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hamishwillee authored Dec 11, 2024
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2 changes: 1 addition & 1 deletion de/SUMMARY.md
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Expand Up @@ -136,7 +136,7 @@
- [Silicon Errata](flight_controller/silicon_errata.md)
- [Pixhawk Standard Autopilots](flight_controller/autopilot_pixhawk_standard.md)
- [NXP MR-VMU-RT1176 FMU (FMUv6X-RT)](flight_controller/nxp_mr_vmu_rt1176.md)
- [Holybro Pixhawk 6X-RT (FMUv6X-RT)](flight_controller/pixhawk6x-rt.md)
- [\[Holybro Pixhawk 5X]\[holybro pixhawk 5x\\] (FMUv5x)](flight_controller/pixhawk6x-rt.md)
- [CUAV Pixhawk V6X (FMUv6X)](flight_controller/cuav_pixhawk_v6x.md)
- [Wiring QuickStart](assembly/quick_start_cuav_pixhawk_v6x.md)
- [Holybro Pixhawk 6X (FMUv6X)](flight_controller/pixhawk6x.md)
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4 changes: 1 addition & 3 deletions de/assembly/_assembly.md
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Expand Up @@ -50,9 +50,7 @@ A forward flying vehicle, such as a VTOL or Fixed-wing, will generally also have
The instructions are focussed on systems that use [Pixhawk-series](../flight_controller/pixhawk_series.md) flight controllers (FCs), and in particular those that have adopted the [Pixhawk connector standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf).
For these FCs, much of the "wiring up" is as simple as connecting the components into the appropriately labelled ports using supplied cables.

::: info If your FC does not use the connector standard ...
Pixhawk series flight controllers that don't follow the connector standard will often provide cables for interconnecting with Pixhawk standard components.
For other controllers you may need to manually create cables and connectors.
:::info

The [flight controller-specific guides](#fc-specific-assembly-guides) contain FC-specific wiring and configuration information, as do guides on the manufacturer sites.
:::
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3 changes: 2 additions & 1 deletion de/assembly/quick_start_holybro_pix32_v5.md
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Expand Up @@ -36,7 +36,8 @@ _Pix32 v5_ should be mounted on the frame positioned as close to your vehicle’

:::tip
The board has internal vibration-isolation.
Do not use vibration-isolation foam to mount the controller (double sided tape is normally sufficient).
:::tip
The board has internal vibration-isolation.
:::

## GPS + Compass + Buzzer + Safety Switch + LED
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2 changes: 1 addition & 1 deletion de/complete_vehicles_mc/crazyflie2.md
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Expand Up @@ -22,7 +22,7 @@ An overview of the Crazyflie 2.0 can be [found here](https://www.bitcraze.io/cra

## Quick Summary

The main hardware documentation is here: https://wiki.bitcraze.io/projects:crazyflie2:index
:::info:::

- Main System-on-Chip: STM32F405RG
- CPU: 168 MHz ARM Cortex M4 with single-precision FPU
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2 changes: 1 addition & 1 deletion de/config_mc/filter_tuning.md
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Expand Up @@ -39,7 +39,7 @@ Sampling and filtering is always performed at the full raw sensor rate (commonly
:::

- A separate low-pass filter on the D-term. The D-term is most susceptible to noise while slightly increased latency does not negatively affect performance. For this reason the D-term has a separately-configurable low-pass filter, [IMU_DGYRO_CUTOFF](../advanced_config/parameter_reference.md#IMU_DGYRO_CUTOFF).
- A optional slew-rate filter on the motor outputs. This rate may be configured as part of the [Multicopter Geometry](../config/actuators.md#motor-geometry-multicopter) when configuring actuators (which in turn modifies the [CA_Rn_SLEW](../advanced_config/parameter_reference.md#CA_R0_SLEW) parameters for each motor `n`).
- An optional slew-rate filter on the motor outputs. This rate may be configured as part of the [Multicopter Geometry](../config/actuators.md#motor-geometry-multicopter) when configuring actuators (which in turn modifies the [CA_Rn_SLEW](../advanced_config/parameter_reference.md#CA_R0_SLEW) parameters for each motor `n`).

