Fix mathjax and tidy mention of explicit guides (PX4#894)

* Fix up text instances of: PX4 User Guide
* Fix up mathjax notations

en/complete_vehicles/px4_vision_kit.md

@@ -346,7 +346,7 @@ The Carrier board pinouts can be download from [Holybro's website](http://www.ho
 
 For hardware issues, please contact Holybro at: [[email protected]](mailto:[email protected]).
 
-For software issues, use the following [community support channels](README.md#support):
+For software issues, use the following community support channels:
 - [PX4 discuss: Computer Vision category.](https://discuss.px4.io/c/Vision-based-navigation-and-obstacle-avoidance)
 - [PX4 slack](https://slack.px4.io/) channel: #avoidance
 - [Holybro PX4 Vision Wikifactory](https://wikifactory.com/+holybro/px4-vision)

en/concept/flight_modes.md

@@ -2,15 +2,17 @@
 
 *Flight Modes* define how the autopilot responds to user input and controls vehicle movement.
 They are loosely grouped into *manual*, *assisted* and *auto* modes, based on the level/type of control provided by the autopilot.
-The pilot transitions between flight modes using switches on the remote control or with a [ground control station](../qgc/README.md).
+The pilot transitions between flight modes using switches on the remote control or with a ground control station.
 
 Not all flight modes are available on all vehicle types, and some modes behave differently on different vehicle types (as described below).
 Finally, some flight modes make sense only under specific pre-flight and in-flight conditions (e.g. GPS lock, airspeed sensor, vehicle attitude sensing along an axis).
 The system will not allow transitions to those modes until the right conditions are met.
 
 The sections below provide an overview of the modes, followed by a [flight mode evaluation diagram](#flight-mode-evaluation-diagram) that shows the conditions under which PX4 will transition into a new mode.
 
-> **Note** More detailed user-facing flight mode documentation can be found in the [PX4 User Guide](../flight_modes/README.md). 
+> **Note** User-facing flight mode documentation can be found in:
+>  - [Getting Started > Flight Modes](../getting_started/flight_modes.md): Beginner friendly explanation of all flight modes.
+>  - [Flying > Flight Modes](../flight_modes/README.md): Detailed documentation of each mode.
 
 
 ## Flight Mode Summary

en/contribute/docs.md

@@ -63,7 +63,6 @@ The instructions below explain how to get git and use it on your local computer.
 1. Create a copy (Fork) of the desired library on Github ([instructions here](https://help.github.com/articles/fork-a-repo/#fork-an-example-repository)).
    The library repo URLs are:
    - PX4 User Guide: https://github.com/PX4/px4_user_guide
-   - PX4 Developer Guide: https://github.com/PX4/Devguide
    - QGroundControl User Guide: https://github.com/mavlink/qgc-user-guide
    - QGroundControl Developer Guide: https://github.com/mavlink/qgc-dev-guide
    - MAVLink Developer Guide: https://github.com/mavlink/mavlink-devguide

en/contribute/licenses.md

@@ -8,7 +8,5 @@ This page documents the licenses of various components in the system.
 * [PX4 Middleware](https://github.com/PX4/PX4-Autopilot) — BSD
 * [Pixhawk Hardware](https://github.com/PX4/Hardware) — CC-BY-SA 3.0
 * Snapdragon Hardware — Qualcomm Proprietary
-* Documentation 
-  * [PX4 Development Guide](https://github.com/PX4/Devguide) —  [CC BY 4.0](https://creativecommons.org/licenses/by/4.0/).
-  * [PX4 User Guide](https://github.com/PX4/px4_user_guide) —  [CC BY 4.0](https://creativecommons.org/licenses/by/4.0/).
+* [PX4 User Guide](https://github.com/PX4/px4_user_guide) (Documentation) —  [CC BY 4.0](https://creativecommons.org/licenses/by/4.0/).
 

en/contribute/notation.md

@@ -5,7 +5,10 @@ The following terms, symbols, and decorators are used in text and diagrams throu
 ## Notation
 
 - Bold face variables indicate vectors or matrices and non-bold face variables represent scalars. 
-- The default frame for each variable is the local frame $$\ell$$. Right [superscripts](#superscripts) represent the coordinate frame. If no right superscript is present, then the default frame $$\ell$$ is assumed. An exception is given by Rotation Matrices, where the lower right subscripts indicates the current frame and the right superscripts the target frame.
+- The default frame for each variable is the local frame: $\ell{}$.
+  Right [superscripts](#superscripts) represent the coordinate frame.
+  If no right superscript is present, then the default frame $\ell{}$ is assumed.
+  An exception is given by Rotation Matrices, where the lower right subscripts indicates the current frame and the right superscripts the target frame.
 - Variables and subscripts can share the same letter, but they always have different meaning.
 
 ## Acronyms
@@ -26,36 +29,36 @@ PID | Controller with Proportional, Integral and Derivative actions.
 
 Variable | Description
 --- | ---
-$$x,y,z$$ | Translation along coordinate axis x,y and z respectively.
-$$\boldsymbol{\mathrm{r}}$$ | Position vector $$\boldsymbol{\mathrm{r}} = [x \quad y \quad z]^{T}$$.
-$$\boldsymbol{\mathrm{v}}$$ | Velocity vector $$\boldsymbol{\mathrm{v}} = \boldsymbol{\mathrm{\dot{r}}}$$.
-$$\boldsymbol{\mathrm{a}}$$ | Acceleration vector $$\boldsymbol{\mathrm{a}} = \boldsymbol{\mathrm{\dot{v}}} = \boldsymbol{\mathrm{\ddot{r}}}$$.
+$x,y,z$ | Translation along coordinate axis x,y and z respectively.
+$\boldsymbol{\mathrm{r}}$ | Position vector: $\boldsymbol{\mathrm{r}} = [x \quad y \quad z]^{T}$
+$$\boldsymbol{\mathrm{v}}$$ | Velocity vector: $\boldsymbol{\mathrm{v}} = \boldsymbol{\mathrm{\dot{r}}}$
+$$\boldsymbol{\mathrm{a}}$$ | Acceleration vector: $\boldsymbol{\mathrm{a}} = \boldsymbol{\mathrm{\dot{v}}} = \boldsymbol{\mathrm{\ddot{r}}}$
 $$\alpha$$ | Angle of attack (AOA).
 $$b$$ | Wing span (from tip to tip).
 $$S$$ | Wing area.
-$$AR$$ | Aspect ratio. $$AR = b^2/S$$.
+$$AR$$ | Aspect ratio: $AR = b^2/S$
 $$\beta$$ | Angle of sideslip (AOS).
 $$c$$ | Wing chord length.
 $$\delta$$ | Aerodynamic control surface angular deflection. A positive deflection generates a negative moment.
 $$\phi,\theta,\psi$$ | Euler angles roll (=Bank), pitch and yaw (=Heading).
-$$\Psi$$ | Attitude vector. $$\Psi = [\phi \quad \theta \quad \psi]^T$$.
+$$\Psi$$ | Attitude vector: $\Psi = [\phi \quad \theta \quad \psi]^T$
 $$X,Y,Z$$ | Forces along coordinate axis x,y and z.
-$$\boldsymbol{\mathrm{F}}$$| Force vector $$\boldsymbol{\mathrm{F}}= [X \quad Y \quad Z]^T$$ . 
+$$\boldsymbol{\mathrm{F}}$$| Force vector: $\boldsymbol{\mathrm{F}}= [X \quad Y \quad Z]^T$
 $$D$$ | Drag force.
 $$C$$ | Cross-wind force.
 $$L$$ | Lift force.
 $$g$$ | Gravity.
 $$l,m,n$$ | Moments around coordinate axis x,y and z.
-$$\boldsymbol{\mathrm{M}}$$ | Moment vector $$\boldsymbol{\mathrm{M}} = [l \quad m \quad n]^T$$.
+$$\boldsymbol{\mathrm{M}}$$ | Moment vector $\boldsymbol{\mathrm{M}} = [l \quad m \quad n]^T$
 $$M$$ | Mach number. Can be neglected for scale aircrafts.
 $$\boldsymbol{\mathrm{q}}$$ | Vector part of Quaternion.
-$$\boldsymbol{\mathrm{\tilde{q}}}$$ | Hamiltonian attitude quaternion. $$\boldsymbol{\mathrm{\tilde{q}}} = (q_0, q_1, q_2, q_3) = (q_0, \boldsymbol{\mathrm{q}})$$.<br> $$\boldsymbol{\mathrm{\tilde{q}}}$$ describes the attitude relative to the local frame $$\ell$$. To represent a vector in local frame given a vector in body frame, the following operation can be used:  $$\boldsymbol{\mathrm{\tilde{v}}}^\ell = \boldsymbol{\mathrm{\tilde{q}}} \, \boldsymbol{\mathrm{\tilde{v}}}^b \, \boldsymbol{\mathrm{\tilde{q}}}^*$$ (or $$\boldsymbol{\mathrm{\tilde{q}}}^{-1}$$ instead of $$\boldsymbol{\mathrm{\tilde{q}}}^*$$ if $$\boldsymbol{\mathrm{\tilde{q}}}$$ is not unitary).  $$\boldsymbol{\mathrm{\tilde{v}}}$$ represents a *quaternionized* vector: $$\boldsymbol{\mathrm{\tilde{v}}} = (0,\boldsymbol{\mathrm{v}})$$.
-$$\boldsymbol{\mathrm{R}}_\ell^b$$ | Rotation matrix. Rotates a vector from frame $$\ell$$ to frame $$b$$. $$\boldsymbol{\mathrm{v}}^b = \boldsymbol{\mathrm{R}}_\ell^b \boldsymbol{\mathrm{v}}^\ell$$.
+$$\boldsymbol{\mathrm{\tilde{q}}}$$ | Hamiltonian attitude quaternion. $\boldsymbol{\mathrm{\tilde{q}}} = (q_0, q_1, q_2, q_3) = (q_0, \boldsymbol{\mathrm{q}})$.<br> $\boldsymbol{\mathrm{\tilde{q}}}{}$ describes the attitude relative to the local frame $\ell{}$. To represent a vector in local frame given a vector in body frame, the following operation can be used:  $\boldsymbol{\mathrm{\tilde{v}}}^\ell = \boldsymbol{\mathrm{\tilde{q}}} \, \boldsymbol{\mathrm{\tilde{v}}}^b \, \boldsymbol{\mathrm{\tilde{q}}}^*{}$ (or $\boldsymbol{\mathrm{\tilde{q}}}^{-1}{}$ instead of $\boldsymbol{\mathrm{\tilde{q}}}^*{}$ if $\boldsymbol{\mathrm{\tilde{q}}}{}$ is not unitary). $\boldsymbol{\mathrm{\tilde{v}}}{}$ represents a *quaternionized* vector: $\boldsymbol{\mathrm{\tilde{v}}} = (0,\boldsymbol{\mathrm{v}})$
+$$\boldsymbol{\mathrm{R}}_\ell^b$$ | Rotation matrix. Rotates a vector from frame $\ell{}$ to frame $b{}$. $$\boldsymbol{\mathrm{v}}^b = \boldsymbol{\mathrm{R}}_\ell^b \boldsymbol{\mathrm{v}}^\ell$$
 $$\Lambda$$ | Leading-edge sweep angle.
-$$\lambda$$ | Taper ratio $$\lambda = c_{tip}/c_{root}$$.
+$$\lambda$$ | Taper ratio: $\lambda = c_{tip}/c_{root}$
 $$w$$ | Wind velocity.
 $$p,q,r$$ | Angular rates around body axis x,y and z.
-$$\boldsymbol{\omega}^b$$ | Angular rate vector in body frame $$\boldsymbol{\omega}^b = [p \quad q \quad r]^T$$.
+$$\boldsymbol{\omega}^b$$ | Angular rate vector in body frame: $\boldsymbol{\omega}^b = [p \quad q \quad r]^T$
 $$\boldsymbol{\mathrm{x}}$$ | General state vector.
 
