fix broken links for inav v4 transcription

robotgoat · robotgoat · commit 8e6351fa690b · 2025-11-16T21:55:46.000-08:00
diff --git a/docs/welcome.md b/docs/welcome.md
@@ -21,7 +21,7 @@ For absolute first timer users who want to get setup, please visit the **Install
 
 The documentation is organized into three main sections:
 
-### [**Quickstart**](/docs/category/quickstart/) 
+<!-- ### [**Quickstart**](/docs/category/quickstart/) 
 This section aims to get you from zero to flying with a barebones configuration for an airplane or quadcopter. 
 It will not delve into advanced features such as waypoint missions and return to home options. 
 
@@ -32,4 +32,4 @@ This section will explain in greater detail all the options available with INAV
 This explains the main features and tabs of INAV Configurator. 
 Detailed information on how to use each tab is explained in the relevant Modules section.
 For example, all information on failsafes in the configurator are found in the Failsafes modules page.
-You can use the Configurator page as the shortcuts page to find detailed information on a feature or module you are interested in adjusting to your setup.
+You can use the Configurator page as the shortcuts page to find detailed information on a feature or module you are interested in adjusting to your setup. -->
diff --git a/static/img/content/parse_targets.rb b/static/img/content/parse_targets.rb
@@ -0,0 +1,157 @@
+#!/usr/bin/ruby
+# coding: utf-8
+
+# Parse release targets for PWM allocations etc.
+# (c) Jonathan Hudson
+# Public domain or equivalent, e.g. [Zero Clause BSD](https://tldrlegal.com/license/bsd-0-clause-license)
+#
+
+require 'find'
+
+def parse_output lines
+  pwms=[]
+  n = 0
+  lines.each do |l|
+    if l.match(/TIM_USE_.._(MOTOR|SERVO)/)
+      deftims = l.split(',')
+      alloc = deftims[3]
+      allocs = alloc.split('|').collect{|z| z.strip.gsub('TIM_USE_','')}
+      pwms << allocs.join(', ')
+      n += 1
+    end
+  end
+  pwms
+end
+
+def build_target defs
+  opts=[]
+  File.open(File.join(defs[:name], "target.c")) do |f0|
+    File.open("/tmp/_target.c","w") do |f1|
+      f0.each do |l|
+	next if l.match(/#include/)
+	f1.puts l
+      end
+    end
+  end
+  dshot=false
+  File.open(File.join(defs[:name], "target.h")) do |f0|
+    f0.each do |l|
+      if l.match(/^\s*#define\s+USE_DSHOT/)
+	dshot = true
+      end
+    end
+  end
+
+  defs[:variants].each do |v|
+    optd = (v == defs[:name]) ? '' : "-D#{v}=1"
+    lines = IO.readlines("|gcc #{optd} -E -o- /tmp/_target.c")
+    res = parse_output lines
+    opts << {name: v, pwms: res, dshot: dshot}
+  end
+  opts
+end
+
+def write_out_md targets
+  now = Time.now.utc.strftime("%F")
+  puts DATA.read % now
+  puts
+
+  targets.each do |t0|
+    bname = t0[0][:name]
+    t0.each_with_index do |t,i|
+      if i == 0
+	puts "## Board: #{bname}"
+	puts
+        if t[:dshot]
+	  puts "Board is DSHOT enabled."
+	else
+	  puts "Board is not DSHOT enabled."
+	end
+        puts
+      end
+      puts "### Target: #{t[:name]}"
