From f1cf5567d58c7978659dd64334ec025b131c5a6f Mon Sep 17 00:00:00 2001
From: "Ban Siesta (Bot)" <bansiesta@gmail.com>
Date: Tue, 14 Jul 2026 11:21:36 +1200
Subject: [PATCH 01/17] docs: fix cmake -Bbuild to use space-separated -B build

Resolves mavlink/MAVSDK-docs#259. CMake accepts both `-Bbuild` and
`-B build` but the latter is more readable and consistent with modern
cmake style. Updated all occurrences across build guides, toolchain,
examples, and contributing docs.
---
 docs/en/cpp/contributing/plugins.md  |  2 +-
 docs/en/cpp/examples/index.md        |  4 ++--
 docs/en/cpp/guide/build_dockcross.md |  4 ++--
 docs/en/cpp/guide/build_linux.md     | 14 +++++++-------
 docs/en/cpp/guide/build_macos.md     | 10 +++++-----
 docs/en/cpp/guide/build_windows.md   | 18 +++++++++---------
 docs/en/cpp/guide/test.md            |  2 +-
 docs/en/cpp/guide/toolchain.md       |  8 ++++----
 docs/en/cpp/quickstart.md            |  2 +-
 9 files changed, 32 insertions(+), 32 deletions(-)

diff --git a/docs/en/cpp/contributing/plugins.md b/docs/en/cpp/contributing/plugins.md
index 2f16af9018..02cb2d07b7 100644
--- a/docs/en/cpp/contributing/plugins.md
+++ b/docs/en/cpp/contributing/plugins.md
@@ -182,7 +182,7 @@ Once the proto file has been created, you can generate all files required for th
 
 1. Run the configure step to prepare the tools required:
    ```
-   cmake -DBUILD_MAVSDK_SERVER=ON -Bbuild/default -S.
+   cmake -DBUILD_MAVSDK_SERVER=ON -B build/default -S.
    ```
 1. Install `protoc_gen_mavsdk` which is required for the auto-generation:
    ```
diff --git a/docs/en/cpp/examples/index.md b/docs/en/cpp/examples/index.md
index 26afb29e13..6a25a70a1a 100644
--- a/docs/en/cpp/examples/index.md
+++ b/docs/en/cpp/examples/index.md
@@ -75,7 +75,7 @@ See [installation guide](../guide/installation.md) if that is not already the ca
 Then build the example:
 ```sh
 cd cpp/examples/takeoff_and_land/
-cmake -Bbuild -S.
+cmake -B build -S.
 cmake --build build -j4
 ```
 
@@ -83,7 +83,7 @@ cmake --build build -j4
 if MAVSDK is installed locally (e.g. on Windows) you need to pass the location to cmake:
 
 ```
-cmake -Bbuild -DCMAKE_PREFIX_PATH=wherever_mavsdk_is_locally_installed
+cmake -B build -DCMAKE_PREFIX_PATH=wherever_mavsdk_is_locally_installed
 ```
 :::
 
diff --git a/docs/en/cpp/guide/build_dockcross.md b/docs/en/cpp/guide/build_dockcross.md
index 910e5be895..192224a26c 100644
--- a/docs/en/cpp/guide/build_dockcross.md
+++ b/docs/en/cpp/guide/build_dockcross.md
@@ -32,7 +32,7 @@ docker run --rm dockcross/linux-armv7 > ./dockcross-linux-armv7
 chmod +x ./dockcross-linux-armv7
 
 # Use the script to run cmake and build
-./dockcross-linux-armv7 bash -c 'cmake -DCMAKE_BUILD_TYPE=Release -Bbuild -S. && cmake --build build'
+./dockcross-linux-armv7 bash -c 'cmake -DCMAKE_BUILD_TYPE=Release -B build -S. && cmake --build build'
 ```
 
 ## Building for Android
@@ -77,7 +77,7 @@ cmake \
     -DANDROID_ABI=arm64-v8a \
     -DANDROID_PLATFORM=android-28 \
     -DCMAKE_BUILD_TYPE=Release \
-    -Bbuild/android \
+    -B build/android \
     -S.
 
 cmake --build build/android
diff --git a/docs/en/cpp/guide/build_linux.md b/docs/en/cpp/guide/build_linux.md
index adf6503693..6e1d5d95fb 100644
--- a/docs/en/cpp/guide/build_linux.md
+++ b/docs/en/cpp/guide/build_linux.md
@@ -35,7 +35,7 @@ cd cpp
 
 For development, use the debug build:
 ```bash
-cmake -DCMAKE_BUILD_TYPE=Debug -Bbuild -S.
+cmake -DCMAKE_BUILD_TYPE=Debug -B build -S.
 cmake --build build -j8
 ```
 
@@ -43,7 +43,7 @@ cmake --build build -j8
 
 For production use, build with optimizations enabled:
 ```bash
-cmake -DCMAKE_BUILD_TYPE=Release -Bbuild -S.
+cmake -DCMAKE_BUILD_TYPE=Release -B build -S.
 cmake --build build -j8
 ```
 
@@ -62,7 +62,7 @@ sudo ldconfig  # Update linker cache
 To install to a custom location, e.g. `install`
 
 ```bash
-cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=install -Bbuild -S.
+cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=install -B build -S.
 cmake --build build --target install
 ```
 
@@ -75,7 +75,7 @@ For more information about the architecture, also see [how the auto-generation w
 In order to include the mavsdk_server in the build, add `-DBUILD_MAVSDK_SERVER=ON`:
 
 ```bash
-cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_MAVSDK_SERVER=ON -Bbuild -S.
+cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_MAVSDK_SERVER=ON -B build -S.
 cmake --build build -j8
 ```
 
@@ -110,18 +110,18 @@ Examples:
 
 ```bash
 # Build with development dialect
-cmake -DCMAKE_BUILD_TYPE=Debug -DMAVLINK_DIALECT=development -Bbuild -S.
+cmake -DCMAKE_BUILD_TYPE=Debug -DMAVLINK_DIALECT=development -B build -S.
 
 # Use a custom MAVLink repository fork
 cmake -DCMAKE_BUILD_TYPE=Debug \
     -DMAVLINK_URL=https://github.com/yourfork/mavlink \
     -DMAVLINK_HASH=abc123def456 \
-    -Bbuild -S.
+    -B build -S.
 
 # Use local MAVLink XML files
 cmake -DCMAKE_BUILD_TYPE=Debug \
     -DMAVLINK_XML_PATH=/path/to/mavlink/message_definitions/v1.0 \
-    -Bbuild -S.
+    -B build -S.
 ```
 
 ## Building without Superbuild
diff --git a/docs/en/cpp/guide/build_macos.md b/docs/en/cpp/guide/build_macos.md
index aa18c811db..b61c4cf754 100644
--- a/docs/en/cpp/guide/build_macos.md
+++ b/docs/en/cpp/guide/build_macos.md
@@ -38,7 +38,7 @@ cd cpp
 
 For development, use the debug build:
 ```bash
-cmake -DCMAKE_BUILD_TYPE=Debug -Bbuild -S.
+cmake -DCMAKE_BUILD_TYPE=Debug -B build -S.
 cmake --build build -j8
 ```
 
@@ -46,7 +46,7 @@ cmake --build build -j8
 
 For production use, build with optimizations enabled:
 ```bash
-cmake -DCMAKE_BUILD_TYPE=Release -Bbuild -S.
+cmake -DCMAKE_BUILD_TYPE=Release -B build -S.
 cmake --build build -j8
 ```
 
@@ -63,7 +63,7 @@ sudo cmake --build build --target install
 
 To install to a local folder, e.g. `install`:
 ```bash
-cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=install -Bbuild -S.
+cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=install -B build -S.
 cmake --build build --target install
 ```
 
@@ -72,14 +72,14 @@ cmake --build build --target install
 To build for real iOS devices on macOS:
 
 ```bash
-cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_MAVSDK_SERVER=ON -DBUILD_SHARED_LIBS=OFF -DCMAKE_TOOLCHAIN_FILE=tools/ios.toolchain.cmake -DPLATFORM=OS -Bbuild/ios -S.
+cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_MAVSDK_SERVER=ON -DBUILD_SHARED_LIBS=OFF -DCMAKE_TOOLCHAIN_FILE=tools/ios.toolchain.cmake -DPLATFORM=OS -B build/ios -S.
 cmake --build build/ios
 ```
 
 Build for the iOS simulator on macOS:
 
