mavlink · cclauss · Sep 5, 2025
diff --git a/en/contributing/contributing.md b/en/contributing/contributing.md
@@ -47,7 +47,7 @@ Ideally:
 
 ## How to Contribute Stand Alone Generators
 
-We would prefer that new languages are supported via [mavgen](../getting_started/generate_libraries.md#mavgen) rather than "standalone generators", as this provides a consistent inteface for end users, and ensures that source files are parsed and handled consistently.
+We would prefer that new languages are supported via [mavgen](../getting_started/generate_libraries.md#mavgen) rather than "standalone generators", as this provides a consistent interface for end users, and ensures that source files are parsed and handled consistently.
 
 That said will consider moving stand-alone generators into the MAVLink project under the same conditions as for new mavgen generator code (see section above).
 Primarily this means that the team developing the generator must provide sufficient validation that the generator works and commitment to support it.

diff --git a/en/guide/mavlink_2.md b/en/guide/mavlink_2.md
@@ -13,7 +13,7 @@ The key new features of _MAVLink 2_ are:
 - [Packet signing](../guide/message_signing.md) - Authenticate that messages were sent by trusted systems.
 - [Message extensions](../guide/define_xml_element.md#message_extensions) - Add new fields to existing MAVLink message definitions without breaking binary compatibility for receivers that have not updated.
 - [Empty-byte payload truncation](../guide/serialization.md#payload_truncation) - Empty (zero-filled) bytes at the end of the serialized payload must be removed before sending (All bytes were sent in _MAVLink 1_, regardless of content).
-- [Compatibility Flags](../guide/serialization.md#compat_flags)/[Incompatibility Flags](../guide/serialization.md#incompat_flags) - Allow for backwards compatible evolution of the protocol by indicating frames that must be handled in a special/non-standard way (packets with compatibility flags can still be handled in the standard way, while packets with incompatibility flags must be dropped if the flage is not supported).
+- [Compatibility Flags](../guide/serialization.md#compat_flags)/[Incompatibility Flags](../guide/serialization.md#incompat_flags) - Allow for backwards compatible evolution of the protocol by indicating frames that must be handled in a special/non-standard way (packets with compatibility flags can still be handled in the standard way, while packets with incompatibility flags must be dropped if the flag is not supported).
 
 ::: tip
 The _MAVLink 2_ [design document](https://docs.google.com/document/d/1XtbD0ORNkhZ8eKrsbSIZNLyg9sFRXMXbsR2mp37KbIg/edit?usp=sharing) provides additional background information about the changes.

diff --git a/en/guide/message_signing.md b/en/guide/message_signing.md
@@ -154,7 +154,7 @@ The secret key may be shared to other devices using the [SETUP_SIGNING](../messa
 The message should only ever be sent over a secure link (e.g. USB or wired Ethernet) as a direct message to each connected `system_id`/`component_id`.
 The receiving system must be set up to process the message and store the received secret key to the appropriate permanent storage.
 
-The same secure method can be used to both _set_ and _reset_ a system's key (reseting a key does not have to be "more secure" than setting it in the first place).
+The same secure method can be used to both _set_ and _reset_ a system's key (resetting a key does not have to be "more secure" than setting it in the first place).
 
 The `SETUP_SIGNING` message should never be broadcast, and received `SETUP_SIGNING` messages must never be automatically forwarded to other active MAVLink devices/streams/channels.
 This is to avoid the case where a key received over a secure link (e.g. USB) is automatically forwarded to another system over an insecure link (e.g. Wifi).

diff --git a/en/guide/packet_loss.md b/en/guide/packet_loss.md
@@ -1,7 +1,7 @@
 # Packet Loss Calculation
 
 MAVLink packet loss is calculated from the packet sequence number, an 8 bit field that is incremented each time a message is emitted on a channel.
-The recipient of the message can track the last recieved/next expected sequence number, and if a packet sequence number is bigger than expected, any intermediate packets between the sequence numbers are assumed to have been lost.
+The recipient of the message can track the last received/next expected sequence number, and if a packet sequence number is bigger than expected, any intermediate packets between the sequence numbers are assumed to have been lost.
 The sequence number will wrap around at 255, and the recipient is expected to compensate for this.
 
