ArduPilot · peterbarker · Feb 14, 2026 · Feb 13, 2026 · Feb 13, 2026 · Feb 13, 2026
diff --git a/.github/CONTRIBUTING.md b/.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.

diff --git a/.markdownlint-cli2.jsonc b/.markdownlint-cli2.jsonc
@@ -14,11 +14,7 @@
     "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
   }

diff --git a/Tools/debug/README.md b/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)
 

diff --git a/Tools/ros2/README.md b/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

diff --git a/Tools/ros2/ardupilot_dds_tests/launch/README.md b/Tools/ros2/ardupilot_dds_tests/launch/README.md
@@ -1 +1 @@
-# Placeholder for `ardupilot_dds_tests` launch files.
+# Placeholder for `ardupilot_dds_tests` launch files
diff --git a/Tools/scripts/sitl-on-hardware/README.md b/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

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/JHEMCU-GSF405A-RX2/readme.md b/libraries/AP_HAL_ChibiOS/hwdef/JHEMCU-GSF405A-RX2/readme.md
@@ -7,7 +7,7 @@ The JHEMCU GSF405A is a 1-2S Whoop-style (25.5mm x 25.5mm) flight controller fea
 [Pyrodrone](https://pyrodrone.com/collections/new-products/products/jhemcu-gsf405a-1s-2s-aio-f4-flight-control-w-5a-esc-elrs-2-4g-rx-25-5-25-5mm)
 [RaceDayQuads](https://www.racedayquads.com/collections/new-products/products/jhemcu-gsf405a-1-2s-toothpick-whoop-aio-flight-controller-w-8bit-5a-esc-and-elrs-2-4ghz-rx)
 
-## Specs:
+## Specs
 
 ### Flight control parameters
 

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/JHEMCU-GSF405A/readme.md b/libraries/AP_HAL_ChibiOS/hwdef/JHEMCU-GSF405A/readme.md
@@ -7,7 +7,7 @@ The JHEMCU GSF405A is a 1-2S Whoop-style (25.5mm x 25.5mm) flight controller fea
 [Pyrodrone](https://pyrodrone.com/collections/new-products/products/jhemcu-gsf405a-1s-2s-aio-f4-flight-control-w-5a-esc-elrs-2-4g-rx-25-5-25-5mm)
 [RaceDayQuads](https://www.racedayquads.com/collections/new-products/products/jhemcu-gsf405a-1-2s-toothpick-whoop-aio-flight-controller-w-8bit-5a-esc-and-elrs-2-4ghz-rx)
 
-## Specs:
+## Specs
 
 ### Flight control parameters
 

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/JHEM_JHEF405/readme.md b/libraries/AP_HAL_ChibiOS/hwdef/JHEM_JHEF405/readme.md
@@ -7,7 +7,7 @@ There are 5 serial ports (UART1, UART2, UART3, UART4, UART6), 8 motor ports, 1 I
 
 ![JHEMCU GF16-BMI stack](jhemcu-gf16-bmi.jpg "JHEMCU GF16-BMI stack")
 
-## Specs:
+## Specs
 
 **Flight control parameters:**
 

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/SULILGH7-P1-P2/README.md b/libraries/AP_HAL_ChibiOS/hwdef/SULILGH7-P1-P2/README.md
@@ -1,12 +1,12 @@
 # SULILGH7P1/P2 Flight Controller
 
-## This firmware is compatible with SULILGH7-P1 and SULILGH7-P2.
+## This firmware is compatible with SULILGH7-P1 and SULILGH7-P2
 
 This is the open-source hardware I have released, and you can find more details at the following link: [OSHW Hub](https://oshwhub.com/shuyedeye/p1-flight-control.)
 