+      puts ""
+      puts "| PWM | Usage |"
+      puts "| --- | ----- |"
+      t[:pwms].each_with_index do |p,n|
+	puts "| #{n+1} | #{p} |"
+      end
+      puts
+    end
+  end
+end
+
+abort "parse_targets.rb [dir]" if ARGV[0] and ARGV[0].match?(/\-h/)
+
+root = (ARGV[0]||"inav")
+Dir.chdir(root)
+alltargets=[]
+
+tlist=[]
+
+Dir.chdir("build") || abort("Need build directory")
+
+lname=""
+vset={}
+IO.popen("ninja -t query release") do |pp|
+  pp.each do |l|
+    next unless m=l.match(/src\/main\/target\/(\S+?)\/(\S+)/)
+    bname=m[1]
+    vname=m[2]
+    if bname != lname
+      lname = bname
+      unless vset.empty?
+        tlist << vset
+      end
+      vset={:name => bname, :variants => [bname]}
+    end
+    if vname != bname
+      vset[:variants] << vname
+    end
+  end
+  unless vset.empty?
+    tlist << vset
+  end
+end
+
+Dir.chdir("../src/main/target")
+
+tlist.each do |ti|
+  res = build_target(ti)
+  if res
+    alltargets << res
+  end
+end
+
+#puts alltargets
+#alltargets.each do |ta|
+#  puts "==> #{ta}"
+#end
+
+write_out_md alltargets
+
+__END__
+# Inav Boards, Targets and PWM allocations
+
+It can be difficult for an aircraft builder to determine if a particular board / target will meet their needs.
+
+In order to offer some guidance, the following list is machine generated from the files under `inav/source/main/target` to provide a list of the options offered by supported boards.
+
+The usage is taken directly from the source code, the following interpretation is offered:
+
+| Symbol | Interpretation |
+| ------ | -------------- |
+| MC_MOTOR | Multi-rotor motor |
+| FW_MOTOR | Fixed wing motor |
+| MC_SERVO | Multi-rotor servo |
+| FW_SERVO | Fixed wing servo |
+| LED      | LED strip  |
+| PWM, ANY | Some other PWM function |
+
+*List generated %s from the [inav master branch](https://github.com/iNavFlight/inav/) by [`parse_targets.rb`](http://seyrsnys.myzen.co.uk/parse_targets.rb). Some targets may not be available in official or prior releases.* **E&OE.**
+
+You are strongly advised to check the board documentation as to the suitability of any particular board.
+
+The configurations listed above are those supported by the inav developers; other configurations may be possible with a custom target. The source tree contains other, unofficial targets that may (or not) work.
+
+Note also that due to the complexity of output options available in inav, dynamic resource allocation is not available. Paweł Spychalski has published a [video](https://www.youtube.com/watch?v=v4R-pnO4srU) explaining why resource allocation is not supported by inav; [see also #1154](https://github.com/iNavFlight/inav/issues/1145)
diff --git a/versioned_docs/version-4.0.0/advanced/Boards,-Targets-and-PWM-allocations.md b/versioned_docs/version-4.0.0/advanced/Boards,-Targets-and-PWM-allocations.md
@@ -17,7 +17,7 @@ The usage is taken directly from the source code, the following interpretation i
 | LED      | LED strip  |
 | PWM, ANY | Some other PWM function |
 