 This approach works if all messages sent on a channel are routed to the system calculating packet loss, and if messages from only one channel are received by the system calculating packet loss.

diff --git a/en/guide/serialization.md b/en/guide/serialization.md
@@ -1,6 +1,6 @@
 # Packet Serialization
 
-This topic provides detailed information about about MAVLink packet serialization, including the over-the-wire formats for MAVLink v1 and v2 packets, the ordering of fields in the message payload, and the `CRC_EXTRA` used for ensuring that the sender and reciever share a compatible message definition.
+This topic provides detailed information about about MAVLink packet serialization, including the over-the-wire formats for MAVLink v1 and v2 packets, the ordering of fields in the message payload, and the `CRC_EXTRA` used for ensuring that the sender and receiver share a compatible message definition.
 
 It is primarily intended for developers who are creating/maintaining a MAVLink generator
 

diff --git a/en/guide/wireshark.md b/en/guide/wireshark.md
@@ -24,7 +24,7 @@ The MAVLink generator (**mavgen**) can build this plugin for a dialect in the sa
 The steps are:
 
 1. [Install MAVLink](../getting_started/installation.md) (if you have not already done so).
-1. Build libraries for your target dialect, specifing `WLua` as the target language.
+1. Build libraries for your target dialect, specifying `WLua` as the target language.
    This process is described in the topic [Generate MAVLink Libraries](../getting_started/generate_libraries.md).
 
    For example, to build the MAVLink 2 Wireshark plugin for [common.xml](../messages/common.md) you might use the following command:

diff --git a/en/mavgen_c/index.md b/en/mavgen_c/index.md
@@ -85,7 +85,7 @@ mavlink/common/../mavlink_helpers.h:86:24: warning: taking address of packed mem
 ```
 
 The warning indicates the potential for hard faults caused by unaligned access to packed data.
-This does not happen on most of the common architectures on which MAVLink is run, and generally the warning can be supressed.
+This does not happen on most of the common architectures on which MAVLink is run, and generally the warning can be suppressed.
 
 You can suppress the warnings using `-Wno-address-of-packed-member`.
 

diff --git a/en/mavgen_python/howto_requestmessages.md b/en/mavgen_python/howto_requestmessages.md
@@ -7,7 +7,7 @@ A system can request that additional messages are sent as a stream, or change th
 A single instance of a message can be requested by sending [MAV_CMD_REQUEST_MESSAGE](../messages/common.md#MAV_CMD_REQUEST_MESSAGE).
 
 The example below shows how you can request the [BATTERY_STATUS](../messages/common.md#BATTERY_STATUS) message is streamed at the rate of 1Hz, by sending `MAV_CMD_SET_MESSAGE_INTERVAL` in a [COMMAND_LONG](../messages/common.md#COMMAND_LONG).
-Because this is a command, we then wait for a `COMMAND_ACK` to be recieved with the matching command id, and then display the result.
+Because this is a command, we then wait for a `COMMAND_ACK` to be received with the matching command id, and then display the result.
 Note that you could equally well send the command in a [COMMAND_INT](../messages/common.md#COMMAND_INT), if supported by the flight stack.
 
 ```python

diff --git a/en/services/arm_authorization.md b/en/services/arm_authorization.md
@@ -7,7 +7,7 @@ This is required to comply with [NASA UTM](https://utm.arc.nasa.gov/), but may a
 