 ```bash
-cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_MAVSDK_SERVER=ON -DBUILD_SHARED_LIBS=OFF -DCMAKE_TOOLCHAIN_FILE=tools/ios.toolchain.cmake -DPLATFORM=SIMULATOR64 -Bbuild/ios_simulator -S.
+cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_MAVSDK_SERVER=ON -DBUILD_SHARED_LIBS=OFF -DCMAKE_TOOLCHAIN_FILE=tools/ios.toolchain.cmake -DPLATFORM=SIMULATOR64 -B build/ios_simulator -S.
 ```
 
 ## Build Options
diff --git a/docs/en/cpp/guide/build_windows.md b/docs/en/cpp/guide/build_windows.md
index 155a7ca55b..c4aeb5bc6b 100644
--- a/docs/en/cpp/guide/build_windows.md
+++ b/docs/en/cpp/guide/build_windows.md
@@ -56,7 +56,7 @@ Make sure to run this within the Visual Studio environment to access Ninja. You
 
 For development, use the debug build:
 ```bash
-cmake -GNinja -DCMAKE_BUILD_TYPE=Debug -Bbuild -S.
+cmake -GNinja -DCMAKE_BUILD_TYPE=Debug -B build -S.
 cmake --build build --config Debug
 ```
 
@@ -65,7 +65,7 @@ cmake --build build --config Debug
 For production use, build with optimizations enabled:
 
 ```bash
-cmake -GNinja -DCMAKE_BUILD_TYPE=Release -S. -Bbuild
+cmake -GNinja -DCMAKE_BUILD_TYPE=Release -S. -B build
 cmake --build build --config Release
 ```
 
@@ -87,7 +87,7 @@ Note that a `mavsdk.lib` built this way does not "contain" the dependencies it w
 For instance, to build the examples, it looks like this:
 
 ```bash
-cmake -GNinja -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_INSTALL_PREFIX=install -DBUILD_MAVSDK_SERVER=ON -DBUILD_SHARED_LIBS=OFF -DWERROR=ON -Bbuild -S.
+cmake -GNinja -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_INSTALL_PREFIX=install -DBUILD_MAVSDK_SERVER=ON -DBUILD_SHARED_LIBS=OFF -DWERROR=ON -B build -S.
 cmake --build build --config RelWithDebInfo --target install
 ```
 
@@ -95,7 +95,7 @@ And now the examples need both dependencies: mavsdk.lib but also its transitive
 
 ```bash
 cd examples
-cmake -G"Ninja" -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_PREFIX_PATH="../install;../build/third_party/install" -DCMAKE_INSTALL_PREFIX=install -Bbuild -S.
+cmake -G"Ninja" -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_PREFIX_PATH="../install;../build/third_party/install" -DCMAKE_INSTALL_PREFIX=install -B build -S.
 cmake --build build
 ```
 
@@ -113,7 +113,7 @@ cmake --build build --target install
 
 To install to a custom location:
 ```bash
-cmake -GNinja -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=install -Bbuild -S.
+cmake -GNinja -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=install -B build -S.
 cmake --build build --target install
 ```
 
@@ -126,7 +126,7 @@ For more information about the architecture, also see [how the auto-generation w
 In order to include the mavsdk_server in the build, add `-DBUILD_MAVSDK_SERVER=ON`. In order to avoid a linking issue on Windows (where more than 65535 objects are present, we need to build all static libraries like so:
 
 ```bash
-cmake -GNinja -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=OFF -DBUILD_MAVSDK_SERVER=ON -Bbuild -S.
+cmake -GNinja -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=OFF -DBUILD_MAVSDK_SERVER=ON -B build -S.
 cmake --build build
 ```
 
@@ -157,7 +157,7 @@ rm -rf build
 
 If you don't need http/https downloads for camera definition files or other component definition files, and you're not building the MAVSDK server (`BUILD_MAVSDK_SERVER=OFF`), you can exclude CURL and OpenSSL using:
 ```bash
-cmake -GNinja -DBUILD_WITHOUT_CURL=ON -Bbuild -S.
+cmake -GNinja -DBUILD_WITHOUT_CURL=ON -B build -S.
 ```
 
 This eliminates the need for Perl/OpenSSL setup.
@@ -183,10 +183,10 @@ Ensure your application build configuration matches the MAVSDK library configura
 2. **When building from source**: Use the same `CMAKE_BUILD_TYPE` for both MAVSDK and your application:
    ```bash
    # For Debug applications
-   cmake -GNinja -DCMAKE_BUILD_TYPE=Debug -Bbuild -S.
+   cmake -GNinja -DCMAKE_BUILD_TYPE=Debug -B build -S.
 
    # For Release applications
-   cmake -GNinja -DCMAKE_BUILD_TYPE=Release -Bbuild -S.
+   cmake -GNinja -DCMAKE_BUILD_TYPE=Release -B build -S.
    ```
 
 3. **Mixed configurations are not supported**: Never link a Debug application against a Release MAVSDK library or vice versa on Windows.
diff --git a/docs/en/cpp/guide/test.md b/docs/en/cpp/guide/test.md
index 1468e6290a..66fb116e17 100644
--- a/docs/en/cpp/guide/test.md
+++ b/docs/en/cpp/guide/test.md
@@ -54,7 +54,7 @@ MAVSDK includes a MAVLink fuzzer using libfuzzer to find bugs through randomized
 ### Building the Fuzzer
 
 ```bash
-cmake -Bbuild-fuzz -S. -GNinja -DBUILD_FUZZ_TESTS=ON -DCMAKE_C_COMPILER=clang -DCMAKE_CXX_COMPILER=clang++
+cmake -B build-fuzz -S. -GNinja -DBUILD_FUZZ_TESTS=ON -DCMAKE_C_COMPILER=clang -DCMAKE_CXX_COMPILER=clang++
 cmake --build build-fuzz
 ```
 
diff --git a/docs/en/cpp/guide/toolchain.md b/docs/en/cpp/guide/toolchain.md
index 9d3caf5389..25d458e48c 100644
--- a/docs/en/cpp/guide/toolchain.md
+++ b/docs/en/cpp/guide/toolchain.md
@@ -74,7 +74,7 @@ For this case `find_package(MAVSDK REQUIRED)` as used in `CMakeLists.txt` above
 To build the example we would do:
 
 ```bash
-   cmake -Bbuild -H.
+   cmake -B build -H.
    cmake --build build -j8
 ```
 
@@ -89,7 +89,7 @@ For the case where the library is installed in some local directory, you need to
 E.g. here there would be a directory called mavsdk just one directory up:
 
 ```bash
-cmake -Bbuild -DCMAKE_PREFIX_PATH=../mavsdk -H.
+cmake -B build -DCMAKE_PREFIX_PATH=../mavsdk -H.
 cmake --build build -j8
 ```
 
@@ -112,14 +112,14 @@ In order to build in Release mode where the file size is smaller and optimizatio
 
 **macOS/Linux:**
 ```
-cmake -Bbuild -DCMAKE_BUILD_TYPE=Release -H.
+cmake -B build -DCMAKE_BUILD_TYPE=Release -H.
 cmake --build build -j8
 ```
 
 **Windows:**
 
 ```
-cmake -Bbuild -H.
+cmake -B build -H.
 cmake --build build -j8 --config Release
 ```
 
diff --git a/docs/en/cpp/quickstart.md b/docs/en/cpp/quickstart.md
index f9184a6c8e..59aa0eac1b 100644
--- a/docs/en/cpp/quickstart.md
+++ b/docs/en/cpp/quickstart.md
@@ -74,7 +74,7 @@ To build the takeoff and land example, you can do:
 
