diff --git a/docs/en/calibration.md b/docs/en/calibration.md
index 62b2a5ff..83b071df 100644
--- a/docs/en/calibration.md
+++ b/docs/en/calibration.md
@@ -14,7 +14,7 @@ In order to perform the sensor calibration, select the *Vehicle Setup* tab and c
 4. Put the drone in one of the orientations marked by the red outline and wait for the appropriate outline to turn yellow.
 5. Spin the drone as required until the outline turns green. Do this for all orientations.
 
-Read more in the PX4 docs: https://docs.px4.io/v1.9.0/en/config/compass.html.
+Read more in the PX4 docs: https://docs.px4.io/master/en/config/compass.html.
 
 ## Gyroscope
 
@@ -27,7 +27,7 @@ Read more in the PX4 docs: https://docs.px4.io/v1.9.0/en/config/compass.html.
 
 > **Warning** The drone should stay completely still during the calibration.
 
-Read more in the PX4 docs: https://docs.px4.io/v1.9.0/en/config/gyroscope.html.
+Read more in the PX4 docs: https://docs.px4.io/master/en/config/gyroscope.html.
 
 ## Accelerometer
 
@@ -38,7 +38,7 @@ Read more in the PX4 docs: https://docs.px4.io/v1.9.0/en/config/gyroscope.html.
 3. Put the drone in one of the orientations marked by the red outline and wait for the appropriate outline to turn yellow.
 4. Hold the drone in this orientation until the outline turns green. Do this for all orientations.
 
-Read more in the PX4 docs: https://docs.px4.io/v1.9.0/en/config/accelerometer.html.
+Read more in the PX4 docs: https://docs.px4.io/master/en/config/accelerometer.html.
 
 ## Level horizon
 
@@ -50,6 +50,6 @@ Read more in the PX4 docs: https://docs.px4.io/v1.9.0/en/config/accelerometer.ht
 4. Press *OK*.
 5. Wait for the calibration to finish.
 
-Read more in the PX4 docs: https://docs.px4.io/v1.9.0/en/config/level_horizon_calibration.html.
+Read more in the PX4 docs: https://docs.px4.io/master/en/config/level_horizon_calibration.html.
 
 **Next**: [RC setup](radio.md).
diff --git a/docs/en/coex_pix.md b/docs/en/coex_pix.md
index b1d2ad10..de31a604 100644
--- a/docs/en/coex_pix.md
+++ b/docs/en/coex_pix.md
@@ -1,6 +1,6 @@
 # COEX Pix
 
-The **COEX Pix** flight controller is a modified [Pixracer](https://docs.px4.io/v1.9.0/en/flight_controller/pixracer.html) FCU. It is a part of the **Clover 4** quadrotor kit.
+The **COEX Pix** flight controller is a modified [Pixracer](https://docs.px4.io/master/en/flight_controller/pixracer.html) FCU. It is a part of the **Clover 4** quadrotor kit.
 
 > **Hint** The source files of the COEX Pix flight controller are [published](https://github.com/CopterExpress/hardware/tree/master/COEX%20Pix) under the CC BY-NC-SA license.
 
diff --git a/docs/en/flight.md b/docs/en/flight.md
index 10e9e1ca..31be38c5 100644
--- a/docs/en/flight.md
+++ b/docs/en/flight.md
@@ -1,6 +1,6 @@
 # Flight
 
-> **Info** See also official PX4 flying guide: https://docs.px4.io/v1.9.0/en/flying/.
+> **Info** See also official PX4 flying guide: https://docs.px4.io/master/en/flying/.
 
 This section explains the basics of manual controlling the quadcopter in different modes using radio remote control (for autonomous flying see "[Programming](programming.md)") section.
 
diff --git a/docs/en/power.md b/docs/en/power.md
index 85f26e2b..d166dd08 100644
--- a/docs/en/power.md
+++ b/docs/en/power.md
@@ -30,6 +30,6 @@ Further reading: https://docs.qgroundcontrol.com/en/SetupView/Power.html.
 
 <img src="../assets/qgc-power.png" class="zoom">
 
-Further reading: https://docs.px4.io/v1.9.0/en/advanced_config/esc_calibration.html.
+Further reading: https://docs.px4.io/master/en/advanced_config/esc_calibration.html.
 
 **Next**: [Failsafe configuration](failsafe.md)
diff --git a/docs/en/simulation_usage.md b/docs/en/simulation_usage.md
index 9be3179c..8d356103 100644
--- a/docs/en/simulation_usage.md
+++ b/docs/en/simulation_usage.md
@@ -75,7 +75,7 @@ The plugin will collect publishing rate statistics and slow the simulation down
 
 ### Set simulation speed
 
-Since v1.9 the PX4 SITL setup supports [setting the simulation speed](https://dev.px4.io/v1.9.0/en/simulation/#simulation_speed) by setting the `PX4_SIM_SPEED_FACTOR` environment variable. Its value is picked up by PX4 startup scripts, which in turn reconfigure it to expect a certain speedup/slowdown.
+Since v1.9 the PX4 SITL setup supports [setting the simulation speed](https://docs.px4.io/master/en/simulation/#run-simulation-faster-than-realtime) by setting the `PX4_SIM_SPEED_FACTOR` environment variable. Its value is picked up by PX4 startup scripts, which in turn reconfigure it to expect a certain speedup/slowdown.
 
 You should set its value to the actual real time factor that you get with `throttling_camera`. The real time factor may be found in the Gazebo GUI window at the bottom:
 
diff --git a/docs/ru/simulation_usage.md b/docs/ru/simulation_usage.md
index 336dea06..aee32d09 100644
--- a/docs/ru/simulation_usage.md
+++ b/docs/ru/simulation_usage.md
@@ -77,7 +77,7 @@ GPS датчик необходим полетов с использование
 
 ### Выставление скорости симуляции
 
-PX4, начиная с версии 1.9, поддерживает [принудительную установку скорости симуляции](https://dev.px4.io/v1.9.0/en/simulation/#simulation_speed) с помощью переменной окружения `PX4_SIM_SPEED_FACTOR`. Выставление этой переменной подготавливает все компоненты симулятора к соответствующему ускорению/замедлению.
+PX4, начиная с версии 1.9, поддерживает [принудительную установку скорости симуляции](https://docs.px4.io/master/en/simulation/#run-simulation-faster-than-realtime) с помощью переменной окружения `PX4_SIM_SPEED_FACTOR`. Выставление этой переменной подготавливает все компоненты симулятора к соответствующему ускорению/замедлению.
 
 Значение этой переменной должно соответствовать величине Real Time Factor (скорости симуляции по отношению к реальному времени), получаемой при использовании `throttling_camera`. Величина Real Time Factor отображается в окне Gazebo на нижней панели: