../advanced_config/parameter_reference.md#CANNODE_PUB_MBD) causes a moving base GPS unit to publish [MovingBaselineData](https://dronecan.github.io/Specification/1._Introduction//7._List_of_standard_data_types/#movingbaselinedata)RTCM messages onto the bus (for the rover)
+- [CANNODE_SUB_MBD](../advanced_config/parameter_reference.md#CANNODE_SUB_MBD) tells the rover that it should subscribe to [MovingBaselineData](https://dronecan.github.io/Specification/1._Introduction//7._List_of_standard_data_types/#movingbaselinedata) RTCM messages on the bus (from the moving base).

 For PX4 you will also need to set [GPS_YAW_OFFSET](../advanced_config/parameter_reference.md#GPS_YAW_OFFSET) to indicate the relative position of the moving base and rover: 0 if your Rover is in front of your Moving Base, 90 if Rover is right of Moving Base, 180 if Rover is behind Moving Base, or 270 if Rover is left of Moving Base.

@@ -264,7 +264,7 @@ If the rangefinder is connected via DroneCAN (whether inbuilt or separate), you

 PX4 DroneCAN parameters:

- [UAVCAN_PUB_ARM](../advanced_config/parameter_reference.md#UAVCAN_PUB_ARM) ([Arming Status](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#armingstatus)): Publish when using DroneCAN components that require the PX4 arming status as a precondition for use.
+- [UAVCAN_PUB_ARM](../advanced_config/parameter_reference.md#UAVCAN_PUB_ARM) ([Arming Status](https://dronecan.github.io/Specification/1._Introduction//7._List_of_standard_data_types/#armingstatus)): Publish when using DroneCAN components that require the PX4 arming status as a precondition for use.

 ### ESC & Servos

@@ -318,6 +318,6 @@ If successful, the firmware binary will be removed from the root directory and t
 ## Useful Links

 - [Home Page](https://dronecan.github.io) (dronecan.github.io)
- [Protocol Specification](https://dronecan.github.io/Specification) (dronecan.github.io)
+- [Protocol Specification](https://dronecan.github.io/Specification/1._Introduction/) (dronecan.github.io)
 - [Implementations](https://dronecan.github.io/Implementations/) (dronecan.github.io)
 - [Cyphal/CAN Device Interconnection](https://wiki.zubax.com/public/cyphal/CyphalCAN-device-interconnection?pageId=2195476) (kb.zubax.com)
--- a/docs/en/dronecan/raccoonlab_power.md
+++ b/docs/en/dronecan/raccoonlab_power.md
@@ -2,7 +2,7 @@

 ## CAN Power Connectors

-CAN power connectors are designed for light unmanned aerial (UAV) and other vehicles for providing power over CAN using [CAN power cables](https://docs.raccoonlab.co/guide/pmu/wires/).
+CAN power connectors are designed for light unmanned aerial (UAV) and other vehicles for providing power over CAN using [CAN power cables](https://docs.raccoonlab.co/guide/pmu/wires.html).

 There are two types of devices:

--- a/docs/en/dronecan/sapog.md
+++ b/docs/en/dronecan/sapog.md
@@ -8,31 +8,8 @@ While it can be controlled using traditional PWM input, it is designed to operat

 Multiple vendors sell ESC hardware that runs sapog firmware:

- [Zubax Orel 20](https://zubax.com/products/orel_20)
 - [Holybro Kotleta20](https://holybro.com/products/kotleta20)

-<style>
-#image_container {
-  height: 100%;
-  width: 100%;
-  display: flex;
-}
-.image_column {
-  width: 33%;
-  text-align: center;
-}
-
-</style>
-
-<div id="image_container">
-  <div class="image_column">
-  <img src="../../assets/peripherals/esc_uavcan_zubax_orel20/orel20_top.jpg" alt="Orel20 - Top"/><br><a href="https://zubax.com/products/orel_20">Zubax Orel 20</a>
-  </div>
-  <div class="image_column">
-    <img src="../../assets/peripherals/esc_uavcan_holybro_kotleta20/kotleta20_top.jpg" alt="Holybro Kotleta20 top" /><br><a href="https://holybro.com/products/kotleta20">Holybro Kotleta20</a>
-  </div>
-</div>
-
 ## Hardware Setup

 ESCs are connected to the CAN bus using a Pixhawk standard 4 pin JST GH cable.
--- a/docs/en/dronecan/zubax_telega.md
+++ b/docs/en/dronecan/zubax_telega.md
@@ -1,13 +1,13 @@
 # Zubax Telega ESCs

 Zubax Telega is a high end, proprietary sensorless FOC motor control technology.
-It is used in multiple products, including the [Zubax Myxa](https://zubax.com/products/myxa) ESC, [Zubax Mitochondrik](https://zubax.com/products/mitochondrik) motor controller module, and Zubax Sadulli integrated drive.
+It is used in multiple products, including the [Zubax Myxa](https://shop.zubax.com/products/zubax-myxa) ESC, [Zubax Mitochondrik](https://shop.zubax.com/products/mitochondrik) motor controller module, and Zubax Sadulli integrated drive.

 While Telega can be controlled using traditional PWM input, it is designed to operate over CAN bus using [DroneCAN](index.md).