 ```sh
 cd takeoff_and_land/
-cmake -Bbuild -S.
+cmake -B build -S.
 cmake --build build -j4
 ```
 

From 65a9e6b0cad05ae4099aa46cce56bdaf530696ba Mon Sep 17 00:00:00 2001
From: "Ban Siesta (Bot)" <bansiesta@gmail.com>
Date: Tue, 14 Jul 2026 11:21:38 +1200
Subject: [PATCH 02/17] docs: fix SUMMARY.md macOS build link to point to
 build_macos.md

The "Building on macOS" nav entry was pointing to build.md which is a
routing page covering all platforms, not a macOS-specific guide. Updated
to link directly to build_macos.md, consistent with build_linux.md and
build_windows.md entries.
---
 docs/en/SUMMARY.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/docs/en/SUMMARY.md b/docs/en/SUMMARY.md
index 4353cd353a..1faa20b6e8 100644
--- a/docs/en/SUMMARY.md
+++ b/docs/en/SUMMARY.md
@@ -21,7 +21,7 @@
         * [Plugin/Test Logging](cpp/guide/dev_logging.md)
         * [Testing](cpp/guide/test.md)
         * [Build on Linux](cpp/guide/build_linux.md)
-        * [Building on macOS](cpp/guide/build.md)
+        * [Building on macOS](cpp/guide/build_macos.md)
         * [Building on Windows](cpp/guide/build_windows.md)
         * [Building using Dockcross](cpp/guide/build_dockcross.md)
         * [Generate API docs from Source](cpp/guide/build_docs.md)

From 8de2eb478140dc79c93ff8ca82b59525b57f662d Mon Sep 17 00:00:00 2001
From: "Ban Siesta (Bot)" <bansiesta@gmail.com>
Date: Tue, 14 Jul 2026 11:21:40 +1200
Subject: [PATCH 03/17] docs: fix broken links pointing to user fork
 JoC2000/MAVSDK

Four links in dev_logging.md and transition_vtol_fixed_wing.md were
incorrectly pointing to a user's fork (JoC2000/MAVSDK) instead of
the official mavlink/MAVSDK repository.
---
 docs/en/cpp/examples/transition_vtol_fixed_wing.md | 4 ++--
 docs/en/cpp/guide/dev_logging.md                   | 4 ++--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/docs/en/cpp/examples/transition_vtol_fixed_wing.md b/docs/en/cpp/examples/transition_vtol_fixed_wing.md
index 12e842ad7a..f8e13e729a 100644
--- a/docs/en/cpp/examples/transition_vtol_fixed_wing.md
+++ b/docs/en/cpp/examples/transition_vtol_fixed_wing.md
@@ -74,5 +74,5 @@ The operation of the transition code is discussed in the guide: [Takeoff and Lan
 
 ## Source code {#source_code}
 
-- [CMakeLists.txt](https://github.com/JoC2000/MAVSDK/blob/main/cpp/examples/vtol_transition/CMakeLists.txt)
-- [transition_vtol_fixed_wing.cpp](https://github.com/JoC2000/MAVSDK/blob/main/cpp/examples/vtol_transition/vtol_transition.cpp)
+- [CMakeLists.txt](https://github.com/mavlink/MAVSDK/blob/main/cpp/examples/vtol_transition/CMakeLists.txt)
+- [transition_vtol_fixed_wing.cpp](https://github.com/mavlink/MAVSDK/blob/main/cpp/examples/vtol_transition/vtol_transition.cpp)
diff --git a/docs/en/cpp/guide/dev_logging.md b/docs/en/cpp/guide/dev_logging.md
index 11c2d622f7..ac6a0d9a95 100644
--- a/docs/en/cpp/guide/dev_logging.md
+++ b/docs/en/cpp/guide/dev_logging.md
@@ -15,7 +15,7 @@ It is not exported, or intended, for use in SDK apps (and we do not commit to ma
 
 ### Usage
 
-The API is defined in [src/core/log.h](https://github.com/JoC2000/MAVSDK/blob/main/cpp/src/mavsdk/core/log.h).
+The API is defined in [src/core/log.h](https://github.com/mavlink/MAVSDK/blob/main/cpp/src/mavsdk/core/log.h).
 
 The API methods are called as shown below for `LogDebug()`, with the insertion operator (`<<`) used to append the message-specific text.
 
@@ -40,6 +40,6 @@ Function | Description | Example
 Basic logging is defined in source for both incoming (handled/ignored) and sent MAVLink messages.
 
 This functionality is disabled by default, and available only in debug build when built from source.
-To enable the logs, set `#define MESSAGE_DEBUGGING 1` in [src/core/system.cpp](https://github.com/JoC2000/MAVSDK/blob/main/cpp/src/mavsdk/core/system.cpp)
+To enable the logs, set `#define MESSAGE_DEBUGGING 1` in [src/core/system.cpp](https://github.com/mavlink/MAVSDK/blob/main/cpp/src/mavsdk/core/system.cpp)
 
 <!-- Added: https://github.com/mavlink/MAVSDK/pull/194 -->

From 6498d96abe5e3d63eb36a846740bf5b7aa12a2b7 Mon Sep 17 00:00:00 2001
From: "Ban Siesta (Bot)" <bansiesta@gmail.com>
Date: Tue, 14 Jul 2026 11:21:43 +1200
Subject: [PATCH 04/17] docs: update stale MAVSDK-docs references and fix
 deprecated cmake flag

- index.md: fix C++ documentation issues link to point to mavlink/MAVSDK
  instead of the retired mavlink/MAVSDK-docs repo
- contributing/documentation.md: rewrite to reflect that docs are now
  in-tree in mavlink/MAVSDK under docs/ and use VitePress (not Gitbook)
- guide/toolchain.md: replace deprecated cmake -H. flag with -S.
---
 docs/en/cpp/contributing/documentation.md | 48 +++++++++--------------
 docs/en/cpp/guide/toolchain.md            |  8 ++--
 docs/en/index.md                          |  2 +-
 3 files changed, 24 insertions(+), 34 deletions(-)

diff --git a/docs/en/cpp/contributing/documentation.md b/docs/en/cpp/contributing/documentation.md
index 40b5c8db9a..dcb83bbd99 100644
--- a/docs/en/cpp/contributing/documentation.md
+++ b/docs/en/cpp/contributing/documentation.md
@@ -9,10 +9,10 @@ You will need a [Github](https://github.com/) login to make and submit changes t
 
 ## Overview
 
-This guide is written in [markdown](https://github.com/GitbookIO/gitbook/blob/master/docs/syntax/markdown.md) wiki syntax and stored in the Github [mavlink/MAVSDK-docs](https://github.com/mavlink/MAVSDK-docs) repo.
+This guide is written in [markdown](https://vitepress.dev/guide/markdown) and stored in the Github [mavlink/MAVSDK](https://github.com/mavlink/MAVSDK) repository under the `docs/` folder.
 
-The [API Reference](../api_reference/index.md) section is compiled from source code into markdown using a [separate toolchain](#api-reference) and then copied into Github.
-Updates to the reference should be made in the [source code repository](https://github.com/mavlink/MAVSDK) (see [API Reference](#api-reference) below for more information).
+The [API Reference](../api_reference/index.md) section is compiled from source code into markdown using a [separate toolchain](#api-reference) and then checked in.
+Updates to the reference should be made in the [source code](https://github.com/mavlink/MAVSDK) (see [API Reference](#api-reference) below for more information).
 
 The guide is licensed under [CC BY 4.0](https://creativecommons.org/licenses/by/4.0/) - if you make any changes then they will be made available under the same license.
 
@@ -21,38 +21,28 @@ The guide is licensed under [CC BY 4.0](https://creativecommons.org/licenses/by/
 
 Simple fixes to an existing page can be made directly on Github:
 
-1. Click the **Edit** button in the top toolbar to open the page
-
-   ![Edit page](../../../assets/site/gitbook_toolbar_edit.png)
-
-1. Make required changes in the editor section near the top of the page.
-2. At the bottom of the page, add a comment and select the second radio button to create a new branch.
-
-   ![Edit page](../../../assets/site/github_edit.png)
-
-3. Follow the on-screen instructions to create a pull request with your change.
+1. Navigate to the relevant file in the [docs/en/](https://github.com/mavlink/MAVSDK/tree/main/docs/en) folder.
+1. Click the pencil (edit) icon to open the file editor.
+1. Make the required changes.
+1. At the bottom of the page, enter a commit message and select **Create a new branch** to open a pull request.
 
 
 ## Raising an Issue
 
-To raise an issue against the documentation:
-
-1. Open the page with problem content.
-1. Click the **Bug** button in the top toolbar.
-
-   ![Raise bug](../../../assets/site/gitbook_toolbar_bug.png)
-
-   This will open a bug in Github, seeded with the URL/name for the current page.
-1. Enter enough information for someone to understand the problem, and ideally to fix it.
+To raise an issue against the documentation, open a [Github issue](https://github.com/mavlink/MAVSDK/issues) and include the page URL and a description of the problem.
 
-TODO: still valid?
 
+## Building the Docs Locally
 
-## Making a Big Change
+The docs use [VitePress](https://vitepress.dev/). To build and preview locally:
 
-If you want to make more significant changes or additions to the documentation you will need to set up *Git* and the *Gitbook* toolchain (this allows you to render the documentation and check that links work).
+```bash
+cd docs
+npm install
+npm run dev
+```
 
-For setup information see: [Gitbook toolchain](https://github.com/GitbookIO/gitbook/blob/master/docs/setup.md).
+This starts a local dev server at `http://localhost:5173`.
 
 
 ## API Reference
@@ -60,6 +50,6 @@ For setup information see: [Gitbook toolchain](https://github.com/GitbookIO/gitb
 The C++ public header files are annotated using docstrings using [Doxygen](http://doxygen.nl/manual/index.html) syntax.
 You can extract the documentation to markdown files (one per class) on macOS or Linux using the instructions in [Build API Reference Documentation](../guide/build_docs.md).
 
-In order to include new API reference in the *SDK Documentation* it must be manually added to the [Github repository](https://github.com/mavlink/MAVSDK-docs):
-- Copy the files into the [/en/cpp/api_reference](https://github.com/mavlink/MAVSDK-docs/tree/main/en/cpp/api_reference) folder
-- *New* APIs should be added to appropriate sections in the [MAVSDK-docs/en/SUMMARY.md](https://github.com/mavlink/MAVSDK-docs/blob/main/en/SUMMARY.md) and [/en/cpp/api_reference/README.md](https://github.com/mavlink/MAVSDK-docs/blob/main/en/cpp/api_reference/README.md).
+In order to include new API reference in the documentation:
+- Copy the generated files into the [docs/en/cpp/api_reference](https://github.com/mavlink/MAVSDK/tree/main/docs/en/cpp/api_reference) folder
+- *New* APIs should be added to the appropriate sections in [docs/en/SUMMARY.md](https://github.com/mavlink/MAVSDK/tree/main/docs/en/SUMMARY.md) and [docs/en/cpp/api_reference/index.md](https://github.com/mavlink/MAVSDK/tree/main/docs/en/cpp/api_reference/index.md).
diff --git a/docs/en/cpp/guide/toolchain.md b/docs/en/cpp/guide/toolchain.md
index 25d458e48c..2ba9626be8 100644
--- a/docs/en/cpp/guide/toolchain.md
+++ b/docs/en/cpp/guide/toolchain.md
@@ -74,7 +74,7 @@ For this case `find_package(MAVSDK REQUIRED)` as used in `CMakeLists.txt` above
 To build the example we would do:
 
