PX4 · hamishwillee · Jul 3, 2025 · Jul 3, 2025
diff --git a/docs/en/SUMMARY.md b/docs/en/SUMMARY.md
@@ -162,7 +162,6 @@
       - [ARK Electronics ARKV6X](flight_controller/ark_v6x.md)
       - [ARK FPV Flight Controller](flight_controller/ark_fpv.md)
       - [ARK Pi6X Flow Flight Controller](flight_controller/ark_pi6x.md)
-      - [CUAV X7](flight_controller/cuav_x7.md)
       - [CUAV Nora](flight_controller/cuav_nora.md)
       - [CUAV V5+ (FMUv5)](flight_controller/cuav_v5_plus.md)
         - [Wiring Quickstart](assembly/quick_start_cuav_v5_plus.md)
@@ -183,8 +182,7 @@
       - [ModalAI Flight Core v1](flight_controller/modalai_fc_v1.md)
       - [ModalAI VOXL Flight](flight_controller/modalai_voxl_flight.md)
       - [ModalAI VOXL 2](flight_controller/modalai_voxl_2.md)
-      - [mRobotics-X2.1 (FMUv2)](flight_controller/mro_x2.1.md)
-      - [mRo Control Zero F7)](flight_controller/mro_control_zero_f7.md)
+      - [mRo Control Zero F7](flight_controller/mro_control_zero_f7.md)
       - [Sky-Drones AIRLink](flight_controller/airlink.md)
       - [SPRacing SPRacingH7EXTREME](flight_controller/spracingh7extreme.md)
       - [ThePeach FCC-K1](flight_controller/thepeach_k1.md)
@@ -201,11 +199,13 @@
       - [BetaFPV Beta75X 2S Brushless Whoop](complete_vehicles_mc/betafpv_beta75x.md)
       - [Bitcraze Crazyflie 2.0 ](complete_vehicles_mc/crazyflie2.md)
       - [Aerotenna OcPoC-Zynq Mini](flight_controller/ocpoc_zynq.md)
+      - [CUAV X7](flight_controller/cuav_x7.md)
       - [CUAV v5](flight_controller/cuav_v5.md)
       - [CUAV Pixhack v3 (FMUv3)](flight_controller/pixhack_v3.md)
       - [Holybro Kakute F7](flight_controller/kakutef7.md)
       - [Holybro Pixfalcon](flight_controller/pixfalcon.md)
       - [Holybro pix32 (FMUv2)](flight_controller/holybro_pix32.md)
+      - [mRo X2.1 (FMUv2)](flight_controller/mro_x2.1.md)
       - [mRo AUAV-X2](flight_controller/auav_x2.md)
       - [NXP RDDRONE-FMUK66 FMU](flight_controller/nxp_rddrone_fmuk66.md)
       - [3DR Pixhawk 1](flight_controller/pixhawk.md)

diff --git a/docs/en/advanced/realsense_intel_driver.md b/docs/en/advanced/realsense_intel_driver.md
@@ -41,7 +41,7 @@ The tutorial is ordered in the following way: In a first part it is shown how to
 
 ## Installing ROS Indigo
 
-- Follow instructions given at [ROS indigo installation guide](http://wiki.ros.org/indigo/Installation/Ubuntu):
+- Follow instructions given at [ROS indigo installation guide](https://wiki.ros.org/indigo/Installation/Ubuntu):
   - Install Desktop-Full version.
   - Execute steps described in the sections "Initialize rosdep" and "Environment setup".
 
@@ -54,15 +54,13 @@ The tutorial is ordered in the following way: In a first part it is shown how to
   ```
 
 - Download and install the driver:
-
   - Clone [RealSense_ROS repository](https://github.com/bestmodule/RealSense_ROS):
 
     ```sh
     git clone https://github.com/bestmodule/RealSense_ROS.git
     ```
 
 - Follow instructions given in [here](https://github.com/bestmodule/RealSense_ROS/tree/master/r200_install).
-
   - Press the enter button when the questions whether to install the following installation packages show up:
 
     ```sh
@@ -86,11 +84,9 @@ The tutorial is ordered in the following way: In a first part it is shown how to
 - After the installation has completed, reboot the Virtual Machine.
 
 - Test camera driver:
-
   - Connect the Intel RealSense camera head with the computer with a USB3 cable that is plugged into a USB3 receptacle on the computer.
   - Click on Devices->USB-> Intel Corp Intel RealSense 3D Camera R200 in the menu bar of the Virtual Box, in order to forward the camera USB connection to the Virtual Machine.
