bluerobotics · ES-Alexander · Apr 2, 2025 · Apr 2, 2025 · Apr 2, 2025 · Apr 2, 2025
diff --git a/README.md b/README.md
@@ -1,3 +1,15 @@
+# ⚠️  ARCHIVE NOTICE ⚠️
+
+This documentation is being split up, and transferred to other sites:
+
+- ArduSub is being moved to the [ArduPilot wiki](https://ardupilot.org/sub) ([GitHub](https://github.com/ArduPilot/ardupilot_wiki/tree/master/sub))
+- The Blue Robotics Companion Software has been replaced by [BlueOS](https://blueos.cloud/docs) ([GitHub](https://github.com/bluerobotics/BlueOS-docs))
+- Control Station Software (GCS) documentation can be found at
+    - [QGroundControl](https://docs.qgroundcontrol.com/Stable_V4.3/en/qgc-user-guide/) ([GitHub](https://github.com/mavlink/qgroundcontrol/tree/master/docs))
+    - [Cockpit](https://blueos.cloud/cockpit/docs/) ([GitHub](https://github.com/bluerobotics/Cockpit-docs))
+
+---
+
 # Overview
 
 > **Note** The information in this guide applies to ArduSub V3.5 and up. If you are running an older version, you should [update](/quick-start/installing-ardusub.md).
@@ -19,4 +31,4 @@ This book is an on-going work in progress to document the ArduSub software as we
 ## License
 
 - The ArduSub and ArduPilot code are released under the [GPLv3](https://raw.githubusercontent.com/ArduPilot/ardupilot/master/COPYING.txt) License.
-- This book is released under the [CC-NC-SA 4.0](https://creativecommons.org/licenses/by-nc-sa/4.0/) License.
+- This book is released under the [CC-NC-SA 4.0](https://creativecommons.org/licenses/by-nc-sa/4.0/) License.
diff --git a/archive-notice.html b/archive-notice.html
@@ -0,0 +1,12 @@
+<div style="position:fixed;margin-top:-50px;background-color:rgb(252, 248, 227);padding:10px;width:100%;max-width:770px;">
+  <h2 style="margin-top:5px;margin-bottom:5px;">⚠️  ARCHIVE NOTICE ⚠️  </h2>
+  <h3 style="margin-top:0px;margin-bottom:5px;">This documentation is no longer being maintained!</h3>
+  <ul>
+    <li>The new ArduSub docs are located in the <a href="https://ardupilot.org/sub/">ArduPilot wiki</a>.</li>
+    <li>The Companion Computer Software is also archived, and has been replaced by <a href="https://blueos.cloud/">BlueOS</a>.</li>
+    <li>For Control Station Software, see <a href="https://docs.qgroundcontrol.com/Stable_V4.3/en/qgc-user-guide/">QGroundControl</a> or <a href="https://blueos.cloud/cockpit/docs">Cockpit</a> (our new alternative).</li>
+  </ul>
+</div>
+<hr style="margin-top:210px;"></hr>
+
+<div></div>
diff --git a/developers/building-docs.md b/developers/building-docs.md
@@ -1,3 +1,5 @@
+{% include "../archive-notice.html" %}
+
 # Serve Docs Locally
 
 ## Install npm

diff --git a/developers/developers.md b/developers/developers.md
@@ -1,3 +1,5 @@
+{% include "../archive-notice.html" %}
+
 # Developers
 
 ## How to Get the Code

diff --git a/developers/dvl-integration.md b/developers/dvl-integration.md
@@ -1,3 +1,5 @@
+{% include "../archive-notice.html" %}
+
 # DVL integration (BETA)
 
 The DVL integration with ArduSub is in a BETA stage and is currently unsupported for normal use. This document is provided to instruct beta testers and developers how to test the BETA stage integration. There is no guarantee that the DVL integration will work for any particular application.