To reduce the control latency, we want to increase the cutoff frequency for the low-pass filters. The effect on latency of increasing `IMU_GYRO_CUTOFF` is approximated below.

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2 changes: 1 addition & 1 deletion de/config_mc/mc_trajectory_tuning.md
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Expand Up @@ -55,7 +55,7 @@ The following list provides an _overview_ of the different implementations of ho
- Set in position mode using `MPC_POS_MODE=3`.
- **Simple position control**
- Sticks map directly to velocity setpoints without smoothing.
- Useful for velocity control tuning.
- **Comment:** The supported sub-modes are: 0 Sticks directly map to velocity setpoints without smoothing.
- Set in position mode using `MPC_POS_MODE=0`.

## Altitude Mode Implementations
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2 changes: 1 addition & 1 deletion de/flight_controller/kakutef7.md
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Expand Up @@ -69,7 +69,7 @@ This is the silkscreen for the _Kakute F7_, showing the top of the board:

## PX4 Bootloader Update

The board comes pre-installed with [Betaflight](https://github.com/betaflight/betaflight/wiki). Before PX4 firmware can be installed, the _PX4 bootloader_ must be flashed. Download the [kakutef7_bl.hex](https://github.com/PX4/PX4-user_guide/raw/main/assets/flight_controller/kakutef7/kakutef7_bl_0b3fbe2da0.hex) bootloader binary and read [this page](../advanced_config/bootloader_update_from_betaflight.md) for flashing instructions.
The board comes pre-installed with [Betaflight](https://github.com/betaflight/betaflight/wiki). Download the [omnibusf4sd_bl.hex](https://github.com/PX4/PX4-user_guide/raw/main/assets/flight_controller/omnibus_f4_sd/omnibusf4sd_bl_d52b70cb39.hex) bootloader binary and read [this page](../advanced_config/bootloader_update_from_betaflight.md) for flashing instructions. Download the [kakutef7_bl.hex](https://github.com/PX4/PX4-user_guide/raw/main/assets/flight_controller/kakutef7/kakutef7_bl_0b3fbe2da0.hex) bootloader binary and read [this page](../advanced_config/bootloader_update_from_betaflight.md) for flashing instructions.

## Building Firmware

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2 changes: 1 addition & 1 deletion de/flight_controller/kakuteh7.md
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Expand Up @@ -74,7 +74,7 @@ This is the silkscreen for the _Kakute H7_, showing the top of the board:

## PX4 Bootloader Update

The board comes pre-installed with [Betaflight](https://github.com/betaflight/betaflight/wiki). Before PX4 firmware can be installed, the _PX4 bootloader_ must be flashed. Download the [kakuteh7_bl.hex](https://github.com/PX4/PX4-user_guide/raw/main/assets/flight_controller/kakuteh7/holybro_kakuteh7_bootloader.hex) bootloader binary and read [this page](../advanced_config/bootloader_update_from_betaflight.md) for flashing instructions.
The board comes pre-installed with [Betaflight](https://github.com/betaflight/betaflight/wiki). Download the [omnibusf4sd_bl.hex](https://github.com/PX4/PX4-user_guide/raw/main/assets/flight_controller/omnibus_f4_sd/omnibusf4sd_bl_d52b70cb39.hex) bootloader binary and read [this page](../advanced_config/bootloader_update_from_betaflight.md) for flashing instructions. Download the [kakuteh7_bl.hex](https://github.com/PX4/PX4-user_guide/raw/main/assets/flight_controller/kakuteh7/holybro_kakuteh7_bootloader.hex) bootloader binary and read [this page](../advanced_config/bootloader_update_from_betaflight.md) for flashing instructions.

