diff --git a/ko/messages/ardupilotmega.md b/ko/messages/ardupilotmega.md
index a2aef8add..e730456da 100644
--- a/ko/messages/ardupilotmega.md
+++ b/ko/messages/ardupilotmega.md
@@ -239,7 +239,9 @@ Status of simulation environment, if used.
| lat | `int32_t` | degE7 | Latitude. |
| lng | `int32_t` | degE7 | Longitude. |
-### HWSTATUS (165) {#HWSTATUS}
+### HWSTATUS (165) — [DEP] {#HWSTATUS}
+
+**DEPRECATED:** Replaced By [POWER_STATUS](#POWER_STATUS) (2022-09) — POWER_STATUS+SYS_STATUS form a superset of the fields in this message.)
Status of key hardware.
@@ -1399,14 +1401,24 @@ Flags in [RALLY_POINT](#RALLY_POINT) message.
### PID_TUNING_AXIS {#PID_TUNING_AXIS}
-| Value | Name | Description |
-| -------------------------------- | ----------------------------------------------------------------------------------- | ----------- |
-| 1 | [PID_TUNING_ROLL](#PID_TUNING_ROLL) | |
-| 2 | [PID_TUNING_PITCH](#PID_TUNING_PITCH) | |
-| 3 | [PID_TUNING_YAW](#PID_TUNING_YAW) | |
-| 4 | [PID_TUNING_ACCZ](#PID_TUNING_ACCZ) | |
-| 5 | [PID_TUNING_STEER](#PID_TUNING_STEER) | |
-| 6 | [PID_TUNING_LANDING](#PID_TUNING_LANDING) | |
+| Value | Name | Description |
+| ------------------------------------ | ---------------------------------------------------------------------------------------------------------------- | ------------------------------------------ |
+| 1 | [PID_TUNING_ROLL](#PID_TUNING_ROLL) | |
+| 2 | [PID_TUNING_PITCH](#PID_TUNING_PITCH) | |
+| 3 | [PID_TUNING_YAW](#PID_TUNING_YAW) | |
+| 4 | [PID_TUNING_ACCZ](#PID_TUNING_ACCZ) | |
+| 5 | [PID_TUNING_STEER](#PID_TUNING_STEER) | |
+| 6 | [PID_TUNING_LANDING](#PID_TUNING_LANDING) | |
+| 7 | [PID_TUNING_WHEEL_LEFT](#PID_TUNING_WHEEL_LEFT) | Left wheel rate. |
+| 8 | [PID_TUNING_WHEEL_RIGHT](#PID_TUNING_WHEEL_RIGHT) | Right wheel rate. |
+| 9 | [PID_TUNING_SAIL_HEEL](#PID_TUNING_SAIL_HEEL) | Sailboat heel to mainsail. |
+| 10 | [PID_TUNING_VEL_NORTH](#PID_TUNING_VEL_NORTH) | Velocity north. |
+| 11 | [PID_TUNING_VEL_EAST](#PID_TUNING_VEL_EAST) | Velocity east. |
+| 12 | [PID_TUNING_VEL_DOWN](#PID_TUNING_VEL_DOWN) | Velocity down. |
+| 13 | [PID_TUNING_POS_NORTH](#PID_TUNING_POS_NORTH) | Position north. |
+| 14 | [PID_TUNING_POS_EAST](#PID_TUNING_POS_EAST) | Position east. |
+| 15 | [PID_TUNING_POS_DOWN](#PID_TUNING_POS_DOWN) | Position down. |
+| 16 | [PID_TUNING_YAW_ANGLE](#PID_TUNING_YAW_ANGLE) | Yaw angle. |
### MAV_REMOTE_LOG_DATA_BLOCK_COMMANDS {#MAV_REMOTE_LOG_DATA_BLOCK_COMMANDS}
diff --git a/ko/messages/common.md b/ko/messages/common.md
index bffd5c369..c0ffba8a3 100644
--- a/ko/messages/common.md
+++ b/ko/messages/common.md
@@ -63,24 +63,24 @@ The heartbeat message shows that a system or component is present and responding
Sensor and subsystem status information. Provides a compact representation of sensor/subsystem status and a few other basic statistics.
-| Field Name | Type | Units | Values | Description |
-| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------- | ----- | ----------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| onboard_control_sensors_present | `uint32_t` | | [MAV_SYS_STATUS_SENSOR](#MAV_SYS_STATUS_SENSOR) | Bitmap showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. |
-| onboard_control_sensors_enabled | `uint32_t` | | [MAV_SYS_STATUS_SENSOR](#MAV_SYS_STATUS_SENSOR) | Bitmap showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled. |
-| onboard_control_sensors_health | `uint32_t` | | [MAV_SYS_STATUS_SENSOR](#MAV_SYS_STATUS_SENSOR) | Bitmap showing which onboard controllers and sensors have an error (or are operational). Value of 0: error. Value of 1: healthy. |
-| load | `uint16_t` | d% | | Maximum usage in percent of the mainloop time. Values: [0-1000] - should always be below 1000 |
-| voltage_battery | `uint16_t` | mV | invalid:UINT16_MAX | Battery voltage, UINT16_MAX: Voltage not sent by autopilot |
-| current_battery | `int16_t` | cA | invalid:-1 | Battery current, -1: Current not sent by autopilot |
-| battery_remaining | `int8_t` | % | invalid:-1 | Battery energy remaining, -1: Battery remaining energy not sent by autopilot |
-| drop_rate_comm | `uint16_t` | c% | | Communication drop rate, (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV) |
-| errors_comm | `uint16_t` | | | Communication errors (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV) |
-| errors_count1 | `uint16_t` | | | Autopilot-specific errors |
-| errors_count2 | `uint16_t` | | | Autopilot-specific errors |
-| errors_count3 | `uint16_t` | | | Autopilot-specific errors |
-| errors_count4 | `uint16_t` | | | Autopilot-specific errors |
-| onboard_control_sensors_present_extended ++ | `uint32_t` | | [MAV_SYS_STATUS_SENSOR_EXTENDED](#MAV_SYS_STATUS_SENSOR_EXTENDED) | Bitmap showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. |
-| onboard_control_sensors_enabled_extended ++ | `uint32_t` | | [MAV_SYS_STATUS_SENSOR_EXTENDED](#MAV_SYS_STATUS_SENSOR_EXTENDED) | Bitmap showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled. |
-| onboard_control_sensors_health_extended ++ | `uint32_t` | | [MAV_SYS_STATUS_SENSOR_EXTENDED](#MAV_SYS_STATUS_SENSOR_EXTENDED) | Bitmap showing which onboard controllers and sensors have an error (or are operational). Value of 0: error. Value of 1: healthy. |
+| Field Name | Type | Units | Values | Description |
+| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------- | ----- | ----------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
+| onboard_control_sensors_present | `uint32_t` | | [MAV_SYS_STATUS_SENSOR](#MAV_SYS_STATUS_SENSOR) | Bitmap showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. |
+| onboard_control_sensors_enabled | `uint32_t` | | [MAV_SYS_STATUS_SENSOR](#MAV_SYS_STATUS_SENSOR) | Bitmap showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled. |
+| onboard_control_sensors_health | `uint32_t` | | [MAV_SYS_STATUS_SENSOR](#MAV_SYS_STATUS_SENSOR) | Bitmap showing which onboard controllers and sensors have an error (or are operational). Value of 0: error. Value of 1: healthy. |
+| load | `uint16_t` | d% | | Maximum usage in percent of the mainloop time. Values: [0-1000] - should always be below 1000 |
+| voltage_battery | `uint16_t` | mV | invalid:UINT16_MAX | Battery voltage, UINT16_MAX: Voltage not sent by autopilot. Value is ambiguous on multi-battery systems. [BATTERY_STATUS](#BATTERY_STATUS) is a recommended alternative. |
+| current_battery | `int16_t` | cA | invalid:-1 | Battery current, -1: Current not sent by autopilot. Value may overflow/rollover for very high currents (> 327.67A). Value is ambiguous on multi-battery systems. [BATTERY_STATUS](#BATTERY_STATUS) is a recommended alternative. |
+| battery_remaining | `int8_t` | % | invalid:-1 | Battery energy remaining, -1: Battery remaining energy not sent by autopilot. Value is ambiguous on multi-battery systems. [BATTERY_STATUS](#BATTERY_STATUS) is a recommended alternative. |
+| drop_rate_comm | `uint16_t` | c% | | Communication drop rate, (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV) |
+| errors_comm | `uint16_t` | | | Communication errors (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV) |
+| errors_count1 | `uint16_t` | | | Autopilot-specific errors |
+| errors_count2 | `uint16_t` | | | Autopilot-specific errors |
+| errors_count3 | `uint16_t` | | | Autopilot-specific errors |
+| errors_count4 | `uint16_t` | | | Autopilot-specific errors |
+| onboard_control_sensors_present_extended ++ | `uint32_t` | | [MAV_SYS_STATUS_SENSOR_EXTENDED](#MAV_SYS_STATUS_SENSOR_EXTENDED) | Bitmap showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. |
+| onboard_control_sensors_enabled_extended ++ | `uint32_t` | | [MAV_SYS_STATUS_SENSOR_EXTENDED](#MAV_SYS_STATUS_SENSOR_EXTENDED) | Bitmap showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled. |
+| onboard_control_sensors_health_extended ++ | `uint32_t` | | [MAV_SYS_STATUS_SENSOR_EXTENDED](#MAV_SYS_STATUS_SENSOR_EXTENDED) | Bitmap showing which onboard controllers and sensors have an error (or are operational). Value of 0: error. Value of 1: healthy. |
### SYSTEM_TIME (2) {#SYSTEM_TIME}
@@ -1885,7 +1885,7 @@ Battery information. Updates GCS with flight controller battery status. Smart ba
| type | `uint8_t` | | [MAV_BATTERY_TYPE](#MAV_BATTERY_TYPE) | Type (chemistry) of the battery |
| temperature | `int16_t` | cdegC | invalid:INT16_MAX | Temperature of the battery. INT16_MAX for unknown temperature. |
| voltages | `uint16_t[10]` | mV | invalid:[UINT16_MAX] | Battery voltage of cells 1 to 10 (see voltages_ext for cells 11-14). Cells in this field above the valid cell count for this battery should have the UINT16_MAX value. If individual cell voltages are unknown or not measured for this battery, then the overall battery voltage should be filled in cell 0, with all others set to UINT16_MAX. If the voltage of the battery is greater than (UINT16_MAX - 1), then cell 0 should be set to (UINT16_MAX - 1), and cell 1 to the remaining voltage. This can be extended to multiple cells if the total voltage is greater than 2 \* (UINT16_MAX - 1). |
-| current_battery | `int16_t` | cA | invalid:-1 | Battery current, -1: autopilot does not measure the current |
+| current_battery | `int16_t` | cA | invalid:-1 | Battery current, -1: autopilot does not measure the current. Value may overflow/rollover for very high currents (> 327.67A) |
| current_consumed | `int32_t` | mAh | invalid:-1 | Consumed charge, -1: autopilot does not provide consumption estimate |
| energy_consumed | `int32_t` | hJ | invalid:-1 | Consumed energy, -1: autopilot does not provide energy consumption estimate |
| battery_remaining | `int8_t` | % | invalid:-1 | Remaining battery energy. Values: [0-100], -1: autopilot does not estimate the remaining battery. |
@@ -3515,7 +3515,7 @@ Note: Camera components should use [CAMERA_INFORMATION](#CAMERA_INFORMATION) ins
### PLAY_TUNE_V2 (400) {#PLAY_TUNE_V2}
-Play vehicle tone/tune (buzzer). Supersedes message [PLAY_TUNE](#PLAY_TUNE).
+Play vehicle tone/tune (buzzer). Supported tunes can be determined using [SUPPORTED_TUNES](#SUPPORTED_TUNES). Supersedes message [PLAY_TUNE](#PLAY_TUNE).
| Field Name | Type | Values | Description |
| ------------------------------------- | ----------- | ------------------------------------------------ | ------------------------------------------------------------ |
@@ -3526,7 +3526,7 @@ Play vehicle tone/tune (buzzer). Supersedes message [PLAY_TUNE](#PLAY_TUNE).
### SUPPORTED_TUNES (401) {#SUPPORTED_TUNES}
-Tune formats supported by vehicle. This should be emitted as response to [MAV_CMD_REQUEST_MESSAGE](#MAV_CMD_REQUEST_MESSAGE).
+Tune formats supported by vehicle, i.e. via [PLAY_TUNE_V2](#PLAY_TUNE_V2). This should be emitted as response to [MAV_CMD_REQUEST_MESSAGE](#MAV_CMD_REQUEST_MESSAGE).
| Field Name | Type | Values | Description |
| ------------------------------------- | ---------- | ------------------------------------------------ | --------------------------------------------------- |
diff --git a/ko/messages/dialects.md b/ko/messages/dialects.md
index 741c2d615..fe9e76636 100644
--- a/ko/messages/dialects.md
+++ b/ko/messages/dialects.md
@@ -17,20 +17,20 @@ Dialects are not managed by this project!
The dialect definitions are:
-- [icarous.xml](icarous.md)
-- [matrixpilot.xml](matrixpilot.md)
-- [ASLUAV.xml](ASLUAV.md)
-- [storm32.xml](storm32.md)
-- [paparazzi.xml](paparazzi.md)
-- [loweheiser.xml](loweheiser.md)
-- [AVSSUAS.xml](AVSSUAS.md)
- [csAirLink.xml](csAirLink.md)
+- [loweheiser.xml](loweheiser.md)
- [cubepilot.xml](cubepilot.md)
-- [stemstudios.xml](stemstudios.md)
-- [ualberta.xml](ualberta.md)
-- [uAvionix.xml](uAvionix.md)
+- [ASLUAV.xml](ASLUAV.md)
- [ardupilotmega.xml](ardupilotmega.md)
+- [matrixpilot.xml](matrixpilot.md)
- [marsh.xml](marsh.md)
+- [uAvionix.xml](uAvionix.md)
+- [AVSSUAS.xml](AVSSUAS.md)
+- [storm32.xml](storm32.md)
+- [ualberta.xml](ualberta.md)
+- [paparazzi.xml](paparazzi.md)
+- [icarous.xml](icarous.md)
+- [stemstudios.xml](stemstudios.md)
Note that dialects may `include` [MAVLink-Standard Definitions](index.md) or other dialects.
Up to 5 levels of XML file nesting are allowed - see `MAXIMUM_INCLUDE_FILE_NESTING` in [mavgen.py](https://github.com/ArduPilot/pymavlink/blob/master/generator/mavgen.py#L44).
diff --git a/zh/messages/ardupilotmega.md b/zh/messages/ardupilotmega.md
index 6f0248d41..5792ad9cf 100644
--- a/zh/messages/ardupilotmega.md
+++ b/zh/messages/ardupilotmega.md
@@ -239,7 +239,9 @@ Status of simulation environment, if used.
| lat | `int32_t` | degE7 | Latitude. |
| lng | `int32_t` | degE7 | Longitude. |
-### HWSTATUS (165) {#HWSTATUS}
+### HWSTATUS (165) — [DEP] {#HWSTATUS}
+
+**DEPRECATED:** Replaced By [POWER_STATUS](#POWER_STATUS) (2022-09) — POWER_STATUS+SYS_STATUS form a superset of the fields in this message.)
Status of key hardware.
@@ -1399,14 +1401,24 @@ Flags in [RALLY_POINT](#RALLY_POINT) message.