 ::: info
 ESCs based on Zubax Telega require non-trivial tuning of the propulsion system in order to deliver adequate performance and ensure robust operation.
-Users who lack the necessary tuning expertise are advised to either [purchase pre-tuned UAV propulsion kits](https://zubax.com/products/uav_propulsion_kits) or to use Zubax Robotic's professional tuning service.
+Users who lack the necessary tuning expertise are advised to either [purchase pre-tuned UAV propulsion kits](https://zubax.com/products#electric-drives) or to use Zubax Robotic's professional tuning service.
 Questions on this matter should be addressed to: [support@zubax.com](mailto:support@zubax.com).
 :::

@@ -15,10 +15,9 @@ Questions on this matter should be addressed to: [support@zubax.com](mailto:supp

 ## Where to Buy

- [Zubax Myxa](https://zubax.com/products/myxa): High-end PMSM/BLDC motor controller (FOC ESC) for light unmanned aircraft and watercraft.
- [Zubax Mitochondrik](https://zubax.com/products/mitochondrik): Integrated sensorless PMSM/BLDC motor controller chip (used in ESCs and integrated drives)
- [Zubax Komar](https://shop.zubax.com/products/komar-motor-controller-open-hardware-reference-design-for-mitochondrik?variant=32931555868771): Open hardware reference design for Mitochondrik
- [Zubax Sadulli Integrated Drive](https://shop.zubax.com/collections/integrated-drives/products/sadulli-integrated-drive-open-hardware-reference-design-for-mitochondrik?variant=27740841181283)
+- [Zubax Myxa](https://shop.zubax.com/products/zubax-myxa): High-end PMSM/BLDC motor controller (FOC ESC) for light unmanned aircraft and watercraft.
+- [Zubax Mitochondrik](https://shop.zubax.com/products/mitochondrik): Integrated sensorless PMSM/BLDC motor controller chip (used in ESCs and integrated drives)
+- [Zubax Komar](https://shop.zubax.com/products/zubax-ad0510-komar-esc?variant=32931555868771): Open hardware reference design for Mitochondrik

 ## Hardware Setup

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

 ## Firmware Setup

-Motor enumeration for [Telega-based ESCs](https://zubax.com/products/telega) is usually performed using the [Kucher tool](https://files.zubax.com/products/com.zubax.kucher/) (or less "GUI-friendly" [DroneCAN GUI Tool](https://dronecan.github.io/GUI_Tool/Overview/)).
+Motor enumeration for [Telega-based ESCs](https://telega.zubax.com/) is usually performed using the [Kucher tool](https://files.zubax.com/products/com.zubax.kucher/) (or less "GUI-friendly" [DroneCAN GUI Tool](https://dronecan.github.io/GUI_Tool/Overview/)).
 Telega does NOT support automatic enumeration by spinning the motor.

-There is some guidance here: [Quick start guide for Myxa v0.1](https://forum.zubax.com/t/quick-start-guide-for-myxa-v0-1/911) (Zubax blog).
+There is some guidance here: [Quick start guide for Myxa v0.1](https://forum.zubax.com/t/quick-start-guide-for-myxa/911) (Zubax blog).

 Telega ESCs also require other motor setup and configuration for reliable performance. See the above guide and other Zubax documentation for more information.

--- a/docs/en/flight_controller/beaglebone_blue.md
+++ b/docs/en/flight_controller/beaglebone_blue.md
@@ -27,7 +27,7 @@ Other useful information can be found in the [FAQ](<https://github.com/beagleboa
 Optionally you can update to a realtime kernel, and if you do, re-check if _librobotcontrol_ works properly with the realtime kernel.
 :::

-The latest OS images at time of updating this document is [bone-debian-10.3-iot-armhf-2020-04-06-4gb.img.xz](https://debian.beagle.cc/images/bone-debian-10.3-iot-armhf-2020-04-06-4gb.img.xz).
+The latest OS images at time of updating this document is [AM3358 Debian 10.3 2020-04-06 4GB SD IoT](https://www.beagleboard.org/distros/am3358-debian-10-3-2020-04-06-4gb-sd-iot).

 ## Cross Compiler Build (Recommend)

--- a/docs/en/flight_controller/cuav_nora.md
+++ b/docs/en/flight_controller/cuav_nora.md
@@ -136,7 +136,7 @@ Simply connect the FTDI cable to the DSU7 connector (the product list contains t

 The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debug/swd_debug.md) operate on the **FMU Debug** port (`DSU7`).

-The debug port (`DSU7`) uses a [JST BM06B](https://www.digikey.com.au/product-detail/en/jst-sales-america-inc/BM06B-GHS-TBT-LF-SN-N/455-1582-1-ND/807850) connector and has the following pinout:
+The debug port (`DSU7`) uses a [JST BM06B](https://www.digikey.com.au/en/products/detail/jst-sales-america-inc/BM06B-GHS-TBT-LF-SN-N/807850) connector and has the following pinout:

 | Pin     | Signal         | Volt  |
 | ------- | -------------- | ----- |
--- a/docs/en/flight_controller/cuav_pixhawk_v6x.md
+++ b/docs/en/flight_controller/cuav_pixhawk_v6x.md
@@ -96,7 +96,6 @@ The Pixhawk® V6X is ideal for corporate research labs, academic research and co
  - Baseboard: 56g
 - Operating & storage temperature: -20 ~ 85°c
 - Size
-
  - Flight controller

    ![Pixhawk V6X](../../assets/flight_controller/cuav_pixhawk_v6x/v6x_size.jpg)
@@ -206,7 +205,7 @@ For information about wiring and using this port see:

 ## Peripherals

- [Digital Airspeed Sensor](https://holybro.com/products/digital-air-speed-sensor)
+- [Digital Airspeed Sensor](https://holybro.com/products/digital-air-speed-sensor-ms4525do)
 - [Telemetry Radio Modules](https://holybro.com/collections/telemetry-radios?orderby=date)
 - [Rangefinders/Distance sensors](../sensor/rangefinders.md)

--- a/docs/en/flight_controller/cuav_v5_nano.md
+++ b/docs/en/flight_controller/cuav_v5_nano.md
@@ -102,7 +102,7 @@ The board does not have an I/O debug interface.

