mavlink · julianoes · Jul 14, 2026 · Jul 13, 2026 · Jul 13, 2026 · Jul 13, 2026
diff --git a/docs/.vitepress/config.mjs b/docs/.vitepress/config.mjs
@@ -138,19 +138,19 @@ 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",
+            link: "https://mavsdk.mavlink.io/v2.0/en/",
           },
           {
-            text: "v1.4",
-            link: "https://mavsdk.mavlink.io/v1.4/en/cpp/api_changes.html",
+            text: "v1",
+            link: "https://mavsdk.mavlink.io/v1.4/en/",
           },
         ],
       },

diff --git a/docs/en/SUMMARY.md b/docs/en/SUMMARY.md
@@ -14,14 +14,16 @@
         * [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)
         * [Logging](cpp/guide/logging.md)
         * [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)

diff --git 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.
 
@@ -21,45 +21,35 @@ 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
 
 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/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/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
 

diff --git a/docs/en/cpp/examples/index.md b/docs/en/cpp/examples/index.md
@@ -75,15 +75,15 @@ 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
 ```
 
 ::: info
 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/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/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
@@ -77,8 +77,8 @@ cmake \
     -DANDROID_ABI=arm64-v8a \
     -DANDROID_PLATFORM=android-28 \
     -DCMAKE_BUILD_TYPE=Release \
-    -Bbuild/android \
-    -S.
+    -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
@@ -35,15 +35,15 @@ 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
 ```
 
 ### Release Build
 
 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
@@ -38,15 +38,15 @@ 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
 ```
 
 ### Release Build
 
 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
@@ -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
 ```
 
@@ -87,15 +87,15 @@ 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
 ```
 
 And now the examples need both dependencies: mavsdk.lib but also its transitive dependencies:
 
 ```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.