Build on all branches, only deploy on master

.github/workflows/build.yml

@@ -3,24 +3,33 @@ name: Deploy Water Linked Docs
 on:
   push:
     branches:
-    - master
+      - '**'   # run on all branches
+
 jobs:
   build:
-
     runs-on: ubuntu-latest
 
     steps:
     - uses: actions/checkout@v3
+
     - name: Set up Python 3.8
       uses: actions/setup-python@v4
       with:
         python-version: '3.8'
+
     - name: Install dependencies
       run: |
         python3 -m pip install --upgrade pip
         python3 -m pip install -r requirements.txt
 
+    # Always build docs, e.g. for testing
+    - name: Build docs
+      run: |
+        mkdocs build --strict
+
+    # Only deploy on master
     - name: Deploy docs
+      if: github.ref == 'refs/heads/master'
       uses: mhausenblas/mkdocs-deploy-gh-pages@master
       env:
         GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

docs/dvl/bluerov-integration-dvl-ugps.md

@@ -39,7 +39,7 @@ Before successful sensor fusion of Underwater GPS and DVL the following conditio
 * Make sure that the compass calibration was successful by comparing the ROV orientation shown in the map in QGroundControl to the actual ROV orientation. Land-marks like a coast-line or an analogue compass can help.
 
 !!! Note
-    When you want to use the position estimate for *control* of the ROV and the UGPS Topside is on land, it is highly recommended setting up the Underwater GPS to use static position and static heading mode.  Alternatively when the UGPS Topside position is not static (on a boat or similar) you need to input heading and position data from an external GPS compass. [Details can be found here](../underwater-gps/gui/settings.md#topside-setup).
+    When you want to use the position estimate for *control* of the ROV and the UGPS Topside is on land, it is highly recommended setting up the Underwater GPS to use static position and static heading mode.  Alternatively when the UGPS Topside position is not static (on a boat or similar) you need to input heading and position data from an external GPS compass. [Details can be found here](../underwater-gps/ugps-sysconfig.md#topside-settings).
 
     If you don't follow this advice, the position provided by the Underwater GPS will have more noise ("jump" too much) and also drift over time. This might cause the position hold mode to not work properly.
 
@@ -67,7 +67,7 @@ Now both sensors should be considered for the position estimate of the ROV. You
 
 This mode can be useful when you experience issues with sensor fusion (Mode "DVL+UGPS" above) or not all the described conditions in above section are met. Otherwise, we recommend using Mode "DVL+UGPS".
 
-In this configuration the BlueROV will base its position estimate *updates* on velocity input from the DVL as well as accelerometer, gyroscope, compass and pressure sensor but not the Underwater GPS. Although the Underwater GPS is connected and running it will only be used to *initialize* the global ROV position at the beginning. QGroundControl (or the new Cockpit) will show the ROV position estimate based on the DVL only while the [Underwater GPS GUI](../underwater-gps/gui/position.md) will show the position based on the Underwater GPS.
+In this configuration the BlueROV will base its position estimate *updates* on velocity input from the DVL as well as accelerometer, gyroscope, compass and pressure sensor but not the Underwater GPS. Although the Underwater GPS is connected and running it will only be used to *initialize* the global ROV position at the beginning. QGroundControl (or the new Cockpit) will show the ROV position estimate based on the DVL only while the [Underwater GPS GUI](../underwater-gps/interface/ugps-gui.md#position) will show the position based on the Underwater GPS.
 
 !!! Note
     The setup procedure below is very similar to when you only use the DVL without a running Underwater GPS. That case is described [here](bluerov-integration.md#software).

docs/modem-m16/modem-m16-gui.md

@@ -22,6 +22,6 @@ Follow the installation guide provided in README at [github for examples with Mo
 
 
 ## GUI layout example:
-![](../../img/m16-gui.png)
+![](../img/m16-gui.png)
 
 ---

docs/underwater-gps/interface/ugps-gui.md

@@ -76,18 +76,18 @@ In the diagnostic plot you should see the signal from all 4 Receivers. The signa
 
 Acoustic interference can be observed in the diagnostic plot. Echo sounders from your boat or nearby boats typically appears like burst noise.
 
-![diagnostics2](../../../img/diagnostics_2.png)
+![diagnostics2](../../img/diagnostics_2.png)
 
 If it is coming from your boat, try to turn off the echo sounder to improve position accuracy.
 In case of interference from other acoustic sources, use the GUI to try other channels to avoid the interference.
 
 !!! Tip
-    Typically, NSD (_Noise spectral density_, displayed in the [Diagnostic](../underwater-gps/interface/ugps-gui.md#diagnostics) pane of the GUI) is around -100 dBm (in the units of version 3.3.0 or later of the software; 15 nV/sqrt(Hz) in the units of earlier software versions), or a little higher or lower. If it is much higher than this, it is likely that there is acoustic interference in the chosen channel, and a different channel should be tried.
+    Typically, NSD (_Noise spectral density_) is around -100 dBm (in the units of version 3.3.0 or later of the software; 15 nV/sqrt(Hz) in the units of earlier software versions), or a little higher or lower. If it is much higher than this, it is likely that there is acoustic interference in the chosen channel, and a different channel should be tried.
 
     Note in particular that acoustic devices quite commonly operate at frequencies lying in Channel 1.
 
 !!! Tip
-    If the NSD values are normal, signal quality is mainly indicated by the RSSI values (_Received signal strength indicator_, displayed in the [Diagnostic](../underwater-gps/interface/ugps-gui.md#diagnostics) pane of the GUI). As long as the RSSI values are not too far below the NSD values, the signal strength should be at usable levels.
+    If the NSD values are normal, signal quality is mainly indicated by the RSSI values (_Received signal strength indicator). As long as the RSSI values are not too far below the NSD values, the signal strength should be at usable levels.
 
     The UGPS system uses advanced signal processing techniques and can work even with rather weak signals, but an RSSI of -125 dBm or so (in the units of version 3.3.0 or later of the software; -45 dBnW in the units of earlier software versions) is around the lowest possible for an NSD of roughly -100 dBm.
 

docs/underwater-gps/interface/warnings.md

@@ -11,5 +11,5 @@ Warnings that you might experience while using the UGPS.
 | Receiver N not detected. Please verify connection. | Receiver N is not detected by the Master-D1. Verify connection. |
 | External satellite position is required but not received. | External position is selected, but not received via the [API](http://demo.waterlinked.com/swagger/#/external/external#SetMaster). Typically this is an external software not started or not working. |
 | External orientation is required but not received. | External orientation is selected, but not received via the [API](http://demo.waterlinked.com/swagger/#/external/external#SetMaster). Typically this is an external software not started or not working. |
-| IMU is not calibrated: position will not be accurate. Please rotate the kit to calibrate or use external orientation source. | See [IMU calibration](../hardware.md#imu-calibration) for details on how calibrate. |
+| IMU is not calibrated: position will not be accurate. Please rotate the kit to calibrate or use external orientation source. | See [IMU calibration](../ugps-sysconfig.md#imu-calibration) for details on how calibrate. |
 | GPS has no position, please provide me with an unobstructed view of the sky. | The Underwater GPS needs GPS lock for time sync proposes. Move the Topside to another location where it has better view of the sky. |