   - Execute the file [unpacked folder]/Bin/DSReadCameraInfo:
-
     - If the following error message appears, unplug the camera (physically unplug USB cable from the computer). Plug it in again + Click on Devices->USB-> Intel Corp Intel RealSense 3D Camera R200 in the menu bar of the Virtual Box again and execute again the file [unpacked folder]/Bin/DSReadCameraInfo.
 
       ```sh

diff --git a/docs/en/advanced/system_tunes.md b/docs/en/advanced/system_tunes.md
@@ -25,7 +25,7 @@ On Windows, one option is to use _Melody Master_ within _Dosbox_.
 
 The steps for using the software are:
 
-1. Download [DosBox](http://www.dosbox.com/) and install the app
+1. Download [DosBox](https://www.dosbox.com/) and install the app
 1. Download [Melody Master](ftp://archives.thebbs.org/ansi_utilities/melody21.zip) and unzip into a new directory
 1. Open the _Dosbox_ console
 1. Mount the melody master directory in Dosbox as shown below:

diff --git a/docs/en/advanced_config/bootloader_update.md b/docs/en/advanced_config/bootloader_update.md
@@ -109,7 +109,7 @@ The following steps explain how you can "manually" update the bootloader using a
    Bootloaders from [PX4/PX4-Bootloader](https://github.com/PX4/PX4-Bootloader) are named with the pattern `*_bl.elf`.
    :::
 
-4. The _gdb terminal_ appears and it should display the following output:
+4. The _gdb terminal_ appears and it should display (something like) the following output:
 
    ```sh
    GNU gdb (GNU Tools for Arm Embedded Processors 7-2017-q4-major) 8.0.50.20171128-git
@@ -121,9 +121,9 @@ The following steps explain how you can "manually" update the bootloader using a
    This GDB was configured as "--host=x86_64-linux-gnu --target=arm-none-eabi".
    Type "show configuration" for configuration details.
    For bug reporting instructions, please see:
-   <http://www.gnu.org/software/gdb/bugs/>.
+   <https://www.sourceware.org/gdb/bugs/>.
    Find the GDB manual and other documentation resources online at:
-   <http://www.gnu.org/software/gdb/documentation/>.
+   <https://www.sourceware.org/gdb/documentation/>.
    For help, type "help".
    Type "apropos word" to search for commands related to "word"...
    Reading symbols from px4fmuv5_bl.elf...done.

diff --git a/docs/en/assembly/vibration_isolation.md b/docs/en/assembly/vibration_isolation.md
@@ -31,5 +31,5 @@ A few of simple steps that may reduce vibrations are:
 
 Some references that you may find useful are:
 
-- [An Introduction to Shock & Vibration Response Spectra, Tom Irvine](http://www.vibrationdata.com/tutorials2/srs_intr.pdf) (free paper)
+- [An Introduction to Shock & Vibration Response Spectra, Tom Irvine](https://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).
diff --git a/docs/en/complete_vehicles_mc/index.md b/docs/en/complete_vehicles_mc/index.md
@@ -19,12 +19,12 @@ They may come either fully assembled or in parts.
 
 This section lists vehicles that are sold fully assembled and ready to fly (RTF), with PX4 installed.
 
-- [Teal One](https://tealdrones.com/teal-one/)
 - [ModalAI Starling](../complete_vehicles_mc/modalai_starling.md)
 - [ModalAI Sentinel](https://www.modalai.com/sentinel)
 - [MindRacer 210](../complete_vehicles_mc/mindracer210.md)
 - [NanoMind 110](../complete_vehicles_mc/nanomind110.md)
 - [Amovlab F410](../complete_vehicles_mc/amov_F410_drone.md)
+- [Teal One](https://px4.io/project/teal-one/) ([superseded](https://tealdrones.com/solutions/teal-2/))
 
 ## PX4 Compatible
 

diff --git a/docs/en/complete_vehicles_mc/px4_vision_kit.md b/docs/en/complete_vehicles_mc/px4_vision_kit.md
@@ -8,15 +8,14 @@ The kit contains a near-ready-to-fly carbon-fibre quadcopter equipped with a _Pi
 
 The guide explains the minimal additional setup required to get the vehicle ready to fly (installing an RC system and battery). It also covers the first flight, and how to get started with modifying the computer vision code.
