New Crowdin updates (PX4#1140)

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diff --git a/de/SUMMARY.md b/de/SUMMARY.md
@@ -12,6 +12,7 @@
     * [LED Meanings](getting_started/led_meanings.md)
     * [Tune/Sound Meanings](getting_started/tunes.md)
     * [Preflight Checks](flying/pre_flight_checks.md)
+  * [Payloads & Cameras](payloads/README.md)
   * [Flight Reporting](getting_started/flight_reporting.md)
 * [Basic Assembly](assembly/README.md) 
   * [Mounting the Flight Controller](assembly/mount_and_orient_controller.md)
@@ -229,10 +230,10 @@
     * [FrSky Telemetry](peripherals/frsky_telemetry.md)
     * [Power Modules](power_module/README.md) 
       * [CUAV HV pm](power_module/cuav_hv_pm.md)
-      * [CUAV CAN PMU](power_module/cuav_can_pmu.md)
+      * [CUAV CAN PMU](uavcan/cuav_can_pmu.md)
       * [Holybro PM07 (Pixhawk 4 PM)](power_module/holybro_pm07_pixhawk4_power_module.md)
       * [Holybro PM06 (Micro Power Module)](power_module/holybro_pm06_pixhawk4mini_power_module.md)
-      * [Pomegranate Systems Power Module](power_module/pomegranate_systems_pm.md)
+      * [Pomegranate Systems Power Module](uavcan/pomegranate_systems_pm.md)
     * [Distance Sensors \(Rangefinders\)](sensor/rangefinders.md) 
       * [Lightware SFxx Lidar](sensor/sfxx_lidar.md)
       * [Ainstein US-D1 Standard Radar Altimeter](sensor/ulanding_radar.md)
@@ -241,7 +242,7 @@
       * [Lidar-Lite](sensor/lidar_lite.md)
       * [TeraRanger](sensor/teraranger.md)
       * [Lanbao PSK-CM8JL65-CC5](sensor/cm8jl65_ir_distance_sensor.md)
-      * [Avionics Anonymous Laser Altimeter UAVCAN Interface](sensor/avanon_laser_interface.md)
+      * [Avionics Anonymous Laser Altimeter UAVCAN Interface](uavcan/avanon_laser_interface.md)
     * [Tachometers (Revolution Counters)](sensor/tachometers.md) 
       * [ThunderFly TFRPM01 Tachometer Sensor](sensor/thunderfly_tachometer.md)
     * [Airspeed Sensors](sensor/airspeed.md)
@@ -250,13 +251,15 @@
       * [PMW3901](sensor/pmw3901.md)
     * [ESCs & Motors](peripherals/esc_motors.md) 
       * [PWM ESCs and Servos](peripherals/pwm_escs_and_servo.md)
+      * [UAVCAN ESCs](uavcan/escs.md)
       * [DShot ESCs](peripherals/dshot.md)
-      * [UAVCAN ESCs](peripherals/uavcan_escs.md)
     * [Camera](peripherals/camera.md)
     * [Parachute](peripherals/parachute.md)
     * [ADSB/FLARM (Traffic Avoidance)](peripherals/adsb_flarm.md)
     * [Smart Batteries](smart_batteries/README.md) 
       * [Rotoye Batmon Battery Smartification Kit](smart_batteries/rotoye_batmon.md)
+    * [UAVCAN Peripherals](uavcan/README.md) 
+      * [UAVCAN Configuration](uavcan/node_enumeration.md)
   * [Companion Computer Peripherals](peripherals/companion_computer_peripherals.md)
 * [Development](development/development.md) 
   * [Getting Started](dev_setup/getting_started.md) 
@@ -310,11 +313,9 @@
       * [SiK Radio](data_links/sik_radio.md)
     * [Sensor and Actuator I/O](sensor_bus/README.md) 
       * [I2C Bus](sensor_bus/i2c.md)
-      * [UAVCAN Bus](uavcan/README.md) 
+      * [UAVCAN Bus](uavcan/developer.md) 
         * [UAVCAN Bootloader](uavcan/bootloader_installation.md)
         * [UAVCAN Firmware Upgrades](uavcan/node_firmware.md)
-        * [UAVCAN Configuration](uavcan/node_enumeration.md)
-        * [UAVCAN Various Notes](uavcan/notes.md)
       * [UART/Serial Ports](uart/README.md) 
         * [Port-Configurable Serial Drivers](uart/user_configurable_serial_driver.md)
     * [RTK GPS (Integration)](advanced/rtk_gps.md)