 ![Debug port (DSU7)](../../assets/flight_controller/cuav_v5_nano/debug_port_dsu7.jpg)

-The debug port (`DSU7`) uses a [JST BM06B](https://www.digikey.com.au/product-detail/en/jst-sales-america-inc/BM06B-GHS-TBT-LF-SN-N/455-1582-1-ND/807850) connector and has the following pinout:
+The debug port (`DSU7`) uses a [JST BM06B](https://www.digikey.com.au/en/products/detail/jst-sales-america-inc/BM06B-GHS-TBT-LF-SN-N/807850) connector and has the following pinout:

 | Pin     | Signal         | Volt  |
 | ------- | -------------- | ----- |
--- a/docs/en/flight_controller/cuav_v5_plus.md
+++ b/docs/en/flight_controller/cuav_v5_plus.md
@@ -127,7 +127,7 @@ The board does not have an I/O debug interface.

 ![Debug port (DSU7)](../../assets/flight_controller/cuav_v5_plus/debug_port_dsu7.jpg)

-The debug port (`DSU7`) uses a [JST BM06B](https://www.digikey.com.au/product-detail/en/jst-sales-america-inc/BM06B-GHS-TBT-LF-SN-N/455-1582-1-ND/807850) connector and has the following pinout:
+The debug port (`DSU7`) uses a [JST BM06B](https://www.digikey.com.au/en/products/detail/jst-sales-america-inc/BM06B-GHS-TBT-LF-SN-N/807850) connector and has the following pinout:

 | Pin     | Signal         | Volt  |
 | ------- | -------------- | ----- |
--- a/docs/en/flight_controller/cuav_x7.md
+++ b/docs/en/flight_controller/cuav_x7.md
@@ -12,7 +12,7 @@ PX4 does not manufacture this (or any) autopilot.
 Contact the [manufacturer](https://www.cuav.net) for hardware support or compliance issues.
 :::

-The [X7](http://doc.cuav.net/flight-controller/x7/en/x7.html)<sup>&reg;</sup> flight controller is a high-performance autopilot.
+The [X7](https://doc.cuav.net/controller/x7/en/)<sup>&reg;</sup> flight controller is a high-performance autopilot.
 It is an ideal choice for industrial drones and large-scale heavy-duty drones.
 It is mainly supplied to commercial manufacturers.

@@ -147,7 +147,7 @@ Simply connect the FTDI cable to the DSU7 connector (the product list contains t

 The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debug/swd_debug.md) operate on the **FMU Debug** port (`DSU7`).

-The debug port (`DSU7`) uses a [JST BM06B](https://www.digikey.com.au/product-detail/en/jst-sales-america-inc/BM06B-GHS-TBT-LF-SN-N/455-1582-1-ND/807850) connector and has the following pinout:
+The debug port (`DSU7`) uses a [JST BM06B](https://www.digikey.com.au/en/products/detail/jst-sales-america-inc/BM06B-GHS-TBT-LF-SN-N/807850) connector and has the following pinout:

 | Pin     | Signal         | Volt  |
 | ------- | -------------- | ----- |
@@ -173,11 +173,10 @@ For direct connection to _Segger Jlink_ we recommended you use the 3.3 Volts fro

 ## Supported Platforms / Airframes

-Any multicopter / airplane / rover or boat that can be controlled with normal RC servos or Futaba S-Bus servos.
+Any multicopter / plane / rover or boat that can be controlled with normal RC servos or Futaba S-Bus servos.
 The complete set of supported configurations can be seen in the [Airframes Reference](../airframes/airframe_reference.md).

 ## Further info

- [Quick start](http://doc.cuav.net/flight-controller/x7/en/quick-start/quick-start-x7.html)
 - [CUAV docs](https://doc.cuav.net/)
 - [x7 schematic](https://github.com/cuav/hardware/tree/master/X7_Autopilot)
--- a/docs/en/flight_controller/durandal.md
+++ b/docs/en/flight_controller/durandal.md
@@ -90,9 +90,7 @@ For more information see: [Durandal Technical Data Sheet](https://cdn.shopify.co

 ## Where to Buy

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

 ## Connections

@@ -182,9 +180,7 @@ make holybro_durandal-v1_default

 <!-- Note: Got ports using https://github.com/PX4/PX4-user_guide/pull/672#issuecomment-598198434 -->

-<a id="debug_port"></a>
-
-## Debug Port
+## Debug Port {#debug_port}

 The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debug/swd_debug.md) run on the _Debug Port_.

--- a/docs/en/flight_controller/holybro_pix32.md
+++ b/docs/en/flight_controller/holybro_pix32.md
@@ -7,7 +7,7 @@ PX4 does not manufacture this (or any) autopilot.
 Contact the [manufacturer](https://holybro.com/) for hardware support or compliance issues.
 :::

-The Holybro<sup>&reg;</sup> [pix32 autopilot](https://holybro.com/collections/autopilot-flight-controllers/products/pix32pixhawk-flight-controller) (also known as "Pixhawk 2", and formerly as HKPilot32) is based on the [Pixhawk<sup>&reg;</sup>-project](https://pixhawk.org/) **FMUv2** open hardware design.
+The Holybro<sup>&reg;</sup> [pix32 autopilot](https://holybro.com/products/pix32pixhawk-flight-controller) (also known as "Pixhawk 2", and formerly as HKPilot32) is based on the [Pixhawk<sup>&reg;</sup>-project](https://pixhawk.org/) **FMUv2** open hardware design.
 This board is based on hardware version Pixhawk 2.4.6.
 It runs the PX4 flight stack on the [NuttX](https://nuttx.apache.org/) OS.