 ```bash
-   cmake -B build -H.
+   cmake -B build -S.
    cmake --build build -j8
 ```
 
@@ -89,7 +89,7 @@ For the case where the library is installed in some local directory, you need to
 E.g. here there would be a directory called mavsdk just one directory up:
 
 ```bash
-cmake -B build -DCMAKE_PREFIX_PATH=../mavsdk -H.
+cmake -B build -DCMAKE_PREFIX_PATH=../mavsdk -S.
 cmake --build build -j8
 ```
 
@@ -112,14 +112,14 @@ In order to build in Release mode where the file size is smaller and optimizatio
 
 **macOS/Linux:**
 ```
-cmake -B build -DCMAKE_BUILD_TYPE=Release -H.
+cmake -B build -DCMAKE_BUILD_TYPE=Release -S.
 cmake --build build -j8
 ```
 
 **Windows:**
 
 ```
-cmake -B build -H.
+cmake -B build -S.
 cmake --build build -j8 --config Release
 ```
 
diff --git a/docs/en/index.md b/docs/en/index.md
index 42644b242e..34f1ccc6e1 100644
--- a/docs/en/index.md
+++ b/docs/en/index.md
@@ -40,7 +40,7 @@ If you have specific questions that are not answered by the documentation, these
 Use Github for bug reports/enhancement requests:
 
 * [C++ API](https://github.com/mavlink/MAVSDK/issues)
-* [C++ Documentation](https://github.com/mavlink/MAVSDK-docs/issues)
+* [C++ Documentation](https://github.com/mavlink/MAVSDK/issues)
 * [Swift API and docs](https://github.com/mavlink/MAVSDK-Swift/issues)
 * [Python API and docs](https://github.com/mavlink/MAVSDK-Python/issues)
 <!-- Add info about where other API issues are reported). -->

From d10406d81e086a87834e4819fd6574ea3660b7ea Mon Sep 17 00:00:00 2001
From: "Ban Siesta (Bot)" <bansiesta@gmail.com>
Date: Tue, 14 Jul 2026 11:21:45 +1200
Subject: [PATCH 05/17] docs: update release process for in-tree documentation

The docs are now in the mavlink/MAVSDK repo under docs/, so the release
process no longer requires separate MAVSDK-docs branch management or
book.json updates. Simplified the documentation release steps accordingly.
---
 docs/en/cpp/contributing/release.md | 23 ++++++-----------------
 1 file changed, 6 insertions(+), 17 deletions(-)

diff --git a/docs/en/cpp/contributing/release.md b/docs/en/cpp/contributing/release.md
index 396a209688..09fbdded56 100644
--- a/docs/en/cpp/contributing/release.md
+++ b/docs/en/cpp/contributing/release.md
@@ -32,23 +32,12 @@ The idea is of course to automate this as much as possible.
    - `brew bump-formula-pr mavsdk --tag=vX.Y.Z --revision=<GIT HASH>`
    - This should then open the browser with the pull request already created.
 
-## MAVSDK-docs part
-
-1. [Generate the docs](../guide/build_docs.md) and update the reference docs.
-1. Check or update the examples in the docs.
-1. Create a branch off `main` for the release
-   - Create the branch
-     ```
-     git switch main
-     git pull
-     git switch -c vX.Y
-     ```
-   - Modify **book.json** in the vX.Y branch to change the value of `github_branch` to match the new branch: `"github_branch": "vX.Y"`
-   - Push the branch to the upstream repo
-     ```
-     git push origin vX.Y
-     ```
-1. Add the branch to the version checker in main branch [book.json](https://github.com/mavlink/MAVSDK-docs/blob/main/book.json) (see pattern below `versions`).
+## Documentation part
+
+Documentation is now in-tree under the `docs/` folder in this repository, so it is released together with the code.
+
+1. [Generate the API reference docs](../guide/build_docs.md) and commit any changes to `docs/en/cpp/api_reference/`.
+1. Check or update the examples and guides in `docs/en/` as needed.
 
 ## Other
 

From 500500f0b877e7c96ff682fed576e10091f9e9b2 Mon Sep 17 00:00:00 2001
From: "Ban Siesta (Bot)" <bansiesta@gmail.com>
Date: Tue, 14 Jul 2026 11:21:47 +1200
Subject: [PATCH 06/17] docs: fix RTL example calling return_to_launch() on
 wrong object

The Return to Launch code snippet was calling telemetry.return_to_launch()
but return_to_launch() is a method on Action, not Telemetry.
---
 docs/en/cpp/guide/taking_off_landing.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/docs/en/cpp/guide/taking_off_landing.md b/docs/en/cpp/guide/taking_off_landing.md
index fcb1995c99..9fc7ef2e59 100644
--- a/docs/en/cpp/guide/taking_off_landing.md
+++ b/docs/en/cpp/guide/taking_off_landing.md
@@ -217,7 +217,7 @@ This mode is invoked from `Action` using the [return_to_launch()](../api_referen
 The code below shows how to use the synchronous method:
 
 ```cpp
-const Action::Result rtl_result = telemetry.return_to_launch();
+const Action::Result rtl_result = action.return_to_launch();
 if (rtl_result != Action::Result::Success) {
     //RTL failed, so exit (in reality might send kill command.)
     return 1;

From 3e875a2b28d356db41dec8b9612d0197f19ee966 Mon Sep 17 00:00:00 2001
From: "Ban Siesta (Bot)" <bansiesta@gmail.com>
Date: Tue, 14 Jul 2026 11:21:49 +1200
Subject: [PATCH 07/17] docs: fix 'nan-native' typo in FAQ

Typo in the gRPC comparison table: 'nan-native' should be 'non-native'.
---
 docs/en/faq.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/docs/en/faq.md b/docs/en/faq.md
index d055ddd6af..a2ed5a5255 100644
--- a/docs/en/faq.md
+++ b/docs/en/faq.md
@@ -105,7 +105,7 @@ There are multiple ways to support multiple programming languages all with their
 3. Direct language bindings manually written, or based on various tools like [pybind11](https://github.com/pybind/pybind11).
    `+` Some languages "almost for free".
    `-` Varies on the language. If done manually likely to have bugs.
-   `-` Requires linking to nan-native dependencies.
+   `-` Requires linking to non-native dependencies.
 4. Language bindings based on proto definitions (protobuf) and gRPC.
    `+` Nice native APIs can be auto-generated from proto files.
    `+` No non-native dependencies in language wrappers.

