Make docs links relative

Author: PaulZC

docs/connecting_bluetooth.md

@@ -64,4 +64,4 @@ If necessary, you can open a terminal connection to one of the COM ports. Becaus
 
 Apple products do not support Bluetooth SPP. That's ok! The SparkFun RTK devices support Bluetooth Low Energy (BLE) which does work with iOS.
 
-More information is available on the [System Menu](https://docs.sparkfun.com/SparkFun_RTK_Firmware/menu_system/) for switching between Bluetooth SPP and BLE.
+More information is available on the [System Menu](menu_system.md) for switching between Bluetooth SPP and BLE.

docs/correction_sources.md

@@ -12,7 +12,7 @@ To achieve an RTK Fix, SparkFun RTK products must be provided with a correction
 
 *An L1/L2 GNSS antenna permanently affixed to a cinder block*
 
-A permanent base is a user-owned and operated base station. See [Creating a Permanent Base](https://docs.sparkfun.com/SparkFun_RTK_Firmware/permanent_base/) for more information. A permanent base has the benefit of being the most accurate, with relatively low cost, but requires at least 24 hours of initial logging and some mechanical setup time (attaching the antenna, connecting a device to the internet, etc).
+A permanent base is a user-owned and operated base station. See [Creating a Permanent Base](permanent_base.md) for more information. A permanent base has the benefit of being the most accurate, with relatively low cost, but requires at least 24 hours of initial logging and some mechanical setup time (attaching the antenna, connecting a device to the internet, etc).
 
 ## Temporary Base
 
@@ -50,7 +50,7 @@ More expensive surveyor bases have a ⅝” 11-TPI thread but the top of the sur
 
 If you’re shopping for a cell phone clamp be sure to get one that is compatible with the diameter of your tripod and has a knob to increase clamp pressure. Our tripod is 18mm in diameter and we’ve had a good experience with [this clamp](https://www.amazon.com/gp/product/B072DSRF3J). Your mileage may vary.
 
-Note: A mobile base station works well for quick trips to the field. However, the survey-in method is not recommended for the highest accuracy measurements because the positional accuracy of the base will directly translate to the accuracy of the rover. Said differently, if your base's calculated position is off by 100cm, so will every reading your rover makes. For many applications, such as surveying, this is acceptable since the Surveyor may only be concerned with measuring the lengths of property lines or features. If you’re looking for maximum accuracy consider installing a [permanent static base with a fixed antenna](https://docs.sparkfun.com/SparkFun_RTK_Firmware/permanent_base/). We were able to pinpoint the antenna on the top of SparkFun with an incredible accuracy [+/-2mm of accuracy](https://cdn.sparkfun.com/assets/learn_tutorials/1/4/6/3/SparkFun_PPP_Results.png) using PPP!
+Note: A mobile base station works well for quick trips to the field. However, the survey-in method is not recommended for the highest accuracy measurements because the positional accuracy of the base will directly translate to the accuracy of the rover. Said differently, if your base's calculated position is off by 100cm, so will every reading your rover makes. For many applications, such as surveying, this is acceptable since the Surveyor may only be concerned with measuring the lengths of property lines or features. If you’re looking for maximum accuracy consider installing a [permanent static base with a fixed antenna](permanent_base.md). We were able to pinpoint the antenna on the top of SparkFun with an incredible accuracy [+/-2mm of accuracy](https://cdn.sparkfun.com/assets/learn_tutorials/1/4/6/3/SparkFun_PPP_Results.png) using PPP!
 