 
-
 :::warning
 PX4 no longer supports the avoidance software described in this document:
 
 - [PX4/PX4-Avoidance](https://github.com/PX4/PX4-Avoidance) is archived
 - [Path Planning Interface](../computer_vision/path_planning_interface.md), along with obstacle avoidance in missions, and safe landing.
 
 A USB stick is included in the kit with an example of an obstacle avoidance feature implementation based on this software.
-This example is intended as a reference only and serves to demonstrate the capabilities of the platform. 
+This example is intended as a reference only and serves to demonstrate the capabilities of the platform.
 :::
 
 ::: tip
@@ -73,7 +72,6 @@ What's inside the PX4 Vision V1 can be found here in the [PX4 v1.13 Docs here](h
 The PX4 Vision DevKit contains following components:
 
 - Core Components:
-
   - 1x Pixhawk 4 or Pixhawk 6C (for v1.5) flight controller
   - 1x PMW3901 optical flow sensor
   - 1x TOF Infrared distance sensor (PSK‐CM8JL65‐CC5)
@@ -94,7 +92,6 @@ The PX4 Vision DevKit contains following components:
     - WiFi 802.11 b/g/n @ 2.4 GHz (attached to external antenna #1). Allows computer to access home WiFi network for Internet access/updates.
 
 - Mechanical Specification:
-
   - Frame: Full 5mm 3k carbon fiber twill
   - Motors: T-MOTOR KV1750
   - ESC: BEHEli-S 20A ESC
@@ -105,7 +102,6 @@ The PX4 Vision DevKit contains following components:
   - Telemetry: ESP8266 connected to flight controller (attached to external antenna #2). Enables wireless connection to the ground station.
 
 - A USB2.0 stick with pre-flashed software that bundles:
-
   - Ubuntu 18.04 LTS
   - ROS Melodic
   - Occipital Structure Core ROS driver
@@ -133,7 +129,6 @@ In addition, users will need ground station hardware/software:
 ## First-time Setup
 
 1. Attach a [compatible RC receiver](../getting_started/rc_transmitter_receiver.md#connecting-receivers) to the vehicle (not supplied with kit):
-
    - Remove/unscrew the top plate (where the battery goes) using an H2.0 hex key tool.
    - [Connect the receiver to the flight controller](../assembly/quick_start_pixhawk4.md#radio-control).
    - Re-attach the top plate.
@@ -155,7 +150,6 @@ In addition, users will need ground station hardware/software:
    Ensure propellers are removed before connecting the battery.
    :::
 1. Connect the ground station to the vehicle WiFi network (after a few seconds) using the following default credentials:
-
    - **SSID:** pixhawk4
    - **Password:** pixhawk4
 
@@ -171,7 +165,6 @@ In addition, users will need ground station hardware/software:
    The vehicle should arrive pre-calibrated (e.g. with firmware, airframe, battery, and sensors all setup).
    You will however need to calibrate the radio system (that you just connected) and it is often worth re-doing the compass calibration.
    :::
-
    - [Calibrate the Radio System](../config/radio.md)
    - [Calibrate the Compass](../config/compass.md)
 
@@ -182,15 +175,13 @@ In addition, users will need ground station hardware/software:
    :::
 
    We recommend RC controller switches are define for:
-
    - [Position Mode](../flight_modes_mc/position.md) - a safe manual flight mode that can be used to test collision prevention.
    - [Mission Mode](../flight_modes_mc/mission.md) - run missions and test obstacle avoidance.
    - [Return Mode](../flight_modes_mc/return.md) - return vehicle safely to its launch point and land.
 
 1. Attach the propellers with the rotations as shown:
 
    ![Motor Order Diagram](../../assets/hardware/px4_vision_devkit/motor_order_diagram.png)
-
    - The propellers directions can be determined from the labels: _6045_ (normal, counter-clockwise) and _6045_**R** (reversed, clockwise).
 
      ![Propeller identification](../../assets/hardware/px4_vision_devkit/propeller_directions.jpg)
@@ -212,7 +203,6 @@ When the vehicle setup described above is complete:
    :::
 
 1. Check that the avoidance system has started properly:
-
    - The _QGroundControl_ notification log displays the message: **Avoidance system connected**.
 
      ![QGC Log showing avoidance system has started](../../assets/hardware/px4_vision_devkit/qgc_console_vision_system_started.jpg)
@@ -309,7 +299,6 @@ To login to the companion computer:
 1. Connect a keyboard and mouse to the _UP Core_ via port `USB2`:
 
    ![UP Core: USB2](../../assets/hardware/px4_vision_devkit/upcore_port_usb2.png)
-
    - Use the USB-JST cable from the kit to get a USB A connector
 
      ![USB to JST cable](../../assets/hardware/px4_vision_devkit/usb_jst_cable.jpg)
@@ -323,7 +312,6 @@ To login to the companion computer:
    The Ubuntu login screen should then appear on the monitor.