@@ -58,12 +58,11 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo

 ## Where to Buy

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

 ### Accessories

- [Digital airspeed sensor](https://holybro.com/products/digital-air-speed-sensor)
- [Hobbyking<sup>&reg;</sup> Wifi Telemetry](https://hobbyking.com/en_us/apm-pixhawk-wireless-wifi-radio-module.html)
+- [Digital airspeed sensor](https://holybro.com/products/digital-air-speed-sensor-ms4525do)
 - [HolyBro SiK Telemetry Radio (EU 433 MHz, US 915 MHz)](../telemetry/holybro_sik_radio.md)

 ## Building Firmware
--- a/docs/en/flight_controller/holybro_pix32_v6.md
+++ b/docs/en/flight_controller/holybro_pix32_v6.md
@@ -87,7 +87,7 @@ This flight controller is perfect for people that is looking for a affordable an

 ## Where to Buy

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

 ## Pinouts

@@ -180,7 +180,7 @@ For information about using this port see:

 ## Peripherals

- [Digital Airspeed Sensor](https://holybro.com/products/digital-air-speed-sensor)
+- [Digital Airspeed Sensor](https://holybro.com/products/digital-air-speed-sensor-ms4525do)
 - [Telemetry Radio Modules](https://holybro.com/collections/telemetry-radios?orderby=date)
 - [Rangefinders/Distance sensors](../sensor/rangefinders.md)

--- a/docs/en/flight_controller/kakuteh7mini.md
+++ b/docs/en/flight_controller/kakuteh7mini.md
@@ -7,7 +7,7 @@ PX4 does not manufacture this (or any) autopilot.
 Contact the [manufacturer](https://holybro.com/) for hardware support or compliance issues.
 :::

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

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

--- a/docs/en/flight_controller/kakuteh7v2.md
+++ b/docs/en/flight_controller/kakuteh7v2.md
@@ -5,7 +5,7 @@ PX4 does not manufacture this (or any) autopilot.
 Contact the [manufacturer](https://holybro.com/) for hardware support or compliance issues.
 :::

-The [Holybro Kakute H7 V2](https://holybro.com/collections/autopilot-flight-controllers/products/kakute-h7-v2) flight controller is full of features including integrated Bluetooth, HD camera plug, dual plug-and-play 4in1 ESC ports, 9V VTX ON/OFF Pit Switch, barometer, OSD, 6x UARTs, 128MB Flash for Logging (not supported with PX4 yet), 5V and 9V BEC, and bigger soldering pad with easy layout and much more.
+The [Holybro Kakute H7 V2](https://holybro.com/products/kakute-h7-v2) flight controller is full of features including integrated Bluetooth, HD camera plug, dual plug-and-play 4in1 ESC ports, 9V VTX ON/OFF Pit Switch, barometer, OSD, 6x UARTs, 128MB Flash for Logging (not supported with PX4 yet), 5V and 9V BEC, and bigger soldering pad with easy layout and much more.

 The Kakute H7v2 builds upon the best features of its predecessor, the [Kakute F7](../flight_controller/kakutef7.md), and the [Kakute H7](../flight_controller/kakuteh7.md).

--- a/docs/en/flight_controller/mindpx.md
+++ b/docs/en/flight_controller/mindpx.md
@@ -28,7 +28,6 @@ It is especially meaningful for those FMU-V4 based flight controllers as MindPX
 ![](../../assets/hardware/hardware-mindpx-specs.png)

 - Main System-on-Chip: STM32F427
-
  - CPU: 32bits, 168 MHz ARM Cortex<sup>&reg;</sup> M4 with FPU
  - RAM: 256 KB SRAM
  - 2MB Flash
@@ -107,7 +106,7 @@ The user guide is [here](http://mindpx.net/assets/accessories/UserGuide9.18_2_pd

 ## Where to Buy

-MindRacer is available at [AirMind Store](http://drupal.xitronet.com/?q=catalog) on internet.
+MindRacer is available at [AirMind Store](https://airmind.mindpx.net/catalog).
 You can also find MindRacer at Amazon<sup>&reg;</sup> or eBay<sup>&reg;</sup>.

 ## Serial Port Mapping
--- a/docs/en/flight_controller/mindracer.md
+++ b/docs/en/flight_controller/mindracer.md
@@ -89,7 +89,7 @@ The user guide is [here](http://mindpx.net/assets/accessories/mindracer_user_gui

 ## Where to Buy

-MindRacer is available at [AirMind Store](http://drupal.xitronet.com/?q=catalog).
+MindRacer is available at [AirMind Store](https://airmind.mindpx.net/catalog).
 You can also find MindRacer at Amazon<sup>&reg;</sup> or eBay<sup>&reg;</sup>.

 ## Support
--- a/docs/en/flight_controller/modalai_fc_v1.md
+++ b/docs/en/flight_controller/modalai_fc_v1.md
@@ -11,8 +11,8 @@ PX4 does not manufacture this (or any) autopilot.
 Contact the [manufacturer](https://forum.modalai.com/) for hardware support or compliance issues.
 :::

-The ModalAI [Flight Core v1](https://modalai.com/flight-core) ([Datasheet](https://docs.modalai.com/flight-core-datasheet)) is a flight controller for PX4, made in the USA.
-The Flight Core can be paired with ModalAI [VOXL](https://modalai.com/voxl) ([Datasheet](https://docs.modalai.com/voxl-datasheet/)) for obstacle avoidance and GPS-denied navigation, or used independently as a standalone flight controller.
+The ModalAI _Flight Core v1_ ([Datasheet](https://docs.modalai.com/flight-core-datasheet)) is a flight controller for PX4, made in the USA.
+The Flight Core can be paired with ModalAI VOXL for obstacle avoidance and GPS-denied navigation, or used independently as a standalone flight controller.