 ## Skylark
 

docs/correction_transport.md

@@ -2,7 +2,7 @@
 
 Surveyor: ![Feature Supported](img/GreenDot.png) / Express: ![Feature Supported](img/GreenDot.png) / Express Plus: ![Feature Not Supported](img/GreenDot.png) / Facet: ![Feature Supported](img/GreenDot.png) / Facet L-Band: ![Feature Supported](img/YellowDot.png) / Reference Station: ![Feature Supported](img/GreenDot.png)
 
-Once a [correction source](https://docs.sparkfun.com/SparkFun_RTK_Firmware/correction_sources/) is chosen, the correction data must be transported from the base to the rover. The RTCM serial data is approximately 530 bytes per second and is transmitted at 57600bps out of the **RADIO** port on a SparkFun RTK device.
+Once a [correction source](correction_sources.md) is chosen, the correction data must be transported from the base to the rover. The RTCM serial data is approximately 530 bytes per second and is transmitted at 57600bps out of the **RADIO** port on a SparkFun RTK device.
 
 There are a variety of ways to move data from a base to a rover. We will cover the most common below. 
 
@@ -14,13 +14,13 @@ Note: RTK calculations require RTCM data to be delivered approximately once per
 
 ![NTRIP Server setup](https://cdn.sparkfun.com/assets/learn_tutorials/1/4/6/3/RTK_Surveyor_-_WiFi_Config_-_Base_Config2.jpg)
 
-Any SparkFun RTK device can be set up as an [NTRIP Server](https://docs.sparkfun.com/SparkFun_RTK_Firmware/configure_base/#ntrip-server). This means the device will connect to local WiFi and broadcast its correction data to the internet. The data is delivered to something called an NTRIP Caster. Any number of rovers can then access this data using something called an NTRIP Client. Nearly *every* GIS application has an NTRIP Client built into it so this makes it very handy.
+Any SparkFun RTK device can be set up as an [NTRIP Server](configure_base.md#ntrip-server). This means the device will connect to local WiFi and broadcast its correction data to the internet. The data is delivered to something called an NTRIP Caster. Any number of rovers can then access this data using something called an NTRIP Client. Nearly *every* GIS application has an NTRIP Client built into it so this makes it very handy.
 
 WiFi broadcasting is the most common transport method of getting RTCM correction data to the internet and to rovers via NTRIP Clients.
 
 ![RTK product in NTRIP Client mode](https://cdn.sparkfun.com/assets/learn_tutorials/2/1/8/8/SparkFun_RTK_Rover_NTRIP_Client_Connection.png)
 
-Similarly, any SparkFun RTK device can be set up as an [NTRIP Client](https://docs.sparkfun.com/SparkFun_RTK_Firmware/configure_gnss/#ntrip-client). The RTK device will connect to the local WiFi and begin downloading the RTCM data from the given NTRIP Caster and RTK Fix will be achieved. This is useful only if the Rover remains in RF range of the WiFi access point. Because of the limited range, we recommend using a cellphone rather than WiFi for NTRIP Clients.
+Similarly, any SparkFun RTK device can be set up as an [NTRIP Client](configure_gnss.md#ntrip-client). The RTK device will connect to the local WiFi and begin downloading the RTCM data from the given NTRIP Caster and RTK Fix will be achieved. This is useful only if the Rover remains in RF range of the WiFi access point. Because of the limited range, we recommend using a cellphone rather than WiFi for NTRIP Clients.
 
 ## Cellular
 

docs/displays.md

@@ -28,7 +28,7 @@ Upon power up the device will enter either Rover mode or Base mode. Above, the R
 * **Model:** This icon will change depending on the selected dynamic model: Portable (default) Pedestrian, Sea, Bike, Stationary, etc.
 * **Log:** This icon will remain animated while the log file is increasing. This is a good visual indication that you have an SD card inserted and RTK Facet can successfully record to it. There are three logging icons ![Logging icons](img/Radios/SparkFun%20RTK%20Logging%20Types.png)
     * Standard (three lines) is shown when the standard 5 NMEA messages are being logged
-    * PPP (capital P) is shown when the standard 5 NMEA + RAWX and SFRBX messages are recorded. This is most often used for post process positioning (PPP) and 12 to 24-hour logs for [fixed permanent bases](https://docs.sparkfun.com/SparkFun_RTK_Firmware/permanent_base/).
+    * PPP (capital P) is shown when the standard 5 NMEA + RAWX and SFRBX messages are recorded. This is most often used for post process positioning (PPP) and 12 to 24-hour logs for [fixed permanent bases](permanent_base.md).
     * Custom (capital C) is shown when a custom set of messages are being recorded (not standard, and not PPP).
 
