docs: refresh links, setting names, spelling, MAVLink page and CLI reference

docs/01-welcome.mdx

@@ -19,11 +19,11 @@ The software suite consists of the following components:
 ## How to Use The Docs
 
 The docs have been structured in as logical manner as possible. 
-It is advisible for all newcomers to INAV to visit the Getting Started section to learn how INAV works and setup an aircraft.
+It is advisable for all newcomers to INAV to visit the Getting Started section to learn how INAV works and setup an aircraft.
 
 ### Getting Started
 
-This section is where all newcomers should visit to get acquianted with INAV.
+This section is where all newcomers should visit to get acquainted with INAV.
 It provides all the fundamental information for understanding key concepts and getting an aircraft configured for flight. 
 The sections are organized sequentially and should be followed in order.
 
@@ -52,8 +52,8 @@ C -- Forked --> E;
 ```
 
 In the beginning, there were no off-the-shelf flight controllers that were plug and play ready for your quad or plane.
-The multirotor hobby began during the Ninentdo Wii era when the accessibility of inexpensive accelerometer and gyro sensors from the Wiimote Nunchucks inspired intrepid electronics hackers to repurpose them with Arduinos for multirotor flight controls - thus the MultiWii flight controller software was born.
-The deveopment and popularity of MultiWii FC led to commercially available products like the KK/2.0 series.
+The multirotor hobby began during the Nintendo Wii era when the accessibility of inexpensive accelerometer and gyro sensors from the Wiimote Nunchucks inspired intrepid electronics hackers to repurpose them with Arduinos for multirotor flight controls - thus the MultiWii flight controller software was born.
+The development and popularity of MultiWii FC led to commercially available products like the KK/2.0 series.
 
 Because MultiWii was based around the Arduino ATmega328, limitations were quickly reached with what could be done due to limited memory.
 Allegedly, the former MultiWii flight controller rush led a small electronics company called Zhuque Intelligent New Shenzhen Co. Ltd to use their surplus STM32F103 to develop a multirotor flight controller called Freeflight, which ran their own firmware.
@@ -75,11 +75,11 @@ This system makes it easy to see which versions of INAV are compatible.
 The version number is made up of 3 sections, separated by dots.
 These are major.minor.patch.
 
-So with **INAV 7.1.2**:
+So with **INAV 9.1.0**:
 
-- **7** is the major version number
+- **9** is the major version number
 - **1** is the minor version number
-- **2** is the patch version number
+- **0** is the patch version number
 
 Both the firmware and Configurator follow the same versioning scheme. The major version numbers match.
 
@@ -88,7 +88,7 @@ This does not have to be a big change or new feature.
 It can be something as simple as adding a new symbol on the OSD (due to the font update) or changing or removing a CLI parameter.
 When the major version number is increased, the minor and patch version numbers are reset to 0.
 
-**Minor** version numbers are increased when a a feature is added or updated that does not break backwards compatibility.
+**Minor** version numbers are increased when a feature is added or updated that does not break backwards compatibility.
 This can be complete new features, even new CLI parameters.
 When the minor version number is increased, the patch version number is reset to 0.
 
@@ -97,4 +97,4 @@ When the minor version number is increased, the patch version number is reset to
 With INAV you must match the major version number of the [firmware](https://github.com/iNavFlight/inav) and [Configurator](https://github.com/iNavFlight/inav-configurator).
 This has been the case for a long time, even pre-SemVer.
 Before SemVer, the major and minor version numbers also had to be matched.
-Now, it is recommended to use the latest version of Configurator that has the same major version number of your firmware. For example with firmware 7.0.0 it is recommended to use Configurator 7.1.2.
+Now, it is recommended to use the latest version of Configurator that has the same major version number of your firmware. For example with firmware 9.0.1 it is recommended to use Configurator 9.1.1.

docs/02-release-notes.mdx

@@ -54,7 +54,7 @@ Due to GNSS data processing losses than occur when `gps_ublox_nav_hz` is set hig
 In general, **lower** UBLOX update rates will allow your GNSS module to provide better position accuracy when **more** constellations are selected. But there is also a trade-off. The update positions will becoming more broadly spread-out at higher flight speeds.  
 Changes can be made in the _Configurator GPS Tab_ to suit your hardware and flight requirements.
 
-Read [PR](https://github.com/iNavFlight/inav/pull/11262) , [Issue](https://github.com/iNavFlight/inav/issues/11202#issue-3758761282) and [GPS and Compass setup](https://github.com/iNavFlight/inav/wiki/GPS-and-Compass-setup#gnss-ublox-update-rate) for more information on the topic if required.
+Read [PR](https://github.com/iNavFlight/inav/pull/11262) , [Issue](https://github.com/iNavFlight/inav/issues/11202#issue-3758761282) and [GNSS Ublox Update Rate](./05-core-features/gps.mdx#gnss-ublox-update-rate) for more information on the topic if required.
 
 ### Multicopter set magless heading
 
@@ -77,7 +77,7 @@ Relevant commits - [#11270 ](https://github.com/iNavFlight/inav/pull/11270) , [#
 
 - The handling of the OSD STATS after disarming has been improved. CRSF RX data is now being displayed. As well as the `Saving Setting` and `Disarmed by` advisories are again working correctly on HD. [link](https://github.com/iNavFlight/inav/pull/11506)
 - System message updates and improvements have been added for Surface mode and Geozones. [link](https://github.com/iNavFlight/inav/pull/11425)
-- Simplification of the OSD [Multifunction](https://github.com/iNavFlight/inav/wiki/Modes#multi-function) mode tools operation. With the addition of battery Voltage and Capacity, Pitot failure and Compass calibration.
+- Simplification of the OSD [Multifunction](./05-core-features/flight-modes-standard.mdx#multi-function) mode tools operation. With the addition of battery Voltage and Capacity, Pitot failure and Compass calibration.
 - If multicopter compass deviation occurs (toilet bowling) in Poshold, a system message warning is displayed until the mode is cancelled. [link](https://github.com/iNavFlight/inav/pull/10854)
 
 ### Other changes
@@ -293,12 +293,12 @@ Please follow the instructions on [this](https://github.com/iNavFlight/inav/wiki
 
 ### Fixedwing airspeed APA and pitch angle enhanced TPA support
 
-Fixeding aircraft can now use a pitot sensor or virtual airspeed to dynamically adjust the PIDFF gains inflight. This adds the advantage of a tighter stabilization response across the whole flight speed envelope.  
-Full details of setup and tuning can be found [here](https://github.com/iNavFlight/inav/wiki/PID-Attenuation-and-scaling). Under the topics `APA` and `TPA and Pitch angle`.
+Fixedwing aircraft can now use a pitot sensor or virtual airspeed to dynamically adjust the PIDFF gains inflight. This adds the advantage of a tighter stabilization response across the whole flight speed envelope.  
+Full details of setup and tuning can be found [here](./07-pid-tuning/pid-attentuation-and-scaling.mdx). Under the topics `APA` and `TPA and Pitch angle`.
 
 ### Minimum ground speed flexibility
 
-Via the [Programming Framework](https://github.com/iNavFlight/inav/blob/master/docs/Programming%20Framework.md). It allows the user to have more flexibility when flying in higher wind conditions. To ensure the airplane makes headway.  
+Via the [Programming Framework](./06-advanced-features/programming-framework.mdx). It allows the user to have more flexibility when flying in higher wind conditions. To ensure the airplane makes headway.  
 In addition, you can program it to dynamically adjust the minimum ground speed according to the Wind direction and Wind speed.  
 More information can be found in this [link](https://github.com/iNavFlight/inav/pull/10720).
 
@@ -314,7 +314,7 @@ Changes have been made to improve its operation on a broader range of airframes.
 - Altitude Velocity controller `nav_fw_alt_use_position = OFF` (default)
 - Altitude Position controller `nav_fw_alt_use_position = ON`
 
-See [here](<https://github.com/iNavFlight/inav/wiki/Navigation-PID-tuning-(FW)#altitude-control-methods>) for more information. And the _required_ PID tune settings for either control method.
+See [here](./07-pid-tuning/navigation-pid-tuning-fw.mdx#altitude-control-methods) for more information. And the _required_ PID tune settings for either control method.