diff --git a/de/flight_modes/mission.md b/de/flight_modes/mission.md
@@ -48,7 +48,7 @@ To automatically disarm the vehicle after it lands, in *QGroundControl* go to [V
 Missions can be paused by activating [HOLD mode](../flight_modes/hold.md). The mission will then continue from the current mission command when you reactivate the MISSION flight mode. While flying in mission mode, if you decide to discontinue the mission and switch to any other mode e.g. position mode, fly the vehicle elsewhere with RC, and then switch back to mission mode, the vehicle will continue the mission from its current position and will fly to the next mission waypoint not visited yet.
 
 :::warning
-Ensure that the throttle stick is non-zero before switching to any RC mode (otherwise the vehicle will crash).We recommend you centre the control sticks before switching to any other mode.
+Ensure that the throttle stick is non-zero before switching to any RC mode (otherwise the vehicle will crash). We recommend you centre the control sticks before switching to any other mode.
 :::
 
 For more information about mission planning, see:
@@ -77,7 +77,7 @@ Mission behaviour is affected by a number of parameters, most of which are docum
 
 ## Supported Mission Commands
 
-PX4 "accepts" the following MAVLink mission commands in Mission mode (note: caveats below list). Unless otherwise noted, the implementation is as defined in the MAVLink specification.
+PX4 "accepts" the following MAVLink mission commands in Mission mode (with some *caveats*, given after the list). Unless otherwise noted, the implementation is as defined in the MAVLink specification.
 
 * [MAV_CMD_NAV_WAYPOINT](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_WAYPOINT) 
   * *Param3* (flythrough) is ignored. Flythrough is always enabled if *param 1* (time_inside) > 0.
@@ -86,9 +86,6 @@ PX4 "accepts" the following MAVLink mission commands in Mission mode (note: cave
 * [MAV_CMD_NAV_LAND](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_LAND) 
 * [MAV_CMD_NAV_TAKEOFF](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_TAKEOFF)
 * [MAV_CMD_NAV_LOITER_TO_ALT](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_LOITER_TO_ALT)
-* [MAV_CMD_NAV_ROI](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_ROI)
-* [MAV_CMD_DO_SET_ROI](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_SET_ROI)
-* [MAV_CMD_DO_SET_ROI_LOCATION](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_SET_ROI_LOCATION)
 * [MAV_CMD_NAV_VTOL_TAKEOFF](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_VTOL_TAKEOFF)
 
   * `MAV_CMD_NAV_VTOL_TAKEOFF.param2` (transition heading) is ignored. Instead the heading to the next waypoint is used for the transition heading. <!-- at LEAST until PX4 v1.11: https://github.com/PX4/PX4-Autopilot/issues/12660 -->
@@ -104,6 +101,9 @@ PX4 "accepts" the following MAVLink mission commands in Mission mode (note: cave
 * [MAV_CMD_DO_JUMP](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_JUMP)
 * [MAV_CMD_NAV_ROI](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_ROI)
 * [MAV_CMD_DO_SET_ROI](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_SET_ROI)
+* [MAV_CMD_DO_SET_ROI_LOCATION](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_SET_ROI_LOCATION)
+* [MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET)
+* [MAV_CMD_DO_SET_ROI_NONE](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_SET_ROI_NONE)
 * [MAV_CMD_DO_CHANGE_SPEED](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_CHANGE_SPEED)
 * [MAV_CMD_DO_SET_HOME](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_SET_HOME)
 * [MAV_CMD_DO_SET_SERVO](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_SET_SERVO)
@@ -122,30 +122,36 @@ PX4 "accepts" the following MAVLink mission commands in Mission mode (note: cave
 * [MAV_CMD_DO_VTOL_TRANSITION](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_VTOL_TRANSITION)
 * [MAV_CMD_NAV_DELAY](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_DELAY)
 * [MAV_CMD_NAV_RETURN_TO_LAUNCH](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_RETURN_TO_LAUNCH)
-* [MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET)
-* [MAV_CMD_DO_SET_ROI_NONE](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_SET_ROI_NONE)
+* [MAV_CMD_DO_CONTROL_VIDEO](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_CONTROL_VIDEO)
+* [MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW)
+* [MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE)
+* [MAV_CMD_OBLIQUE_SURVEY](https://mavlink.io/en/messages/common.html#MAV_CMD_OBLIQUE_SURVEY)
+* [MAV_CMD_DO_SET_CAMERA_ZOOM](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_SET_CAMERA_ZOOM)
+* [MAV_CMD_DO_SET_CAMERA_FOCUS](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_SET_CAMERA_FOCUS)
 
 Note:
 
 * PX4 parses the above messages, but they are not necessary *acted* on. For example, some messages are vehicle-type specific.
-* PX4 generally does not support local frames for mission commands (e.g. [MAV_FRAME_LOCAL_NED](https://mavlink.io/en/messages/common.html#MAV_FRAME_LOCAL_NED)&nbsp;).
+* PX4 does not support local frames for mission commands (e.g. [MAV_FRAME_LOCAL_NED](https://mavlink.io/en/messages/common.html#MAV_FRAME_LOCAL_NED)).
 * Not all messages/commands are exposed via *QGroundControl*.
-* The list may become out of date as messages are added. You can check the current set by inspecting the code. Support is `MavlinkMissionManager::parse_mavlink_mission_item` in [/src/modules/mavlink/mavlink_mission.cpp](https://github.com/PX4/PX4-Autopilot/blob/master/src/modules/mavlink/mavlink_mission.cpp) (list generated in [this git changelist](https://github.com/PX4/PX4-Autopilot/commit/ca1f7a4a194c23303c23ca79b5905ff8bfb94c22)).
+* The list may become out of date as messages are added. You can check the current set by inspecting the code. Support is `MavlinkMissionManager::parse_mavlink_mission_item` in [/src/modules/mavlink/mavlink_mission.cpp](https://github.com/PX4/PX4-Autopilot/blob/master/src/modules/mavlink/mavlink_mission.cpp).
 
 :::note
-Please add an bug fix or PR if you find a missing/incorrect message.
+Please add an issue report or PR if you find a missing/incorrect message.
 :::
 
 ## Inter-Waypoint Trajectory
 
 PX4 expects to follow a straight line from the previous waypoint to the current target (it does not plan any other kind of path between waypoints - if you need one you can simulate this by adding additional waypoints).
 
-MC vehicles will change the *speed* when approaching or leaving a waypoint based on the [jerk-limited](../config_mc/mc_jerk_limited_type_trajectory.md#auto-mode) tuning.
+MC vehicles will change the *speed* when approaching or leaving a waypoint based on the [jerk-limited](../config_mc/mc_jerk_limited_type_trajectory.md#auto-mode) tuning. The vehicle will follow a smooth rounded curve towards the next waypoint (if one is defined) defined by the acceptance radius ([NAV_ACC_RAD](../advanced_config/parameter_reference.md#NAV_ACC_RAD)). The diagram below shows the sorts of paths that you might expect.
+
+![acc-rad](../../assets/flying/acceptance_radius_mission.png)
 
-Vehicles switch to the next waypoint as soon as they enter the acceptance radius.
+Vehicles switch to the next waypoint as soon as they enter the acceptance radius:
 
-* For MC this radius is defined by [NAV_ACC_RAD](../advanced_config/parameter_reference.md#NAV_ACC_RAD)
-* For FW the radius is defined by the "L1 distance". 
+* For MC this radius is defined by [NAV_ACC_RAD](../advanced_config/parameter_reference.md#NAV_ACC_RAD).
+* For FW the acceptance radius is defined by the "L1 distance". 
   * The L1 distance is computed from two parameters: [FW_L1_DAMPING](../advanced_config/parameter_reference.md#FW_L1_DAMPING) and [FW_L1_PERIOD](../advanced_config/parameter_reference.md#FW_L1_PERIOD), and the current ground speed.
   * By default, it's about 70 meters.
   * The equation is: $$L_{1_{distance}}=\frac{1}{\pi}L_{1_{damping}}L_{1_{period}}\left \| \vec{v}*{ {xy}*{ground} } \right \|$$
diff --git a/de/flying/missions.md b/de/flying/missions.md
@@ -26,6 +26,22 @@ If **Heading** has not been explicitly set for the target waypoint (`param4=NaN`
 
 Vehicle types that cannot independently control yaw and direction of travel will ignore yaw settings (e.g. Fixed Wing).
 