diff --git a/developers/full-parameter-list.md b/developers/full-parameter-list.md
@@ -1,3 +1,12 @@
+{% include "../archive-notice.html" %}
+
+<meta http-equiv="refresh" content="0; URL=https://ardupilot.org/sub/docs/parameters-Sub-stable-V4.1.2.html" />
+
+# This documentation has been moved to [https://ardupilot.org/sub/docs/parameters.html](https://ardupilot.org/sub/docs/parameters.html).
+
+## You should be automatically redirected.
+
+---
 
 This is a complete list of the parameters which can be set via the MAVLink protocol in the EEPROM of your APM to control vehicle behaviour. This list is automatically generated from the latest ardupilot source code, and so may contain parameters which are not yet in the stable released versions of the code. Some parameters may only be available for developers, and are enabled at compile-time.
 
@@ -11995,4 +12004,4 @@ Stream rate of PARAM_VALUE to ground station
 
 - Range: 0 10
 
-- Increment: 1
+- Increment: 1
diff --git a/developers/gps-positioning.md b/developers/gps-positioning.md
@@ -1,3 +1,5 @@
+{% include "../archive-notice.html" %}
+
 # GPS Positioning
 
 The ROV autopilot is capable of utilizing an external positioning system to perform autonomous maneuvers like station keeping, 'click to go here', transects, and pre-planned waypoint missions. All GPS/positioning functionality in ArduSub is IN DEVELOPMENT. The **position-enabled** flight modes are not considered stable. However, a positioning system may be integrated in order to display the position of the vehicle on the Ground Control Station map. This can be done without making use of the position-enabled flight modes, and this sort of operation is considered stable.

diff --git a/developers/opencv.md b/developers/opencv.md
@@ -1,3 +1,5 @@
+{% include "../archive-notice.html" %}
+
 # OpenCV
 
 OpenCV (Open Source Computer Vision) is a library to help the development of computer vision software.

diff --git a/developers/pymavlink.md b/developers/pymavlink.md
@@ -1,3 +1,5 @@
+{% include "../archive-notice.html" %}
+
 # Pymavlink
 
 ArduSub communicates with a protocol called MAVLink. Pymavlink is a python implementation of the MAVLink protocol. With pymavlink, it is possible to create a python script to read sensor data and send commands to an ArduSub vehicle.

diff --git a/developers/rc-input-and-output.md b/developers/rc-input-and-output.md
@@ -1,3 +1,5 @@
+{% include "../archive-notice.html" %}
+
 # RC input and output
 
 ArduSub is designed around two independent concepts of *RC Input* and *RC Output*. RC Input is an array of control channels representing pilot inputs like forward and yaw commands. RC Output is an array of channels representing the pulse widths to write to individual servo output pins. Although ArduSub does not support the use of RC receivers, the logic is the same and is applied to joystick inputs instead. Joystick input and RC Input are synonymous in ArduSub.

diff --git a/developers/sitl.md b/developers/sitl.md
@@ -1,3 +1,5 @@
+{% include "../archive-notice.html" %}
+
 # S.I.T.L (Software In The Loop)
 
 SITL is a simulator that allows you to run ArduSub without any hardware. It is a build of the autopilot code using an ordinary C++ compiler, giving you a native executable that allows you to test the behaviour of the vehicle.

diff --git a/developers/software-components.md b/developers/software-components.md
@@ -1,3 +1,5 @@
+{% include "../archive-notice.html" %}
+
 # Software Components
 
 There are three major software components involved in the operation of ArduSub:

diff --git a/developers/wireless-topside.md b/developers/wireless-topside.md
@@ -1,3 +1,5 @@
+{% include "../archive-notice.html" %}
+
 # Wireless Topside Connection
 
 These instructions assume that you have already set up your ROV to the surface computer via the tether and static IP of 192.168.2.1 on the surface computer, according to the directions in the [Network Setup](/quick-start/installing-companion.md#network-setup) section. These instructions were compiled using the [TP-LINK TL-WR802N](http://www.tp-link.com/us/products/details/cat-5506_TL-WR802N.html) router.