 ![FlightCoreV1](../../assets/flight_controller/modalai/fc_v1/main.jpg)

@@ -56,9 +56,9 @@ More detailed hardware documentation can be found [here](https://docs.modalai.co
 <!-- reference links for table above (improve layout) -->

 [stm32f765ii]: https://www.st.com/en/microcontrollers-microprocessors/stm32f765ii.html
-[bmp388]: https://www.bosch-sensortec.com/products/environmental-sensors/pressure-sensors/bmp388/
-[icm-20602]: https://www.invensense.com/products/motion-tracking/6-axis/icm-20602/
-[bmi088]: https://www.bosch-sensortec.com/bst/products/all_products/bmi088_1
+[bmp388]: https://www.adafruit.com/product/3966
+[icm-20602]: https://invensense.tdk.com/products/motion-tracking/6-axis/icm-20602/
+[bmi088]: https://www.bosch-sensortec.com/products/motion-sensors/imus/bmi088/
 [px4]: https://github.com/PX4/PX4-Autopilot/tree/main/boards/modalai/fc-v1
 [a71ch]: https://www.nxp.com/products/security-and-authentication/authentication/plug-and-trust-the-fast-easy-way-to-deploy-secure-iot-connections:A71CH

@@ -81,10 +81,7 @@ This board supported in QGroundControl 4.0 and later.

 ## Availability

- [Flight Core Complete Kit](https://modalai.com/flight-core)
- [Flight Core integrated with VOXL Companion Computer on a single PCB](https://modalai.com/flight-core)
- [Flight Core integrated with VOXL Companion Computer and Obstacle Avoidance Cameras (VOXL Flight Deck)](https://modalai.com/flight-deck) ([Datasheet](https://docs.modalai.com/voxl-flight-deck-platform-datasheet/))
- [Flight Core assembled with VOXL and cameras](https://shop.modalai.com/products/voxl-flight-deck-r1)
+- No longer available

 ## Quick Start

--- a/docs/en/flight_controller/modalai_voxl_flight.md
+++ b/docs/en/flight_controller/modalai_voxl_flight.md
@@ -11,7 +11,7 @@ PX4 does not manufacture this (or any) autopilot.
 Contact the [manufacturer](https://forum.modalai.com/) for hardware support or compliance issues.
 :::

-The ModalAI [VOXL Flight](https://modalai.com/voxl-flight) ([Datasheet](https://docs.modalai.com/voxl-flight-datasheet)) is one of the first computing platforms to combine the power and sophistication of Snapdragon with the flexibility and ease of use of PX4 on an STM32F7.
+The ModalAI VOXL Flight is one of the first computing platforms to combine the power and sophistication of Snapdragon with the flexibility and ease of use of PX4 on an STM32F7.
 Made in the USA, VOXL Flight supports obstacle avoidance and GPS-denied (indoor) navigation fused with a PX4 flight controller on a single PCB.

 ![VOXL-Flight](../../assets/flight_controller/modalai/voxl_flight/voxl-flight-dk.jpg)
@@ -80,9 +80,9 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo

 [stm32f765ii]: https://www.st.com/en/microcontrollers-microprocessors/stm32f765ii.html
 [px4]: https://github.com/PX4/PX4-Autopilot/tree/main/boards/modalai/fc-v1
-[icm-20602]: https://www.invensense.com/products/motion-tracking/6-axis/icm-20602/
-[bmi088]: https://www.bosch-sensortec.com/bst/products/all_products/bmi088_1
-[bmp388]: https://www.bosch-sensortec.com/products/environmental-sensors/pressure-sensors/bmp388/
+[icm-20602]: https://invensense.tdk.com/products/motion-tracking/6-axis/icm-20602/
+[bmi088]: https://www.bosch-sensortec.com/products/motion-sensors/imus/bmi088/
+[bmp388]: https://www.adafruit.com/product/3966
 [a71ch]: https://www.nxp.com/products/security-and-authentication/authentication/plug-and-trust-the-fast-easy-way-to-deploy-secure-iot-connections:A71CH

 ::: info
@@ -110,10 +110,7 @@ This board supported in QGroundControl 4.0 and later.

 ## Availability

- [VOXL Flight Complete Kit](https://modalai.com/voxl-flight)
- [VOXL Flight Board](https://www.modalai.com/products/voxl-flight?variant=31707275362355) (only)
- [VOXL Flight integrated with Obstacle Avoidance Cameras (VOXL Flight Deck)](https://modalai.com/flight-deck) ([Datasheet](https://docs.modalai.com/voxl-flight-deck-platform-datasheet/))
- [VOXL Flight in a ready to fly VOXL m500 Development Drone](https://www.modalai.com/collections/development-drones/products/voxl-m500) ([Datasheet](https://docs.modalai.com/voxl-m500-reference-drone-datasheet/))
+No longer available.

