PX4 · bkueng · Dec 11, 2023 · Dec 11, 2023 · Dec 11, 2023 · Dec 11, 2023
diff --git a/en/ros2/px4_ros2_interface_lib.md b/en/ros2/px4_ros2_interface_lib.md
@@ -193,6 +193,8 @@ The following steps are required to get started:
 The following sections describe specific functionality provided by this library.
 In addition, any other PX4 topic can be subscribed or published.
 
+Detailed API usage can be found here: https://auterion.github.io/px4-ros2-interface-lib/modules.html
+
 ### Mode Class Definition
 
 This section steps through an example of how to create a class for a custom mode.

diff --git a/en/simulation/README.md b/en/simulation/README.md
@@ -155,9 +155,8 @@ make px4_sitl none_iris
 
 The simulation can be further configured via environment variables:
 
-- `PX4_ESTIMATOR`: This variable configures which estimator to use.
-  Possible options are: `ekf2` (default), `lpe` (deprecated).
-  It can be set via `export PX4_ESTIMATOR=lpe` before running the simulation.
+- Any of the [PX4 parameters](../advanced_config/parameter_reference.md) can be overridden via `export PX4_PARAM_{name}={value}`.
+  For example changing the estimator: `export PX4_PARAM_SYS_MC_EST_GROUP=3`.
 
 The syntax described here is simplified, and there are many other options that you can configure via _make_ - for example, to set that you wish to connect to an IDE or debugger.
 For more information see: [Building the Code > PX4 Make Build Targets](../dev_setup/building_px4.md#px4-make-build-targets).

diff --git a/en/test_and_ci/integration_testing.md b/en/test_and_ci/integration_testing.md
@@ -6,7 +6,12 @@ This topic explains how to run (and extend) PX4's ROS-based integration tests.
 [MAVSDK Integration Testing](../test_and_ci/integration_testing_mavsdk.md) is preferred when writing new tests.
 Use the ROS-based integration test framework for use cases that _require_ ROS (e.g. object avoidance).
 
-All PX4 integraton tests are executed automatically by our [Continuous Integration](../test_and_ci/continous_integration.md) system.
+All PX4 integration tests are executed automatically by our [Continuous Integration](../test_and_ci/continous_integration.md) system.
+:::
+
+:::note
+This page is about MAVROS integration tests.
+If you are looking for PX4 ROS 2 Interface Library integration tests, see [here](../ros2/px4_ros2_interface_lib.md#ci-integration-tests).
 :::
 
 ## Prerequisites:

diff --git a/en/test_and_ci/integration_testing_mavsdk.md b/en/test_and_ci/integration_testing_mavsdk.md
@@ -47,21 +47,20 @@ To run all SITL tests as defined in [sitl.json](https://github.com/PX4/PX4-Autop
 test/mavsdk_tests/mavsdk_test_runner.py test/mavsdk_tests/configs/sitl.json --speed-factor 10
 ```
 
-This will list all of the tests and then run them sequentially.
+This will list all the tests and then run them sequentially.
 
 To see all possible command line arguments use the `-h` argument:
 
 ```sh
-test/mavsdk_tests/mavsdk_test_runner.py -h
-
-usage: mavsdk_test_runner.py [-h] [--log-dir LOG_DIR] [--speed-factor SPEED_FACTOR] [--iterations ITERATIONS] [--abort-early] [--gui] [--model MODEL]
-                             [--case CASE] [--debugger DEBUGGER] [--verbose]
+usage: mavsdk_test_runner.py [-h] [--log-dir LOG_DIR] [--speed-factor SPEED_FACTOR] [--iterations ITERATIONS] [--abort-early]
+                             [--gui] [--model MODEL] [--case CASE] [--debugger DEBUGGER] [--upload] [--force-color]
+                             [--verbose] [--build-dir BUILD_DIR]
                              config_file
 
 positional arguments:
   config_file           JSON config file to use
 
-optional arguments:
+options:
   -h, --help            show this help message and exit
   --log-dir LOG_DIR     Directory for log files
   --speed-factor SPEED_FACTOR
@@ -71,9 +70,13 @@ optional arguments:
   --abort-early         abort on first unsuccessful test
   --gui                 display the visualization for a simulation
   --model MODEL         only run tests for one model
-  --case CASE           only run tests for one case
+  --case CASE           only run tests for one case (or multiple cases with wildcard '*')
   --debugger DEBUGGER   choice from valgrind, callgrind, gdb, lldb
+  --upload              Upload logs to logs.px4.io
+  --force-color         Force colorized output
   --verbose             enable more verbose output
+  --build-dir BUILD_DIR
+                        relative path where the built files are stored
 ```
 
 ## Run a Single Test