 ![SULILGH7-P1](P1.jpg)
 
-## Features:
+## Features
 
 - Separate flight control core design.
 - MCU

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6/README.md b/libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6/README.md
@@ -3,7 +3,7 @@
 The ZeroOne X6 is a series of flight controllers manufactured by ZeroOne, which is based on the open-source FMU v6X architecture and Pixhawk Autopilot Bus open source specifications.
 ![Uploading X6_and_X6Pro.jpg…](https://github.com/ZeroOne-Aero/ardupilot/blob/pr-ZeroOneX6_Pro-250526/libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6/X6_and_X6Pro.jpg?raw=true)
 
-## Features:
+## Features
 
 - Separate flight control core design.
 - MCU

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6_Air/README.md b/libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6_Air/README.md
@@ -4,7 +4,7 @@ The ZeroOneX6_Air is a series of flight controllers manufactured by ZeroOne, whi
 
 ![Uploading ZeroOneX6_Air.jpg…](https://github.com/ZeroOne-Aero/ardupilot/blob/pr-ZeroOneX6_Air_Series-250103/libraries/AP_HAL_ChibiOS/hwdef/ZeroOneX6_Air/ZeroOneX6_Air.png?raw=true)
 
-## Features:
+## Features
 
 - Separate flight control Inertial Measurement Unit design.
 - MCU

diff --git a/libraries/AP_HAL_ESP32/README.md b/libraries/AP_HAL_ESP32/README.md
@@ -170,14 +170,14 @@ Internally connected on most devboards, just for reference.
 
 After flashing the esp32 , u can connect with a terminal app of your preference to the same COM port  ( eg /dev/ttyUSB0) at a baud rate of 115200, software flow control, 8N1 common uart settings, and get to see the output from hal.console->printf("...") and other console messages.
 
-### Console/usb/boot-messages/mavlink telem aka serial0/uart0:
+### Console/usb/boot-messages/mavlink telem aka serial0/uart0
 
 | ESP32 | CP2102 |
 | ---   | ---    |
 | GPIO3 | UART_TX |  AKA UART0_RX |
 | GPIO1 | UART_RX |  AKA UART0_TX |
 
-### GPS aka serial1/uart1:
+### GPS aka serial1/uart1
 
 | ESP32       | GPS       |
 | ---         | ---       |
@@ -186,15 +186,15 @@ After flashing the esp32 , u can connect with a terminal app of your preference
 | GND         |      GND  |
 | 5v          |      Pwr  |
 
-### RC receiver connection:
+### RC receiver connection
 
 |ESP32| RC Receiver |
 | --- |    ---      |
 | D4  |  CPPM-out   |
 | GND |       GND   |
 | 5v  |       Pwr   |
 
-### I2C connection ( for gps with leds/compass-es/etc onboard, or digital airspeed sensorrs, etc):
+### I2C connection (for gps with leds/compass-es/etc onboard, or digital airspeed sensors, etc)
 
 | ESP32   | I2C       |
 | ---     | ---       |
@@ -361,7 +361,7 @@ Currently used debugger is called a 'TIAO USB Multi Protocol Adapter' which is a
 - [ ] GSD
 - [ ] Buzzer
 
-### analysing a 'coredump' from the uart...
+### Analysing a coredump from the uart
 
 Save the log where coredump appears to a file, i'll call it core.txt
 ================= CORE DUMP START =================
@@ -394,22 +394,22 @@ select-frame 5
 
 ctrl-c to exit gdb
 
-# storage tips - not generally needed, as u can update params with missionplanenner over mavlink etc.
+# Storage tips - not generally needed, as u can update params with missionplanner over mavlink etc
 
 # determine offset and size of 'storage' partition in flash
 
 parttool.py --partition-table-file partitions.csv get_partition_info --partition-name storage
 >0x3e0000 0x20000
 
-# then backup ardupilot 'storage' area (its a partition, see partitions.csv) to a file on disk:
+# Then backup ardupilot storage area (its a partition, see partitions.csv) to a file on disk
 
 esptool.py read_flash 0x3e0000 0x20000 storage.bin
 
-# restore the storage.bin to your device... basically the same flash command as used in esp32.py but different offset and file:
+# Restore the storage.bin to your device - basically the same flash command as used in esp32.py but different offset and file
 
 esptool.py --chip esp32 --baud 921600 --before default_reset --after hard_reset write_flash -z --flash_mode dio --flash_freq 80m --flash_size detect 0x3e0000 storage.bin
 