 ## Authorization Flow
 
-[![Mermaid Squence: Authorization Flow](https://mermaid.ink/img/eyJjb2RlIjoic2VxdWVuY2VEaWFncmFtO1xuICAgIHBhcnRpY2lwYW50IERyb25lXG4gICAgcGFydGljaXBhbnQgUmVtb3RlIGNvbnRyb2wvUUNTXG4gICAgcGFydGljaXBhbnQgQXJtIGF1dGhvcml6ZXJcbiAgICBwYXJ0aWNpcGFudCBJbnRlcm5ldFxuXG4gICAgUmVtb3RlIGNvbnRyb2wvUUNTLT4-RHJvbmU6IFJlcXVlc3QgYXJtXG4gICAgRHJvbmUtPj5Bcm0gYXV0aG9yaXplcjogQ09NTUFORF9MT05HIGNvbW1hbmQ9TUFWX0NNRF9BUk1fQVVUSE9SSVpBVElPTl9SRVFVRVNUXG4gICAgQXJtIGF1dGhvcml6ZXItPj5Ecm9uZTogQ09NTUFORF9BQ0sgcmVzdWx0PU1BVl9SRVNVTFRfSU5fUFJPR1JFU1NcbiAgICBBcm0gYXV0aG9yaXplci0-PkRyb25lOiAob3B0aW9uYWwpUmVxdWVzdCBpbmZvcm1hdGlvbiBhYm91dCBtaXNzaW9uLCBiYXR0ZXJ5IGxldmVsIGFuZCBldGMuXG4gICAgQXJtIGF1dGhvcml6ZXItPj5JbnRlcm5ldDogKG9wdGlvbmFsKVJlcXVlc3QgaW5mb3JtYXRpb24gYWJvdXQgd2VhdGhlciwgYWVyb3NwYWNlIHRyYWZpYyBhbmQgZXRjLlxuICAgIEFybSBhdXRob3JpemVyLT4-RHJvbmU6IENPTU1BTkRfQUNLIGNvbW1hbmQ9TUFWX0NNRF9BUk1fQVVUSE9SSVpBVElPTl9SRVFVRVNUIHJlc3VsdD1BQ0NFUFRFRCwgVEVNUE9SQVJJTFlfUkVKRUNURUQgb3IgREVOSUVEXG4gICAgRHJvbmUtPj5SZW1vdGUgY29udHJvbC9RQ1M6IFFDUyBDT01NQU5EX0FDSyBjb21tYW5kPU1BVl9DTURfQ09NUE9ORU5UX0FSTV9ESVNBUk0gcmVzdWx0PUFDQ0VQVEVELCBURU1QT1JBUklMWV9SRUpFQ1RFRCBvciBERU5JRUQiLCJtZXJtYWlkIjp7InRoZW1lIjoiZGVmYXVsdCJ9LCJ1cGRhdGVFZGl0b3IiOmZhbHNlfQ)](https://mermaid-js.github.io/mermaid-live-editor/#/edit/eyJjb2RlIjoic2VxdWVuY2VEaWFncmFtO1xuICAgIHBhcnRpY2lwYW50IERyb25lXG4gICAgcGFydGljaXBhbnQgUmVtb3RlIGNvbnRyb2wvUUNTXG4gICAgcGFydGljaXBhbnQgQXJtIGF1dGhvcml6ZXJcbiAgICBwYXJ0aWNpcGFudCBJbnRlcm5ldFxuXG4gICAgUmVtb3RlIGNvbnRyb2wvUUNTLT4-RHJvbmU6IFJlcXVlc3QgYXJtXG4gICAgRHJvbmUtPj5Bcm0gYXV0aG9yaXplcjogQ09NTUFORF9MT05HIGNvbW1hbmQ9TUFWX0NNRF9BUk1fQVVUSE9SSVpBVElPTl9SRVFVRVNUXG4gICAgQXJtIGF1dGhvcml6ZXItPj5Ecm9uZTogQ09NTUFORF9BQ0sgcmVzdWx0PU1BVl9SRVNVTFRfSU5fUFJPR1JFU1NcbiAgICBBcm0gYXV0aG9yaXplci0-PkRyb25lOiAob3B0aW9uYWwpUmVxdWVzdCBpbmZvcm1hdGlvbiBhYm91dCBtaXNzaW9uLCBiYXR0ZXJ5IGxldmVsIGFuZCBldGMuXG4gICAgQXJtIGF1dGhvcml6ZXItPj5JbnRlcm5ldDogKG9wdGlvbmFsKVJlcXVlc3QgaW5mb3JtYXRpb24gYWJvdXQgd2VhdGhlciwgYWVyb3NwYWNlIHRyYWZpYyBhbmQgZXRjLlxuICAgIEFybSBhdXRob3JpemVyLT4-RHJvbmU6IENPTU1BTkRfQUNLIGNvbW1hbmQ9TUFWX0NNRF9BUk1fQVVUSE9SSVpBVElPTl9SRVFVRVNUIHJlc3VsdD1BQ0NFUFRFRCwgVEVNUE9SQVJJTFlfUkVKRUNURUQgb3IgREVOSUVEXG4gICAgRHJvbmUtPj5SZW1vdGUgY29udHJvbC9RQ1M6IFFDUyBDT01NQU5EX0FDSyBjb21tYW5kPU1BVl9DTURfQ09NUE9ORU5UX0FSTV9ESVNBUk0gcmVzdWx0PUFDQ0VQVEVELCBURU1QT1JBUklMWV9SRUpFQ1RFRCBvciBERU5JRUQiLCJtZXJtYWlkIjp7InRoZW1lIjoiZGVmYXVsdCJ9LCJ1cGRhdGVFZGl0b3IiOmZhbHNlfQ)
