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docs: update module reference metadata
This commit is contained in:
Ramon Roche
parent
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commit
3fdd3e3e43
@ -1,11 +1,13 @@
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# Modules Reference: Controller
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## airship_att_control
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Source: [modules/airship_att_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/airship_att_control)
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### Description
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### Description
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This implements the airship attitude and rate controller. Ideally it would
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take attitude setpoints (`vehicle_attitude_setpoint`) or rate setpoints (in acro mode
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via `manual_control_setpoint` topic) as inputs and outputs actuator control messages.
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@ -13,9 +15,9 @@ via `manual_control_setpoint` topic) as inputs and outputs actuator control mess
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Currently it is feeding the `manual_control_setpoint` topic directly to the actuators.
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### Implementation
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To reduce control latency, the module directly polls on the gyro topic published by the IMU driver.
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### