fix 4.7 build errors

Hwurzburg · Hwurzburg · commit d3ac3a1c1291 · 2026-03-07T21:02:58.000-06:00
diff --git a/common/source/docs/common-ekf-sources.rst b/common/source/docs/common-ekf-sources.rst
@@ -41,7 +41,7 @@ Ground stations or companion computers may set the source by sending a `MAV_CMD_
 
 This feature is especially helpful when using :ref:`common-non-gps-to-gps`.
 
-Alternatively, setting :ref:`EK3_OPTIONS<>` bit 3 will force each SRC set to be used by each IMU lane, ie EKF3 primary IMU lane will use the _SRC1 set, _SRC2 for the next, etc.) at initialization. Note that using the ``RCx_OPTIONS`` auxiliary function "90" (EKF Source Set) will NOT override this behavior.
+Alternatively, setting :ref:`EK3_OPTIONS<EK3_OPTIONS>` bit 3 will force each SRC set to be used by each IMU lane, ie EKF3 primary IMU lane will use the _SRC1 set, _SRC2 for the next, etc.) at initialization. Note that using the ``RCx_OPTIONS`` auxiliary function "90" (EKF Source Set) will NOT override this behavior.
 
 Velocity Source Fusing
 ======================
diff --git a/common/source/docs/common-luxf765-ndaa.rst b/common/source/docs/common-luxf765-ndaa.rst
@@ -1,6 +1,6 @@
 .. _common-luxf765-ndaa:
 
-[copywiki destination="plane,copter,rover,blimp"]
+[copywiki destination="plane,copter,rover,blimp,sub"]
 
 ======================
 Lumenier LUX F765-NDAA
diff --git a/common/source/docs/common-mavlink-mission-command-messages-mav_cmd.rst b/common/source/docs/common-mavlink-mission-command-messages-mav_cmd.rst
@@ -292,7 +292,7 @@ This list of commands was inferred from the command handler in
 - :ref:`MAV_CMD_DO_DIGICAM_CONFIGURE <mav_cmd_do_digicam_configure>` (Camera enabled only)
 - :ref:`MAV_CMD_DO_DIGICAM_CONTROL <mav_cmd_do_digicam_control>` (Camera enabled only)
 - :ref:`MAV_CMD_DO_SET_CAM_TRIGG_DIST <mav_cmd_do_set_cam_trigg_dist>` (Camera enabled only)
-- :ref:`MAV_CMD_DO_SET_ROI <mav_cmd_do_set_roi>`(Gimbal/mount enabled only)
+- :ref:`MAV_CMD_DO_SET_ROI <mav_cmd_do_set_roi>` (Gimbal/mount enabled only)
 - :ref:`MAV_CMD_DO_SET_ROI_LOCATION <mav_cmd_do_set_roi_location>` (Gimbal/mount enabled only)
 - :ref:`MAV_CMD_DO_SET_ROI_NONE <mav_cmd_do_set_roi_none>` (Gimbal/mount enabled only)
 - :ref:`MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW <mav_cmd_do_gimbal_manager_pitchyaw>` (Gimbal/mount enabled only)
@@ -339,7 +339,7 @@ This list of commands was inferred from the command handler in
 - :ref:`MAV_CMD_DO_DIGICAM_CONTROL <mav_cmd_do_digicam_control>` (Camera enabled only)
 - :ref:`MAV_CMD_DO_MOUNT_CONTROL <mav_cmd_do_mount_control>`
 - :ref:`MAV_CMD_DO_SET_CAM_TRIGG_DIST <mav_cmd_do_set_cam_trigg_dist>` (Camera enabled only)
-- :ref:`MAV_CMD_DO_SET_ROI <mav_cmd_do_set_roi>`(Gimbal/mount enabled only)
+- :ref:`MAV_CMD_DO_SET_ROI <mav_cmd_do_set_roi>` (Gimbal/mount enabled only)
 - :ref:`MAV_CMD_DO_SET_ROI_LOCATION <mav_cmd_do_set_roi_location>` (Gimbal/mount enabled only)
 - :ref:`MAV_CMD_DO_SET_ROI_NONE <mav_cmd_do_set_roi_none>` (Gimbal/mount enabled only)
 - :ref:`MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW <mav_cmd_do_gimbal_manager_pitchyaw>` (Gimbal/mount enabled only)
diff --git a/common/source/docs/common-oem-customizations.rst b/common/source/docs/common-oem-customizations.rst
@@ -11,7 +11,7 @@ ArduPilot provides several ways for an OEM to provide firmware on their products
 - Ability to change the firmware string displayed to the user.
 - Ability to include pictures and informational files in available free flash space.
 - Ability to change parameters and mark them as read-only so that users cannot change them using :ref:`APJ Tools<dev:apjtools-intro>`. (as of version 4.5 firmware, this is no longer available)
-- Ability to :ref:`install a LUA script to vet parameters <https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_Scripting/applets/param-set.md>`__ before allowing them to be set via MAVLink.
+- Ability to `install a LUA script to vet parameters <https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_Scripting/applets/param-set.md>`__ before allowing them to be set via MAVLink.
 