From 6c3abf36fbacbdec227dd4548aa0a329e8298bea Mon Sep 17 00:00:00 2001
From: "Ban Siesta (Bot)" <bansiesta@gmail.com>
Date: Tue, 14 Jul 2026 11:21:51 +1200
Subject: [PATCH 08/17] docs: fix std::this_thread::sleep_for typo in
 troubleshooting example

Code snippet had std::this_thread_sleep_for (missing ::) which would
not compile. Fixed to std::this_thread::sleep_for.
---
 docs/en/cpp/troubleshooting.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/docs/en/cpp/troubleshooting.md b/docs/en/cpp/troubleshooting.md
index 3faa7ef390..1ffa055dd7 100644
--- a/docs/en/cpp/troubleshooting.md
+++ b/docs/en/cpp/troubleshooting.md
@@ -53,7 +53,7 @@ If you really want to do something that takes longer inside a callback, the work
 void my_callback(Telemetry::Position position)
 {
     std::thread([position]() {
-        std::this_thread_sleep_for(std::chrono::seconds(3));
+        std::this_thread::sleep_for(std::chrono::seconds(3));
         my_delayed_action(position);
     }).detach();
 }

From 3a65671b634ff37eaa417e4edda321cfddff3982 Mon Sep 17 00:00:00 2001
From: "Ban Siesta (Bot)" <bansiesta@gmail.com>
Date: Tue, 14 Jul 2026 11:21:52 +1200
Subject: [PATCH 09/17] docs: fix unclosed info block in quickstart.md

The VitePress info block was closed with triple-quotes (""") instead
of triple-colons (:::), which would break rendering of that section.
---
 docs/en/cpp/quickstart.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/docs/en/cpp/quickstart.md b/docs/en/cpp/quickstart.md
index 59aa0eac1b..9017409b98 100644
--- a/docs/en/cpp/quickstart.md
+++ b/docs/en/cpp/quickstart.md
@@ -80,7 +80,7 @@ cmake --build build -j4
 
 ::: info
 The examples match the MAVSDK version from your current branch. If you have another MAVSDK version installed, you should checkout the examples from that version. For example, if you have installed MAVSDK v2.x.y, you need to switch to the branch `v2`.
-"""
+:::
 
 ## Running an Example {#running_the_examples}
 

From 62049abdd6d64e3891a5ba989c89bbeebd618888 Mon Sep 17 00:00:00 2001
From: "Ban Siesta (Bot)" <bansiesta@gmail.com>
Date: Tue, 14 Jul 2026 11:21:55 +1200
Subject: [PATCH 10/17] docs: fix multiple code example bugs in missions.md and
 connections.md

missions.md:
- mavsdk.system() -> mavsdk.systems() (wrong method, should be plural)
- Remove stray closing parenthesis on longitude_deg assignment
- Remove duplicate gimbal_pitch_deg line
- Fix extra closing paren in subscribe_mission_progress lambda syntax

connections.md:
- Remove inline backtick formatting inside a fenced code block
---
 docs/en/cpp/guide/connections.md | 2 +-
 docs/en/cpp/guide/missions.md    | 7 +++----
 2 files changed, 4 insertions(+), 5 deletions(-)

diff --git a/docs/en/cpp/guide/connections.md b/docs/en/cpp/guide/connections.md
index 9a75458285..c7cb9fdfc5 100644
--- a/docs/en/cpp/guide/connections.md
+++ b/docs/en/cpp/guide/connections.md
@@ -200,7 +200,7 @@ To forward only in one direction, e.g to send messages arriving on serial over U
 ```cpp
 Mavsdk mavsdk;
 mavsdk.add_any_connection("udpin://0.0.0.0:14540", ForwardingOption::ForwardingOn);
-mavsdk.add_any_connection("serial:///dev/serial/by-id/usb-FTDI_FT232R_USB_UART_XXXXXXXX-if00-port0:57600", `ForwardingOption::ForwardingOff`);
+mavsdk.add_any_connection("serial:///dev/serial/by-id/usb-FTDI_FT232R_USB_UART_XXXXXXXX-if00-port0:57600", ForwardingOption::ForwardingOff);
 ```
 
 Note that the default function overload is `ForwardingOption::ForwardingOff`.
diff --git a/docs/en/cpp/guide/missions.md b/docs/en/cpp/guide/missions.md
index 4015020e32..6421327214 100644
--- a/docs/en/cpp/guide/missions.md
+++ b/docs/en/cpp/guide/missions.md
@@ -51,7 +51,7 @@ The main steps are:
    Mavsdk mavsdk{Mavsdk::Configuration{Mavsdk::ComponentType::GroundStation}};
    ConnectionResult conn_result = mavsdk.add_udp_connection();
    // Wait for the system to connect via heartbeat
-   while (mavsdk.system().size() == 0) {
+   while (mavsdk.systems().size() == 0) {
       sleep_for(seconds(1));
    }
    // System got discovered.
@@ -90,12 +90,11 @@ The example below shows how you might set the other options on a second `Mission
 ```cpp
 std::shared_ptr<MissionItem> new_item2(new MissionItem());
 new_item2->latitude_deg = 47.40;
-new_item2->longitude_deg = 8.5455360114574432);
+new_item2->longitude_deg = 8.5455360114574432;
 new_item2->relative_altitude_m = 2.0f;
 new_item2->speed_m_s = 5.0f;
 new_item2->is_fly_through = true;
 new_item2->gimbal_pitch_deg = 20.0f;
-new_item2->gimbal_pitch_deg = 20.0f;
 new_item2->gimbal_yaw_deg = 60.0f;
 new_item2->camera_action = MissionItem::CameraAction::TakePhoto;
 new_item2->loiter_time_s = 1.0f;
@@ -211,7 +210,7 @@ which receives a regular callback with the current `MissionItem` number and the
 The code fragment just takes a lambda function that reports the current status.
 
 ```cpp
-mission.subscribe_mission_progress( [](Mission::MissionProgress mission_progress)) {
+mission.subscribe_mission_progress( [](Mission::MissionProgress mission_progress) {
        std::cout << "Mission status update: " << mission_progress.current << " / " << mission_progress.total << '\n';
     });
 ```

From 076ac7de5b6e99f4c179b7719d81cca9ffa5ce6d Mon Sep 17 00:00:00 2001
From: "Ban Siesta (Bot)" <bansiesta@gmail.com>
Date: Tue, 14 Jul 2026 11:25:29 +1200
Subject: [PATCH 11/17] docs: fix cmake -S. to use space-separated -S .

Same rationale as -B: both flags were added in CMake 3.13 and the
official docs show them as -S <path> and -B <path> with a space.
Applies to all build guides, examples, and contributing docs.
---
 docs/en/cpp/contributing/plugins.md  |  2 +-
 docs/en/cpp/examples/index.md        |  2 +-
 docs/en/cpp/guide/build_dockcross.md |  4 ++--
 docs/en/cpp/guide/build_linux.md     | 14 +++++++-------
 docs/en/cpp/guide/build_macos.md     | 10 +++++-----
 docs/en/cpp/guide/build_windows.md   | 18 +++++++++---------
 docs/en/cpp/guide/test.md            |  2 +-
 docs/en/cpp/guide/toolchain.md       |  8 ++++----
 docs/en/cpp/quickstart.md            |  2 +-
 9 files changed, 31 insertions(+), 31 deletions(-)

diff --git a/docs/en/cpp/contributing/plugins.md b/docs/en/cpp/contributing/plugins.md
index 02cb2d07b7..6120b9de43 100644
--- a/docs/en/cpp/contributing/plugins.md
+++ b/docs/en/cpp/contributing/plugins.md
@@ -182,7 +182,7 @@ Once the proto file has been created, you can generate all files required for th
 
 1. Run the configure step to prepare the tools required:
    ```
-   cmake -DBUILD_MAVSDK_SERVER=ON -B build/default -S.
+   cmake -DBUILD_MAVSDK_SERVER=ON -B build/default -S .
    ```
 1. Install `protoc_gen_mavsdk` which is required for the auto-generation:
    ```
diff --git a/docs/en/cpp/examples/index.md b/docs/en/cpp/examples/index.md
index 6a25a70a1a..7ba3bbb39e 100644
--- a/docs/en/cpp/examples/index.md
+++ b/docs/en/cpp/examples/index.md
@@ -75,7 +75,7 @@ See [installation guide](../guide/installation.md) if that is not already the ca
 Then build the example:
 ```sh
 cd cpp/examples/takeoff_and_land/
-cmake -B build -S.
+cmake -B build -S .
 cmake --build build -j4
 ```
 
diff --git a/docs/en/cpp/guide/build_dockcross.md b/docs/en/cpp/guide/build_dockcross.md
index 192224a26c..fe386faa2d 100644
--- a/docs/en/cpp/guide/build_dockcross.md
+++ b/docs/en/cpp/guide/build_dockcross.md
@@ -32,7 +32,7 @@ docker run --rm dockcross/linux-armv7 > ./dockcross-linux-armv7
 chmod +x ./dockcross-linux-armv7
 
 # Use the script to run cmake and build
-./dockcross-linux-armv7 bash -c 'cmake -DCMAKE_BUILD_TYPE=Release -B build -S. && cmake --build build'
+./dockcross-linux-armv7 bash -c 'cmake -DCMAKE_BUILD_TYPE=Release -B build -S . && cmake --build build'
 ```
 