 
 ### Position estimator improvements
 
@@ -345,7 +345,7 @@ QMC5883P magnetometer driver
 - Improved yaw estimation for magless multicopter operation. [PR link](https://github.com/iNavFlight/inav/pull/11114) - _The default `ahrs_acc_ignore_rate` setting has also been lowered from 20 to 15._
 - Mavlink clean-ups and fixes - [11060](https://github.com/iNavFlight/inav/pull/11060) [11061](https://github.com/iNavFlight/inav/pull/11061) [11062](https://github.com/iNavFlight/inav/pull/11062)
 - MSP changes - [11146](https://github.com/iNavFlight/inav/pull/11146) [11171](https://github.com/iNavFlight/inav/pull/11171) [11093](https://github.com/iNavFlight/inav/pull/11093) [11032](https://github.com/iNavFlight/inav/pull/11032) [10571](https://github.com/iNavFlight/inav/pull/10571) [11099](https://github.com/iNavFlight/inav/pull/11099)
-- JavaScript support tab for INAV programming framework. [PR link](https://github.com/iNavFlight/inav/pull/11143) [Docs update](https://github.com/iNavFlight/inav/blob/master/docs/Programming%20Framework.md#javascript-based-programming-alternative)
+- JavaScript support tab for INAV programming framework. [PR link](https://github.com/iNavFlight/inav/pull/11143) [Docs update](./06-advanced-features/programming-framework.mdx#javascript-based-programming-alternative)
 
 ### OSD/CMS changes
 
@@ -374,7 +374,7 @@ The **Minimum Ground Speed** and **Throttle Gauge** additions to the OSD require
 | Programming Framework | Minimum Ground Speed [m/s]    | The current minimum ground speed allowed in navigation flight modes                                                                                                                                                                                                                                                              |
 | Programming Framework | Horizontal Wind Speed [cm/s]  | Estimated wind speed. If the wind estimator is unavailable or the wind estimation is invalid, -1 is returned                                                                                                                                                                                                                     |
 | Programming Framework | Wind Direction [deg]          | Estimated wind direction. If the wind estimator is unavailable or the wind estimation is invalid, -1 is returned                                                                                                                                                                                                                 |
-| Programming Framework | Relative Wind Offset [deg]    | The relative offset between the heading of the aircraft and the heading of the wind. 0 indicates flying directly into a headwing. Negative numbers are a left offset. For example, if -20° is shown, turning right will correct towards 0. If the wind estimator is unavailable or the wind estimation is invalid, 0 is returned |
+| Programming Framework | Relative Wind Offset [deg]    | The relative offset between the heading of the aircraft and the heading of the wind. 0 indicates flying directly into a headwind. Negative numbers are a left offset. For example, if -20° is shown, turning right will correct towards 0. If the wind estimator is unavailable or the wind estimation is invalid, 0 is returned |
 
 ## CLI
 
@@ -390,14 +390,14 @@ The first three CLI settings have been renamed or changed in INAV 9.0. When load
 | [mixer_control_profile_linking](https://github.com/iNavFlight/inav/blob/master/docs/Settings.md#mixer_control_profile_linking)               | Renames old `mixer_pid_profile_linking`                                                 |
 | [osd_pan_servo_range_decadegrees](https://github.com/iNavFlight/inav/blob/master/docs/Settings.md#osd_pan_servo_range_decadegrees)           | Renames old `osd_pan_servo_pwm2centideg`                                                |
 | [blackbox_arm_control](https://github.com/iNavFlight/inav/blob/master/docs/Settings.md#blackbox_arm_control)                                 | Can extend blackbox logging up to 60 seconds after disarming                            |
-| [acc_temp_correction](https://github.com/iNavFlight/inav/blob/master/docs/Settings.md#acc_temp_correction)                                   | Accelerometer temperature correction factor to compensate for acceleromter drift        |
+| [acc_temp_correction](https://github.com/iNavFlight/inav/blob/master/docs/Settings.md#acc_temp_correction)                                   | Accelerometer temperature correction factor to compensate for accelerometer drift        |
 | [baro_temp_correction](https://github.com/iNavFlight/inav/blob/master/docs/Settings.md#baro_temp_correction)                                 | Baro temperature correction factor to compensate for Baro altitude drift                |
 | [osd_adsb_warning_style](https://github.com/iNavFlight/inav/blob/master/docs/Settings.md#osd_adsb_warning_style)                             | ADSB warning element style - COMPACT or EXTENDED                                        |
 | [nav_fw_alt_use_position](https://github.com/iNavFlight/inav/blob/master/docs/Settings.md#nav_fw_alt_use_position)                           | Use position for fixed wing altitude control rather than velocity                       |
 | [mavlink_autopilot_type](https://github.com/iNavFlight/inav/blob/master/docs/Settings.md#mavlink_autopilot_type)                             | Sets the Mavlink telemetry type - GENERIC or ARDUPILOT                                  |
-| [transition_pid_mmix_multiplier_pitch](https://github.com/iNavFlight/inav/blob/master/docs/Settings.md#transition_pid_mmix_multiplier_pitch) | Intended to solve pitch coupling in transtion mode on tilting rotor VTOL                |
-| [transition_pid_mmix_multiplier_roll](https://github.com/iNavFlight/inav/blob/master/docs/Settings.md#transition_pid_mmix_multiplier_roll)                                                                                                      | intended to solve roll/yaw coupling oscillation in transtion mode on tilting rotor VTOL |
-| [transition_pid_mmix_multiplier_yaw](https://github.com/iNavFlight/inav/blob/master/docs/Settings.md#transition_pid_mmix_multiplier_yaw)     | Intended to solve yaw/roll coupling oscillation in transtion mode on tilting rotor VTOL |
+| [transition_pid_mmix_multiplier_pitch](https://github.com/iNavFlight/inav/blob/master/docs/Settings.md#transition_pid_mmix_multiplier_pitch) | Intended to solve pitch coupling in transition mode on tilting rotor VTOL                |
+| [transition_pid_mmix_multiplier_roll](https://github.com/iNavFlight/inav/blob/master/docs/Settings.md#transition_pid_mmix_multiplier_roll)                                                                                                      | intended to solve roll/yaw coupling oscillation in transition mode on tilting rotor VTOL |
+| [transition_pid_mmix_multiplier_yaw](https://github.com/iNavFlight/inav/blob/master/docs/Settings.md#transition_pid_mmix_multiplier_yaw)     | Intended to solve yaw/roll coupling oscillation in transition mode on tilting rotor VTOL |
 | [apa_pow](https://github.com/iNavFlight/inav/blob/master/docs/Settings.md#apa_pow)                                                           | Sets the strength and speed range of dynamic airspeed PID scaling                       |
 | [tpa_pitch_compensation](https://github.com/iNavFlight/inav/blob/master/docs/Settings.md#tpa_pitch_compensation)                             | Sets the strength which pitch angle will override the throttle dynamic PID scaling      |
 

docs/03-getting-started/01-hardware-overview.mdx

@@ -19,7 +19,7 @@ This section outlines the components needed depending on the kind of build.
