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_sources/usage.rst.txt

@@ -155,10 +155,11 @@ Onboard positioning
 The Crazyflie also supports several alternative positioning systems that provide direct onboard position or pose estimation.
 In this case you do not need to receive positioning from an external system like with MoCap.
 
-Instructions per positioning system.:
-* The `Loco positioning system <https://www.bitcraze.io/documentation/system/positioning/loco-positioning-system/>`_ - Follow Bitcraze's tutorial `here <https://www.bitcraze.io/documentation/tutorials/getting-started-with-loco-positioning-system/>`.
-* The `Lighthouse positioning system <https://www.bitcraze.io/documentation/system/positioning/lighthouse/>`_ - Follow Bitcraze's tutorial `here <https://www.bitcraze.io/documentation/tutorials/getting-started-with-lighthouse-positioning-system/>`. Make sure to review the system management for saving and loading a system config, such that you don't have to redo the basestation geometry estimation for each crazyflie.
-* The `Flow deck <https://www.bitcraze.io/products/flow-deck-v2/>`_ - Follow Bitcraze's tutorial `here <https://www.bitcraze.io/documentation/tutorials/getting-started-with-flow-deck/>`. Note that the flow deck provides an relative positoing estimate and might conflict when you are flying with crazyswarm2 if you are flying with absolute coordinates instead of relative ones.
+Instructions per positioning system:
+
+* The `Loco positioning system <https://www.bitcraze.io/documentation/system/positioning/loco-positioning-system/>`_ - `Follow Bitcraze's tutorial on LPS here <https://www.bitcraze.io/documentation/tutorials/getting-started-with-loco-positioning-system/>`_.
+* The `Lighthouse positioning system <https://www.bitcraze.io/documentation/system/positioning/lighthouse/>`_ - `Follow Bitcraze's tutorial on Lighthouse here <https://www.bitcraze.io/documentation/tutorials/getting-started-with-lighthouse-positioning-system/>`_. Make sure to review the system management for saving and loading a system config, such that you don't have to redo the basestation geometry estimation for each crazyflie.
+* The `Flow deck <https://www.bitcraze.io/products/flow-deck-v2/>`_ -  `Follow Bitcraze's tutorial on the flowdeck here <https://www.bitcraze.io/documentation/tutorials/getting-started-with-flow-deck/>`_. Note that the flow deck provides an relative positoing estimate and might conflict when you are flying with crazyswarm2 if you are flying with absolute coordinates instead of relative ones.
 
 Also in this case, make sure that motion_capture is disabled in the crazyflies.yaml file:
 
@@ -238,4 +239,4 @@ Swarm Management
 The launch file will also start a swarm management tool that is a ROS node and web-based GUI.
 In the upper pane is the location of the drone visualized in a 3D window, similar to rviz.
 In the lower pane, the status as well as log messages are visible (tabbed per drone).
-In the future, we are planning to add support for rebooting and other actions.
+In the future, we are planning to add support for rebooting and other actions.