 ### Subscripts / Indices

en/contribute/translation.md

@@ -22,7 +22,6 @@ The steps to join our translation tream are:
 1. Open the translation project you want to join:
    - [QGroundControl](https://crowdin.com/project/qgroundcontrol)
    - [PX4 User Guide](https://crowdin.com/project/px4-user-guide)
-   - [PX4 Developer Guide](https://crowdin.com/project/px4-developer-guide)
    - [QGroundControl Developer Guide](https://crowdin.com/project/qgroundcontrol-developer-guide)
    - [QGroundControl User Guide](https://crowdin.com/project/qgroundcontrol-user-guide)
    - [MAVLink Guide](https://crowdin.com/project/mavlink)
@@ -54,4 +53,4 @@ You can do this by contacting the project owner (there is a contact link on each
 
 The *Crowdin* interface is self explanatory, but there is plenty of additional information on the [knowledgeable](https://support.crowdin.com/) and [feedback tool](https://crowdin.uservoice.com/forums/31787-collaborative-translation-tool).
 
-You can also ask for help from translators and developers in the Dronecode community using [our support channels](../README.md#support).
+You can also ask for help from translators and developers in the Dronecode community using [our support channels](../contribute/support.md).

en/data_links/sik_radio.md

@@ -1,8 +1,8 @@
-# SiK Radio
+# SiK Radio Integration
 
 [SiK radio](https://github.com/LorenzMeier/SiK) is a collection of firmware and tools for telemetry radios.
 
-Information about *using* SiK Radio can be found it the *PX4 User Guide*: [Telemetry > SiK Radio](../telemetry/sik_radio.md)
+Information about *using* SiK Radio can be found in [Peripheral Hardware > Telemetry > SiK Radio](../telemetry/sik_radio.md)
 
 The ("developer") information below explains how to build SiK firmware from source and configure it using AT commands.
 
@@ -83,4 +83,3 @@ ATZ
 ```
 
 > **Note** You might have to power-cycle the radio to connect it to the 2nd radio.
-

en/data_links/telemetry.md

@@ -1,19 +1,16 @@
-# Telemetry Radios/Modems
+# Telemetry Radio/Modem Integration
 
 Telemetry Radios can (optionally) be used to provide a wireless MAVLink connection between a ground control station like *QGroundControl* and a vehicle running PX4.
 This section contains topics about advanced use of supported radios and integrating new telemetry systems into PX4. 
 
-## Supported Radio Systems 
-
-[PX4 User Guide > Telemetry](../telemetry/README.md) contains information about telemetry radio systems already supported by PX4.
-This includes radios that use the *SiK Radio* firmware and *3DR WiFi Telemetry Radios*.
+> **Tip** [Peripheral Hardware > Telemetry Radios](../telemetry/README.md) contains information about telemetry radio systems already supported by PX4.
+  This includes radios that use the *SiK Radio* firmware and *3DR WiFi Telemetry Radios*.
 
 ## Integrating Telemetry Systems
 
 PX4 enables MAVLink-based telemetry via the telemetry port of a Pixhawk-based flight controller.
 Provided that a telemetry radio supports MAVLink and provides a UART interface with compatible voltage levels/connector, no further integration is required.
 
 Telemetry systems that communicate using some other protocol will need more extensive integration, potentially covering both software (e.g. device drivers) and hardware (connectors etc.).
-While this has been done for
-specific cases (e.g. [FrSky Telemetry](../peripherals/frsky_telemetry.md) enables sending vehicle status to an RC controller via an FrSky receiver) providing general advice is difficult.
-We recommend you start by [discussing with the development team](../README.md#support).
+While this has been done for specific cases (e.g. [FrSky Telemetry](../peripherals/frsky_telemetry.md) enables sending vehicle status to an RC controller via an FrSky receiver) providing general advice is difficult.
+We recommend you start by [discussing with the development team](../contribute/support.md).

en/dev_airframes/README.md

@@ -11,7 +11,8 @@ You can find a list of all supported frame types and motor outputs in the [Airfr
 
 This section provides information that is relevant to developers who want to add support for new vehicles or vehicle types to PX4, including build logs for vehicles that are still being developed.
 
-> **Tip** PX4 is also well-suited for use in other vehicle types and general robots, ranging from submarine, boats, or amphibious vehicles, through to experimental aircraft and rockets. *Let us know* if you have a new vehicle or frame-type you want to help support in PX4.
+> **Tip** PX4 is also well-suited for use in other vehicle types and general robots, ranging from submarine, boats, or amphibious vehicles, through to experimental aircraft and rockets.
+  *Let us know* if you have a new vehicle or frame-type you want to help support in PX4.
 
 <span></span>
-> **Note** Build logs for some of the supported airframes can be found in [PX4 User Guide > Airframes](../airframes/README.md).
+> **Note** Build logs for some of the supported airframes can be found in [Airframe/Vehicle Builds](../airframes/README.md).

en/dev_airframes/adding_a_new_frame.md

@@ -222,9 +222,7 @@ For a new airframe belonging to an existing group, you don't need to do anything
 [ROMFS/px4fmu_common/init.d](https://github.com/PX4/PX4-Autopilot/tree/master/ROMFS/px4fmu_common/init.d).
 
 If the airframe is for a **new group** you additionally need to:
-1. Add the svg image for the group into documentation repos (if no image is provided a placeholder image is displayed):
-   * PX4 Development Guide: [assets/airframes/types](https://github.com/PX4/Devguide/tree/master/assets/airframes/types)
-   * PX4 User Guide: [assets/airframes/types](https://github.com/PX4/px4_user_guide/tree/master/assets/airframes/types)
+1. Add the svg image for the group into user guide documentation (if no image is provided a placeholder image is displayed): [assets/airframes/types](https://github.com/PX4/px4_user_guide/tree/master/assets/airframes/types)
 1. Add a mapping between the new group name and image filename in the [srcparser.py](https://github.com/PX4/PX4-Autopilot/blob/master/Tools/px4airframes/srcparser.py) method `GetImageName()` (follow the pattern below): 
    ```
    def GetImageName(self):
@@ -256,7 +254,7 @@ If the airframe is for a **new group** you additionally need to:
 
 ## Tuning Gains
 
-The following *PX4 User Guide* topics explain how to tune the parameters that will be specified in the config file:
+The following topics explain how to tune the parameters that will be specified in the config file:
 
 * [Multicopter PID Tuning Guide](../config_mc/pid_tuning_guide_multicopter.md)
 * [Fixed Wing PID Tuning Guide](../config_fw/pid_tuning_guide_fixedwing.md)

en/dev_log/flight_log_analysis.md

@@ -1,6 +1,6 @@
 # Flight Log Analysis
 
-Information about Flight Log Analysis is covered in the PX4 User Guide:
+Information about collecting and analysing flight logs is covered in:
 
 - [Flight Reporting](../getting_started/flight_reporting.md) - How to download a log and report/discuss issues about a flight.
 - [Log Analysis using Flight Review](../log/flight_review.md) - How to analyse many common vehicle problems using the [Flight Review](https://logs.px4.io/) online tool.

en/dev_setup/building_px4.md

@@ -221,8 +221,8 @@ cd /home/pi && ./bin/px4 -d -s px4.config > px4.log
 ### OcPoC-Zynq Mini
 
 Build instructions for the [OcPoC-Zynq Mini](../flight_controller/ocpoc_zynq.md) are covered in:
-* [Aerotenna OcPoC-Zynq Mini Flight Controller > Building PX4 for OcPoC-Zynq](../flight_controller/ocpoc_zynq.md#building-px4-for-ocpoc-zynq) (PX4 User Guide)
-* [OcPoC PX4 Setup Page](https://aerotenna.readme.io/docs/px4-setup)
+* [Aerotenna OcPoC-Zynq Mini Flight Controller > Building PX4 for OcPoC-Zynq](../flight_controller/ocpoc_zynq.md#building-px4-for-ocpoc-zynq)
+* [OcPoC PX4 Setup Page](https://aerotenna.readme.io/docs/px4-setup)  (aerotenna.readme.io)
 
 
 ### QuRT / Snapdragon Based Boards

en/dev_setup/config_initial.md

@@ -4,7 +4,8 @@ We recommend that developers obtain the basic equipment described below (or simi
 
 ## Basic Equipment
 
-> **Tip** PX4 can be used with a much wider range of equipment than described here, but new developers will benefit from going with one of the standard setups. A Taranis RC plus a Note 4 tablet make up for a very inexpensive field kit.
+> **Tip** PX4 can be used with a much wider range of equipment than described here, but new developers will benefit from going with one of the standard setups.
+A Taranis RC plus a Note 4 tablet make up for a very inexpensive field kit.
 
 The equipment below is highly recommended:
 
@@ -21,10 +22,11 @@ The equipment below is highly recommended:
 
 ## Vehicle Configuration
 
-> **Tip** *QGroundControl* for a **desktop OS** is required for vehicle configuration. You should use (and regularly update) the daily build in order to take advantage of the latest features in PX4.
+> **Tip** *QGroundControl* for a **desktop OS** is required for vehicle configuration.
+  You should use (and regularly update) the daily build in order to take advantage of the latest features in PX4.
 
 To configure the vehicle:
 
 1. Download the [QGroundControl Daily Build](https://docs.qgroundcontrol.com/en/releases/daily_builds.html) for your development platform.
-1. [Basic Configuration](../config/README.md) (PX4 User Guide) explains how to to perform basic configuration. 
-1. [Parameter Configuration](../advanced_config/parameters.md) (PX4 User Guide) explains how you can find and modify individual parameters.
+1. [Basic Configuration](../config/README.md) explains how to to perform basic configuration. 
+1. [Parameter Configuration](../advanced_config/parameters.md) explains how you can find and modify individual parameters.

en/dev_setup/dev_env_linux_ubuntu.md

@@ -164,7 +164,7 @@ Note:
 
 ## Snapdragon Flight
 
-Setup instructions for Snapdragon Flight are provided in the *PX4 User Guide*:
+Setup instructions for *Snapdragon Flight* are provided in the flight controller pages:
 * [Development Environment](../flight_controller/snapdragon_flight_dev_environment_installation.md)
 * [Software Installation](../flight_controller/snapdragon_flight_software_installation.md)
 * [Configuration](../flight_controller/snapdragon_flight_configuration.md)