-*List generated 2022-01-22 from the [inav master branch](https://github.com/iNavFlight/inav/) by [`parse_targets.rb`](assets/parse_targets.rb). Some targets may not be available in official or prior releases.* **E&OE.**
+*List generated 2022-01-22 from the [inav master branch](https://github.com/iNavFlight/inav/) by [`parse_targets.rb`](/img/content/parse_targets.rb). Some targets may not be available in official or prior releases.* **E&OE.**
 
 You are strongly advised to check the board documentation as to the suitability of any particular board.
 
diff --git a/versioned_docs/version-4.0.0/features/Failsafe.md b/versioned_docs/version-4.0.0/features/Failsafe.md
@@ -2,8 +2,6 @@
 title: Failsafe
 ---
 
-# Setting up Failsafe for RTH
-
 ## Foreword
 
 The goal is to configure both your flight controller and radio receiver so that failsafe does as you expect in every situation.
@@ -44,7 +42,7 @@ For fixed wing set `failsafe_throttle_low_delay = 0` or else it will disarm the
 
 The behavior of `RTH` can also be configured.
 
- - [iNav Flight modes / Navigation Modes](./Navigation-Mode:-Return-to-Home.md#rth-altitude-control-modes)
+ - [iNav Flight modes / Navigation Modes](./Navigation-Mode-Return-to-Home.md#rth-altitude-control-modes)
 
 Loss of GPS during Failsafe RTH will result in an emergency landing so make sure the following are set to avoid surprises:
 - `nav_emerg_landing_speed` - default is 5 m/s. Reduce for a fixed wing.
diff --git a/versioned_docs/version-4.0.0/features/Modes.md b/versioned_docs/version-4.0.0/features/Modes.md
@@ -9,20 +9,20 @@ description: Explaination of all the modes
 
 - [AIR MODE](#air-mode)
 - [ANGLE](#angle)
-- [ARM](#arm)
+- ARM
 - [AUTOLEVEL](#autolevel-fw)
 - [AUTOTUNE](#autotune-fw)
-- [BEEPER](#BEEPER)
+- [BEEPER](#beeper)
 - [BLACKBOX](#blackbox)
 - CAMERA CONTROL #
-- [CAMSTAB](#CAMSTAB)
+- [CAMSTAB](#camstab)
 - [FAILSAFE](#failsafe)
 - [FLAPERON](#flaperon-fw)
 - FPV ANGLE MIX
 - [HEADADJ](#headadj-mc)
 - [HEADFREE](#headfree-mc)
 - [HEADING HOLD](#heading-hold)
-- [HOME RESET](#home-reset)
+- HOME RESET
 - [HORIZON](#horizon)
 - KILLSWITCH
 - [LEDLOW](#ledlow)
@@ -34,11 +34,11 @@ description: Explaination of all the modes
 - [NAV LAUNCH](#nav-launch-fw)
 - [OSD ALT](#osd-alt)
 - [OSD SW](#osd-sw)
-- [PREARM](#prearm)
+- PREARM
 - [SERVO AUTOTRIM](#servo-autotrim-fw)
 - [SOARING](#soaring-fw)
 - [SURFACE](#surface)
-- [TELEMETRY](#telemetry)
+- TELEMETRY
 - [TURN ASSIST](#turn-assist)
 - [TURTLE](#turtle-mc)
 - USER1 & USER2
diff --git a/versioned_docs/version-4.0.0/features/Navigation-Mode-Return-to-Home.md b/versioned_docs/version-4.0.0/features/Navigation-Mode-Return-to-Home.md
@@ -10,89 +10,89 @@ With default settings RTH will land immediately if you are closer than 5 meters
 
 Return to Home is activated by the NAV RTH flight mode.
 
-# RTH Altitudes
+## RTH Altitudes
 
 There are two altitudes that can be used with RTH: _nav_rth_altitude_ and _nav_rth_home_altitude_. 
 
 _nav_rth_altitude_ is used in conjunction with the RTH Altitude control modes to decide the altitude that the model returns home at. See below to see how the two are combined. 
 
 _nav_rth_home_altitude_ sets the altitude that a plane will loiter at when it arrives at home. If above the _nav_rth_home_altitude_, the plane will start loitering, then loiter down to the home altitude. The default, 0, means that the feature is disabled. In which case the plane will loiter at the **Actual RTH Altitude**, or _nav_rth_altitude_ if linear descent is used.
 
-# RTH Altitude control modes
+## RTH Altitude control modes
 
 RTH sequence can control altitude in several different ways, controlled by _nav_rth_alt_mode_ and _nav_rth_altitud_ (the altitude in centimetres) parameters.
 
 Default setting is **NAV_RTH_AT_LEAST_ALT** - climb to preconfigured altitude if below, stay at current altitude if above.
 
-## Maintain current altitude (NAV_RTH_NO_ALT)
+### Maintain current altitude (NAV_RTH_NO_ALT)
 - _nav_rth_alt_mode_ = **CURRENT**
 - _nav_rth_altitude_ is ignored
 
 The **Actual RTH Altitude** is the altitude that the model is currently flying at.
 