+[![Mermaid Sequence: Authorization Flow](https://mermaid.ink/img/eyJjb2RlIjoic2VxdWVuY2VEaWFncmFtO1xuICAgIHBhcnRpY2lwYW50IERyb25lXG4gICAgcGFydGljaXBhbnQgUmVtb3RlIGNvbnRyb2wvUUNTXG4gICAgcGFydGljaXBhbnQgQXJtIGF1dGhvcml6ZXJcbiAgICBwYXJ0aWNpcGFudCBJbnRlcm5ldFxuXG4gICAgUmVtb3RlIGNvbnRyb2wvUUNTLT4-RHJvbmU6IFJlcXVlc3QgYXJtXG4gICAgRHJvbmUtPj5Bcm0gYXV0aG9yaXplcjogQ09NTUFORF9MT05HIGNvbW1hbmQ9TUFWX0NNRF9BUk1fQVVUSE9SSVpBVElPTl9SRVFVRVNUXG4gICAgQXJtIGF1dGhvcml6ZXItPj5Ecm9uZTogQ09NTUFORF9BQ0sgcmVzdWx0PU1BVl9SRVNVTFRfSU5fUFJPR1JFU1NcbiAgICBBcm0gYXV0aG9yaXplci0-PkRyb25lOiAob3B0aW9uYWwpUmVxdWVzdCBpbmZvcm1hdGlvbiBhYm91dCBtaXNzaW9uLCBiYXR0ZXJ5IGxldmVsIGFuZCBldGMuXG4gICAgQXJtIGF1dGhvcml6ZXItPj5JbnRlcm5ldDogKG9wdGlvbmFsKVJlcXVlc3QgaW5mb3JtYXRpb24gYWJvdXQgd2VhdGhlciwgYWVyb3NwYWNlIHRyYWZpYyBhbmQgZXRjLlxuICAgIEFybSBhdXRob3JpemVyLT4-RHJvbmU6IENPTU1BTkRfQUNLIGNvbW1hbmQ9TUFWX0NNRF9BUk1fQVVUSE9SSVpBVElPTl9SRVFVRVNUIHJlc3VsdD1BQ0NFUFRFRCwgVEVNUE9SQVJJTFlfUkVKRUNURUQgb3IgREVOSUVEXG4gICAgRHJvbmUtPj5SZW1vdGUgY29udHJvbC9RQ1M6IFFDUyBDT01NQU5EX0FDSyBjb21tYW5kPU1BVl9DTURfQ09NUE9ORU5UX0FSTV9ESVNBUk0gcmVzdWx0PUFDQ0VQVEVELCBURU1QT1JBUklMWV9SRUpFQ1RFRCBvciBERU5JRUQiLCJtZXJtYWlkIjp7InRoZW1lIjoiZGVmYXVsdCJ9LCJ1cGRhdGVFZGl0b3IiOmZhbHNlfQ)](https://mermaid-js.github.io/mermaid-live-editor/#/edit/eyJjb2RlIjoic2VxdWVuY2VEaWFncmFtO1xuICAgIHBhcnRpY2lwYW50IERyb25lXG4gICAgcGFydGljaXBhbnQgUmVtb3RlIGNvbnRyb2wvUUNTXG4gICAgcGFydGljaXBhbnQgQXJtIGF1dGhvcml6ZXJcbiAgICBwYXJ0aWNpcGFudCBJbnRlcm5ldFxuXG4gICAgUmVtb3RlIGNvbnRyb2wvUUNTLT4-RHJvbmU6IFJlcXVlc3QgYXJtXG4gICAgRHJvbmUtPj5Bcm0gYXV0aG9yaXplcjogQ09NTUFORF9MT05HIGNvbW1hbmQ9TUFWX0NNRF9BUk1fQVVUSE9SSVpBVElPTl9SRVFVRVNUXG4gICAgQXJtIGF1dGhvcml6ZXItPj5Ecm9uZTogQ09NTUFORF9BQ0sgcmVzdWx0PU1BVl9SRVNVTFRfSU5fUFJPR1JFU1NcbiAgICBBcm0gYXV0aG9yaXplci0-PkRyb25lOiAob3B0aW9uYWwpUmVxdWVzdCBpbmZvcm1hdGlvbiBhYm91dCBtaXNzaW9uLCBiYXR0ZXJ5IGxldmVsIGFuZCBldGMuXG4gICAgQXJtIGF1dGhvcml6ZXItPj5JbnRlcm5ldDogKG9wdGlvbmFsKVJlcXVlc3QgaW5mb3JtYXRpb24gYWJvdXQgd2VhdGhlciwgYWVyb3NwYWNlIHRyYWZpYyBhbmQgZXRjLlxuICAgIEFybSBhdXRob3JpemVyLT4-RHJvbmU6IENPTU1BTkRfQUNLIGNvbW1hbmQ9TUFWX0NNRF9BUk1fQVVUSE9SSVpBVElPTl9SRVFVRVNUIHJlc3VsdD1BQ0NFUFRFRCwgVEVNUE9SQVJJTFlfUkVKRUNURUQgb3IgREVOSUVEXG4gICAgRHJvbmUtPj5SZW1vdGUgY29udHJvbC9RQ1M6IFFDUyBDT01NQU5EX0FDSyBjb21tYW5kPU1BVl9DTURfQ09NUE9ORU5UX0FSTV9ESVNBUk0gcmVzdWx0PUFDQ0VQVEVELCBURU1QT1JBUklMWV9SRUpFQ1RFRCBvciBERU5JRUQiLCJtZXJtYWlkIjp7InRoZW1lIjoiZGVmYXVsdCJ9LCJ1cGRhdGVFZGl0b3IiOmZhbHNlfQ)
 