 - Flight controller
 - Radio control link receiver
 
-INAV can function without any extra sensors and be used as a simple flight stablization system. 
+INAV can function without any extra sensors and be used as a simple flight stabilization system. 
 This can be useful for certain visual line of sight flying (VLOS).
 
 ### Navigation Essentials
@@ -39,7 +39,7 @@ In addition to everything in [Navigation Essentials](./01-hardware-overview.mdx#
 - Camera compatible with VTX system
 
 There are now a multitude of video systems for FPV available. 
-These range from the inexpesive, old, but still widely used analog video systems to digital systems such as DJI, Caddx Walksnail, Caddx Ascent, Betafpv P1, and OpenIPC. 
+These range from the inexpensive, old, but still widely used analog video systems to digital systems such as DJI, Caddx Walksnail, Caddx Ascent, Betafpv P1, and OpenIPC. 
 
 :::info
 It is possible to fly FPV without a GPS, but is not recommended.
@@ -102,15 +102,15 @@ A popular example of single board FC is the AtomRC F405 Navi as pictured below:
 <figcaption><i>Credit: AtomRC</i></figcaption>
 
 These FCs typically contain all the hardware needed to power and wire up hardware needed for fixed wings.
-Since fixed wings in the hobby are usually single or twin motors, the electronic speed controllers (ESC) for the motors will have to be sourced seperately and soldered onto the specified pads on the FC.
+Since fixed wings in the hobby are usually single or twin motors, the electronic speed controllers (ESC) for the motors will have to be sourced separately and soldered onto the specified pads on the FC.
 
 Whether single board or stacked, all will contain a PCB layer that's flat bottomed and intended to be used as a mounting surface.
 
 :::note
 Flight Controllers are typically equipped with accelerometers. 
 These devices are sensitive to shocks. 
 When the device is not yet installed to an aircraft, it has very little mass by itself. 
-If you drop or bump the controller, a big force will be applied on the interal components of the accelerometer, which could potentially damage them. 
+If you drop or bump the controller, a big force will be applied on the internal components of the accelerometer, which could potentially damage them. 
 **Bottom line: Handle the board very carefully until it's installed on an aircraft!**
 :::
 
@@ -153,12 +153,12 @@ As an illustrated example, the wiring guide for the AtomRC F405 Navi is shown be
 <figcaption><i>Credit: AtomRC</i></figcaption>
 
 #### Power Wires 
-Powers wires from the battery and to the ESC(s), should be a thicker gauage wire. 
+Powers wires from the battery and to the ESC(s), should be a thicker gauge wire. 
 Depending on the size of the aircraft, a good starting point for average, parkflier sized aircraft is 16awg to 14awg.
 
 It's also a good idea to mount a capacitor on the battery pad. 
 The capacitor is provided in FC packaging along with the wiring accessories for all the peripherals. 
-There are two ways to mount the capacitor: directly on with the legs or slightly discretly using wire extensions. 
+There are two ways to mount the capacitor: directly on with the legs or slightly discreetly using wire extensions. 
 
 For larger builds that have bigger motors and more current flow, 12awg is a good idea. 
 Keep in mind the servos' current draw is within limits of the FC's servo BEC, otherwise the servos will have to be powered with an external voltage regulator.
@@ -167,7 +167,7 @@ Keep in mind the servos' current draw is within limits of the FC's servo BEC, ot
 
 ### Flight Controller (FC)
 
-Multicopter FCs are fairly standarized and come in three distinct form factors:
+Multicopter FCs are fairly standardized and come in three distinct form factors:
 - 30.5mm stack
 - 20mm stack
 - 25mm AIO stack