New Crowdin updates (PX4#965)

* New translations README.md (German)

* New translations quick_start_durandal.md (German)

* New translations rtk_gps.md (German)

* New translations rtk_gps_trimble_mb_two.md (German)

* New translations tuning_the_ecl_ekf.md (German)

* New translations gps_hex_here2.md (German)

* New translations pixhawk4_mini.md (German)

* New translations pixhawk_mini.md (German)

* New translations rtk_gps.md (Japanese)

* New translations tuning_the_ecl_ekf.md (Japanese)

* New translations u-blox_f9p_heading.md (Korean)

* New translations pixhawk_mini.md (Korean)

* New translations README.md (Korean)

* New translations rtk_gps.md (Korean)

* New translations rtk_gps_trimble_mb_two.md (Korean)

* New translations tuning_the_ecl_ekf.md (Korean)

* New translations gps_hex_here2.md (Korean)

* New translations pixhawk4_mini.md (Korean)

* New translations quick_start_durandal.md (Korean)

* New translations robocat_270_pixracer.md (Korean)

* New translations durandal.md (Korean)

* New translations rtk_gps_freefly.md (Korean)

* New translations nxp_rddrone_fmuk66.md (Korean)

* New translations holybro_pix32_v5.md (Korean)

* New translations rtk_gps_holybro_h-rtk-m8p.md (Korean)

* New translations rtk_gps_holybro_h-rtk-f9p.md (Korean)

* New translations vtol_quadplane_falcon_vertigo_hybrid_rtf_dropix.md (Korean)

* New translations snapdragon_flight.md (Korean)

* New translations gps_hex_here2.md (Japanese)

* New translations holybro_pix32_v5.md (Japanese)

* New translations pixhawk4_mini.md (Japanese)

* New translations pixhawk_mini.md (Japanese)

* New translations quick_start_durandal.md (Japanese)

* New translations durandal.md (Japanese)

* New translations rtk_gps_freefly.md (Japanese)

* New translations nxp_rddrone_fmuk66.md (Japanese)

* New translations rtk_gps_holybro_h-rtk-m8p.md (Japanese)

* New translations pixhawk4.md (Korean)

* New translations rtk_gps_holybro_h-rtk-f9p.md (Japanese)

* New translations u-blox_f9p_heading.md (Japanese)

* New translations SUMMARY.md (Korean)

* New translations rtk-gps.md (Korean)

* New translations pixhawk.md (Korean)

* New translations holybro_pix32.md (Korean)

* New translations pixfalcon.md (Korean)

* New translations u-blox_f9p_heading.md (Chinese Simplified)

* New translations pixhawk_series.md (German)

* New translations flight_review.md (Turkish)

* New translations sensor_thermal_calibration.md (Turkish)

* New translations radio.md (Turkish)

* New translations vtol_quad_configuration.md (Turkish)

* New translations robocat_270_pixracer.md (Turkish)

* New translations flight_modes.md (Turkish)

* New translations rtk_gps_cuav_c-rtk.md (Turkish)

* New translations optical_flow.md (Turkish)

* New translations px4flow.md (Turkish)

* New translations beaglebone_blue.md (Turkish)

* New translations satcom_roadblock.md (Turkish)

* New translations pid_tuning_guide_multicopter.md (Turkish)

* New translations pixhawk_series.md (Turkish)

* New translations tuning_the_ecl_ekf.md (Turkish)

* New translations cuav_v5_nano.md (Turkish)

* New translations uavcan_escs.md (Turkish)

* New translations mc_slew_rate_type_trajectory.md (Turkish)

* New translations compass_power_compensation.md (Turkish)

* New translations fixed_wing_takeoff.md (Turkish)

* New translations cuav_nora.md (Turkish)

* New translations computer_vision.md (Turkish)

* New translations gimbal_control.md (Turkish)

* New translations out_of_tree_modules.md (Turkish)

* New translations realsense_intel_driver.md (Turkish)

* New translations rc_transmitter_receiver.md (Turkish)

* New translations video_streaming.md (Russian)

* New translations config_initial.md (Turkish)

* New translations fixed_wing_takeoff.md (Russian)

* New translations px4flow.md (Russian)

* New translations beaglebone_blue.md (Russian)

* New translations satcom_roadblock.md (Russian)

* New translations flight_review.md (Russian)

* New translations pid_tuning_guide_multicopter.md (Russian)

* New translations tuning_the_ecl_ekf.md (Russian)

* New translations cuav_v5_nano.md (Russian)

* New translations uavcan_escs.md (Russian)

* New translations mc_slew_rate_type_trajectory.md (Russian)

* New translations compass_power_compensation.md (Russian)

* New translations cuav_nora.md (Russian)

* New translations continous_integration.md (Russian)

* New translations computer_vision.md (Russian)

* New translations gimbal_control.md (Russian)

* New translations out_of_tree_modules.md (Russian)

* New translations realsense_intel_driver.md (Russian)

* New translations simulation_debugging.md (Russian)

* New translations config_initial.md (Russian)

* New translations dev_env_linux_arch.md (Russian)

* New translations dev_env_linux_ubuntu.md (Russian)

* New translations external_position_estimation.md (Russian)

* New translations flightgear.md (Russian)

* New translations hitl.md (Russian)

* New translations simulation_debugging.md (Turkish)

* New translations dev_env_linux_arch.md (Turkish)

* New translations rtk_gps_cuav_c-rtk.md (Russian)

* New translations realsense_intel_driver.md (Chinese Simplified)

* New translations dev_env_linux_arch.md (Chinese Simplified)

* New translations external_position_estimation.md (Chinese Simplified)

* New translations flightgear.md (Chinese Simplified)

* New translations cuav_nora.md (Chinese Simplified)

* New translations traffic_avoidance_adsb.md (German)

* New translations traffic_avoidance_adsb.md (Japanese)

* New translations traffic_avoidance_adsb.md (Korean)

* New translations traffic_avoidance_adsb.md (Russian)

* New translations traffic_avoidance_adsb.md (Turkish)

* New translations traffic_avoidance_adsb.md (Chinese Simplified)

* New translations modalai_voxl_flight.md (German)

* New translations modalai_voxl_flight.md (Japanese)

* New translations modalai_voxl_flight.md (Korean)

* New translations modalai_voxl_flight.md (Russian)

* New translations modalai_voxl_flight.md (Turkish)

* New translations fixed_wing_takeoff.md (Chinese Simplified)

* New translations dev_env_linux_ubuntu.md (Turkish)

* New translations robocat_270_pixracer.md (Chinese Simplified)

* New translations external_position_estimation.md (Turkish)

* New translations flightgear.md (Turkish)

* New translations hitl.md (Turkish)

* New translations continous_integration.md (Turkish)

* New translations video_streaming.md (Turkish)

* New translations pixhawk_series.md (Chinese Simplified)

* New translations rc_transmitter_receiver.md (Chinese Simplified)

* New translations sensor_thermal_calibration.md (Chinese Simplified)

* New translations radio.md (Chinese Simplified)

* New translations vtol_quad_configuration.md (Chinese Simplified)

* New translations flight_modes.md (Chinese Simplified)

* New translations rtk_gps_cuav_c-rtk.md (Chinese Simplified)

* New translations optical_flow.md (Chinese Simplified)

* New translations px4flow.md (Chinese Simplified)

* New translations beaglebone_blue.md (Chinese Simplified)

* New translations satcom_roadblock.md (Chinese Simplified)

* New translations flight_review.md (Chinese Simplified)

* New translations pid_tuning_guide_multicopter.md (Chinese Simplified)

* New translations tuning_the_ecl_ekf.md (Chinese Simplified)

* New translations cuav_v5_nano.md (Chinese Simplified)

* New translations uavcan_escs.md (Chinese Simplified)

* New translations mc_slew_rate_type_trajectory.md (Chinese Simplified)

* New translations optical_flow.md (Russian)

* New translations flight_modes.md (Russian)

* New translations rc_transmitter_receiver.md (German)

* New translations robocat_270_pixracer.md (Japanese)

* New translations external_position_estimation.md (German)

* New translations flightgear.md (German)

* New translations hitl.md (German)

* New translations continous_integration.md (German)

* New translations video_streaming.md (German)

* New translations pixhawk_series.md (Japanese)

* New translations rc_transmitter_receiver.md (Japanese)

* New translations sensor_thermal_calibration.md (Japanese)

* New translations radio.md (Japanese)

* New translations vtol_quad_configuration.md (Japanese)

* New translations flight_modes.md (Japanese)

* New translations dev_env_linux_arch.md (German)

* New translations rtk_gps_cuav_c-rtk.md (Japanese)

* New translations optical_flow.md (Japanese)

* New translations px4flow.md (Japanese)

* New translations beaglebone_blue.md (Japanese)

* New translations satcom_roadblock.md (Japanese)

* New translations flight_review.md (Japanese)

* New translations pid_tuning_guide_multicopter.md (Japanese)

* New translations tuning_the_ecl_ekf.md (Japanese)

* New translations cuav_v5_nano.md (Japanese)

* New translations uavcan_escs.md (Japanese)

* New translations mc_slew_rate_type_trajectory.md (Japanese)

* New translations dev_env_linux_ubuntu.md (German)

* New translations config_initial.md (German)

* New translations fixed_wing_takeoff.md (Japanese)

* New translations flight_review.md (German)

* New translations sensor_thermal_calibration.md (German)

* New translations radio.md (German)

* New translations vtol_quad_configuration.md (German)

* New translations robocat_270_pixracer.md (German)

* New translations flight_modes.md (German)

* New translations rtk_gps_cuav_c-rtk.md (German)

* New translations optical_flow.md (German)

* New translations px4flow.md (German)

* New translations beaglebone_blue.md (German)

* New translations satcom_roadblock.md (German)

* New translations pid_tuning_guide_multicopter.md (German)

* New translations simulation_debugging.md (German)

* New translations tuning_the_ecl_ekf.md (German)

* New translations cuav_v5_nano.md (German)

* New translations uavcan_escs.md (German)

* New translations mc_slew_rate_type_trajectory.md (German)

* New translations compass_power_compensation.md (German)

* New translations fixed_wing_takeoff.md (German)

* New translations cuav_nora.md (German)

* New translations computer_vision.md (German)

* New translations gimbal_control.md (German)

* New translations out_of_tree_modules.md (German)

* New translations realsense_intel_driver.md (German)

* New translations compass_power_compensation.md (Japanese)

* New translations cuav_nora.md (Japanese)

* New translations robocat_270_pixracer.md (Russian)

* New translations uavcan_escs.md (Korean)

* New translations mc_slew_rate_type_trajectory.md (Korean)

* New translations fixed_wing_takeoff.md (Korean)

* New translations cuav_nora.md (Korean)

* New translations realsense_intel_driver.md (Korean)

* New translations simulation_debugging.md (Korean)

* New translations dev_env_linux_arch.md (Korean)

* New translations tuning_the_ecl_ekf.md (Korean)

* New translations dev_env_linux_ubuntu.md (Korean)

* New translations external_position_estimation.md (Korean)

* New translations flightgear.md (Korean)

* New translations pixhawk_series.md (Russian)

* New translations rc_transmitter_receiver.md (Russian)

* New translations sensor_thermal_calibration.md (Russian)

* New translations radio.md (Russian)

* New translations vtol_quad_configuration.md (Russian)

* New translations cuav_v5_nano.md (Korean)

* New translations pid_tuning_guide_multicopter.md (Korean)

* New translations computer_vision.md (Japanese)

* New translations video_streaming.md (Japanese)

* New translations gimbal_control.md (Japanese)

* New translations out_of_tree_modules.md (Japanese)

* New translations realsense_intel_driver.md (Japanese)

* New translations simulation_debugging.md (Japanese)

* New translations config_initial.md (Japanese)

* New translations dev_env_linux_arch.md (Japanese)

* New translations dev_env_linux_ubuntu.md (Japanese)

* New translations external_position_estimation.md (Japanese)

* New translations flightgear.md (Japanese)

* New translations hitl.md (Japanese)

* New translations continous_integration.md (Japanese)

* New translations pixhawk_series.md (Korean)

* New translations flight_review.md (Korean)

* New translations rc_transmitter_receiver.md (Korean)

* New translations sensor_thermal_calibration.md (Korean)

* New translations radio.md (Korean)

* New translations vtol_quad_configuration.md (Korean)

* New translations robocat_270_pixracer.md (Korean)

* New translations flight_modes.md (Korean)

* New translations rtk_gps_cuav_c-rtk.md (Korean)

* New translations optical_flow.md (Korean)

* New translations px4flow.md (Korean)

* New translations beaglebone_blue.md (Korean)

* New translations satcom_roadblock.md (Korean)

* New translations modalai_voxl_flight.md (Chinese Simplified)

* New translations gimbal_control.md (German)

* New translations gimbal_control.md (Japanese)

* New translations gimbal_control.md (Russian)

* New translations gimbal_control.md (Turkish)

* New translations gimbal_control.md (Chinese Simplified)

Co-authored-by: Hamish Willee <[email protected]>

de/SUMMARY.md

@@ -145,6 +145,7 @@
   * [GPS/Compass](gps_compass/README.md) 
     * [Hex Here2](gps_compass/gps_hex_here2.md)
   * [RTK GPS](gps_compass/rtk_gps.md) 
+    * [RTK GPS Heading with Dual u-blox F9P](gps_compass/u-blox_f9p_heading.md)
     * [CUAV C-RTK](gps_compass/rtk_gps_cuav_c-rtk.md)
     * [Drotek XL](gps_compass/rtk_gps_drotek_xl.md)
     * [Femtones MINI2 Receiver](gps_compass/rtk_gps_fem_mini2.md)
@@ -153,7 +154,6 @@
     * [Holybro H-RTK-F9P](gps_compass/rtk_gps_holybro_h-rtk-f9p.md)
     * [Holybro H-RTK-M8P](gps_compass/rtk_gps_holybro_h-rtk-m8p.md)
     * [Trimble MB-Two](gps_compass/rtk_gps_trimble_mb_two.md)
-  * [RTK GPS Heading (with u-blox F9P)](gps_compass/u-blox_f9p_heading.md)
   * [Telemetry Radios](telemetry/README.md) 
     * [SiK Radio](telemetry/sik_radio.md) 
       * [RFD900 (SiK) Telemetry Radio](telemetry/rfd900_telemetry.md)

de/advanced/computer_vision.md

@@ -18,7 +18,7 @@ The [PX4 Vision Autonomy Development Kit](../complete_vehicles/px4_vision_kit.md
 Motion Capture (MoCap) is a technique for estimating the 3D *pose* (position and orientation) of a vehicle using a positioning mechanism that is *external* to the vehicle. MoCap systems most commonly detect motion using infrared cameras, but other types of cameras, Lidar, or Ultra Wideband (UWB)  may also be used.
 
 :::note
-MoCap is commonly used to navigate a vehicle in situations where GPS is absent (e.g. indoors), and provides position relative to a a *local* co-ordinate system.
+MoCap is commonly used to navigate a vehicle in situations where GPS is absent (e.g. indoors), and provides position relative to a *local* co-ordinate system.
 :::
 
 For information about MoCap see:

de/advanced/gimbal_control.md

@@ -23,14 +23,14 @@ The gimbal can be connected to *any free serial port* using the instructions in
 A common configuration is to have a serial connection to the gimbal from the Flight Controller TELEM2 port (assuming TELEM2 is free). For this configuration you would set:
 - [MAV_1_CONFIG](../advanced_config/parameter_reference.md#MAV_1_CONFIG) to **TELEM2** (if `MAV_1_CONFIG` is already used for a companion computer (say), use `MAV_2_CONFIG`).
 - [MAV_1_MODE](../advanced_config/parameter_reference.md#MAV_1_MODE) to **NORMAL**
-- [SER_TEL2_BAUD](../advanced_config/parameter_reference.md#SER_TEL2_BAUD) to manufacturer recommended baude rate.
+- [SER_TEL2_BAUD](../advanced_config/parameter_reference.md#SER_TEL2_BAUD) to manufacturer recommended baud rate.
 
 This will enable the user to command the gimbal using [MAV_CMD_DO_MOUNT_CONTROL](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_MOUNT_CONTROL) and [MAV_CMD_DO_MOUNT_CONFIGURE](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_MOUNT_CONFIGURE).
 
 
 ## Gimbal on Flight Controller (MNT_MODE_OUT=AUX)
 
-The gimbal can be connected to the Flight controller AUX ports by setting the ouptut mode to `MNT_MODE_OUT=AUX`.
+The gimbal can be connected to the Flight controller AUX ports by setting the output mode to `MNT_MODE_OUT=AUX`.
 