 <!-- Original diagram
 sequenceDiagram;
@@ -20,7 +20,7 @@ sequenceDiagram;
     Drone->>Arm authorizer: COMMAND_LONG command=MAV_CMD_ARM_AUTHORIZATION_REQUEST
     Arm authorizer->>Drone: COMMAND_ACK result=MAV_RESULT_IN_PROGRESS
     Arm authorizer->>Drone: (optional)Request information about mission, battery level and etc.
-    Arm authorizer->>Internet: (optional)Request information about weather, aerospace trafic and etc.
+    Arm authorizer->>Internet: (optional)Request information about weather, aerospace traffic and etc.
     Arm authorizer->>Drone: COMMAND_ACK command=MAV_CMD_ARM_AUTHORIZATION_REQUEST result=ACCEPTED, TEMPORARILY_REJECTED or DENIED
     Drone->>Remote control/QCS: QCS COMMAND_ACK command=MAV_CMD_COMPONENT_ARM_DISARM result=ACCEPTED, TEMPORARILY_REJECTED or DENIED
 -->
@@ -41,7 +41,7 @@ sequenceDiagram;
     Drone->>Arm authorizer: COMMAND_LONG command=MAV_CMD_ARM_AUTHORIZATION_REQUEST
     Arm authorizer->>Drone: COMMAND_ACK result=MAV_RESULT_IN_PROGRESS
     Arm authorizer->>Drone: (optional)Request information about mission, battery level and etc.
-    Arm authorizer->>Internet: (optional)Request information about weather, aerospace trafic and etc.
+    Arm authorizer->>Internet: (optional)Request information about weather, aerospace traffic and etc.
     Arm authorizer->>Drone: COMMAND_ACK command=MAV_CMD_ARM_AUTHORIZATION_REQUEST result=ACCEPTED, TEMPORARILY_REJECTED or DENIED
     Drone->>Remote control/QCS: QCS STATUSTEXT text=Arm authorization was approved or denied
 
@@ -65,7 +65,7 @@ COMMAND_ACK
 command=MAV_CMD_ARM_AUTHORIZATION_REQUEST
 result=ACCEPTED, TEMPORARILY_REJECTED or DENIED
 progress/result_param1=if result is TEMPORARILY_REJECTED or DENIED the reason should be set MAV_ARM_AUTH_DENIED_REASON otherwise it should be set as 0
-result_param2=if result is ACCEPTED the it should be set with the time in seconds that this authorization is valid otherwise an aditional information about why it was denied should be set. example: for result_param1=MAV_ARM_AUTH_DENIED_REASON_INVALID_WAYPOINT or MAV_ARM_AUTH_DENIED_REASON_AIRSPACE_IN_USE it may have the index of the waypoint that caused it to be denied.
+result_param2=if result is ACCEPTED the it should be set with the time in seconds that this authorization is valid otherwise an additional information about why it was denied should be set. example: for result_param1=MAV_ARM_AUTH_DENIED_REASON_INVALID_WAYPOINT or MAV_ARM_AUTH_DENIED_REASON_AIRSPACE_IN_USE it may have the index of the waypoint that caused it to be denied.
 target_system=system id of the drone
 target_component=component id of the drone
 ```