+### Setting Acceptance/Turning Radius
+
+The *acceptance radius* defines the circle around a waypoint within which a vehicle considers it has reached the waypoint, and will immediately switch to (and start turning towards) the next waypoint.
+
+For a multi-rotor drones, the acceptance radius is tuned using the parameter [NAV_ACC_RAD](../advanced_config/parameter_reference.md#NAV_ACC_RAD). By default, the radius is small to ensure that multirotors pass above the waypoints, but it can be increased to create a smoother path such that the drone starts to turn before reaching the waypoint.
+
+The image below shows the same mission flown with different acceptance radius parameters:
+
+![acceptance radius comparison](../../assets/flying/acceptance_radius_comparison.jpg)
+
+The speed in the turn is automatically computed based on the acceptance radius (= turning radius) and the maximum allowed acceleration and jerk (see [Jerk-limited Type Trajectory for Multicopters](../config_mc/mc_jerk_limited_type_trajectory.md#auto-mode)).
+
+:::tip
+For more information about the impact of the acceptance radius around the waypoint see: [Mission Mode > Inter-waypoint Trajectory](../flight_modes/mission.md#inter-waypoint-trajectory).
+:::
+
 ## Flying Missions
 
 Once the mission is uploaded, switch to the flight view. The mission is displayed in a way that makes it easy to track progress (it cannot be modified in this view).

diff --git a/de/getting_started/README.md b/de/getting_started/README.md
@@ -14,4 +14,6 @@ This section provides an overview of the basic concepts you need to understand i
 
 [Flight Modes](../getting_started/flight_modes.md) — Control modes for manual, assisted and autonomous movement.
 
+[Payloads & Cameras](../payloads/README.md)
+
 [Flight Reporting](../getting_started/flight_reporting.md) — Download detailed flight logs for debugging and analysis.
diff --git a/de/payloads/README.md b/de/payloads/README.md
@@ -4,24 +4,49 @@ PX4 supports a wide range of payloads and cameras.
 
 ## Mapping Drones
 
-* [Camera triggering](../peripherals/camera.md) via GPIO out
-* [Camera triggering](../peripherals/camera.md) via PWM out
-* [Camera triggering](../peripherals/camera.md) via MAVLink out
-* [Camera timing](../peripherals/camera.md#camera_capture) feedback via hotshoe input
+Mapping drones use cameras to capture images at time or distance intervals during surveys.
 
-## Cargo drones and alike: Servos / Outputs
+MAVLink cameras that support the [MAVLink Camera Protocol](https://mavlink.io/en/services/camera.html) provide the best integration with PX4 and QGroundControl. The MAVSDK provides simple APIs to use this protocol for both [standalone camera operations](https://mavsdk.mavlink.io/main/en/cpp/api_reference/classmavsdk_1_1_camera.html) and in [missions](https://mavsdk.mavlink.io/main/en/cpp/api_reference/structmavsdk_1_1_mission_1_1_mission_item.html#structmavsdk_1_1_mission_1_1_mission_item_1a0299fbbe7c7b03bc43eb116f96b48df4).
 
-* Servo or GPIO triggering (via RC or via commands)
+Cameras can also be connected directly to a flight controller using PWM or GPI outputs. PX4 supports the following set of MAVLink commands/mission items for cameras that are connected to the flight controller:
+* [MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL) - set time interval between captures.
+* [MAV_CMD_DO_SET_CAM_TRIGG_DIST](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_SET_CAM_TRIGG_DIST) - set distance between captures
+* [MAV_CMD_DO_TRIGGER_CONTROL](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_TRIGGER_CONTROL) - start/stop capturing (using distance or time, as defined using above messages).
+
+The following topics show how to *connect* your camera configure PX4:
+* [Camera triggering](../peripherals/camera.md) from flight controller PWM or GPIO outputs, or via MAVLink.
+* [Camera timing feedback](../peripherals/camera.md#camera_capture) via hotshoe input.
+
+
+## Cargo Drones ("Actuator" Payloads)
+
+Cargo drones commonly use servos/actuators to trigger cargo release, control winches, etc. PX4 supports servo and GPIO triggering via both RC and MAVLink commands.
 