 Customization Steps
 ===================
diff --git a/common/source/docs/common-orbith743.rst b/common/source/docs/common-orbith743.rst
@@ -178,3 +178,5 @@ This board does **not** ship with ArduPilot pre-installed.
 Follow `this guide <https://ardupilot.org/copter/docs/common-loading-firmware-onto-chibios-only-boards.html>`_ to load it for the first time.
 
 Firmware can be found in `ArduPilot firmware repo <https://firmware.ardupilot.org>`_ under the ``ORBITH743`` sub-folder.
+
+[copywiki destination="plane,copter,rover,blimp,sub"]
diff --git a/copter/source/docs/common_baro_thrust_compensation.rst b/copter/source/docs/common_baro_thrust_compensation.rst
@@ -0,0 +1,19 @@
+.. _common-baro-thrust-compensation:
+
+
+
+================================
+Thrust Compensation of Barometer
+================================
+
+.. note:: this features is not included on most ArduPilot standard firmware builds. Use the `custom firmware build server <custom.ardupilot.org>`__ to create a firmware that includes it.
+
+On very small multirotors, the autopilot's barometer might be in the prop wash and have its readings impacted by that pressure which will vary with respect to the thrust (Throttle) being produced.
+
+.. image:: ../../../images/baro_thrust1.png
+    :target: ../_images/baro_thrust1.png
+
+The first barometer (BARO1) can have compensation applied as a linearly varying offset of throttle value to reduce this effect. The :ref:`BARO1_THST_SCALE<BARO1_THST_SCALE>` parameters determines the magnitude, and sign, of the offset and will need to be experimentally determined for a particular vehicle. Examining the the log messages for ``BARO1.Press`` vs ``BARO1.CPress`` (compensated atmospheric pressure) can be used for this.
+
+.. image:: ../../../images/baro_thrust2.png
+    :target: ../_images/baro_thrust2.png
diff --git a/rover/source/docs/rover-motor-and-servo-configuration.rst b/rover/source/docs/rover-motor-and-servo-configuration.rst
@@ -61,7 +61,7 @@ Reversing
 
 Rover vehicles may/or may not use reversing motors depending on configuration. If an ESC is used, usually 1500us is used to indicate idle for PWM and DShot systems. Brushed drivers this point will be 50% duty cycle, if reversible, unless the BRUSHED_WITH_RELAY type is used.
 
-Some ESCs need a brief pause at idle as they change direction. :ref:`MTR_REV_DELAY<MTR_REV_DELAY>` can be used to provide that delay.
+Some ESCs need a brief pause at idle as they change direction. :ref:`MOT_REV_DELAY <MOT_REV_DELAY>` can be used to provide that delay.
 
 ESC Configuration
 -----------------