 ## Rover RTK Fix

docs/firmware_update.md

@@ -5,7 +5,7 @@ Surveyor: ![Feature Supported](img/GreenDot.png) / Express: ![Feature Supported]
 The device has two primary firmwares:
 
 * Firmware on the ESP32 microcontroller. Keep reading.
-* Firmware on the u-blox ZED-F9P, ZED-F9P, or NEO-D9S Receiver. [See below](https://docs.sparkfun.com/SparkFun_RTK_Firmware/firmware_update/#updating-u-blox-firmware).
+* Firmware on the u-blox ZED-F9P, ZED-F9P, or NEO-D9S Receiver. [See below](firmware_update.md#updating-u-blox-firmware).
 
 The device firmware is displayed in a variety of places:
 * Power On
@@ -32,13 +32,13 @@ The firmware is shown at the top of the WiFi config page.
 
 From time to time SparkFun will release new firmware for the RTK product line to add and improve functionality. For most users, firmware can be upgraded over WiFi using the OTA method.
 
-* [OTA Method](https://docs.sparkfun.com/SparkFun_RTK_Firmware/firmware_update/#updating-firmware-over-the-air): Connect over WiFi to SparkFun to download the latest firmware *over-the-air*. This can be done using the serial menu or while in WiFi AP Config Mode. Requires a local WiFi network.
-* [GUI Method](https://docs.sparkfun.com/SparkFun_RTK_Firmware/firmware_update/#updating-firmware-using-windows-gui): Use the [Windows, Linux, MacOS or Python GUI](https://github.com/sparkfun/SparkFun_RTK_Firmware_Uploader) and a USB cable. (The Python package has been tested on Raspberry Pi)
-* [SD Method](https://docs.sparkfun.com/SparkFun_RTK_Firmware/firmware_update/#updating-firmware-from-the-sd-card): Load the firmware on an SD card, then use a serial terminal with the *Firmware Upgrade* menu
-* [WiFi Method](https://docs.sparkfun.com/SparkFun_RTK_Firmware/firmware_update/#updating-firmware-from-wifi): Load the firmware over WiFi when the device is in WiFi AP Config Mode
-* [CLI Method](https://docs.sparkfun.com/SparkFun_RTK_Firmware/firmware_update/#updating-firmware-from-cli): Use the command line *batch_program.bat*
+* [OTA Method](firmware_update.md#updating-firmware-over-the-air): Connect over WiFi to SparkFun to download the latest firmware *over-the-air*. This can be done using the serial menu or while in WiFi AP Config Mode. Requires a local WiFi network.
+* [GUI Method](firmware_update.md#updating-firmware-using-windows-gui): Use the [Windows, Linux, MacOS or Python GUI](https://github.com/sparkfun/SparkFun_RTK_Firmware_Uploader) and a USB cable. (The Python package has been tested on Raspberry Pi)
+* [SD Method](firmware_update.md#updating-firmware-from-the-sd-card): Load the firmware on an SD card, then use a serial terminal with the *Firmware Upgrade* menu
+* [WiFi Method](firmware_update.md#updating-firmware-from-wifi): Load the firmware over WiFi when the device is in WiFi AP Config Mode
+* [CLI Method](firmware_update.md#updating-firmware-from-cli): Use the command line *batch_program.bat*
 
-The OTA method is generally recommended. For more information see [here](https://docs.sparkfun.com/SparkFun_RTK_Firmware/firmware_update/#updating-firmware-over-the-air).
+The OTA method is generally recommended. For more information see [here](firmware_update.md#updating-firmware-over-the-air).
 