 A mixer file is required to define the mapping for the output pins and the [mount mixer](https://github.com/PX4/PX4-Autopilot/blob/master/ROMFS/px4fmu_common/mixers/mount.aux.mix) is automatically selected (this overrides any AUX mixer provided by the airframe configuration).
 
@@ -48,7 +48,7 @@ Read [Mixing and Actuators](../concept/mixing.md) for an explanation of how mixe
 
 The outputs can be customized by [creating a mixer file](../concept/system_startup.md#starting-a-custom-mixer) on the SD card named `etc/mixers/mount.aux.mix`.
 
-A basic basic mixer configuration for a mount is shown below.
+A basic mixer configuration for a mount is shown below.
 
 ```
 # roll

de/advanced/out_of_tree_modules.md

@@ -12,7 +12,7 @@ We encourage you to contribute your changes into PX4, where possible!
 
 To create an external module:
 
-- Create an *external directory* directory for grouping the external modules:
+- Create an *external directory* folder for grouping the external modules:
   - This can be located anywhere outside of the **PX4-Autopilot** tree.
   - It must have the same structure as **PX4-Autopilot** (i.e. it must contain a directory called **src**).
   - Later we refer to this directory using `EXTERNAL_MODULES_LOCATION`.

de/advanced/realsense_intel_driver.md

@@ -31,7 +31,7 @@ The tutorial is ordered in the following way: In a first part it is shown how to
   -  If a window pops up in Ubuntu that asks whether to update, reject to update at this point.
 - Enable USB 3 Controller in Virtual Box:
   - Shut down Virtual Machine.
-  - Go to the settings of the Virtual Machine to the menu selection USB and choose: "USB 3.0(xHCI)".        This is only possible if you have installed the extension package for the Virtual Box.
+  - Go to the settings of the Virtual Machine to the menu selection USB and choose: "USB 3.0(xHCI)". This is only possible if you have installed the extension package for the Virtual Box.
   - Start the Virtual Machine again.
 
 ## Installing ROS Indigo

de/advanced_config/compass_power_compensation.md

@@ -28,7 +28,7 @@ Performing this power compensation is advisable only if all the following statem
 1. Perform the [standard compass calibration](../config/compass.md#compass-calibration).
 1. Set the parameter [SDLOG_MODE](../advanced_config/parameter_reference.md#SDLOG_MODE) to 2 to enable logging of data from boot.
 1. Set the parameter [SDLOG_PROFILE](../advanced_config/parameter_reference.md#SDLOG_PROFILE) checkbox for *high rate* (bit 2) to get more data points.
-1. Secure the drone so that it cannot move, and attach the propellers (so the motors can draw the the same current as in flight). This example secures the vehicle using straps.
+1. Secure the drone so that it cannot move, and attach the propellers (so the motors can draw the same current as in flight). This example secures the vehicle using straps.
 
    ![strap](../../assets/advanced_config/strap.png)
 1. Power the vehicle and switch into [ACRO flight mode](../flight_modes/acro_mc.md) (using this mode ensures the vehicle won't attempt to compensate for movement resulting from the straps).

de/advanced_config/sensor_thermal_calibration.md

@@ -78,7 +78,7 @@ To perform an offboard calibration:
 6. Cold soak the board to the minimum temperature it will be required to operate in.
 7. Apply power and keeping the board still <sup id="fnref2:2"><a href="#fn:2" class="footnote-ref">2</a></sup>, warm it slowly to the maximum required operating temperature. <sup id="fnref2:3"><a href="#fn:3" class="footnote-ref">3</a></sup>
 8. Remove power and extract the .ulog file.
-9. Open a terminal window in the **Firmware/Tools** directory and run the python calibration script script file: 
+9. Open a terminal window in the **Firmware/Tools** directory and run the python calibration script: 
         sh
         python process_sensor_caldata.py <full path name to .ulog file> This will generate a 
 

de/advanced_config/tuning_the_ecl_ekf.md

@@ -121,7 +121,7 @@ The following items should be checked during setup:
 
 For the ECL to accept GPS data for navigation, certain minimum requirements need to be satisfied over a period of 10 seconds (minimums are defined in the [EKF2_REQ_*](../advanced_config/parameter_reference.md#EKF2_REQ_EPH) parameters)
 
-The table below shows the different metrics directly reported or calculated from the GPS data, and the minimum required values for the data to be used by ECL. In addition, the *Average Value* column shows typical values that might reasonably be obtained from a standard GNSS module (e.g. uBlox M8 series) - i.e. values that are considered good/acceptable.
+The table below shows the different metrics directly reported or calculated from the GPS data, and the minimum required values for the data to be used by ECL. In addition, the *Average Value* column shows typical values that might reasonably be obtained from a standard GNSS module (e.g. u-blox M8 series) - i.e. values that are considered good/acceptable.
 
 | Metric               | Minimum required                                                                          | Average Value | Units | Notes                                                               |
 | -------------------- | ----------------------------------------------------------------------------------------- | ------------- | ----- | ------------------------------------------------------------------- |
@@ -158,7 +158,7 @@ Fixed wing platforms can take advantage of an assumed sideslip observation of ze
 
 Multi-rotor platforms can take advantage of the relationship between airspeed and drag force along the X and Y body axes to estimate North/East components of wind velocity. This is enabled by setting bit position 5 in the [EKF2_AID_MASK](../advanced_config/parameter_reference.md#EKF2_AID_MASK) parameter to true. The relationship between airspeed and specific force (IMU acceleration) along the X and Y body axes is controlled by the [EKF2_BCOEF_X](../advanced_config/parameter_reference.md#EKF2_BCOEF_X) and [EKF2_BCOEF_Y](../advanced_config/parameter_reference.md#EKF2_BCOEF_Y) parameters which set the ballistic coefficients for flight in the X and Y directions respectively. The amount of specific force observation noise is set by the [EKF2_DRAG_NOISE](../advanced_config/parameter_reference.md#EKF2_DRAG_NOISE) parameter.
 
-These can be tuned by flying the vehicle in [Position mode](../flight_modes/position_mc.md) repeatedly forwards/backwards between rest and maximum maximum speed, adjusting [EKF2_BCOEF_X](../advanced_config/parameter_reference.md#EKF2_BCOEF_X) so that the corresponding innovation sequence in the `ekf2_innovations_0.drag_innov[0]` log message is minimised. This is then repeated for right/left movement with adjustment of [EKF2_BCOEF_Y](../advanced_config/parameter_reference.md#EKF2_BCOEF_Y) to minimise the `ekf2_innovations_0.drag_innov[1]` innovation sequence. Tuning is easier if this testing is conducted in still conditions.
+These can be tuned by flying the vehicle in [Position mode](../flight_modes/position_mc.md) repeatedly forwards/backwards between rest and maximum speed, adjusting [EKF2_BCOEF_X](../advanced_config/parameter_reference.md#EKF2_BCOEF_X) so that the corresponding innovation sequence in the `ekf2_innovations_0.drag_innov[0]` log message is minimised. This is then repeated for right/left movement with adjustment of [EKF2_BCOEF_Y](../advanced_config/parameter_reference.md#EKF2_BCOEF_Y) to minimise the `ekf2_innovations_0.drag_innov[1]` innovation sequence. Tuning is easier if this testing is conducted in still conditions.
 
 If you are able to log data without dropouts from boot using [SDLOG_MODE = 1](../advanced_config/parameter_reference.md#SDLOG_MODE) and [SDLOG_PROFILE = 2](../advanced_config/parameter_reference.md#SDLOG_PROFILE), have access to the development environment, and are able to build code, then we recommended you fly *once* and perform the tuning on logs generated via [EKF2 Replay](../debug/system_wide_replay.md#ekf2-replay) of the flight data.
 
@@ -399,10 +399,10 @@ The most common causes of position divergence are:
   * Fix by improving mechanical isolation of the autopilot.
   * Increasing the value of [EKF2_ACC_NOISE](../advanced_config/parameter_reference.md#EKF2_ACC_NOISE) and [EKF2_GYR_NOISE](../advanced_config/parameter_reference.md#EKF2_GYR_NOISE) can help, but does make the EKF more vulnerable to GPS glitches.
 * Large gyro bias offsets. 
-  * Fix by re-calibrating the gyro. Check for excessive temperature sensitivity (> 3 deg/sec bias change during warm-up from a cold start and replace the sensor if affected of insulate to to slow the rate of temperature change.
+  * Fix by re-calibrating the gyro. Check for excessive temperature sensitivity (> 3 deg/sec bias change during warm-up from a cold start and replace the sensor if affected of insulate to slow the rate of temperature change.
 * Bad yaw alignment 
   * Check the magnetometer calibration and alignment.
-  * Check the heading shown QGC is within within 15 deg truth
+  * Check the heading shown QGC is within 15 deg truth
 * Poor GPS accuracy 
   * Check for interference
   * Improve separation and shielding

de/advanced_features/rtk-gps.md

@@ -1,7 +1,7 @@
 # RTK GPS
 
-[Real Time Kinematic (RTK)](https://en.wikipedia.org/wiki/Real_Time_Kinematic) increases the accuracy of GNSS/GPS systems to centimeter-level. RTK allows PX4 to be used in applications like precision surveying, where pinpoint accuracy is essential.
+[Real Time Kinematic (RTK)](https://en.wikipedia.org/wiki/Real_Time_Kinematic) GNSS/GPS systems provide centimeter-level accuracy, allowing PX4 to be used in applications like precision surveying (where pinpoint accuracy is essential). This feature requires *QGroundControl* running on a laptop/PC and a vehicle with a WiFi or Telemetry radio link to the ground station laptop.
 
-PX4 supports a number of RTK GPS devices. It requires *QGroundControl* running on a laptop/PC and a vehicle with a WiFi or Telemetry radio link to the laptop.
+In addition, some RTK setups can provide heading from GPS, which can be used as an alternative to the compass.
 
-Information about supported devices and setup can be found in the section: [Peripheral Hardware](../gps_compass/rtk_gps.md).
+Information about supported devices and setup can be found in the section: [Peripheral Hardware > RTK GPS](../gps_compass/rtk_gps.md).

de/advanced_features/satcom_roadblock.md

@@ -174,4 +174,4 @@ If in the terminal where the `udp2rabbit.py` script is running within a couple o
 
 * A first message is received on the ground but as soon as the vehicle is flying no message can be transmitted or the latency is significantly larger (in the order of minutes)
 
-  * Check the signal quality after the flight. If it is decreasing during the flight and you are using the internal antenna consider using an external antenna. If you are already using the external antenna try moving the antenna as far away as possible from any electronics or anything which might disturb the signal. Also make sure that the antenna is is not damaged.
+  * Check the signal quality after the flight. If it is decreasing during the flight and you are using the internal antenna consider using an external antenna. If you are already using the external antenna try moving the antenna as far away as possible from any electronics or anything which might disturb the signal. Also make sure that the antenna is not damaged.

de/advanced_features/traffic_avoidance_adsb.md

@@ -14,7 +14,7 @@ It has been tested with the following devices:
 
 ## Hardware Setup
 
-Either device can can be connected to any free/unused serial port on the flight controller. Most commonly it they are connected to TELEM2 (if this is not being use for some other purpose).
+Either device can be connected to any free/unused serial port on the flight controller. Most commonly it they are connected to TELEM2 (if this is not being use for some other purpose).
 
 ### PingRX
 

de/assembly/quick_start_durandal.md

@@ -10,7 +10,7 @@ This quick start guide shows how to power the Holybro [Durandal](../flight_contr
 
 ## Unboxing
 
-Durandal is sold bundled with a number of different combinations of accessories, including power modules: *PM02 V3* and *PM07*, and the *Pixhawk 4 GPS/Compass* (UBLOX NEO-M8N).
+Durandal is sold bundled with a number of different combinations of accessories, including power modules: *PM02 V3* and *PM07*, and the *Pixhawk 4 GPS/Compass* ( u-blox NEO-M8N).
 
 The content of the box with the *PM02 V3* power module is shown below (the box also includes a pinout guide and power module instructions).
 

de/config/radio.md

@@ -23,7 +23,7 @@ PX4 needs to be able to detect when the signal from the RC controller has been l
 RC receivers have different ways of indicating signal loss:
 
 * Output nothing (automatically detected by PX4)
-* Output a low throttle value value (you can configure PX4 to detect this).
+* Output a low throttle value (you can configure PX4 to detect this).
 * Output the last received signal (*cannot be detected by PX4* as it looks like valid input).
 