 ## Quick Start

--- a/docs/en/flight_controller/mro_control_zero_f7.md
+++ b/docs/en/flight_controller/mro_control_zero_f7.md
@@ -22,19 +22,17 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo
 ## Key Features

 - Microprocessor:
-
  - 32-bit STM32F777 Cortex<sup>&reg;</sup> M4 core with FPU rev. 3
  - 216 MHz/512 KB RAM/2 MB Flash
  - F-RAM Cypress MF25V02-G 256-Kbit nonvolatile memory (Flash memory that performs as fast as RAM)
- Sensors:

-  - [Bosch BMI088](https://www.bosch-sensortec.com/bst/products/all_products/bmi088_1) 3-axis accelerometer/gyroscope (internally vibration dampened)
-  - [Invensense ICM-20602](https://www.invensense.com/products/motion-tracking/6-axis/icm-20602/) 3-axis accelerometer/gyroscope
+- Sensors:
+  - [Bosch BMI088](https://www.bosch-sensortec.com/products/motion-sensors/imus/bmi088/) 3-axis accelerometer/gyroscope (internally vibration dampened)
+  - [Invensense ICM-20602](https://invensense.tdk.com/products/motion-tracking/6-axis/icm-20602/) 3-axis accelerometer/gyroscope
  - [Invensense ICM-20948](https://www.invensense.com/products/motion-tracking/9-axis/icm-20948/) 3-axis accelerometer/gyroscope/magnetometer
  - [Infineon DPS310 barometer](https://www.infineon.com/cms/en/product/sensor/pressure-sensors/pressure-sensors-for-iot/dps310/) (So smooth and NO more light sensitivity)

 - Interfaces:
-
  - 6x UART (serial ports total), 3x with HW flow control, 1x FRSky Telemetry (D or X types), 1x Console and 1x GPS+I2C
  - 8x PWM outputs (all DShot capable)
  - 1x CAN
@@ -51,7 +49,6 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo
  - Tricolor LED

 - Weight and Dimensions (Uncased):
-
  - Weight: 5.3g (0.19oz)
  - Width: 20mm (0.79")
  - Length: 32mm (1.26")
@@ -84,7 +81,7 @@ The [PX4 System Console](../debug/system_console.md) runs on `USART7` using the
 This is a standard serial pinout, designed to connect to a [3.3V FTDI](https://www.digikey.com/en/products/detail/TTL-232R-3V3/768-1015-ND/1836393) cable (5V tolerant).

 | mRo control zero f7 |             | FTDI |
-| ------------------- | ----------- | ---- |
+| ------------------- | ----------- | ---- | ---------------- |
 | 17                  | USART7 Tx   | 5    | FTDI RX (yellow) |
 | 19                  | USART7 Rx   | 4    | FTDI TX (orange) |
 | 6                   | USART21 GND | 1    | FTDI GND (black) |
--- a/docs/en/flight_controller/nxp_mr_vmu_rt1176.md
+++ b/docs/en/flight_controller/nxp_mr_vmu_rt1176.md
@@ -251,7 +251,7 @@ For information about using this port see:

 ## Peripherals

- [Digital Airspeed Sensor](https://holybro.com/products/digital-air-speed-sensor)
+- [Digital Airspeed Sensor](https://holybro.com/products/digital-air-speed-sensor-ms4525do)
 - [Telemetry Radio Modules](https://holybro.com/collections/telemetry-radios?orderby=date)
 - [Rangefinders/Distance sensors](../sensor/rangefinders.md)

--- a/docs/en/flight_controller/omnibus_f4_sd.md
+++ b/docs/en/flight_controller/omnibus_f4_sd.md
@@ -206,7 +206,7 @@ Connect the Nano RX and Omnibus pins as shown:
 | RX            | Ch1     |

 Next update the TX/RX modules to use the CRSF protocol and set up telemetry.
-Instructions for this are provided in the [TBS Crossfire Manual](https://www.team-blacksheep.com/tbs-crossfire-manual.pdf) (search for 'Setting up radio for CRSF').
+Instructions for this are provided in the [TBS Crossfire Manual](https://www.team-blacksheep.com/media/files/tbs-crossfire-manual.pdf) (search for 'Setting up radio for CRSF').

 #### PX4 CRSF Configuration

--- a/docs/en/flight_controller/pixfalcon.md
+++ b/docs/en/flight_controller/pixfalcon.md
@@ -39,11 +39,10 @@ From distributor [Hobbyking<sup>&reg;</sup>](https://hobbyking.com/en_us/pixfalc
 Optional hardware:

 - Optical flow: PX4 Flow unit from manufacturer [Holybro](https://holybro.com/products/px4flow)
- Digital Airspeed sensor from manufacturer [Holybro](https://holybro.com/products/digital-air-speed-sensor) or distributor [Hobbyking](https://hobbyking.com/en_us/hkpilot-32-digital-air-speed-sensor-and-pitot-tube-set.html)
+- Digital Airspeed sensor from manufacturer [Holybro](https://holybro.com/products/digital-air-speed-sensor-ms4525do) or distributor [Hobbyking](https://hobbyking.com/en_us/hkpilot-32-digital-air-speed-sensor-and-pitot-tube-set.html)
 - On screen display with integrated Telemetry:
  - [Hobbyking OSD + EU Telemetry (433 MHz)](https://hobbyking.com/en_us/micro-hkpilot-telemetry-radio-module-with-on-screen-display-osd-unit-433mhz.html)
 - Pure Telemetry options:
-  - [Hobbyking Wifi Telemetry](https://hobbyking.com/en_us/apm-pixhawk-wireless-wifi-radio-module.html)
  - [SIK Radios](../telemetry/sik_radio.md)

 ## Building Firmware
--- a/docs/en/flight_controller/pixhawk4_mini.md
+++ b/docs/en/flight_controller/pixhawk4_mini.md
@@ -137,7 +137,7 @@ The pinout uses the standard [Pixhawk debug connector](https://github.com/pixhaw