 Remember, all SparkFun RTK devices are open source hardware meaning you have total access to the [firmware](https://github.com/sparkfun/SparkFun_RTK_Firmware) and [hardware](https://github.com/sparkfun/SparkFun_RTK_Facet). Be sure to check out each repo for the latest firmware and hardware information.
 
@@ -56,7 +56,7 @@ Introduced with version 3.0, firmware can be updated by pressing a button in the
 
 Additionally, users may opt into checking for Beta firmware. This is the latest firmware that may have new features and is meant for testing. Beta firmware is not recommended for units deployed into the field as it may not be stable.
 
-If you have a device with firmware lower than v3.0, you will need to use the [GUI](https://docs.sparkfun.com/SparkFun_RTK_Firmware/firmware_update/#updating-firmware-using-the-uploader-gui) or a method listed below to get to v3.x.
+If you have a device with firmware lower than v3.0, you will need to use the [GUI](firmware_update.md#updating-firmware-using-the-uploader-gui) or a method listed below to get to v3.x.
 
 ## Updating Firmware Using The Uploader GUI
 
@@ -104,13 +104,13 @@ The firmware upgrade menu will only display files that have the "RTK_Surveyor_Fi
 
 ### Force Firmware Loading
 
-In the rare event that a unit is not staying on long enough for new firmware to be loaded into a COM port, the RTK Firmware (as of version 1.2) has an override function. If a file named *RTK_Surveyor_Firmware_Force.bin* is detected on the SD card at boot that file will be used to overwrite the current firmware, and then be deleted. This update path is generally not recommended. Use the [GUI](https://docs.sparkfun.com/SparkFun_RTK_Firmware/firmware_update/#updating-firmware-using-windows-gui) or [WiFi OTA](https://docs.sparkfun.com/SparkFun_RTK_Firmware/firmware_update/#updating-firmware-from-wifi) methods as the first resort.
+In the rare event that a unit is not staying on long enough for new firmware to be loaded into a COM port, the RTK Firmware (as of version 1.2) has an override function. If a file named *RTK_Surveyor_Firmware_Force.bin* is detected on the SD card at boot that file will be used to overwrite the current firmware, and then be deleted. This update path is generally not recommended. Use the [GUI](firmware_update.md#updating-firmware-using-windows-gui) or [WiFi OTA](firmware_update.md#updating-firmware-from-wifi) methods as the first resort.
 
 ## Updating Firmware From WiFi
 
 ![Advanced system settings](img/SparkFun%20RTK%20System%20Config%20Upload%20BIN.png)
 
-**Note:** Firmware versions 1.1 to 1.9 have an issue that severely limits firmware upload over WiFi and is not recommended; use the [GUI](https://docs.sparkfun.com/SparkFun_RTK_Firmware/firmware_update/#updating-firmware-using-the-uploader-gui) method instead. Firmware versions v1.10 and beyond support direct firmware updates via WiFi.
+**Note:** Firmware versions 1.1 to 1.9 have an issue that severely limits firmware upload over WiFi and is not recommended; use the [GUI](firmware_update.md#updating-firmware-using-the-uploader-gui) method instead. Firmware versions v1.10 and beyond support direct firmware updates via WiFi.
 
 Firmware may be uploaded to the unit by clicking on 'Upload BIN', selecting the binary such as 'RTK_Surveyor_Firmware_v3_x.bin' and pressing upload. The unit will automatically reset once the firmware upload is complete.
 
@@ -164,7 +164,7 @@ Upon completion, your RTK device will reset and power down.
 