### PID_TUNING_AXIS {#PID_TUNING_AXIS}
-| 值 | Name | 描述 |
-| -------------------------------- | ----------------------------------------------------------------------------------- | -- |
-| 1 | [PID_TUNING_ROLL](#PID_TUNING_ROLL) | |
-| 2 | [PID_TUNING_PITCH](#PID_TUNING_PITCH) | |
-| 3 | [PID_TUNING_YAW](#PID_TUNING_YAW) | |
-| 4 | [PID_TUNING_ACCZ](#PID_TUNING_ACCZ) | |
-| 5 | [PID_TUNING_STEER](#PID_TUNING_STEER) | |
-| 6 | [PID_TUNING_LANDING](#PID_TUNING_LANDING) | |
+| 值 | Name | 描述 |
+| ------------------------------------ | ---------------------------------------------------------------------------------------------------------------- | ------------------------------------------ |
+| 1 | [PID_TUNING_ROLL](#PID_TUNING_ROLL) | |
+| 2 | [PID_TUNING_PITCH](#PID_TUNING_PITCH) | |
+| 3 | [PID_TUNING_YAW](#PID_TUNING_YAW) | |
+| 4 | [PID_TUNING_ACCZ](#PID_TUNING_ACCZ) | |
+| 5 | [PID_TUNING_STEER](#PID_TUNING_STEER) | |
+| 6 | [PID_TUNING_LANDING](#PID_TUNING_LANDING) | |
+| 7 | [PID_TUNING_WHEEL_LEFT](#PID_TUNING_WHEEL_LEFT) | Left wheel rate. |
+| 8 | [PID_TUNING_WHEEL_RIGHT](#PID_TUNING_WHEEL_RIGHT) | Right wheel rate. |
+| 9 | [PID_TUNING_SAIL_HEEL](#PID_TUNING_SAIL_HEEL) | Sailboat heel to mainsail. |
+| 10 | [PID_TUNING_VEL_NORTH](#PID_TUNING_VEL_NORTH) | Velocity north. |
+| 11 | [PID_TUNING_VEL_EAST](#PID_TUNING_VEL_EAST) | Velocity east. |
+| 12 | [PID_TUNING_VEL_DOWN](#PID_TUNING_VEL_DOWN) | Velocity down. |
+| 13 | [PID_TUNING_POS_NORTH](#PID_TUNING_POS_NORTH) | Position north. |
+| 14 | [PID_TUNING_POS_EAST](#PID_TUNING_POS_EAST) | Position east. |
+| 15 | [PID_TUNING_POS_DOWN](#PID_TUNING_POS_DOWN) | Position down. |
+| 16 | [PID_TUNING_YAW_ANGLE](#PID_TUNING_YAW_ANGLE) | Yaw angle. |
### MAV_REMOTE_LOG_DATA_BLOCK_COMMANDS {#MAV_REMOTE_LOG_DATA_BLOCK_COMMANDS}
diff --git a/zh/messages/common.md b/zh/messages/common.md
index 5b123792e..76ea13c89 100644
--- a/zh/messages/common.md
+++ b/zh/messages/common.md
@@ -63,24 +63,24 @@ The heartbeat message shows that a system or component is present and responding
Sensor and subsystem status information. Provides a compact representation of sensor/subsystem status and a few other basic statistics.
-| Field Name | Type | Units | 值 | 描述 |
-| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------- | ----- | ----------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| onboard_control_sensors_present | `uint32_t` | | [MAV_SYS_STATUS_SENSOR](#MAV_SYS_STATUS_SENSOR) | Bitmap showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. |
-| onboard_control_sensors_enabled | `uint32_t` | | [MAV_SYS_STATUS_SENSOR](#MAV_SYS_STATUS_SENSOR) | Bitmap showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled. |
-| onboard_control_sensors_health | `uint32_t` | | [MAV_SYS_STATUS_SENSOR](#MAV_SYS_STATUS_SENSOR) | Bitmap showing which onboard controllers and sensors have an error (or are operational). Value of 0: error. Value of 1: healthy. |
-| load | `uint16_t` | d% | | Maximum usage in percent of the mainloop time. Values: [0-1000] - should always be below 1000 |
-| voltage_battery | `uint16_t` | mV | invalid:UINT16_MAX | Battery voltage, UINT16_MAX: Voltage not sent by autopilot |
-| current_battery | `int16_t` | cA | invalid:-1 | Battery current, -1: Current not sent by autopilot |
-| battery_remaining | `int8_t` | % | invalid:-1 | Battery energy remaining, -1: Battery remaining energy not sent by autopilot |
-| drop_rate_comm | `uint16_t` | c% | | Communication drop rate, (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV) |
-| errors_comm | `uint16_t` | | | Communication errors (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV) |
-| errors_count1 | `uint16_t` | | | Autopilot-specific errors |
-| errors_count2 | `uint16_t` | | | Autopilot-specific errors |
-| errors_count3 | `uint16_t` | | | Autopilot-specific errors |
-| errors_count4 | `uint16_t` | | | Autopilot-specific errors |
-| onboard_control_sensors_present_extended ++ | `uint32_t` | | [MAV_SYS_STATUS_SENSOR_EXTENDED](#MAV_SYS_STATUS_SENSOR_EXTENDED) | Bitmap showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. |
-| onboard_control_sensors_enabled_extended ++ | `uint32_t` | | [MAV_SYS_STATUS_SENSOR_EXTENDED](#MAV_SYS_STATUS_SENSOR_EXTENDED) | Bitmap showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled. |
-| onboard_control_sensors_health_extended ++ | `uint32_t` | | [MAV_SYS_STATUS_SENSOR_EXTENDED](#MAV_SYS_STATUS_SENSOR_EXTENDED) | Bitmap showing which onboard controllers and sensors have an error (or are operational). Value of 0: error. Value of 1: healthy. |
+| Field Name | Type | Units | 值 | 描述 |
+| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------- | ----- | ----------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
+| onboard_control_sensors_present | `uint32_t` | | [MAV_SYS_STATUS_SENSOR](#MAV_SYS_STATUS_SENSOR) | Bitmap showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. |
+| onboard_control_sensors_enabled | `uint32_t` | | [MAV_SYS_STATUS_SENSOR](#MAV_SYS_STATUS_SENSOR) | Bitmap showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled. |
+| onboard_control_sensors_health | `uint32_t` | | [MAV_SYS_STATUS_SENSOR](#MAV_SYS_STATUS_SENSOR) | Bitmap showing which onboard controllers and sensors have an error (or are operational). Value of 0: error. Value of 1: healthy. |
+| load | `uint16_t` | d% | | Maximum usage in percent of the mainloop time. Values: [0-1000] - should always be below 1000 |
+| voltage_battery | `uint16_t` | mV | invalid:UINT16_MAX | Battery voltage, UINT16_MAX: Voltage not sent by autopilot. Value is ambiguous on multi-battery systems. [BATTERY_STATUS](#BATTERY_STATUS) is a recommended alternative. |
+| current_battery | `int16_t` | cA | invalid:-1 | Battery current, -1: Current not sent by autopilot. Value may overflow/rollover for very high currents (> 327.67A). Value is ambiguous on multi-battery systems. [BATTERY_STATUS](#BATTERY_STATUS) is a recommended alternative. |
+| battery_remaining | `int8_t` | % | invalid:-1 | Battery energy remaining, -1: Battery remaining energy not sent by autopilot. Value is ambiguous on multi-battery systems. [BATTERY_STATUS](#BATTERY_STATUS) is a recommended alternative. |
+| drop_rate_comm | `uint16_t` | c% | | Communication drop rate, (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV) |
+| errors_comm | `uint16_t` | | | Communication errors (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV) |
+| errors_count1 | `uint16_t` | | | Autopilot-specific errors |
+| errors_count2 | `uint16_t` | | | Autopilot-specific errors |
+| errors_count3 | `uint16_t` | | | Autopilot-specific errors |
+| errors_count4 | `uint16_t` | | | Autopilot-specific errors |
+| onboard_control_sensors_present_extended ++ | `uint32_t` | | [MAV_SYS_STATUS_SENSOR_EXTENDED](#MAV_SYS_STATUS_SENSOR_EXTENDED) | Bitmap showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. |
+| onboard_control_sensors_enabled_extended ++ | `uint32_t` | | [MAV_SYS_STATUS_SENSOR_EXTENDED](#MAV_SYS_STATUS_SENSOR_EXTENDED) | Bitmap showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled. |
+| onboard_control_sensors_health_extended ++ | `uint32_t` | | [MAV_SYS_STATUS_SENSOR_EXTENDED](#MAV_SYS_STATUS_SENSOR_EXTENDED) | Bitmap showing which onboard controllers and sensors have an error (or are operational). Value of 0: error. Value of 1: healthy. |
### SYSTEM_TIME (2) {#SYSTEM_TIME}
@@ -1885,7 +1885,7 @@ Battery information. Updates GCS with flight controller battery status. Smart ba
| type | `uint8_t` | | [MAV_BATTERY_TYPE](#MAV_BATTERY_TYPE) | Type (chemistry) of the battery |
| temperature | `int16_t` | cdegC | invalid:INT16_MAX | Temperature of the battery. INT16_MAX for unknown temperature. |
| voltages | `uint16_t[10]` | mV | invalid:[UINT16_MAX] | Battery voltage of cells 1 to 10 (see voltages_ext for cells 11-14). Cells in this field above the valid cell count for this battery should have the UINT16_MAX value. If individual cell voltages are unknown or not measured for this battery, then the overall battery voltage should be filled in cell 0, with all others set to UINT16_MAX. If the voltage of the battery is greater than (UINT16_MAX - 1), then cell 0 should be set to (UINT16_MAX - 1), and cell 1 to the remaining voltage. This can be extended to multiple cells if the total voltage is greater than 2 \* (UINT16_MAX - 1). |
-| current_battery | `int16_t` | cA | invalid:-1 | Battery current, -1: autopilot does not measure the current |
+| current_battery | `int16_t` | cA | invalid:-1 | Battery current, -1: autopilot does not measure the current. Value may overflow/rollover for very high currents (> 327.67A) |
| current_consumed | `int32_t` | mAh | invalid:-1 | Consumed charge, -1: autopilot does not provide consumption estimate |
| energy_consumed | `int32_t` | hJ | invalid:-1 | Consumed energy, -1: autopilot does not provide energy consumption estimate |
| battery_remaining | `int8_t` | % | invalid:-1 | Remaining battery energy. Values: [0-100], -1: autopilot does not estimate the remaining battery. |
@@ -3515,7 +3515,7 @@ Note: Camera components should use [CAMERA_INFORMATION](#CAMERA_INFORMATION) ins
### PLAY_TUNE_V2 (400) {#PLAY_TUNE_V2}
-Play vehicle tone/tune (buzzer). Supersedes message [PLAY_TUNE](#PLAY_TUNE).