 If your RC receiver does not support outputting no signal on RC loss, you must configure it to set throttle low instead, and set the corresponding value in [RC_FAILS_THR](../advanced_config/parameter_reference.md#RC_FAILS_THR).

de/config_mc/mc_slew_rate_type_trajectory.md

@@ -36,7 +36,7 @@ This parameter is used for position-control in the horizontal direction, where t
 
 In velocity-control the rate limit for the velocity setpoint is extracted from a linear map from stick input to acceleration limit with maximum [MPC_ACC_HOR](../advanced_config/parameter_reference.md#MPC_ACC_HOR) and minimum [MPC_DEC_HOR_SLOW](../advanced_config/parameter_reference.md#MPC_DEC_HOR_SLOW). For example, if the stick input is at `MPC_HOLD_DZ`, the limiting acceleration is `MPC_DEC_HOR_SLOW`. If the stick input is at maximum (=`1`), the limiting acceleration is `MPC_ACC_HOR` and any stick input in between is mapped linearly between the two parameters. In addition, `MPC_DEC_HOR_SLOW` also limits the change in velocity setpoint when the user demands a deceleration in the current flight direction. For instance, if the stick input changes from maximum (=`1`) to `0.5`, the velocity setpoint change will be limited by `MPC_DEC_HOR_SLOW`.
 
-During transition from **velocity-control** to **position-control**, there is a hard switch from from `MPC_ACC_HOR` to `MPC_ACC_HOR_MAX` and a reset of the velocity setpoint to the current vehicle velocity. The reset and the hard switch can both introduce a jerky flight performance during stopping. Nonetheless, the reset is required because the smoothing parameters introduce a delay to the setpoint, which can lead to unexpected flight maneuvers.
+During transition from **velocity-control** to **position-control**, there is a hard switch from `MPC_ACC_HOR` to `MPC_ACC_HOR_MAX` and a reset of the velocity setpoint to the current vehicle velocity. The reset and the hard switch can both introduce a jerky flight performance during stopping. Nonetheless, the reset is required because the smoothing parameters introduce a delay to the setpoint, which can lead to unexpected flight maneuvers.
 
 A simple example explaining why the reset is needed is given below.
 

de/config_mc/pid_tuning_guide_multicopter.md

@@ -12,7 +12,7 @@ This guide is for advanced users. Un- or partially- tuned vehicles are likely to
 
 PX4 uses **P**roportional, **I**ntegral, **D**erivative (PID) controllers (these are the most widespread control technique).
 
-The controllers are layered, which means a higher-level controller passes its results to a lower-level controller. The lowest-level controller is the the **rate controller**, then there is the **attitude contoller**, and then the **velocity & position controller**. The PID tuning needs to be done in the same order, starting with the rate controller, as it will affect all other controllers.
+The controllers are layered, which means a higher-level controller passes its results to a lower-level controller. The lowest-level controller is the **rate controller**, then there is the **attitude contoller**, and then the **velocity & position controller**. The PID tuning needs to be done in the same order, starting with the rate controller, as it will affect all other controllers.
 
 ## Preconditions
 

de/config_vtol/vtol_quad_configuration.md

@@ -20,7 +20,7 @@ Before you attempt your first transition to fixed wing flight you need to make a
 
 If you have a runway available and the total weight isn’t too high you will also want to tune fixed wing flight as well. If not then you will be attempting this when it switches to fixed wing mode. If something goes wrong you need to be ready (and able) to switch back to multirotor mode.
 
-Follow the the respective tuning guides on how to tune multirotors and fixed wings.
+Follow the respective tuning guides on how to tune multirotors and fixed wings.
 
 ### Transition Tuning
 

de/debug/simulation_debugging.md

@@ -69,7 +69,7 @@ Or in the case of GDB:
 (gdb) handle SIGCONT noprint nostop
 ```
 
-After that the The lldb or gdb shells behave like normal sessions, please refer to the LLDB / GDB documentation.
+After that the lldb or gdb shells behave like normal sessions, please refer to the LLDB / GDB documentation.
 
 The last parameter, the <viewer\_model\_debugger> triplet, is actually passed to make in the build directory, so