 ## Peripherals

- [Digital Airspeed Sensor](https://holybro.com/products/digital-air-speed-sensor)
+- [Digital Airspeed Sensor](https://holybro.com/products/digital-air-speed-sensor-ms4525do)
 - [Telemetry Radio Modules](../telemetry/index.md)
 - [Rangefinders/Distance sensors](../sensor/rangefinders.md)

--- a/docs/en/flight_controller/pixhawk5x.md
+++ b/docs/en/flight_controller/pixhawk5x.md
@@ -60,7 +60,6 @@ The Pixhawk® 5X is perfect for developers at corporate research labs, startups,
 - IO Processor: STM32F100
  - 32 Bit Arm® Cortex®-M3, 24MHz, 8KB SRAM
 - On-board Sensors:
-
  - Accel/Gyro: ICM-20649
  - Accel/Gyro: ICM-42688P
  - Accel/Gyro: ICM-20602
@@ -68,7 +67,6 @@ The Pixhawk® 5X is perfect for developers at corporate research labs, startups,
  - Barometer: 2x BMP388

 - Interfaces
-
  - 16- PWM servo outputs
  - R/C input for Spektrum / DSM
  - Dedicated R/C input for PPM and S.Bus input
@@ -98,18 +96,15 @@ The Pixhawk® 5X is perfect for developers at corporate research labs, startups,
    - 2 Dedicated debug and GPIO lines

 - Voltage Ratings
-
  - Max input voltage: 6V
  - USB Power Input: 4.75~5.25V
  - Servo Rail Input: 0~36V

 - Dimensions
-
  - Flight Controller Module: 38.8 x 31.8 x 14.6mm
  - Standard Baseboard: 52.4 x 103.4 x 16.7mm

 - Weight
-
  - Flight Controller Module: 23g
  - Standard Baseboard: 51g

@@ -225,7 +220,7 @@ For information about using this port see:

 ## Peripherals

- [Digital Airspeed Sensor](https://holybro.com/products/digital-air-speed-sensor)
+- [Digital Airspeed Sensor](https://holybro.com/products/digital-air-speed-sensor-ms4525do)
 - [Telemetry Radio Modules](https://holybro.com/collections/telemetry-radios?orderby=date)
 - [Rangefinders/Distance sensors](../sensor/rangefinders.md)

--- a/docs/en/flight_controller/pixhawk6c.md
+++ b/docs/en/flight_controller/pixhawk6c.md
@@ -186,7 +186,7 @@ For information about using this port see:

 ## Peripherals

- [Digital Airspeed Sensor](https://holybro.com/products/digital-air-speed-sensor)
+- [Digital Airspeed Sensor](https://holybro.com/products/digital-air-speed-sensor-ms4525do)
 - [Telemetry Radio Modules](https://holybro.com/collections/telemetry-radios?orderby=date)
 - [Rangefinders/Distance sensors](../sensor/rangefinders.md)

--- a/docs/en/flight_controller/pixhawk6c_mini.md
+++ b/docs/en/flight_controller/pixhawk6c_mini.md
@@ -186,7 +186,7 @@ For information about using this port see:

 ## Peripherals

- [Digital Airspeed Sensor](https://holybro.com/products/digital-air-speed-sensor)
+- [Digital Airspeed Sensor](https://holybro.com/products/digital-air-speed-sensor-ms4525do)
 - [Telemetry Radio Modules](../telemetry/index.md):
  - [Holybro Telemetry Radio](../telemetry/holybro_sik_radio.md)
  - [Holybro Microhard P900 Radio](../telemetry/holybro_microhard_p900_radio.md)
--- a/docs/en/flight_controller/pixhawk6x-rt.md
+++ b/docs/en/flight_controller/pixhawk6x-rt.md
@@ -112,7 +112,6 @@ The Pixhawk® 6X-RT is perfect for developers at corporate research labs, sta
 - 2 CAN Buses for CAN peripheral
  - CAN Bus has individual silent controls or ESC RX-MUX control
 - 2 Power input ports with SMBus
-
  - 1 AD & IO port
  - 2 additional analog input
  - 1 PWM/Capture input
@@ -230,7 +229,7 @@ For information about using this port see:

 ## Peripherals

- [Digital Airspeed Sensor](https://holybro.com/products/digital-air-speed-sensor)
+- [Digital Airspeed Sensor](https://holybro.com/products/digital-air-speed-sensor-ms4525do)
 - [Telemetry Radio Modules](https://holybro.com/collections/telemetry-radios?orderby=date)
 - [Rangefinders/Distance sensors](../sensor/rangefinders.md)

--- a/docs/en/frames_vtol/vtol_quadplane_foxtech_loong_2160.md
+++ b/docs/en/frames_vtol/vtol_quadplane_foxtech_loong_2160.md
@@ -44,7 +44,7 @@ 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-ms4525do)
 - [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
--- a/docs/en/frames_vtol/vtol_tiltrotor_omp_hobby_zmo_fpv.md
+++ b/docs/en/frames_vtol/vtol_tiltrotor_omp_hobby_zmo_fpv.md
@@ -44,7 +44,7 @@ The approximate maximum size of the FC is: 50x110x22mm
 - [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-ms4525do)
 - [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)
 - [5V BEC](https://www.mateksys.com/?portfolio=bec12s-pro)
--- a/docs/en/sim_flightgear/index.md
+++ b/docs/en/sim_flightgear/index.md
@@ -66,7 +66,7 @@ These instructions were tested on Ubuntu 18.04

   Setting the permissions is required because the PX4-FlightGear-Bridge puts the communication definition file here.