 ## Building for Android
@@ -78,7 +78,7 @@ cmake \
     -DANDROID_PLATFORM=android-28 \
     -DCMAKE_BUILD_TYPE=Release \
     -B build/android \
-    -S.
+    -S .
 
 cmake --build build/android
 ```
diff --git a/docs/en/cpp/guide/build_linux.md b/docs/en/cpp/guide/build_linux.md
index 6e1d5d95fb..663d2866e5 100644
--- a/docs/en/cpp/guide/build_linux.md
+++ b/docs/en/cpp/guide/build_linux.md
@@ -35,7 +35,7 @@ cd cpp
 
 For development, use the debug build:
 ```bash
-cmake -DCMAKE_BUILD_TYPE=Debug -B build -S.
+cmake -DCMAKE_BUILD_TYPE=Debug -B build -S .
 cmake --build build -j8
 ```
 
@@ -43,7 +43,7 @@ cmake --build build -j8
 
 For production use, build with optimizations enabled:
 ```bash
-cmake -DCMAKE_BUILD_TYPE=Release -B build -S.
+cmake -DCMAKE_BUILD_TYPE=Release -B build -S .
 cmake --build build -j8
 ```
 
@@ -62,7 +62,7 @@ sudo ldconfig  # Update linker cache
 To install to a custom location, e.g. `install`
 
 ```bash
-cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=install -B build -S.
+cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=install -B build -S .
 cmake --build build --target install
 ```
 
@@ -75,7 +75,7 @@ For more information about the architecture, also see [how the auto-generation w
 In order to include the mavsdk_server in the build, add `-DBUILD_MAVSDK_SERVER=ON`:
 
 ```bash
-cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_MAVSDK_SERVER=ON -B build -S.
+cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_MAVSDK_SERVER=ON -B build -S .
 cmake --build build -j8
 ```
 
@@ -110,18 +110,18 @@ Examples:
 
 ```bash
 # Build with development dialect
-cmake -DCMAKE_BUILD_TYPE=Debug -DMAVLINK_DIALECT=development -B build -S.
+cmake -DCMAKE_BUILD_TYPE=Debug -DMAVLINK_DIALECT=development -B build -S .
 
 # Use a custom MAVLink repository fork
 cmake -DCMAKE_BUILD_TYPE=Debug \
     -DMAVLINK_URL=https://github.com/yourfork/mavlink \
     -DMAVLINK_HASH=abc123def456 \
-    -B build -S.
+    -B build -S .
 
 # Use local MAVLink XML files
 cmake -DCMAKE_BUILD_TYPE=Debug \
     -DMAVLINK_XML_PATH=/path/to/mavlink/message_definitions/v1.0 \
-    -B build -S.
+    -B build -S .
 ```
 
 ## Building without Superbuild
diff --git a/docs/en/cpp/guide/build_macos.md b/docs/en/cpp/guide/build_macos.md
index b61c4cf754..3d1d2e1292 100644
--- a/docs/en/cpp/guide/build_macos.md
+++ b/docs/en/cpp/guide/build_macos.md
@@ -38,7 +38,7 @@ cd cpp
 
 For development, use the debug build:
 ```bash
-cmake -DCMAKE_BUILD_TYPE=Debug -B build -S.
+cmake -DCMAKE_BUILD_TYPE=Debug -B build -S .
 cmake --build build -j8
 ```
 
@@ -46,7 +46,7 @@ cmake --build build -j8
 
 For production use, build with optimizations enabled:
 ```bash
-cmake -DCMAKE_BUILD_TYPE=Release -B build -S.
+cmake -DCMAKE_BUILD_TYPE=Release -B build -S .
 cmake --build build -j8
 ```
 
@@ -63,7 +63,7 @@ sudo cmake --build build --target install
 
 To install to a local folder, e.g. `install`:
 ```bash
-cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=install -B build -S.
+cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=install -B build -S .
 cmake --build build --target install
 ```
 
@@ -72,14 +72,14 @@ cmake --build build --target install
 To build for real iOS devices on macOS:
 
 ```bash
-cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_MAVSDK_SERVER=ON -DBUILD_SHARED_LIBS=OFF -DCMAKE_TOOLCHAIN_FILE=tools/ios.toolchain.cmake -DPLATFORM=OS -B build/ios -S.
+cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_MAVSDK_SERVER=ON -DBUILD_SHARED_LIBS=OFF -DCMAKE_TOOLCHAIN_FILE=tools/ios.toolchain.cmake -DPLATFORM=OS -B build/ios -S .
 cmake --build build/ios
 ```
 
 Build for the iOS simulator on macOS:
 
 ```bash
-cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_MAVSDK_SERVER=ON -DBUILD_SHARED_LIBS=OFF -DCMAKE_TOOLCHAIN_FILE=tools/ios.toolchain.cmake -DPLATFORM=SIMULATOR64 -B build/ios_simulator -S.
+cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_MAVSDK_SERVER=ON -DBUILD_SHARED_LIBS=OFF -DCMAKE_TOOLCHAIN_FILE=tools/ios.toolchain.cmake -DPLATFORM=SIMULATOR64 -B build/ios_simulator -S .
 ```
 
 ## Build Options
diff --git a/docs/en/cpp/guide/build_windows.md b/docs/en/cpp/guide/build_windows.md
index c4aeb5bc6b..301c815820 100644
--- a/docs/en/cpp/guide/build_windows.md
+++ b/docs/en/cpp/guide/build_windows.md
@@ -56,7 +56,7 @@ Make sure to run this within the Visual Studio environment to access Ninja. You
 
 For development, use the debug build:
 ```bash
-cmake -GNinja -DCMAKE_BUILD_TYPE=Debug -B build -S.
+cmake -GNinja -DCMAKE_BUILD_TYPE=Debug -B build -S .
 cmake --build build --config Debug
 ```
 
@@ -65,7 +65,7 @@ cmake --build build --config Debug
 For production use, build with optimizations enabled:
 
 ```bash
-cmake -GNinja -DCMAKE_BUILD_TYPE=Release -S. -B build
+cmake -GNinja -DCMAKE_BUILD_TYPE=Release -S . -B build
 cmake --build build --config Release
 ```
 
@@ -87,7 +87,7 @@ Note that a `mavsdk.lib` built this way does not "contain" the dependencies it w
 For instance, to build the examples, it looks like this:
 
 ```bash
-cmake -GNinja -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_INSTALL_PREFIX=install -DBUILD_MAVSDK_SERVER=ON -DBUILD_SHARED_LIBS=OFF -DWERROR=ON -B build -S.
+cmake -GNinja -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_INSTALL_PREFIX=install -DBUILD_MAVSDK_SERVER=ON -DBUILD_SHARED_LIBS=OFF -DWERROR=ON -B build -S .
 cmake --build build --config RelWithDebInfo --target install
 ```
 
@@ -95,7 +95,7 @@ And now the examples need both dependencies: mavsdk.lib but also its transitive
 
 ```bash
 cd examples
-cmake -G"Ninja" -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_PREFIX_PATH="../install;../build/third_party/install" -DCMAKE_INSTALL_PREFIX=install -B build -S.
+cmake -G"Ninja" -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_PREFIX_PATH="../install;../build/third_party/install" -DCMAKE_INSTALL_PREFIX=install -B build -S .
 cmake --build build
 ```
 
@@ -113,7 +113,7 @@ cmake --build build --target install
 
 To install to a custom location:
 ```bash
-cmake -GNinja -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=install -B build -S.
+cmake -GNinja -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=install -B build -S .
 cmake --build build --target install
 ```
 
@@ -126,7 +126,7 @@ For more information about the architecture, also see [how the auto-generation w
 In order to include the mavsdk_server in the build, add `-DBUILD_MAVSDK_SERVER=ON`. In order to avoid a linking issue on Windows (where more than 65535 objects are present, we need to build all static libraries like so:
 
 ```bash
-cmake -GNinja -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=OFF -DBUILD_MAVSDK_SERVER=ON -B build -S.
+cmake -GNinja -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=OFF -DBUILD_MAVSDK_SERVER=ON -B build -S .
 cmake --build build
 ```
 
@@ -157,7 +157,7 @@ rm -rf build
 
 If you don't need http/https downloads for camera definition files or other component definition files, and you're not building the MAVSDK server (`BUILD_MAVSDK_SERVER=OFF`), you can exclude CURL and OpenSSL using:
 ```bash
-cmake -GNinja -DBUILD_WITHOUT_CURL=ON -B build -S.
+cmake -GNinja -DBUILD_WITHOUT_CURL=ON -B build -S .
 ```
 
 This eliminates the need for Perl/OpenSSL setup.
@@ -183,10 +183,10 @@ Ensure your application build configuration matches the MAVSDK library configura
 2. **When building from source**: Use the same `CMAKE_BUILD_TYPE` for both MAVSDK and your application:
    ```bash
    # For Debug applications
-   cmake -GNinja -DCMAKE_BUILD_TYPE=Debug -B build -S.
+   cmake -GNinja -DCMAKE_BUILD_TYPE=Debug -B build -S .
 
    # For Release applications
-   cmake -GNinja -DCMAKE_BUILD_TYPE=Release -B build -S.
+   cmake -GNinja -DCMAKE_BUILD_TYPE=Release -B build -S .
    ```
 
 3. **Mixed configurations are not supported**: Never link a Debug application against a Release MAVSDK library or vice versa on Windows.
diff --git a/docs/en/cpp/guide/test.md b/docs/en/cpp/guide/test.md
index 66fb116e17..5b39696f00 100644
--- a/docs/en/cpp/guide/test.md
+++ b/docs/en/cpp/guide/test.md
@@ -54,7 +54,7 @@ MAVSDK includes a MAVLink fuzzer using libfuzzer to find bugs through randomized
 ### Building the Fuzzer
 
 ```bash
-cmake -B build-fuzz -S. -GNinja -DBUILD_FUZZ_TESTS=ON -DCMAKE_C_COMPILER=clang -DCMAKE_CXX_COMPILER=clang++
+cmake -B build-fuzz -S . -GNinja -DBUILD_FUZZ_TESTS=ON -DCMAKE_C_COMPILER=clang -DCMAKE_CXX_COMPILER=clang++
 cmake --build build-fuzz
 ```
 
diff --git a/docs/en/cpp/guide/toolchain.md b/docs/en/cpp/guide/toolchain.md
index 2ba9626be8..2f736ab460 100644
--- a/docs/en/cpp/guide/toolchain.md
+++ b/docs/en/cpp/guide/toolchain.md
@@ -74,7 +74,7 @@ For this case `find_package(MAVSDK REQUIRED)` as used in `CMakeLists.txt` above
 To build the example we would do:
 
 ```bash
-   cmake -B build -S.
+   cmake -B build -S .
    cmake --build build -j8
 ```
 
@@ -89,7 +89,7 @@ For the case where the library is installed in some local directory, you need to
 E.g. here there would be a directory called mavsdk just one directory up:
 
 ```bash
-cmake -B build -DCMAKE_PREFIX_PATH=../mavsdk -S.
+cmake -B build -DCMAKE_PREFIX_PATH=../mavsdk -S .
 cmake --build build -j8
 ```
 
@@ -112,14 +112,14 @@ In order to build in Release mode where the file size is smaller and optimizatio
 
 **macOS/Linux:**
 ```
-cmake -B build -DCMAKE_BUILD_TYPE=Release -S.
+cmake -B build -DCMAKE_BUILD_TYPE=Release -S .
 cmake --build build -j8
 ```
 
 **Windows:**
 
 ```
-cmake -B build -S.
+cmake -B build -S .
 cmake --build build -j8 --config Release
 ```
 
diff --git a/docs/en/cpp/quickstart.md b/docs/en/cpp/quickstart.md
index 9017409b98..5fa92c2c3a 100644
--- a/docs/en/cpp/quickstart.md
+++ b/docs/en/cpp/quickstart.md
@@ -74,7 +74,7 @@ To build the takeoff and land example, you can do:
 
