Merge branch 'ArduPilot:master' into DTS6012M

Author: FractalEngineer

.github/CONTRIBUTING.md

@@ -8,7 +8,7 @@ If you are reading this page, you are possibly interested in contributing to our
 * Adding new features
 * Reviewing existing pull requests, and notifying the maintainer if it passes your code review.
 
-## How to make a good bug report...
+## How to make a good bug report
 
 * Make sure your bug is not a support issue. Support issues should go to [the support forums](http://discuss.ardupilot.org) and include a .bin log file if possible. If you're not sure you have a bug, you should seek support first.
 * Search for your bug, make sure it is not already reported. If it is already reported, make a comment on that issue.

.github/ISSUE_TEMPLATE/bug_report.md

@@ -14,6 +14,7 @@ If there was a previous discussion in the forum, link to it
 ## Bug report
 
 ### Issue details
+
 Please describe the problem
 
 **Version**

.markdownlint-cli2.jsonc

@@ -9,16 +9,10 @@
   "config": {
     // Disable rules that are currently violated in the codebase
     // These can be re-enabled incrementally as files are fixed
-    "MD012": false,  // Multiple consecutive blank lines
     "MD013": false,  // Line length
     "MD014": false,  // Dollar signs used before commands without showing output
-    "MD022": false,  // Headings should be surrounded by blank lines
     "MD024": false,  // Multiple headings with the same content
-    "MD026": false,  // Trailing punctuation in heading
     "MD029": false,  // Ordered list item prefix
-    "MD032": false,  // Lists should be surrounded by blank lines
-    "MD033": true,   // Inline HTML - no inline HTML allowed
-    "MD036": false,  // Emphasis used instead of a heading
     "MD037": false,  // Spaces inside emphasis markers
     "MD045": false   // Images should have alternate text
   }

Tools/debug/README.md

@@ -122,7 +122,7 @@ or to open in gdb for further postmortem do the following:
 
 `arm-none-eabi-gdb -nx path/to/elf/file -ex "set target-charset ASCII" -ex "target remote | modules/CrashDebug/bins/lin64/CrashDebug --elf path/to/elf/file --dump crash_dump.bin"`
 
-## Debugging faults using GDB:
+## Debugging faults using GDB
 
 * Connect hardware over SWD
 * Place breakpoint at hardfault using `b *&HardFault_Handler`
@@ -134,7 +134,7 @@ and then `set $sp = $psp` and do `backtrace`
 
 * One can also log the RAM, refer crash_debugger app and Tools/debug/crash_dump.scr for the same.
 
-### References:
+### References
 
 [Memfault Interrupt](https://interrupt.memfault.com/blog/cortex-m-fault-debug)
 

Tools/ros2/README.md

@@ -127,7 +127,7 @@ cd ~/ros2_ws
 source /{path_to_your_ros_distro_workspace}/install/setup.zsh
 ```
 
-### 4.1. Build microxrcedds_gen:
+### 4.1. Build microxrcedds_gen
 
 ```bash
 cd ~/ros2_ws/src/microxrcedds_gen

Tools/ros2/ardupilot_dds_tests/launch/README.md

@@ -1 +1 @@
-# Placeholder for `ardupilot_dds_tests` launch files.
+# Placeholder for `ardupilot_dds_tests` launch files

Tools/scripts/sitl-on-hardware/README.md

@@ -23,7 +23,7 @@ and quadplane:
     cd $HOME/ardupilot
     ./Tools/scripts/sitl-on-hardware/sitl-on-hw.py --board MatekH743 --vehicle plane --simclass QuadPlane
 
-### Copter :
+### Copter
 
 Only the default quad frame is enable by default, to enable another frame type, you need to enable the right compile flag :
 e.g. for octa-quad frame, AP_MOTORS_FRAME_OCTAQUAD_ENABLED 1 in the hwdef file. Compile flags list is in AP_Motors_class.h

Tools/simulink/arducopter/README.md

@@ -2,7 +2,7 @@
 
 The Simulink file [arducopter.slx](https://github.com/fbredeme/ardupilot_simulink/blob/master/arducopter.slx) contains a model of the ArduCopter Stabilize and Althold controllers. The plant models of the copter itself can be generated by [system identification](https://ardupilot.org/copter/docs/systemid-mode.html).
 
-![](simulink_model.PNG?raw=true "Simulink screenshot")
+![Simulink screenshot](simulink_model.PNG)
 
 To run the simulation, the relevant data from a *.bin log file needs to be loaded to the MATLAB workspace. This can be done with the two scripts that are provided:
 

libraries/AC_CustomControl/README.md

@@ -7,7 +7,7 @@ Custom controller library allows you to implement and easily run your own contro
 - In-flight switching between main and custom controller with RC switch, option 109.
 - Bitmask to choose which axis to use the custom controller output
 - Filter, integrator reset mechanism when switching between controller
-  - Bumpless transfer when switching from custom to the main controller
+  - Bumpless transfer when switching from custom to the main controller
 - Ground and in-flight spool state separation to avoid build-up during arming and take-off with the custom controller
 - Frontend-backend separation that allows adding a new controller with very little overhead
 - Flag to compile out custom controller related code on hardware, --enable-custom-controller
@@ -19,9 +19,9 @@ Custom controller library allows you to implement and easily run your own contro
 The frontend library has the following parameters
 
 - `CC_TYPE`: choose which custom controller backend to use, reboot required.
-  - Setting it to 0 will turn this feature off, GCS will not display parameters related to the custom controller
+  - Setting it to 0 will turn this feature off, GCS will not display parameters related to the custom controller
 - `CC_AXIS_MASK`: choose which axis to use custom controller output
-  - This is a bitmask type parameter. Set 7 to use all output
+  - This is a bitmask type parameter. Set 7 to use all output
 
 ## Interaction With Main Controller
 

libraries/AP_HAL_ChibiOS/hwdef/ACNS-CM4Pilot/README.md

@@ -9,7 +9,7 @@ The CM4PILOT is a low-cost and compact flight controller which integrated a Rasp
 ## Features
 
 - Raspberry Pi CM4 + Ardupilot, Companion Computers in cockpit structure
-- Small Footprint and Lightweight, 58mm X 50mm X 18mm，26g(without shell)
+- Small Footprint and Lightweight, 58mm x 50mm x 18mm, 26g (without shell)
 - Broadcom BCM2711, quad-core Cortex-A72 (ARM v8) 64-bit SoC @ 1.5GHz
 - STM32F405 microcontroller
 - IMU: BMI088