Use :ref: for http://ftc-docs.firstinspires.org inline urls

Author: cmacfarl

docs/source/apriltag/opmode_test_images/opmode-test-images.rst

@@ -75,7 +75,7 @@ to verify that the page printed properly.
 For more in-depth information about AprilTag detection values, and
 better understanding what they mean, please visit the following website:
 
-- `Understanding AprilTag Detection Values <https://ftc-docs.firstinspires.org/en/latest/apriltag/understanding_apriltag_detection_values/understanding-apriltag-detection-values.html>`__
+:ref:`Understanding AprilTag Detection Values <apriltag/understanding_apriltag_detection_values/understanding-apriltag-detection-values:understanding apriltag detection values>`
 - :download:`Download and print the official PDF <files/FTCAprilTagSDK82SamplesExtended.pdf>`
 
 

docs/source/apriltag/vision_portal/apriltag_advanced_use/apriltag-advanced-use.rst

@@ -89,7 +89,7 @@ follows:
 
 Further discussion is provided here:
 
-- `Understanding AprilTag Detection Values <https://ftc-docs.firstinspires.org/en/latest/apriltag/understanding_apriltag_detection_values/understanding-apriltag-detection-values.html>`__
+:ref:`Understanding AprilTag Detection Values <apriltag/understanding_apriltag_detection_values/understanding-apriltag-detection-values:understanding apriltag detection values>`
 
 Advanced CPU Management
 -----------------------

docs/source/apriltag/vision_portal/apriltag_intro/apriltag-intro.rst

@@ -276,7 +276,7 @@ positive rotation.
 
 Further discussion is provided here:
 
-- `Understanding AprilTag Detection Values <https://ftc-docs.firstinspires.org/en/latest/apriltag/understanding_apriltag_detection_values/understanding-apriltag-detection-values.html>__`
+:ref:`Understanding AprilTag Detection Values <apriltag/understanding_apriltag_detection_values/understanding-apriltag-detection-values:understanding apriltag detection values>`
 
 Note: This article does not discuss the *FIRST* Tech Challenge 
 :ref:`Field Coordinate System <game_specific_resources/field_coordinate_system/field-coordinate-system:scope>`.
@@ -373,7 +373,7 @@ follows:
 
 Again, further discussion is provided here:
 
-- `Understanding AprilTag Detection Values <https://ftc-docs.firstinspires.org/en/latest/apriltag/understanding_apriltag_detection_values/understanding-apriltag-detection-values.html>__`
+:ref:`Understanding AprilTag Detection Values <apriltag/understanding_apriltag_detection_values/understanding-apriltag-detection-values:understanding apriltag detection values>`
 
 Summary
 -------

docs/source/apriltag/vision_portal/apriltag_pose/apriltag-pose.rst

@@ -102,7 +102,7 @@ Sample OpModes:
 
 More discussion of AprilTag pose data is available here:
 
-- `Understanding AprilTag Detection Values <https://ftc-docs.firstinspires.org/en/latest/apriltag/understanding_apriltag_detection_values/understanding-apriltag-detection-values.html>__`
+:ref:`Understanding AprilTag Detection Values <apriltag/understanding_apriltag_detection_values/understanding-apriltag-detection-values:understanding apriltag detection values>`
 
 ====