diff --git a/getting-started/initial-setup.md b/getting-started/initial-setup.md
@@ -1,3 +1,5 @@
+{% include "../archive-notice.html" %}
+
 # Initial Setup
 
 After the software is installed on the electronics, the electronics need to be wired and the software needs to be configured. mounting the controller to the vehicle, connecting it to the tether, power, and motors, and then performing initial configuration and calibration.

diff --git a/getting-started/installation-MDONLY.md b/getting-started/installation-MDONLY.md
@@ -1,3 +1,5 @@
+{% include "../archive-notice.html" %}
+
 <script src="https://npmcdn.com/tether@1.2.4/dist/js/tether.min.js"></script>
 <script src="../js/jquery.min.js"></script>
 <script src="../js/bootstrap.js"></script>

diff --git a/getting-started/installation.md b/getting-started/installation.md
@@ -1,3 +1,5 @@
+{% include "../archive-notice.html" %}
+
 # Installation
 
 ## QGroundControl

diff --git a/hardware/components.md b/hardware/components.md
@@ -1,3 +1,5 @@
+{% include "../archive-notice.html" %}
+
 # Hardware Components
 
 We will divide the hardware required to run ArduSub into three categories:

diff --git a/introduction/applications.md b/introduction/applications.md
@@ -1,3 +1,5 @@
+{% include "../archive-notice.html" %}
+
 # Applications
 
 ArduSub provides the functionality needed for a wide variety of applications from simple observation-class ROVs to sophisticated research-class ROVs. Here's a short list of applications that ArduSub-powered ROVs can be used for:

diff --git a/introduction/features.md b/introduction/features.md
@@ -1,3 +1,5 @@
+{% include "../archive-notice.html" %}
+
 # Features
 
 ArduSub has many features including:

diff --git a/introduction/hardware-options.md b/introduction/hardware-options.md
@@ -1,3 +1,5 @@
+{% include "../archive-notice.html" %}
+
 # Hardware Options
 
 The following sections detail all the available harware options for ArduSub. If a specific device or component is not mentioned, please ask in the [ArduSub category](https://discuss.bluerobotics.com/c/bluerov2-ardusub/ardusub/16) of the Blue Robotics forums.

diff --git a/introduction/hardware-options/additional-peripheral-devices.md b/introduction/hardware-options/additional-peripheral-devices.md
@@ -1,3 +1,5 @@
+{% include "../../archive-notice.html" %}
+
 # Additional Peripheral Devices
 
 The following components and devices are **not** required to be installed for a functioning control system, but add additional functionality and customization to the underwater vehicle.

diff --git a/...ion/hardware-options/additional-peripheral-devices/grippers-and-manipulators.md b/...ion/hardware-options/additional-peripheral-devices/grippers-and-manipulators.md
@@ -1,3 +1,5 @@
+{% include "../../../archive-notice.html" %}
+
 # Grippers and Manipulators
 
 A gripper is a useful tool for picking up small objects, attaching recovery lines, or freeing a snagged tether. Other manipulators may be useful in cleaning, inspection, or repair tasks.

diff --git a/introduction/hardware-options/additional-peripheral-devices/leak-sensor.md b/introduction/hardware-options/additional-peripheral-devices/leak-sensor.md
@@ -1,3 +1,5 @@
+{% include "../../../archive-notice.html" %}
+
 # Leak Sensor
 
 Leak sensors are an important addition for saving an electronics enclosure should a leak occur.

diff --git a/introduction/hardware-options/additional-peripheral-devices/relays.md b/introduction/hardware-options/additional-peripheral-devices/relays.md
@@ -1,3 +1,5 @@
+{% include "../../../archive-notice.html" %}
+
 # Relays
 
 Relays are useful for turning higher voltage (>5V DC) auxiliary equipment on and off. 

diff --git a/introduction/hardware-options/additional-peripheral-devices/servos.md b/introduction/hardware-options/additional-peripheral-devices/servos.md
@@ -1,3 +1,5 @@
+{% include "../../../archive-notice.html" %}
+
 # Servos
 
 Servos are a useful addition to any underwater vehicle build where a component needs to be actuated or rotated. Normal servos can be installed inside the watertight enclosures to rotate things such as cameras. Depth rated servos can be used outside of enclosures.

diff --git a/introduction/hardware-options/additional-peripheral-devices/sonars.md b/introduction/hardware-options/additional-peripheral-devices/sonars.md
@@ -1,3 +1,5 @@
+{% include "../../../archive-notice.html" %}
+
 # Sonars
 
 Sonars are useful pieces of equipment in situations where visibility is low. Sonars can help get ranges to surfaces or acoustically image targets to better understand their shape.

diff --git a/introduction/hardware-options/additional-peripheral-devices/temperature-sensor.md b/introduction/hardware-options/additional-peripheral-devices/temperature-sensor.md
@@ -1,3 +1,5 @@
+{% include "../../../archive-notice.html" %}
+
 # Temperature Sensor
 
 An auxiliary external temperature sensor may be added for obtaining faster and more accurate readings than those from the integrated pressure sensors. Only one sensor may be connected at a time.

diff --git a/...uction/hardware-options/additional-peripheral-devices/underwater-positioning.md b/...uction/hardware-options/additional-peripheral-devices/underwater-positioning.md
@@ -1,3 +1,5 @@
+{% include "../../../archive-notice.html" %}
+
 # Underwater Positioning and GPS
 
 A positioning system is a useful addition to an ArduSub vehicle either for displaying numerical location coordinates or the position of the vehicle on a map in QGroundControl. 

diff --git a/introduction/hardware-options/connection-diagrams.md b/introduction/hardware-options/connection-diagrams.md
@@ -1,3 +1,5 @@
+{% include "../../archive-notice.html" %}
+
 # Connection Diagrams
 
 The following connection diagrams show how to connect devices to the ArduSub control system. 

diff --git a/introduction/hardware-options/recommended-extras.md b/introduction/hardware-options/recommended-extras.md
@@ -1,3 +1,5 @@
+{% include "../../archive-notice.html" %}
+
 # Recommended Extra Hardware
 
 The following components are **not** required to have a working control system, but are highly recommended to expand functionality and utility.

diff --git a/introduction/hardware-options/recommended-extras/camera-gimbal.md b/introduction/hardware-options/recommended-extras/camera-gimbal.md
@@ -1,3 +1,5 @@
+{% include "../../../archive-notice.html" %}
+
 # Camera Gimbal
 
 ArduSub supports control and attitude atabilization for up to 3-axis gimbals. The most common gimbal type for underwater vehicles is a 1-axis tilt mount, since the majority of standard ROV frames have control over the other Degrees of Freedom (DoF).

diff --git a/introduction/hardware-options/recommended-extras/lights.md b/introduction/hardware-options/recommended-extras/lights.md
@@ -1,3 +1,5 @@
+{% include "../../../archive-notice.html" %}
+
 # Lights
 
 Lights are an integral component of any marine vehicle where optical inspection is being conducted. ArduSub has the ability to control lights that use Pulse Width Modulation (PWM) signals. Two independent light sets may be controlled by two different output channels.

diff --git a/introduction/hardware-options/recommended-extras/pressure-sensor.md b/introduction/hardware-options/recommended-extras/pressure-sensor.md
@@ -1,3 +1,5 @@
+{% include "../../../archive-notice.html" %}
+
 # Pressure Sensor
 
 An external pressure sensor is required for obtaining depth readings and enabling [Depth Hold](/reference/ardusub/features-while-in-operation.md#flight-modes) functionality. Only one sensor may be connected at a time.

diff --git a/introduction/hardware-options/required-hardware.md b/introduction/hardware-options/required-hardware.md
@@ -1,3 +1,5 @@
+{% include "../../archive-notice.html" %}
+
 # Required Hardware
 
 The following pages detail the minimum required hardware to have a functioning control system. Where applicable, alternate options are provided when they have been tested and confirmed to work. 

diff --git a/introduction/hardware-options/required-hardware/autopilot.md b/introduction/hardware-options/required-hardware/autopilot.md
@@ -1,3 +1,5 @@
+{% include "../../../archive-notice.html" %}
+
 # Autopilot
 
 In the ArduSub control system, the autopilot board (also known as a flight controller) is the component which the ArduSub firmware is loaded onto. The autopilot processes the pilot input and sensor data, and controls the motors, lights, servos, and relays on the vehicle.

diff --git a/introduction/hardware-options/required-hardware/camera.md b/introduction/hardware-options/required-hardware/camera.md
@@ -1,3 +1,5 @@
+{% include "../../../archive-notice.html" %}
+
 # Camera
 
 The Companion Computer software contains a series of drivers which will stream FHD video from the vehicle to the Ground Control Station (GCS) at the surface. Only one camera may be connected to the Companion at a time. Support for multiple camera streams is planned, but not implemented at this time.

diff --git a/introduction/hardware-options/required-hardware/companion-computer.md b/introduction/hardware-options/required-hardware/companion-computer.md
@@ -1,3 +1,5 @@
+{% include "../../../archive-notice.html" %}
+
 # Companion Computer
 
 Companion Computers are usually small single board computers (SBCs) which can be connected to an autopilot board and communicate using the [MAVLink protocol](https://ardupilot.org/dev/docs/mavlink-basics.html). A Companion Computer will take in MAVLink telemetry from the [autopilot](/introduction/hardware-options/required-hardware/autopilot.md) and can route or process the telemetry data. 

diff --git a/introduction/hardware-options/required-hardware/escs.md b/introduction/hardware-options/required-hardware/escs.md
@@ -1,3 +1,5 @@
+{% include "../../../archive-notice.html" %}
+
 # Electronic Speed Controls (ESCs)
 
 ArduSub is designed to work with brushless and brushed Electronic Speed Controls (ESCs) to control motors and [thrusters](/introduction/hardware-options/required-hardware/thrusters.md). A corresponding ESC will need to be used for a similar motor type. For example if a brushless thruster is used, then a brushless ESC will be needed.

diff --git a/introduction/hardware-options/required-hardware/joystick.md b/introduction/hardware-options/required-hardware/joystick.md
@@ -1,3 +1,5 @@
+{% include "../../../archive-notice.html" %}
+
 # Joystick
 
 A joystick (also known as a hand controller, gamepad, etc) when connected to the topside computer is how the user provides control inputs to the vehicle. These inputs may be in the form of movement (stick control) or action items (button presses).

diff --git a/introduction/hardware-options/required-hardware/power-sensing-module.md b/introduction/hardware-options/required-hardware/power-sensing-module.md
@@ -1,3 +1,5 @@
+{% include "../../../archive-notice.html" %}
+
 # Power Sensing Module
 
 A power sensing module provides analog current and voltage sensing to an autopilot onboard the vehicle. ArduSub supports various modules in the firmware and when properly set, QGroundControl will give visual indications of battery level and current consumption.

diff --git a/introduction/hardware-options/required-hardware/power-supply.md b/introduction/hardware-options/required-hardware/power-supply.md
@@ -1,3 +1,5 @@
+{% include "../../../archive-notice.html" %}
+
 # Power Supply
 
 A stable power supply and power distribution system is an integral part of any underwater vehicle. The power supply needs to be able to power all the onboard electronics and keep up with the current draw of the thrusters.

diff --git a/introduction/hardware-options/required-hardware/tether.md b/introduction/hardware-options/required-hardware/tether.md
@@ -1,3 +1,5 @@
+{% include "../../../archive-notice.html" %}
+
 # Tether
 
 A tether is a length of cable which connects the [Companion Computer](/introduction/hardware-options/required-hardware/companion-computer.md) to the [Topside Computer](/introduction/hardware-options/required-hardware/topside-computer.md). Radio frequency (RF) waves do not travel far through water and acoustic modems have limited bandwidth, so a tether is a critical component to connect the vehicle to a surface computer.

diff --git a/introduction/hardware-options/required-hardware/thrusters.md b/introduction/hardware-options/required-hardware/thrusters.md
@@ -1,3 +1,5 @@
+{% include "../../../archive-notice.html" %}
+
 # Thrusters
 
 Thrusters are necessary to maneuver an underwater vehicle around. The number and orientation of thrusters on a vehicle determines the number of degrees of freedom (DoF) it may maneuver in.

diff --git a/introduction/hardware-options/required-hardware/topside-computer.md b/introduction/hardware-options/required-hardware/topside-computer.md
@@ -1,3 +1,5 @@
+{% include "../../../archive-notice.html" %}
+
 # Topside Computer
 
 The topside computer runs the QGroundControl application and is the device in which the [Companion Computer](/introduction/hardware-options/required-hardware/companion-computer.md) on the vehicle is connected to. The topside computer is where the live video feed and telemetry information is observed. A [joystick](/introduction/hardware-options/required-hardware/joystick.md) must be plugged in for manual control.

diff --git a/introduction/required-software.md b/introduction/required-software.md
@@ -1,3 +1,5 @@
+{% include "../archive-notice.html" %}
+
 # Required Software
 
 The ArduSub control system is made up of three major software components:

diff --git a/introduction/required-software/ardusub-autopilot-firmware.md b/introduction/required-software/ardusub-autopilot-firmware.md
@@ -1,3 +1,5 @@
+{% include "../../archive-notice.html" %}
+
 # ArduSub Autopilot Firmware
 
 The ArduSub firmware is a binary file that is loaded on to the internal memory of a compatible [autopilot](/introduction/hardware-options/required-hardware/autopilot.md) board. The firmware contains the necessary logic processes to control the specified vehicle type, Sub in this case. Some autopilots (eg. Pixhawk) have an SD card that is used to store data logs. Note that the autopilot firmware is NOT located on the SD card.

diff --git a/introduction/required-software/companion-computer-software.md b/introduction/required-software/companion-computer-software.md
@@ -1,3 +1,5 @@
+{% include "../../archive-notice.html" %}
+
 # Companion Computer Software
 
 The Companion Computer software image is a modified version of [Raspbian](https://www.raspberrypi.org/software/operating-systems/#raspberry-pi-os-32-bit) that is written onto a microSD card and installed in the [Companion Computer](/introduction/hardware-options/required-hardware/companion-computer.md). 

diff --git a/introduction/required-software/qgroundcontrol-software.md b/introduction/required-software/qgroundcontrol-software.md
@@ -1,3 +1,5 @@
+{% include "../../archive-notice.html" %}
+
 # QGroundControl Software
 
 QGroundControl (QGC) is the Graphical User Interface (GUI) for ArduSub, which provides setup and control functionality. QGC runs on Windows, OS X, and Linux platforms.

diff --git a/operators-manual/outputs.md b/operators-manual/outputs.md
@@ -1,3 +1,5 @@
+{% include "../archive-notice.html" %}
+
 # Configuring Outputs
 
 The Pixhawk has 14 servo output channels which are configured via the [SERVOn_* parameters](/operators-manual/full-parameter-list.html#servon-parameters) and the [BRD_PWM_COUNT](/operators-manual/full-parameter-list.html#brdpwmcount-auxiliary-pin-config) parameter.

diff --git a/quick-start/first-dive.md b/quick-start/first-dive.md
@@ -1,3 +1,5 @@
+{% include "../archive-notice.html" %}
+
 # Getting Ready for Your First Dive 
 Before putting the vehicle in the water, there are a few things which will need to be checked.
 

