Fix code blocks to use correct 3 back ticks instead of 4.

docs/cmake_linux.md

@@ -2,20 +2,20 @@
 
 If you don't have cmake version 3.10 (for example, 3.2.2 is the default on Ubuntu 14) you can run the following:
 
-````
+```
 mkdir ~/cmake-3.10.2
 cd ~/cmake-3.10.2
 wget https://cmake.org/files/v3.10/cmake-3.10.2-Linux-x86_64.sh
-````
+```
 
 Now you have to run this command by itself (it is interactive)
-````
+```
 sh cmake-3.10.2-Linux-x86_64.sh --prefix ~/cmake-3.10.2
-````
+```
 
 Answer 'n' to the question about creating another cmake-3.10.2-Linux-x86_64 folder and then 
-````
+```
 sudo update-alternatives --install /usr/bin/cmake cmake ~/cmake-3.10.2/bin/cmake 60
-````
+```
 
 Now type `cmake --version` to make sure your cmake version is 3.10.2.

docs/custom_drone.md

@@ -5,9 +5,9 @@ The AirLib library can be compiled and deployed on the companion computer on a r
 ![Flamewheel](images/Flamewheel.png)
 
 Once connected you can run MavLinkTest with this command line:
-````
+```
 MavLinkTest -serial:/dev/ttyACM0,115200 -logdir:. 
-````
+```
 And this will produce a log file of the flight which can then be used for [playback in the simulator](playback.md).
 
 You can also add `-proxy:192.168.1.100:14550` to connect MavLinkTest to a remote computer where you can run QGroundControl or our 
@@ -15,11 +15,11 @@ You can also add `-proxy:192.168.1.100:14550` to connect MavLinkTest to a remote
 
 MavLinkTest then has some simple commands for testing your drone, here's a simple example of some commands:
 
-````
+```
 arm
 takeoff 5
 orbit 10 2
-````
+```
 
 This will arm the drone, takeoff of 5 meters, then do an orbit pattern radius 10 meters, at 2 m/s.
 Type '?' to find all available commands.
@@ -32,18 +32,18 @@ When you land the drone you can stop MavLinkTest and copy the *.mavlink log file
 
 Once you are happy that the MavLinkTest is working, you can also run DroneServer and DroneShell as follows. First, run MavLinkTest with a local proxy to send everything to DroneServer:
 
-````
+```
 MavLinkTest -serial:/dev/ttyACM0,115200 -logdir:. -proxy:127.0.0.1:14560
-````
+```
 Change ~/Documents/AirSim/settings.json to say "serial":false, because we want DroneServer to look for this UDP connection.
 
-````
+```
 DroneServer 0
-````
+```
 
 Lastly, you can now connect DroneShell to this instance of DroneServer and use the DroneShell commands to fly your drone:
 
-````
+```
 DroneShell
 ==||=>
         Welcome to DroneShell 1.0.
@@ -55,7 +55,7 @@ Waiting for drone to report a valid GPS location...
 ==||=> arm
 ==||=> takeoff
 ==||=> circlebypath -radius 10 -velocity 2
-````
+```
 
 ## PX4 Specific Tools
 You can run the MavlinkCom library and MavLinkTest app to test the connection

docs/faq.md

@@ -62,14 +62,14 @@ It depends on how big your Unreal Environment is. The Blocks environment that co
 #### How do I report issues?
 It's a good idea to include your configuration like below. If you can also include logs, that could also expedite the investigation.
 
-````
+```
 Operating System: Windows 10 64bit
 CPU: Intel Core i7
 GPU: Nvidia GTX 1080
 RAM: 32 GB
 Flight Controller: Pixhawk v2
 Remote Control: Futaba
-````
+```
 
 If you have modified the default `~/Document/AirSim/settings.json`, please include your
 settings also.

docs/playback.md

@@ -5,9 +5,9 @@ for the purpose of comparing real and simulated flight.
 The [recording.mavlink](logs/recording.mavlink) is an example of a log file captured using a real drone using the following
 command line:
 
-````
+```
 MavLinkTest -serial:/dev/ttyACM0,115200 -logdir:. 
-````
+```
 
 Then the log file contains the commands performed, which included several "orbit" commands, the resulting GPS map of the flight
 looks like this:
@@ -20,15 +20,15 @@ Now we can copy the *.mavlink log file recorded by MavLinkTest to the PC running
 When the Simulator is running and the drone is parked in a place in a map that has room to do the same maneuvers we can run this
 MavLinkTest command line:
 
-````
+```
 MavLinkTest -server:127.0.0.1:14550
-````
+```
 
 This should connect to the simulator.  Now you can enter this command:
 
-````
+```
 PlayLog recording.mavlink
-````
+```
 The same commands you performed on the real drone will now play again in the simulator.  You can then press 't' to see
 the trace, and it will show you the trace of the real drone and the simulated drone.  Every time you press 't' again
 you can reset the lines so they are sync'd to the current position, this way I was able to capture a side-by-side trace of the
@@ -46,12 +46,12 @@ in my case I was using a lower than normal cruise speed, slow takeoff speed, and
 wait a long time before disarming (COM_DISARM_LAND) and to turn off the safety switches NAV_RCL_ACT and NAV_DLL_ACT
 (`don't` do that on a real drone).
 
-````
+```
 param MPC_XY_CRUISE 2
 param MPC_XY_VEL_MAX 2
 param MPC_TKO_SPEED 1
 param COM_DISARM_LAND 60
 param NAV_RCL_ACT 0
 param NAV_DLL_ACT 0
-````
+```
 

docs/px4_build.md

@@ -3,16 +3,16 @@
 ## Source code
 
 Getting the PX4 source code is easy:
-````
+```
 git clone https://github.com/PX4/Firmware.git
 cd Firmware
-````
+```
 
 Oh, and if you don't have git yet just run this:
 
-````
+```
 sudo apt-get install git
-````
+```
 
 We are currently testing using the 1.6.0rc1 version, but the latest master branch should be ok too.
 Now to build it you will need the right tools.
@@ -28,22 +28,24 @@ the PX4 firmware, just follow the BashOnWindows instructions at the bottom of th
 ## Build SITL version
 
 Now you can make the SITL version that runs in posix, from the Firmware folder you created above:
-````
+```
-make posix_sitl_ekf2
+make px4_sitl_default none_iris
-````
+```
 
-Note: this build system is quite special, it knows how to update git submodules (and there's a lot of them),
+Note: this build system is quite special, it knows how to update git submodules (and there's a lot
-then it runs cmake (if necessary), then it runs the build itself.  So in a way the root Makefile is a meta-meta makefile :-) 
+of them), then it runs cmake (if necessary), then it runs the build itself. So in a way the root
+Makefile is a meta-meta makefile :-)
 
-It shouldn't take long, about 2 minutes.  If all succeeds, the last line will link the `px4` app, which you can then run using the following:
+It shouldn't take long, about 2 minutes. If all succeeds, the last line will link the `px4` app,
+which you can then run using the following:
 
-````
+```
-make posix_sitl_ekf2  none_iris
+make px4_sitl_default none_iris
-````
+```
 
 And you should see output that looks like this:
 
-````
+```
 creating new parameters file
 creating new dataman file
 
@@ -68,33 +70,35 @@ INFO  [dataman] Unkown restart, data manager file 'rootfs/fs/microsd/dataman' si
   CAL_ACC1_ID: curr: 0 -> new: 1310728
   CAL_MAG0_ID: curr: 0 -> new: 196616
 
-````
+```
 
-so this is good, first run sets up the px4 parameters for SITL mode.  Second run has less output.
+so this is good, first run sets up the px4 parameters for SITL mode. Second run has less output.
-This app is also an interactive console where you can type commands.  Type 'help' to see what they are
+This app is also an interactive console where you can type commands. Type 'help' to see what they
-and just type ctrl-C to kill it.  You can do that and restart it any time, that's a great way to reset
+are and just type ctrl-C to kill it. You can do that and restart it any time, that's a great way to
-any wonky state if you need to (it's equivalent to a Pixhawk hardware reboot).
+reset any wonky state if you need to (it's equivalent to a Pixhawk hardware reboot).
 
 ## ARM embedded tools
 
-If you plan to build the PX4 firmware for real Pixhawk hardware then you will need the gcc cross-compiler
+If you plan to build the PX4 firmware for real Pixhawk hardware then you will need the gcc
-for ARM Cortex-M4 chipset.  You can get this compiler by PX4 DevGuide, specifically this is in their `ubuntu_sim_nuttx.sh` setup script.
+cross-compiler for ARM Cortex-M4 chipset. You can get this compiler by PX4 DevGuide, specifically
+this is in their `ubuntu_sim_nuttx.sh` setup script.
 
 After following those setup instructions you can verify the install by entering this command `arm-none-eabi-gcc --version`.  You should see the following output:
-````
+
+```
 arm-none-eabi-gcc (GNU Tools for Arm Embedded Processors 7-2017-q4-major) 7.2.1 20170904 (release) [ARM/embedded-7-branch revision 255204]
 Copyright (C) 2017 Free Software Foundation, Inc.
 This is free software; see the source for copying conditions.  There is NO
 warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
-````
+```
 
 ## Build PX4 for ARM hardware
 
 Now  you  can build the PX4 firmware for running on real pixhawk hardware:
 
-````
+```
-make px4fmu-v2_default
+make px4_fmu-v4
-````
+```
 
 This build will take a little longer because it is building a lot more including the NuttX real time OS,
 all the drivers for the sensors in the Pixhawk flight controller, and more.  It is also running the compiler
@@ -107,7 +111,8 @@ hardware with these brand new bits, so you don't need to use QGroundControl for
 
 PX4 has many customizable parameters (over 700 of them, in fact) and to get best results with AirSim we have
 found the following parameters are handy:
-````
+
+```
 // be sure to enable the new position estimator module:
 param set SYS_MC_EST_GROUP 2
 
@@ -124,7 +129,7 @@ param NAV_RCL_ACT 0
 
 // enable new syslogger to get more information from PX4 logs
 param set SYS_LOGGER 1
-````
+```
 
 ## Using BashOnWindows
 

docs/px4_logging.md

@@ -6,16 +6,16 @@ Thanks to [Chris Lovett](https://github.com/clovett) for developing various tool
 
 The following command will connect MavLinkTest app to the Simulator and enable logging
 of all mavlink commands to and from the PX4.
-````
+```
 MavLinkTest -server:127.0.0.1:14550 -logdir:d:\temp
-````
+```
 
 Sometimes you will also want to log the "output" from the Simulator that is being sent to the PX4.
 Specifically this will capture the "hilgps" and "hilsensor" messages that are generated by the 
 Simulator.  To do that run this as well:
-````
+```
 MavLinkTest -server:127.0.0.1:14389 -logdir:d:\temp\output
-````
+```
 
 You will then see log files organized by date in d:\temp\logs, specifically *input.mavlink and *output.mavlink files.
 

docs/px4_sitl.md

@@ -93,10 +93,10 @@ unless the home location is set to the same coordinates defined in  AVehiclePawn
 You can also run the following in the SITL PX4 console window to check
 that these values are set correctly.
 
-````
+```
 param show LPE_LAT
 param show LPE_LON
-````
+```
 
 ## Smooth Offboard Transitions
 
@@ -108,30 +108,30 @@ Notice the above setting is provided in the `params` section of the `settings.js
 This tells the drone automatically hover after each offboard control command finishes (the default setting is to land).  Hovering is a smoother transition between multiple offboard commands.  You can check this setting
 by running the following PX4 console command:
 
-````
+```
 param show COM_OBL_ACT
-````
+```
 
 ## Check the Home Position
 
 If you are using DroneShell to execute commands (arm, takeoff, etc) then you should wait until the Home position is set. You will see the PX4 SITL console output this message:
 
-````
+```
 INFO  [commander] home: 47.6414680, -122.1401672, 119.99
 INFO  [tone_alarm] home_set
-````
+```
 
 Now DroneShell 'pos' command should report this position and the commands should be accepted by PX4.  If you attempt to takeoff without a home position you will see the message:
 
-````
+```
 WARN  [commander] Takeoff denied, disarm and re-try
-````
+```
 
 After home position is set check the local position reported by 'pos' command :
 
-````
+```
 Local position: x=-0.0326988, y=0.00656854, z=5.48506
-````
+```
 
 If the z coordinate is large like this then takeoff might not work as expected.  Resetting the SITL and simulation should fix that problem.
 
@@ -145,10 +145,10 @@ Notice the above setting is provided in the `params` section of the `settings.js
 
 This is required if you plan to fly the SITL mode PX4 with no remote control, just using python scripts, for example.  These parameters stop the PX4 from triggering "failsafe mode on" every time a move command is finished.  You can use the following PX4 command to check these values are set correctly:
 
-````
+```
 param show NAV_RCL_ACT
 param show NAV_DLL_ACT
-````
+```
 
 NOTE: Do `NOT` do this on a real drone as it is too dangerous to fly without these failsafe measures.
 

docs/xbox_controller.md

@@ -22,9 +22,9 @@ You can also use all the QGroundControl controls for autonomous flying at this p
 
 
 3. Connect to Pixhawk serial port using MavLinkTest.exe like this:
-````
+```
 MavLinkTest.exe -serial:*,115200 -proxy:127.0.0.1:14550 -server:127.0.0.1:14570
-````
+```
 
 4. Run AirSim Unreal simulator with these `~/Documents/AirSim/settings.json` settings:
 ```