 ![RTH No Alt](/img/content/NAV_RTH_NO_ALT.jpg)
 
-## Maintain current altitude + predefined safety margin (NAV_RTH_EXTRA_ALT)
+### Maintain current altitude + predefined safety margin (NAV_RTH_EXTRA_ALT)
 - _nav_rth_alt_mode_ = **EXTRA**
 - _nav_rth_altitude_ defines extra altitude margin
 
 The **Actual RTH Altitude** is the altitude that the model is currently flying at, plus the _nav_rth_altitude_.
 
 ![RTH Extra alt](/img/content/NAX_RTH_EXTRA_ALT.jpg)
 
-## Predefined altitude (NAV_RTH_CONST_ALT)
+### Predefined altitude (NAV_RTH_CONST_ALT)
 - _nav_rth_alt_mode_ = **FIXED**
 - _nav_rth_altitude_ defines exact RTH altitude above launch point.
 
 If the model is below _nav_rth_altitude_ it will climb to desired altitude prior to flying back home. If the model is above the desired altitude, it will turn and fly home and descend on the way. That defines the **Actual RTH Altitude**.
 
 ![RTH Const alt](/img/content/NAV_RTH_CONST_ALT.jpg)
 
-## Maximum altitude since launch (NAV_RTH_MAX_ALT)
+### Maximum altitude since launch (NAV_RTH_MAX_ALT)
 - _nav_rth_alt_mode_ = **MAX**
 - _nav_rth_altitude_ is ignored
 
 The **Actual RTH Altitude** is the highest altitude during the flight.
 
 ![RTH Max alt](/img/content/NAV_RTH_MAX_ALT.jpg)
 
-## At least predefined altitude above launch point (NAV_RTH_AT_LEAST_ALT)
+### At least predefined altitude above launch point (NAV_RTH_AT_LEAST_ALT)
 - _nav_rth_alt_mode_ = **AT_LEAST**
 - _nav_rth_altitude_ defines the minimum RTH altitude above launch point. 
 
 If the aircraft is below _nav_rth_altitude_ it will climb to desired altitude prior to flying back home. If the model is above the desired altitude, it will turn and fly home at the current altitude. This defines the **Actual RTH Altitude**.
 
 ![RTH at least alt](/img/content/NAV_RTH_AT_LEAST_ALT.jpg)
 
-## Predefined altitude linear descent (NAV_RTH_AT_LEAST_ALT_LINEAR_DESCENT)
+### Predefined altitude linear descent (NAV_RTH_AT_LEAST_ALT_LINEAR_DESCENT)
 - _nav_rth_alt_mode_ = **AT_LEAST_LINEAR_DESCENT**
 - _nav_rth_altitude_ defines minimum RTH altitude above launch point. 
 
 If the aircraft is below _nav_rth_altitude_ it will climb to desired altitude prior to flying back home. If the model is above the desired altitude, it will turn and fly home, and descend on the way (on a linear straight line). This defines the **Actual RTH Altitude**. Aircraft will descend in a way that it'll reach the _nav_rth_altitude_ altitude only when it reaches the home point. So aircraft can save energy by doing an easy descend on it's way back home.
 
 ![](https://i.imgur.com/CPgKb4w.png)
 
-# Climb first
+## Climb first
 
 The _nav_rth_climb_first_ option sets how the model will initiate the **RTH**.
 
-## Climb first with Multirotors
+### Climb first with Multirotors
 
 - If _nav_rth_climb_first_ = **OFF**, the multirotor will turn to home, and immediately fly towards it, climbing on the way to the **Actual RTH Altitude**.
 - If _nav_rth_climb_first_ = **ON**, the multirotor hover and increase altitude. When it reaches the **Actual RTH altitude**, it will fly towards home.
 
-## Climb first with Fixed Wing
-### _nav_rth_climb_first_ = **OFF**
+### Climb first with Fixed Wing
+#### _nav_rth_climb_first_ = **OFF**
 The plane will turn towards home, and climb to the **Actual RTH altitude** on the homeward journey.
 