## Building Firmware

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3 changes: 2 additions & 1 deletion de/flight_controller/kakuteh7v2.md
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Expand Up @@ -87,7 +87,8 @@ make holybro_kakuteh7v2_default
## Installing PX4 Firmware

::: info
KakuteH7v2 is supported with PX4 master & PX4 v1.14 or newer. If you are loading the pre-built firmware via QGroundcontrol, you must use QGC Daily or QGC version newer than 4.1.7. Prior to that release you will need to manually build and install the firmware.
KakuteH7v2 is supported with PX4 master & PX4 v1.14 or newer. If you are loading the pre-built firmware via QGroundcontrol, you must use QGC Daily or QGC version newer than 4.1.7. ::: info
If you are loading the pre-built firmware via QGroundcontrol, you must use QGC Daily or QGC version newer than 4.1.7.
:::

Firmware can be manually installed in any of the normal ways:
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3 changes: 1 addition & 2 deletions de/flight_controller/nxp_rddrone_fmuk66.md
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Expand Up @@ -2,8 +2,7 @@

<Badge type="info" text="Discontinued" />

:::warning
This flight controller has been [discontinued](../flight_controller/autopilot_experimental.md) and is no longer commercially available.
:::warning PX4 does not manufacture this (or any) autopilot.
:::

:::warning PX4 does not manufacture this (or any) autopilot. Contact the [manufacturer](https://www.nxp.com/) for hardware support or compliance issues.
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3 changes: 1 addition & 2 deletions de/flight_controller/ocpoc_zynq.md
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Expand Up @@ -2,8 +2,7 @@

<Badge type="info" text="Discontinued" />

:::warning
This flight controller has been [discontinued](../flight_controller/autopilot_experimental.md) and is no longer commercially available.
:::warning PX4 does not manufacture this (or any) autopilot.

PX4 v1.11 is the last release that has (experimental) support for this platform. See the [PX4v1.11 docs](http://docs.px4.io/v1.11/en/flight_controller/ocpoc_zynq.html#aerotenna-ocpoc-zynq-mini-flight-controller) for more information.
:::
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6 changes: 2 additions & 4 deletions de/flight_controller/omnibus_f4_sd.md
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@@ -1,11 +1,9 @@
# Omnibus F4 SD

:::warning
This flight controller has been [discontinued](../flight_controller/autopilot_experimental.md) and is no longer commercially available.
:::warning PX4 does not manufacture this (or any) autopilot.
:::

:::warning
PX4 does not manufacture this (or any) autopilot.
:::warning PX4 does not manufacture this (or any) autopilot.
Contact the manufacturer for support or compliance issues.
:::

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6 changes: 2 additions & 4 deletions de/flight_controller/pixhawk.md
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@@ -1,11 +1,9 @@
# 3DR Pixhawk 1 Flight Controller (Discontinued)

:::warning
This flight controller has been [discontinued](../flight_controller/autopilot_experimental.md) and is no longer commercially available. You can use the [mRo Pixhawk](../flight_controller/mro_pixhawk.md) as a drop-in replacement.
:::warning PX4 does not manufacture this (or any) autopilot. You can use the [mRo Pixhawk](../flight_controller/mro_pixhawk.md) as a drop-in replacement.
:::

:::warning
PX4 does not manufacture this (or any) autopilot.
:::warning PX4 does not manufacture this (or any) autopilot.
Contact the manufacturer for support or compliance issues.
:::

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3 changes: 2 additions & 1 deletion de/flight_modes_fw/manual.md
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Expand Up @@ -16,7 +16,8 @@ This is the only mode that overrides the FMU (commands are sent via the safety c

Manual mode where stick input is sent directly to control allocation (for "fully" manual control).

This is the only mode that overrides the FMU (commands are sent via the safety coprocessor). It provides a safety mechanism that allows full control of throttle, elevator, ailerons and rudder via RC in the event of an FMU firmware malfunction.
This is the only mode that overrides the FMU (commands are sent via the safety coprocessor). ::: info
This is the only mode that overrides the FMU (commands are sent via the safety coprocessor).

## Parameters

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2 changes: 1 addition & 1 deletion de/gps_compass/magnetometer.md
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Expand Up @@ -42,7 +42,7 @@ This list contains stand-alone magnetometer modules (without GNSS).
| :--------------------------------------------------------------------------------------------------------------- | :-----: | :---------------------------------: |
| [Avionics Anonymous UAVCAN Magnetometer](https://www.tindie.com/products/avionicsanonymous/uavcan-magnetometer/) | ? | |
| [Holybro DroneCAN RM3100 Compass/Magnetometer](https://holybro.com/products/dronecan-rm3100-compass) | RM3100 | &amp;amp;check; |
| [RaccoonLab DroneCAN/Cyphal Magnetometer RM3100](https://holybro.com/products/dronecan-rm3100-compass) | RM3100 | &amp;check; |
| [RaccoonLab DroneCAN/Cyphal Magnetometer RM3100](https://holybro.com/products/dronecan-rm3100-compass) | RM3100 | &amp;amp;check; |

Note:

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4 changes: 2 additions & 2 deletions de/modules/hello_sky.md
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Expand Up @@ -457,11 +457,11 @@ The [complete example code](https://github.com/PX4/PX4-Autopilot/blob/main/src/e
* are met:
* * 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
# 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
# 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
* * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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12 changes: 12 additions & 0 deletions de/modules/modules_controller.md
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Expand Up @@ -24,6 +24,7 @@ airship_att_control <command> [arguments...]
stop
status print status info
mc_autotune_attitude_control <command> [arguments...]
Commands:
start
Expand All @@ -49,6 +50,7 @@ control_allocator <command> [arguments...]
stop
status print status info
mc_autotune_attitude_control <command> [arguments...]
Commands:
start
Expand All @@ -74,6 +76,7 @@ differential_drive_control <command> [arguments...]
stop
status print status info
mc_autotune_attitude_control <command> [arguments...]
Commands:
start
Expand All @@ -100,6 +103,7 @@ flight_mode_manager <command> [arguments...]
stop
status print status info
mc_autotune_attitude_control <command> [arguments...]
Commands:
start
Expand Down Expand Up @@ -127,6 +131,7 @@ fw_att_control <command> [arguments...]
stop
status print status info
fw_autotune_attitude_control <command> [arguments...]
Commands:
start
[vtol] VTOL mode
Expand Down Expand Up @@ -155,6 +160,7 @@ fw_pos_control <command> [arguments...]
stop
status print status info
fw_autotune_attitude_control <command> [arguments...]
Commands:
start
[vtol] VTOL mode
Expand Down Expand Up @@ -183,6 +189,7 @@ fw_rate_control <command> [arguments...]
stop
status print status info
fw_autotune_attitude_control <command> [arguments...]
Commands:
start
[vtol] VTOL mode
Expand Down Expand Up @@ -210,6 +217,7 @@ https://www.research-collection.ethz.ch/bitstream/handle/20.500.11850/154099/eth
### Usage
```
mc_att_control <command> [arguments...]
fw_autotune_attitude_control <command> [arguments...]
Commands:
start
[vtol] VTOL mode
Expand All @@ -232,6 +240,7 @@ The controller doesn't use Euler angles for its work, they are generated only fo
### Usage
```
mc_pos_control <command> [arguments...]
fw_autotune_attitude_control <command> [arguments...]
Commands:
start
[vtol] VTOL mode
Expand Down Expand Up @@ -312,6 +321,7 @@ Rover ackermann module.
### Usage
```
rover_ackermann <command> [arguments...]
mc_autotune_attitude_control <command> [arguments...]
Commands:
start
Expand Down Expand Up @@ -355,6 +365,7 @@ rover_pos_control <command> [arguments...]
stop
status print status info
mc_autotune_attitude_control <command> [arguments...]
Commands:
start
Expand Down Expand Up @@ -434,6 +445,7 @@ uuv_pos_control <command> [arguments...]
stop
status print status info
mc_autotune_attitude_control <command> [arguments...]
Commands:
start
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16 changes: 16 additions & 0 deletions de/modules/modules_driver.md
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Expand Up @@ -390,6 +390,7 @@ fake_gps <command> [arguments...]
stop
status print status info
mc_autotune_attitude_control <command> [arguments...]
Commands:
start
Expand All @@ -409,6 +410,7 @@ Source: [examples/fake_imu](https://github.com/PX4/PX4-Autopilot/tree/main/src/e
### Usage
```
fake_imu <command> [arguments...]
mc_autotune_attitude_control <command> [arguments...]
Commands:
start
Expand Down Expand Up @@ -440,6 +442,7 @@ fake_magnetometer <command> [arguments...]
stop
status print status info
mc_autotune_attitude_control <command> [arguments...]
Commands:
start
Expand Down Expand Up @@ -493,6 +496,8 @@ This module does Ghost (GHST) RC input parsing.
### Usage
```
ghst_rc <command> [arguments...]
crsf_rc <command> [arguments...]
crsf_rc <command> [arguments...]
Commands:
start
[-d <val>] RC device
Expand Down Expand Up @@ -715,6 +720,7 @@ If the INA228 module is not powered, then by default, initialization of the driv
### Usage
```
ina228 <command> [arguments...]
ina238 <command> [arguments...]
Commands:
start
[-I] Internal I2C bus(es)
Expand Down Expand Up @@ -841,6 +847,7 @@ linux_pwm_out <command> [arguments...]
stop
status print status info
mc_autotune_attitude_control <command> [arguments...]
Commands:
start
Expand Down Expand Up @@ -1034,6 +1041,7 @@ pm_selector_auterion <command> [arguments...]
stop
status print status info
mc_autotune_attitude_control <command> [arguments...]
Commands:
start
Expand Down Expand Up @@ -1090,6 +1098,7 @@ pps_capture <command> [arguments...]
stop
status print status info
mc_autotune_attitude_control <command> [arguments...]
Commands:
start
Expand All @@ -1116,6 +1125,7 @@ pwm_out <command> [arguments...]
stop
status print status info
mc_autotune_attitude_control <command> [arguments...]
Commands:
start
Expand Down Expand Up @@ -1209,6 +1219,8 @@ This module does the RC input parsing and auto-selecting the method. Supported m
### Usage
```
rc_input <command> [arguments...]
rc_input <command> [arguments...]
rc_input <command> [arguments...]
Commands:
start
[-d <val>] RC device
Expand Down Expand Up @@ -1366,6 +1378,7 @@ safety_button <command> [arguments...]
stop
status print status info
mc_autotune_attitude_control <command> [arguments...]
Commands:
start
Expand All @@ -1386,6 +1399,8 @@ This module does SBUS RC input parsing.
### Usage
```
sbus_rc <command> [arguments...]
crsf_rc <command> [arguments...]
crsf_rc <command> [arguments...]
Commands:
start
[-d <val>] RC device
Expand Down Expand Up @@ -1551,6 +1566,7 @@ tone_alarm <command> [arguments...]
stop
status print status info
mc_autotune_attitude_control <command> [arguments...]
Commands:
start
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1 change: 1 addition & 0 deletions de/modules/modules_driver_distance_sensor.md
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Expand Up @@ -268,6 +268,7 @@ Source: [drivers/distance_sensor/mappydot](https://github.com/PX4/PX4-Autopilot/
### Usage
```
mappydot <command> [arguments...]
ms5837 <command> [arguments...]
Commands:
start
[-I] Internal I2C bus(es)
Expand Down
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