-## example log of boot messages:
+## Example log of boot messages
 
 [22:51:20:226] ets Jun  8 2016 00:22:57
 [22:51:20:228]

diff --git a/libraries/AP_HAL_ESP32/profile/README.md b/libraries/AP_HAL_ESP32/profile/README.md
@@ -26,20 +26,20 @@ $ sudo snap install --classic kotlin
 
 kotlinc LinkerScriptGenerator.kt -d generator.jar
 
-## collect up profiling file into this folder... as per above.
+## Collect up profiling file into this folder as per above
 
-## files that the kotlin tool expects to find in this folder:
+## Files that the kotlin tool expects to find in this folder
 
         "ardusub.map",
         "PROF000.TXT",
 
-## file/s it will create in this folder:
+## File/s it will create in this folder
 
         "functions.list"
 
 cp ../../../build/esp32buzz/idf-plane/arduplane.map ardusub.map
 touch PROF000.TXT
 
-## run:
+## Run
 
 java -jar generator.jar
diff --git a/libraries/AP_Scripting/applets/copter-deadreckon-home.md b/libraries/AP_Scripting/applets/copter-deadreckon-home.md
@@ -54,7 +54,7 @@ Deadreckoning will only be activated while the vehicle is in autonomous modes (e
 
   Note: Instaed of setting GPS1_TYPE, an auxiliary function switch can be setup to disable the GPS (e.g. RC9_OPTION = 65/"Disable GPS")
 
-## Testing that it does not require RC (in SITL):
+## Testing that it does not require RC (in SITL)
 
 - set FS_OPTIONS's "Continue if in Guided on RC failsafe" bit
 - set FS_GCS_ENABLE = 1 (to enable GCS failsafe otherwise RC failsafe will trigger anyway)

diff --git a/libraries/AP_Scripting/applets/net-ntrip.md b/libraries/AP_Scripting/applets/net-ntrip.md
@@ -8,7 +8,7 @@ Autopilot must be [Ethernet enabled](https://ardupilot.org/copter/docs/common-ne
 
 NTRIP caster must accept insecure http connections (not https).
 
-## Configuration:
+## Configuration
 
 Configure the autopilot with [DHCP or a static IP, proper gateway, and netmask](https://ardupilot.org/copter/docs/common-network.html).
 

diff --git a/libraries/AP_Scripting/examples/copter_pingpong.md b/libraries/AP_Scripting/examples/copter_pingpong.md
@@ -11,7 +11,7 @@ This script makes the drone go forward and backward a defined distance and numbe
 - 4: Go back to the initial position
 - 5: Change to Land mode
 
-## Variables:
+## Variables
 
 - `takeoff_alt`: Takeoff height (m)
 - `copter_guided_mode_num`: Guided mode number
@@ -22,7 +22,7 @@ This script makes the drone go forward and backward a defined distance and numbe
 - `ping_pong_distance`: Distance up to which the drone should go forward (m)
 - `vel`: Drone velocity (m/s)
 
-## Understand the code:
+## Understand the code
 
 First, there is a comment explaining what the code is about and how it works. Then, the local variables that will be used are declared.
  The `copter_guided_mode_num` and `copter_land_mode_num` are standard numbers, defined by ArduPilot, for the Guided and Land flight modes, respectively. The other variables are user-defined settings according to the desired behavior, as indicated in the comments in front of each one.

diff --git a/libraries/SITL/examples/JSON/readme.md b/libraries/SITL/examples/JSON/readme.md
@@ -80,7 +80,7 @@ rangefinder distances corresponding to driver instances:
     rng_6 (m)
 ```
 
-## Apparent wind:
+## Apparent wind
 
 ```text
     windvane:
@@ -102,7 +102,7 @@ for example:
 "velocity_wind":[3.2,0.0,-0.7]
 ```
 
-## Airspeed:
+## Airspeed
 
 ```text
     airspeed (m/s)
Original file line number	Diff line number	Diff line change
		@@ -1 +1 @@
		# Placeholder for `ardupilot_dds_tests` launch files.
		# Placeholder for `ardupilot_dds_tests` launch files