 
 1. Login to the _UP Core_ using the credentials:
-
    - **Username:** px4vision
    - **Password:** px4vision
 
@@ -375,7 +363,7 @@ To integrate a different planner, this needs to be disabled.
    ```
 
 The ROS workspace is placed in `~/catkin_ws`.
-For reference on developing in ROS and using the catkin workspace, see the [ROS catkin tutorials](http://wiki.ros.org/catkin/Tutorials).
+For reference on developing in ROS and using the catkin workspace, see the [ROS catkin tutorials](https://wiki.ros.org/catkin/Tutorials).
 
 ### Developing PX4 Firmware
 
@@ -385,7 +373,6 @@ You can modify PX4 itself, and [install it as custom firmware](../config/firmwar
 - Select the _PX4 Vision DevKit_ airframe after loading new firmware:
   ![Airframe Selection - PX4 Vision DevKit](../../assets/hardware/px4_vision_devkit/qgc_airframe_px4_vision_devkit_platform.jpg)
 
-
 ## PX4 Vision Carrier Board Pinouts
 
 Information for the PX4 Vision 1.15 can be found at [https://docs.holybro.com](https://docs.holybro.com/drone-development-kit/px4-vision-dev-kit-v1.5).

diff --git a/docs/en/computer_vision/visual_inertial_odometry.md b/docs/en/computer_vision/visual_inertial_odometry.md
@@ -42,9 +42,7 @@ To setup ROS and PX4:
 
 - [Verify that VIO is set up correctly](#verify_estimate) before your first flight!
 
-<a id="vio_ros_node"></a>
-
-### ROS VIO node
+### ROS VIO node {#vio_ros_node}
 
 In this suggested setup, a ROS node is required to
 
@@ -54,17 +52,16 @@ In this suggested setup, a ROS node is required to
 
 The implementation of the ROS node will be specific to the camera used and will need to be developed to use the interface and drivers appropriate for the camera.
 
-The odometry messages should be of the type [`nav_msgs/Odometry`](http://docs.ros.org/en/noetic/api/nav_msgs/html/msg/Odometry.html) and published to the topic `/mavros/odometry/out`.
+The odometry messages should be of the type [`nav_msgs/Odometry`](https://docs.ros.org/en/noetic/api/nav_msgs/html/msg/Odometry.html) and published to the topic `/mavros/odometry/out`.
 
-System status messages of the type [`mavros_msgs/CompanionProcessStatus`](https://github.com/mavlink/mavros/blob/master/mavros_msgs/msg/CompanionProcessStatus.msg) should be published to the topic `/mavros/companion_process/status`. These should identify the component as `MAV_COMP_ID_VISUAL_INERTIAL_ODOMETRY` (197) and indicate the `state` of the system. Recommended status values are:
+System status messages of the type [`mavros_msgs/CompanionProcessStatus`](https://github.com/mavlink/mavros/blob/master/mavros_msgs/msg/CompanionProcessStatus.msg) should be published to the topic `/mavros/companion_process/status`.
+These should identify the component as `MAV_COMP_ID_VISUAL_INERTIAL_ODOMETRY` (197) and indicate the `state` of the system. Recommended status values are:
 
 - `MAV_STATE_ACTIVE` when the VIO system is functioning as expected,
 - `MAV_STATE_CRITICAL` when the VIO system is functioning, but with low confidence, and
 - `MAV_STATE_FLIGHT_TERMINATION` when the system has failed or the estimate confidence is unacceptably low.
 
-<a id="ekf2_tuning"></a>
-
-### PX4 Tuning
+### PX4 Tuning {#ekf2_tuning}
 
 The following parameters must be set to use external position information with EKF2.
 
@@ -79,9 +76,7 @@ These can be set in _QGroundControl_ > **Vehicle Setup > Parameters > EKF2** (re
 
 For more detailed/additional information, see: [Using PX4's Navigation Filter (EKF2) > External Vision System](../advanced_config/tuning_the_ecl_ekf.md#external-vision-system).