diff --git a/quick-start/installing-ardusub.md b/quick-start/installing-ardusub.md
@@ -1,3 +1,5 @@
+{% include "../archive-notice.html" %}
+
 # Installing ArduSub
 
 >**Note** The current Stable version of ArduSub is **v4.0.3**. If your firmware is out of date, it may be updated by following one of the methods below.

diff --git a/quick-start/installing-companion.md b/quick-start/installing-companion.md
@@ -1,3 +1,5 @@
+{% include "../archive-notice.html" %}
+
 # Installing the Companion Computer Software Image
 
 >**Note** The current version of Companion is **v0.0.31**. If your system is out of date you can update by either installing a fresh image with the instructions below or connecting to Wi-Fi and performing a [Software Update](#software-update).

diff --git a/quick-start/installing-qgc.md b/quick-start/installing-qgc.md
@@ -1,3 +1,5 @@
+{% include "../archive-notice.html" %}
+
 # QGroundControl Installation
 
 >**Note** The latest recommended version of QGroundControl is **v4.2.3**. If your software is out of date, please uninstall the QGC application and download the latest version below.

diff --git a/quick-start/vehicle-frame.md b/quick-start/vehicle-frame.md
@@ -1,3 +1,5 @@
+{% include "../archive-notice.html" %}
+
 # Building a Vehicle Frame
 
 ## Frame Selection

diff --git a/reference/ardusub-configuration.md b/reference/ardusub-configuration.md
@@ -1,3 +1,5 @@
+{% include "../archive-notice.html" %}
+
 # ArduSub Configuration and Features
 
 When an autopilot board with ArduSub firmware is connected, the default QGC interface changes to a customized one for ArduSub vehicles. A few pages on the [Vehicle Setup View](/reference/qgroundcontrol/vehicle-setup-view.md) are different from other ArduPilot vehicle types and any setting or section labeled "PX4 Only" will not apply.
diff --git a/reference/ardusub/camera-mount-setup-page.md b/reference/ardusub/camera-mount-setup-page.md
@@ -1,3 +1,5 @@
+{% include "../../archive-notice.html" %}
+
 # Camera Mount Setup Page
 
 The Camera Mount Setup Page allows for the configuration of an installed camera pan/tilt/roll mount.

diff --git a/reference/ardusub/features-while-in-operation.md b/reference/ardusub/features-while-in-operation.md
@@ -1,3 +1,5 @@
+{% include "../../archive-notice.html" %}
+
 # Features While in Operation
 
 ## Joystick Button Functions

diff --git a/reference/ardusub/firmware-page.md b/reference/ardusub/firmware-page.md
@@ -1,3 +1,5 @@
+{% include "../../archive-notice.html" %}
+
 # Firmware Page
 
 The Firmware Page allows ArduSub firmware to be downloaded from the internet and directly installed onto Pixhawk-family flight-controller boards. By default QGC will install the current stable version, but you can also choose to install beta builds, daily builds, or custom firmware files.

diff --git a/reference/ardusub/frame-setup-page.md b/reference/ardusub/frame-setup-page.md
@@ -1,3 +1,5 @@
+{% include "../../archive-notice.html" %}
+
 # Frame Setup Page
 
 The Frame Setup page configures the MAIN Outputs of the autopilot board to coincide with how many and in which orientation thrusters have been installed on a vehicle frame.

diff --git a/reference/ardusub/joystick-setup-page.md b/reference/ardusub/joystick-setup-page.md
@@ -1,3 +1,5 @@
+{% include "../../archive-notice.html" %}
+
 # Joystick Setup Page
 
 When a compatible [joystick](/introduction/hardware-options/required-hardware/joystick.md) is plugged into the [topside computer](/introduction/hardware-options/required-hardware/topside-computer.md), the Joystick Setup page will become active and a small red icon will appear in the top toolbar. After the calibration process is complete and the joystick is enabled, this icon will turn white.