-Additional installation instructions can be found on [FlightGear wiki](http://wiki.flightgear.org/Howto:Install_Flightgear_from_a_PPA).
+Additional installation instructions can be found on [FlightGear wiki](https://wiki.flightgear.org/Howto:Install_Flightgear_from_a_PPA).

 ## Running the Simulation

--- a/docs/en/sim_flightgear/multi_vehicle.md
+++ b/docs/en/sim_flightgear/multi_vehicle.md
@@ -21,7 +21,7 @@ It is suitable for testing multi-vehicle support in _QGroundControl_, [MAVSDK](h

 To start multiple instances (on separate ports and IDs):

-1. Checkout the [PX4 branch that supports multiple vehicles](https://github.com/ThunderFly-aerospace/PX4Firmware/tree/flightgear-multi) (at ThunderFly-aerospace):
+1. Checkout the [PX4 branch that supports multiple vehicles](https://github.com/ThunderFly-aerospace/PX4-Autopilot/tree/flightgear-multi) (at ThunderFly-aerospace):

   ```sh
   git clone https://github.com/ThunderFly-aerospace/PX4Firmware.git
--- a/docs/en/sim_gazebo_classic/index.md
+++ b/docs/en/sim_gazebo_classic/index.md
@@ -532,7 +532,7 @@ To disable lockstep in:
 ## Extending and Customizing

 To extend or customize the simulation interface, edit the files in the `Tools/simulation/gazebo/sitl_gazebo` folder.
-The code is available on the [sitl_gazebo repository](https://github.com/PX4/PX4-SITL_gazebo) on Github.
+The code is available on the [sitl_gazebo repository](https://github.com/PX4/PX4-SITL_gazebo-classic) on GitHub.

 ::: info
 The build system enforces the correct GIT submodules, including the simulator.
--- a/docs/en/sim_jmavsim/index.md
+++ b/docs/en/sim_jmavsim/index.md
@@ -30,7 +30,7 @@ Follow the instructions below to install jMAVSim on macOS.
 To setup the environment for [jMAVSim](../sim_jmavsim/index.md) simulation:

 1. Install a recent version of Java (e.g. Java 15).
-   You can download [Java 15 (or later) from Oracle](https://www.oracle.com/java/technologies/javase-downloads.html) or use [Eclipse Temurin](https://adoptium.net):
+   You can download [Java 15 (or later) from Oracle](https://www.oracle.com/java/technologies/downloads/?er=221886) or use [Eclipse Temurin](https://adoptium.net):

   ```sh
   brew install --cask temurin
@@ -311,7 +311,7 @@ and comment out the line indicated below:
 ```

 For more info, check [this GitHub issue](https://github.com/PX4/PX4-Autopilot/issues/9557).
-A contributor found the fix in [askubuntu.com](https://askubuntu.com/questions/695560).
+A contributor found the fix in [askubuntu.com](https://askubuntu.com/questions/695560/assistive-technology-not-found-awterror).

 ### Exception in thread "main" java.lang.UnsupportedClassVersionError

--- a/docs/en/telemetry/crsf_telemetry.md
+++ b/docs/en/telemetry/crsf_telemetry.md
@@ -37,7 +37,7 @@ Then you can _bind_ the transmitter and receiver together.

 Instructions for the steps above are covered in

- [TBS Crossfire Manual](https://www.team-blacksheep.com/tbs-crossfire-manual.pdf)
+- [TBS Crossfire Manual](https://www.team-blacksheep.com/media/files/tbs-crossfire-manual.pdf)
 - [Express LRS: QuickStart](https://www.expresslrs.org/quick-start/getting-started/)

 ### Wiring
@@ -147,7 +147,7 @@ RC Controllers that support TBS Crossfire and ExpressLRS TX modules:

 - [FrSky Taranis X9D Plus](https://www.frsky-rc.com/product/taranis-x9d-plus-2/) has an external module bay that can be used with TBS or ExpressLRS transmitter modules that are "JR module bay" compatible.
  You will need to install OpenTX software, which supports CRSF, and enable the external module and CRSF.
- [Radiomaster TX16S](https://www.radiomasterrc.com/collections/tx16s-mkii) has an internal ExpressLRS transmitter module.
+- [Radiomaster TX16S Mk II](https://radiomasterrc.com/products/tx16s-mark-ii-radio-controller) has an internal ExpressLRS transmitter module.
  It also has an external module bay that can be used with TBS or ExpressLRS transmitter modules that are "JR module bay" compatible.
  It runs both OpenTX and EdgeTx software, either of which can support CRSF.

@@ -184,7 +184,7 @@ Receivers:

 ## Telemetry Messages

-The supported telemetry messages and their source are listed below (this table is reproduced from the [TBS Crossfire Manual: "Available sensors with OpenTX"](https://www.team-blacksheep.com/tbs-crossfire-manual.pdf)).
+The supported telemetry messages and their source are listed below (this table is reproduced from the [TBS Crossfire Manual: "Available sensors with OpenTX"](https://www.team-blacksheep.com/media/files/tbs-crossfire-manual.pdf)).

 | Datapoint | Description                                        | Data source                      |
 | --------- | -------------------------------------------------- | -------------------------------- |
@@ -213,7 +213,7 @@ The supported telemetry messages and their source are listed below (this table i

 ## See Also

- [TBS Crossfire Manual](https://www.team-blacksheep.com/tbs-crossfire-manual.pdf)
+- [TBS Crossfire Manual](https://www.team-blacksheep.com/media/files/tbs-crossfire-manual.pdf)
 - [ExpressLRS Documentation](https://www.expresslrs.org/quick-start/getting-started/)
 - [FrSky Telemetry](../peripherals/frsky_telemetry.md)
 - [Radio Control Setup](../config/radio.md)