 ### Example Mission (in QGC)
 
-Use MAV_CMD_DO_SET_ACTUATOR to trigger one of the payload actuators.
+Use the [MAV_CMD_DO_SET_ACTUATOR](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_SET_ACTUATOR) MAVLink command to trigger one of the payload actuators.
+
+### RC Triggering
+
+You can map up to three RC channels to control servos/actuators attached to the flight controller using the parameters [RC_MAP_AUX1](../advanced_config/parameter_reference.md#RC_MAP_AUX1) to [RC_MAP_AUX3](../advanced_config/parameter_reference.md#RC_MAP_AUX3).
+
+The RC channels are then *usually* mapped to the `AUX1`, `AUX2`, `AUX3` outputs of your flight controller (but they don't have to be). You can check which outputs are used for RC AUX passthrough on your vehicle in the [Airframe Reference](../airframes/airframe_reference.html). For example, [Quadrotor-X](../airframes/airframe_reference.html#quadrotor-x) has the normal mapping: "**AUX1:** feed-through of RC AUX1 channel".
+
+If your vehicle has no mapping then you can add one by using a custom [Mixer File](https://docs.px4.io/master/en/concept/mixing.html) that maps [Control group 3](../concept/mixing.md#control-group-3-manual-passthrough) outputs 5-7 to your desired port(s). An example of such a mixer is the default passthrough mixer: [pass.aux.mix](https://github.com/PX4/PX4-Autopilot/blob/master/ROMFS/px4fmu_common/mixers/pass.aux.mix).
+
 
 ### Example script (MAVSDK)
 
-This script sends a command to set the actuator and trigger the payload release on a servo:
+The following [MAVSDK](https://mavsdk.mavlink.io/develop/en/) sample code shows how to trigger payload release.
 
-```
+The code uses the MAVSDK [MavlinkPassthrough](https://mavsdk.mavlink.io/develop/en/api_reference/classmavsdk_1_1_mavlink_passthrough.html) plugin to send the [MAV_CMD_DO_SET_ACTUATOR](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_SET_ACTUATOR) MAVLink command, specifying the value of up to 3 actuators.
+
+
+<!-- note, we still need to explain how to map those values to actual outputs on PX4 
+There are also questions on this script in the original PR.
+-->
+
+```cpp
 #include <mavsdk/mavsdk.h>
 #include <mavsdk/plugins/mavlink_passthrough/mavlink_passthrough.h>
 #include <mavsdk/plugins/info/info.h>
@@ -107,3 +132,15 @@ void send_actuator(MavlinkPassthrough& mavlink_passthrough,
     std::cout << "Sent message" << std::endl;
 }
 ```
+
+## Surveillance, Search & Rescue
+
+Surveillance and Search & Rescue drones have similar requirements to mapping drones. The main differences are that, in addition to flying a planned survey area, they typically need good standalone control over the camera for image and video capture, and they may need to be able to work during both day and night
+
+Use a camera that supports the [MAVLink Camera Protocol](https://mavlink.io/en/services/camera.html) as this supports image and video capture, zooming, storage management, multiple cameras on the same vehicle and switching between them, etc. These cameras can be controlled either manually from QGroundControl or via MAVSDK (for both [standalone camera operations](https://mavsdk.mavlink.io/main/en/cpp/api_reference/classmavsdk_1_1_camera.html) and in [missions](https://mavsdk.mavlink.io/main/en/cpp/api_reference/structmavsdk_1_1_mission_1_1_mission_item.html#structmavsdk_1_1_mission_1_1_mission_item_1a0299fbbe7c7b03bc43eb116f96b48df4)). See [Camera triggering](../peripherals/camera.md) for information on how to configure your camera to work with MAVLink.
+
+:::note
+Cameras connected directly to the flight control _only_ support camera triggering, and are unlikely to be suitable for most surveillance/search work.
+:::
+
+A search and rescue drone may also need to carry cargo, for example, emergency supplies for a stranded hiker. See [Cargo Drones](#cargo-drones-actuator-payloads) above for information about payload delivery.
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Expand Up		@@ -14,4 +14,6 @@ This section provides an overview of the basic concepts you need to understand i

		[Flight Modes](../getting_started/flight_modes.md) — Control modes for manual, assisted and autonomous movement.

		[Payloads & Cameras](../payloads/README.md)

		[Flight Reporting](../getting_started/flight_reporting.md) — Download detailed flight logs for debugging and analysis.