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ctu-mrs · Oct 12, 2023 · 8b0d9b6 · 8b0d9b6
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diff --git a/docs/system/frames_of_reference.md b/docs/system/frames_of_reference.md
@@ -2,7 +2,7 @@
 layout: default
 title: Frames of reference
 parent: The UAV System
-nav_order: 1
+nav_order: 2
 ---
 
 | :warning: **Attention please: This page is outdated.**                                                                                           |

diff --git a/docs/system/transformations.md b/docs/system/transformations.md
@@ -5,17 +5,17 @@ parent: The UAV System
 nav_order: 2
 ---
 
-| :warning: **Attention please: This page is outdated.**                                                                                           |
-| :---                                                                                                                                             |
-| The MRS UAV System 1.5 is being released and this page needs updating. Plase, keep in mind that the information on this page might not be valid. |
+| :warning: **Attention please: This page is outdated.**                                                                                            |
+| :---                                                                                                                                              |
+| The MRS UAV System 1.5 is being released and this page needs updating. Please, keep in mind that the information on this page might not be valid. |
 
 # Transformations
 
 ![](fig/transformations.png)
 
 As a robotic system, the MRS system makes use of many coordinate frames [refererence frames](frames_of_reference.md).
 Transformations within the MRS system are maintained by the [tf2 ros package](http://wiki.ros.org/tf2) and [Transformer](https://ctu-mrs.github.io/mrs_lib/classmrs__lib_1_1Transformer.html) from the [mrs_lib package](https://ctu-mrs.github.io/mrs_lib/), which is a tf2 wrapper with several functions simplifying the work with transformations.
-The transformations within the MRS system are important not only for tracking the relationship among particular coordinate frames, but they are used also to enable sending commands in various reference frames independently on current control frame. 
+The transformations within the MRS system are important not only for tracking the relationship among particular coordinate frames, but they are used also to enable sending commands in various reference frames independently on current control frame.
 
 ## MRS Trackers commands with specified *frame_id*
 

diff --git a/docs/system/uav_ros_interface.md b/docs/system/uav_ros_interface.md
@@ -127,7 +127,7 @@ It also carries some non-essential safety routines.
 The [ConstraintManager](https://github.com/ctu-mrs/mrs_uav_managers#ConstraintManager) handles the definition and switching of dynamics constraints for trackers.
 The constraints are supplied to all the loaded trackers by the ControlManager.
 To simplify the system structure, the ConstraintManager was created to load user-defined constraints from parameter files.
-The ConstraintManager maintains feasible constraints active during the flight based on the currently active [odometry source](https://github.com/ctu-mrs/mrs_uav_odometry#mrs-uav-odometry-) and allows users to change them by ROS service.
+The ConstraintManager maintains feasible constraints active during the flight based on the currently active estimator and allows users to change them by ROS service.
 
 ### Provided topics