 RTK Surveyors sold before September 2021 may have an ESP32 WROOM module with 4MB flash instead of 16MB flash. These units still support all the functionality of other RTK products with the following limitations:
 
-* There is not enough flash space for OTA. Upgrading the firmware must be done via [CLI](https://docs.sparkfun.com/SparkFun_RTK_Firmware/firmware_update/#updating-firmware-from-cli) or [GUI](https://docs.sparkfun.com/SparkFun_RTK_Firmware/firmware_update/#updating-firmware-using-windows-gui). OTA, WiFi, or SD update paths are not possible.
+* There is not enough flash space for OTA. Upgrading the firmware must be done via [CLI](firmware_update.md#updating-firmware-from-cli) or [GUI](firmware_update.md#updating-firmware-using-windows-gui). OTA, WiFi, or SD update paths are not possible.
 
 The GUI (as of v1.3) will autodetect the ESP32's flash size and load the appropriate partition file. No user interaction is required.
 
@@ -195,9 +195,9 @@ The following products contain the following u-blox receivers:
 
 The firmware loaded onto the ZED-F9P, ZED-F9R, and NEO-D9S receivers is written by u-blox and can vary depending on the manufacture date. The RTK Firmware (that runs on the ESP32) is designed to flexibly work with any u-blox firmware. Upgrading the ZED-F9x/NEO-D9S is a good thing to consider but is not crucial to the use of RTK products.
 
-Not sure what firmware is loaded onto your RTK product? Open the [System Status Menu](https://docs.sparkfun.com/SparkFun_RTK_Firmware/menu_system/) to display the module's current firmware version.
+Not sure what firmware is loaded onto your RTK product? Open the [System Status Menu](menu_system.md) to display the module's current firmware version.
 
-The firmware on u-blox devices can be updated using a [Windows-based GUI](https://docs.sparkfun.com/SparkFun_RTK_Firmware/firmware_update/#updating-using-windows-gui) or [u-center](https://docs.sparkfun.com/SparkFun_RTK_Firmware/firmware_update/#updating-using-u-center). A CLI method is also possible using the `ubxfwupdate.exe` tool provided with u-center. Additionally, u-blox offers the source for the ubxfwupdate tool that is written in C. It is currently released only under an NDA so contact your local u-blox Field Applications Engineer if you need a different method.
+The firmware on u-blox devices can be updated using a [Windows-based GUI](firmware_update.md#updating-using-windows-gui) or [u-center](firmware_update.md#updating-using-u-center). A CLI method is also possible using the `ubxfwupdate.exe` tool provided with u-center. Additionally, u-blox offers the source for the ubxfwupdate tool that is written in C. It is currently released only under an NDA so contact your local u-blox Field Applications Engineer if you need a different method.
 
 ## Updating Using Windows GUI
 
@@ -280,15 +280,15 @@ The SparkFun RTK firmware is compiled using Arduino (currently v1.8.15). To comp
 
     B. Set the 'Flash Size' to 16MB (128mbit)
 
-5. Obtain all the [required libraries](https://docs.sparkfun.com/SparkFun_RTK_Firmware/firmware_update/#Required-Libraries).
+5. Obtain all the [required libraries](firmware_update.md#Required-Libraries).
 
 Once compiled, firmware can be uploaded directly to a unit when the RTK unit is on and the correct COM port is selected under the Arduino IDE Tools->Port menu.
 
 If you are seeing the error:
 
 > text section exceeds available space ...
 
-You have not replaced the partition file correctly. See the 'Change Partition table' step inside the [Windows instructions](https://docs.sparkfun.com/SparkFun_RTK_Firmware/firmware_update/#windows_1).
+You have not replaced the partition file correctly. See the 'Change Partition table' step inside the [Windows instructions](firmware_update.md#windows).
 
 **Note:** There are a variety of compile guards (COMPILE_WIFI, COMPILE_AP, etc) at the top of RTK_Surveyor.ino that can be commented out to remove them from compilation. This will greatly reduce the firmware size and allow for faster development of functions that do not rely on these features (serial menus, system configuration, logging, etc).