+Play vehicle tone/tune (buzzer). Supported tunes can be determined using [SUPPORTED_TUNES](#SUPPORTED_TUNES). Supersedes message [PLAY_TUNE](#PLAY_TUNE).
| Field Name | Type | 值 | 描述 |
| ------------------------------------- | ----------- | ------------------------------------------------ | ------------------------------------------------------------ |
@@ -3526,7 +3526,7 @@ Play vehicle tone/tune (buzzer). Supersedes message [PLAY_TUNE](#PLAY_TUNE).
### SUPPORTED_TUNES (401) {#SUPPORTED_TUNES}
-Tune formats supported by vehicle. This should be emitted as response to [MAV_CMD_REQUEST_MESSAGE](#MAV_CMD_REQUEST_MESSAGE).
+Tune formats supported by vehicle, i.e. via [PLAY_TUNE_V2](#PLAY_TUNE_V2). This should be emitted as response to [MAV_CMD_REQUEST_MESSAGE](#MAV_CMD_REQUEST_MESSAGE).
| Field Name | Type | 值 | 描述 |
| ------------------------------------- | ---------- | ------------------------------------------------ | --------------------------------------------------- |
diff --git a/zh/messages/dialects.md b/zh/messages/dialects.md
index 741c2d615..fe9e76636 100644
--- a/zh/messages/dialects.md
+++ b/zh/messages/dialects.md
@@ -17,20 +17,20 @@ Dialects are not managed by this project!
The dialect definitions are:
-- [icarous.xml](icarous.md)
-- [matrixpilot.xml](matrixpilot.md)
-- [ASLUAV.xml](ASLUAV.md)
-- [storm32.xml](storm32.md)
-- [paparazzi.xml](paparazzi.md)
-- [loweheiser.xml](loweheiser.md)
-- [AVSSUAS.xml](AVSSUAS.md)
- [csAirLink.xml](csAirLink.md)
+- [loweheiser.xml](loweheiser.md)
- [cubepilot.xml](cubepilot.md)
-- [stemstudios.xml](stemstudios.md)
-- [ualberta.xml](ualberta.md)
-- [uAvionix.xml](uAvionix.md)
+- [ASLUAV.xml](ASLUAV.md)
- [ardupilotmega.xml](ardupilotmega.md)
+- [matrixpilot.xml](matrixpilot.md)
- [marsh.xml](marsh.md)
+- [uAvionix.xml](uAvionix.md)
+- [AVSSUAS.xml](AVSSUAS.md)
+- [storm32.xml](storm32.md)
+- [ualberta.xml](ualberta.md)
+- [paparazzi.xml](paparazzi.md)
+- [icarous.xml](icarous.md)
+- [stemstudios.xml](stemstudios.md)
Note that dialects may `include` [MAVLink-Standard Definitions](index.md) or other dialects.
Up to 5 levels of XML file nesting are allowed - see `MAXIMUM_INCLUDE_FILE_NESTING` in [mavgen.py](https://github.com/ArduPilot/pymavlink/blob/master/generator/mavgen.py#L44).