 ```sh
 cd takeoff_and_land/
-cmake -B build -S.
+cmake -B build -S .
 cmake --build build -j4
 ```
 

From f1ae4bbe8593604c3d7e091bb501b5b08188dcf2 Mon Sep 17 00:00:00 2001
From: "Ban Siesta (Bot)" <bansiesta@gmail.com>
Date: Tue, 14 Jul 2026 11:33:35 +1200
Subject: [PATCH 12/17] docs: add Camera guide page

---
 docs/en/cpp/guide/camera.md | 64 +++++++++++++++++++++++++++++++++++++
 1 file changed, 64 insertions(+)
 create mode 100644 docs/en/cpp/guide/camera.md

diff --git a/docs/en/cpp/guide/camera.md b/docs/en/cpp/guide/camera.md
new file mode 100644
index 0000000000..0974f4c0e3
--- /dev/null
+++ b/docs/en/cpp/guide/camera.md
@@ -0,0 +1,64 @@
+# Camera
+
+The [Camera](../api_reference/classmavsdk_1_1_camera.md) plugin provides control over cameras that implement the [MAVLink Camera Protocol](https://mavlink.io/en/services/camera.html).
+
+## Create the Plugin
+
+```cpp
+#include <mavsdk/plugins/camera/camera.h>
+auto camera = Camera{system};
+```
+
+## Discover Cameras
+
+Cameras announce themselves as MAVLink components. Subscribe to the camera list to be notified when a camera appears:
+
+```cpp
+camera.subscribe_camera_list([](Camera::CameraList list) {
+    for (auto& item : list.cameras) {
+        std::cout << "Camera found: component id " << item.component_id << '\n';
+    }
+});
+```
+
+## Set Mode and Take Photos
+
+Switch to photo mode and capture a single image (using the `component_id` from discovery):
+
+```cpp
+camera.set_mode(component_id, Camera::Mode::Photo);
+camera.take_photo(component_id);
+```
+
+Subscribe to `capture_info` to receive the result (file URL, position, timestamp):
+
+```cpp
+camera.subscribe_capture_info([](Camera::CaptureInfo info) {
+    std::cout << "Photo saved to: " << info.file_url << '\n';
+});
+```
+
+## Record Video
+
+```cpp
+camera.set_mode(component_id, Camera::Mode::Video);
+camera.start_video(component_id);
+// ... fly around ...
+camera.stop_video(component_id);
+```
+
+## Zoom and Focus
+
+```cpp
+camera.zoom_range(component_id, 2.0f);   // 2× zoom
+camera.focus_range(component_id, 70.0f); // 70% focus position
+```
+
+## Further Information
+
+- [API Reference: Camera](../api_reference/classmavsdk_1_1_camera.md)
+- [Example: Camera](https://github.com/mavlink/MAVSDK/tree/main/cpp/examples/camera)
+- [Example: Camera settings](https://github.com/mavlink/MAVSDK/tree/main/cpp/examples/camera_settings)
+- [Example: Camera zoom](https://github.com/mavlink/MAVSDK/tree/main/cpp/examples/camera_zoom)
+- [Example: Camera server](https://github.com/mavlink/MAVSDK/tree/main/cpp/examples/camera_server) (implementing a camera component)
+- [MAVLink Camera Protocol](https://mavlink.io/en/services/camera.html)

From 780887a6dc25dcdcd7e4ae48375e22355b4228f3 Mon Sep 17 00:00:00 2001
From: "Ban Siesta (Bot)" <bansiesta@gmail.com>
Date: Tue, 14 Jul 2026 11:33:36 +1200
Subject: [PATCH 13/17] docs: add Gimbal guide page

---
 docs/en/cpp/guide/gimbal.md | 70 +++++++++++++++++++++++++++++++++++++
 1 file changed, 70 insertions(+)
 create mode 100644 docs/en/cpp/guide/gimbal.md

diff --git a/docs/en/cpp/guide/gimbal.md b/docs/en/cpp/guide/gimbal.md
new file mode 100644
index 0000000000..9e149cbf57
--- /dev/null
+++ b/docs/en/cpp/guide/gimbal.md
@@ -0,0 +1,70 @@
+# Gimbal
+
+The [Gimbal](../api_reference/classmavsdk_1_1_gimbal.md) plugin controls gimbals that implement [MAVLink Gimbal Protocol v2](https://mavlink.io/en/services/gimbal_v2.html).
+
+::: tip
+This page covers real-time gimbal control from a ground station or companion computer. For gimbal actions within a mission (e.g. camera angle at a waypoint), see the [Mission](missions.md) guide.
+:::
+
+## Create the Plugin
+
+```cpp
+#include <mavsdk/plugins/gimbal/gimbal.h>
+auto gimbal = Gimbal{system};
+```
+
+## Discover Gimbals
+
+Gimbals are identified by a gimbal id. Subscribe to the gimbal list to be notified when one connects:
+
+```cpp
+gimbal.subscribe_gimbal_list([](Gimbal::GimbalList list) {
+    for (auto& item : list.gimbals) {
+        std::cout << "Gimbal id: " << item.gimbal_id << '\n';
+    }
+});
+```
+
+## Take Control
+
+Claim primary control before sending commands; release it when done:
+
+```cpp
+gimbal.take_control(gimbal_id, Gimbal::ControlMode::Primary);
+// ... control gimbal ...
+gimbal.release_control(gimbal_id);
+```
+
+## Set Angles
+
+Point the gimbal at a fixed roll/pitch/yaw (in degrees):
+
+```cpp
+gimbal.set_angles(gimbal_id, 0.0f, -30.0f, 0.0f,
+                  Gimbal::GimbalMode::YawFollow,
+                  Gimbal::SendMode::Once);
+```
+
+`YawFollow` keeps the gimbal yaw locked to the vehicle body; `YawLock` holds a fixed world heading.
+
+## Point at a Location
+
+```cpp
+gimbal.set_roi_location(gimbal_id, latitude_deg, longitude_deg, altitude_m);
+```
+
+## Monitor Attitude
+
+```cpp
+gimbal.subscribe_attitude([](Gimbal::Attitude attitude) {
+    std::cout << "Pitch: " << attitude.euler_angle_forward.pitch_deg << '\n';
+});
+```
+
+## Further Information
+
+- [API Reference: Gimbal](../api_reference/classmavsdk_1_1_gimbal.md)
+- [Example: Gimbal](https://github.com/mavlink/MAVSDK/tree/main/cpp/examples/gimbal)
+- [Example: Gimbal full control](https://github.com/mavlink/MAVSDK/tree/main/cpp/examples/gimbal_full_control)
+- [Example: Gimbal device tester](https://github.com/mavlink/MAVSDK/tree/main/cpp/examples/gimbal_device_tester)
+- [MAVLink Gimbal Protocol v2](https://mavlink.io/en/services/gimbal_v2.html)

From ac6be31640708be72331dbd19dad12b7208f65b4 Mon Sep 17 00:00:00 2001
From: "Ban Siesta (Bot)" <bansiesta@gmail.com>
Date: Tue, 14 Jul 2026 11:33:38 +1200
Subject: [PATCH 14/17] docs: add Camera and Gimbal to navigation

---
 docs/en/SUMMARY.md | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/docs/en/SUMMARY.md b/docs/en/SUMMARY.md
index 1faa20b6e8..7cb16e67d1 100644
--- a/docs/en/SUMMARY.md
+++ b/docs/en/SUMMARY.md
@@ -14,6 +14,8 @@
         * [Missions](cpp/guide/missions.md)
         * [Offboard Control](cpp/guide/offboard.md)
         * [Follow Me](cpp/guide/follow_me.md)
+        * [Camera](cpp/guide/camera.md)
+        * [Gimbal](cpp/guide/gimbal.md)
         * [VTOL Support](cpp/guide/vtol.md)
         * [MavlinkDirect](cpp/guide/mavlink_direct.md)
         * [Building C++ Apps](cpp/guide/toolchain.md)

From b5bd3790ea27edd68489f00f2dd36327c5e0b05d Mon Sep 17 00:00:00 2001
From: "Ban Siesta (Bot)" <bansiesta@gmail.com>
Date: Tue, 14 Jul 2026 11:38:11 +1200
Subject: [PATCH 15/17] docs: document MAVLink transfer and heartbeat timeouts

---
 docs/en/cpp/guide/general_usage.md | 21 ++++++++++++++++++++-
 1 file changed, 20 insertions(+), 1 deletion(-)

diff --git a/docs/en/cpp/guide/general_usage.md b/docs/en/cpp/guide/general_usage.md
index c4288488ae..988af14cf3 100644
--- a/docs/en/cpp/guide/general_usage.md
+++ b/docs/en/cpp/guide/general_usage.md
@@ -89,7 +89,26 @@ MAVSDK monitors a specified port for vehicles, see [Connecting to Systems (Vehic
 
 ### Connection Status
 
-A system is considered to be disconnected (timed-out) if its heartbeat message is not detected within 3 seconds.
+A system is considered to be disconnected if its heartbeat is not received within the heartbeat timeout (default: 3 seconds). See [Timeouts](#timeouts) below.
+
+### Timeouts {#timeouts}
+
+MAVSDK has two configurable timeouts on the `Mavsdk` object:
+
+**MAVLink transfer timeout** — how long to wait for an acknowledgment to a MAVLink command or request (default: 0.5 s). Increase this for high-latency links; decrease it when MAVSDK and the autopilot are on the same host:
+
+```cpp
+mavsdk.set_timeout_s(1.0); // wait up to 1 second for acknowledgments
+```
+
+**Heartbeat timeout** — how long to wait without a heartbeat before a system is considered disconnected (default: 3 s):
+
+```cpp
+mavsdk.set_heartbeat_timeout_s(5.0); // allow up to 5 seconds between heartbeats
+double current = mavsdk.get_heartbeat_timeout_s();
+```
+
+Both methods are on [class Mavsdk](../api_reference/classmavsdk_1_1_mavsdk.md) and can be called at any time before or after adding connections.
 
 ### Telemetry/Information
 

From d57dd74e11c6c82d9c90044c941ada40ab73955d Mon Sep 17 00:00:00 2001
From: "Ban Siesta (Bot)" <bansiesta@gmail.com>
Date: Tue, 14 Jul 2026 11:44:45 +1200
Subject: [PATCH 16/17] docs: fix version switcher links to point to home, drop
 v1.4

---
 docs/.vitepress/config.mjs | 10 +++-------
 1 file changed, 3 insertions(+), 7 deletions(-)

diff --git a/docs/.vitepress/config.mjs b/docs/.vitepress/config.mjs
index 08601dceec..132e1f77ad 100644
--- a/docs/.vitepress/config.mjs
+++ b/docs/.vitepress/config.mjs
@@ -138,19 +138,15 @@ export default defineConfig({
         items: [
           {
             text: "main / v4",
-            link: "https://mavsdk.mavlink.io/main/en/cpp/api_changes.html",
+            link: "https://mavsdk.mavlink.io/main/en/",
           },
           {
             text: "v3",
-            link: "https://mavsdk.mavlink.io/v3/en/cpp/api_changes.html",
+            link: "https://mavsdk.mavlink.io/v3/en/",
           },
           {
             text: "v2",
-            link: "https://mavsdk.mavlink.io/v2.0/en/cpp/api_changes.html",
-          },
-          {
-            text: "v1.4",
-            link: "https://mavsdk.mavlink.io/v1.4/en/cpp/api_changes.html",
+            link: "https://mavsdk.mavlink.io/v2.0/en/",
           },
         ],
       },

From 64df140a73396ff05da3ef923ae49a6df60b01e7 Mon Sep 17 00:00:00 2001
From: "Ban Siesta (Bot)" <bansiesta@gmail.com>
Date: Tue, 14 Jul 2026 11:46:23 +1200
Subject: [PATCH 17/17] docs: restore v1 entry in version switcher

---
 docs/.vitepress/config.mjs | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/docs/.vitepress/config.mjs b/docs/.vitepress/config.mjs
index 132e1f77ad..757276e864 100644
--- a/docs/.vitepress/config.mjs
+++ b/docs/.vitepress/config.mjs
@@ -148,6 +148,10 @@ export default defineConfig({
             text: "v2",
             link: "https://mavsdk.mavlink.io/v2.0/en/",
           },
+          {
+            text: "v1",
+            link: "https://mavsdk.mavlink.io/v1.4/en/",
+          },
         ],
       },
     ],