 [![https://imgur.com/qXkxPxh](https://i.imgur.com/qXkxPxhl.png)](https://i.imgur.com/qXkxPxh.png)
 
-### _nav_rth_climb_first_ = **ON**
+#### _nav_rth_climb_first_ = **ON**
 The plane climb to the **Actual RTH altitude** in the direction it is currently flying. Once the **Actual RTH Altitude** is reached, it will turn and fly towards home.
 
 [![https://imgur.com/MYWCu2X](https://i.imgur.com/MYWCu2Xl.png)](https://i.imgur.com/MYWCu2X.png)
 
-### _nav_rth_climb_first_ = **ON_FW_SPIRAL**
+#### _nav_rth_climb_first_ = **ON_FW_SPIRAL**
 _Feature available since iNav 3.0._
 
 The plane climb in a loiter to the **Actual RTH altitude**. Once the **Actual RTH Altitude** is reached, it will turn and fly towards home.
diff --git a/versioned_docs/version-4.0.0/features/Navigation-modes.md b/versioned_docs/version-4.0.0/features/Navigation-modes.md
@@ -7,7 +7,7 @@ title: Navigation Modes
 This page lists and explains all the different navigational flight modes of iNav:
 
 - [NAV ALTHOLD - Altitude hold](#althold---altitude-hold)
-- [NAV POSHOLD - Horizontal position hold](#nav-poshold---Position-hold)
+- [NAV POSHOLD - Horizontal position hold](#nav-poshold---position-hold)
 - [NAV COURSE HOLD - Fixed Wing Heading Hold](#nav-course-hold---fixed-wing-heading-hold)
 - [NAV CRUISE - Fixed Wing Heading + Altitude Hold](#nav-cruise---fixed-wing-heading--altitude-hold)
 - [NAV RTH - Return to home](#rth---return-to-home)
@@ -16,7 +16,7 @@ This page lists and explains all the different navigational flight modes of iNav
 - [GCS NAV - Ground control station](#gcs_nav---ground-control-station)
 
 For safety reasons, INAV’s navigation modes can be activated only if:
-- ACC and MAG (multirotor only) are [calibrated](https://github.com/iNavFlight/inav/wiki/Sensor-calibration) properly
+- ACC and MAG (multirotor only) are [calibrated](../quickstart/Sensor-calibration.md) properly
 - a valid 3D GPS fix is available
 - a valid altitude source is available
 - the FC is armed
@@ -160,7 +160,7 @@ RTH will attempt to bring copter/plane to launch position. Launch position is de
 
 With default settings RTH will land immediately if you are closer than 5 meters from launch position. If further away it will make sure to have at least 10 meters of altitude, then start going home at 3m/s, and land. It will disarm itself if so configured, otherwise you will have to manually disarm once on the ground.
 
-There are many different modes for Altitude, see the [RTH mode page](./Navigation-Mode:-Return-to-Home.md#rth-altitude-control-modes) for details.
+There are many different modes for Altitude, see the [RTH mode page](./Navigation-Mode-Return-to-Home.md#rth-altitude-control-modes) for details.
 
 Activated by **RTH** flight mode.
 
diff --git a/versioned_docs/version-4.0.0/quickstart/Fixed-Wing-Guide.md b/versioned_docs/version-4.0.0/quickstart/Fixed-Wing-Guide.md
@@ -155,7 +155,7 @@ At this point everything should work as expected.
 
 * Adjust ``set roll_rate`` and ``set pitch_rate`` to the flight characteristics of your plane. For a race wing values like ``set roll_rate = 36`` and ``set pitch_rate = 18`` are a good starting point.
 
-* Set your [RTH mode](../features/Navigation-Mode:-Return-to-Home.md) to your liking
+* Set your [RTH mode](../features/Navigation-Mode-Return-to-Home.md) to your liking
 
 * Increase ``set nav_fw_bank_angle`` for tighter turns.
 