 
-<a id="tuning-EKF2_EV_DELAY"></a>
-
-#### Tuning EKF2_EV_DELAY
+#### Tuning EKF2_EV_DELAY {#tuning-EKF2_EV_DELAY}
 
 [EKF2_EV_DELAY](../advanced_config/parameter_reference.md#EKF2_EV_DELAY) is the _Vision Position Estimator delay relative to IMU measurements_.
 In other words, it is the difference between the vision system timestamp and the "actual" capture time that would have been recorded by the IMU clock (the "base clock" for EKF2).
@@ -100,9 +95,7 @@ A plot of external data vs. onboard estimate (as above) can be generated using [
 
 The value can further be tuned by varying the parameter to find the value that yields the lowest EKF innovations during dynamic maneuvers.
 
-<a id="verify_estimate"></a>
-
-## Check/Verify VIO Estimate
+## Check/Verify VIO Estimate {#verify_estimate}
 
 ::: info
 The [MAV_ODOM_LP](../advanced_config/parameter_reference.md#MAV_ODOM_LP) parameter mentioned below was removed in PX4 v1.14.
@@ -147,11 +140,9 @@ First, make sure MAVROS is able to connect successfully to the flight controller
 If it is connecting properly common problems/solutions are:
 
 - **Problem:** I get drift / flyaways when the drone flies, but not when I carry it around with the props off.
-
   - If using the [T265](../peripherals/camera_t265_vio.md) try soft-mounting it (this camera is very sensitive to high-frequency vibrations).
 
 - **Problem:** I get toilet-bowling when VIO is enabled.
-
   - Make sure the orientation of the camera matches the transform in the launch file.
     Use the _QGroundControl_ [MAVLink Inspector](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/analyze_view/mavlink_inspector.html) to verify that the velocities in the `ODOMETRY` message coming from MAVROS are aligned to the FRD coordinate system.
 

diff --git a/docs/en/concept/control_allocation.md b/docs/en/concept/control_allocation.md
@@ -42,7 +42,7 @@ Notes:
   - publishes the servo trims separately so they can be added as an offset when [testing actuators](../config/actuators.md#actuator-testing) (using the test sliders).
 - the output drivers:
   - handle the hardware initialization and update
-  - use a shared library [src/libs/mixer_module](https://github.com/PX4/PX4-Autopilot/blob/main/src/lib/mixer_module/).
+  - use a shared library [src/libs/mixer_module](https://github.com/PX4/PX4-Autopilot/blob/main/src/lib/mixer_module).
     The driver defines a parameter prefix, e.g. `PWM_MAIN` that the library then uses for configuration.
     Its main task is to select from the input topics and assign the right data to the outputs based on the user set `<param_prefix>_FUNCx` parameter values.
     For example if `PWM_MAIN_FUNC3` is set to **Motor 2**, the 3rd output is set to the 2nd motor from `actuator_motors`.

diff --git a/docs/en/concept/system_startup.md b/docs/en/concept/system_startup.md
@@ -31,7 +31,7 @@ For that to work, a few things are required:
   For that the `bin` directory with the symbolic links is added to the `PATH` variable right before executing the startup scripts.
 - The shell starts each module as a new (client) process.
   Each client process needs to communicate with the main instance of px4 (the server), where the actual modules are running as threads.
-  This is done through a [UNIX socket](http://man7.org/linux/man-pages/man7/unix.7.html).
+  This is done through a [UNIX socket](https://man7.org/linux/man-pages/man7/unix.7.html).
   The server listens on a socket, to which clients can connect and send a command.
   The server then sends the output and return code back to the client.
 - The startup scripts call the module directly, e.g. `commander start`, rather than using the `px4-` prefix.

diff --git a/docs/en/config/joystick.md b/docs/en/config/joystick.md
@@ -12,7 +12,7 @@ Joysticks are also commonly used to allow developers to fly the vehicle in simul
 :::
 
 ::: info
-_QGroundControl_ uses the cross-platform [SDL2](http://www.libsdl.org/index.php) library to convert joystick movements to MAVLink [MANUAL_CONTROL](https://mavlink.io/en/messages/common.html#MANUAL_CONTROL) messages, which are then sent to PX4 over the telemetry channel.
+_QGroundControl_ uses the cross-platform [SDL2](https://www.libsdl.org/index.php) library to convert joystick movements to MAVLink [MANUAL_CONTROL](https://mavlink.io/en/messages/common.html#MANUAL_CONTROL) messages, which are then sent to PX4 over the telemetry channel.
 In consequence, a joystick-based controller system requires a reliable high bandwidth telemetry channel to ensure that the vehicle is responsive to joystick movements.
 :::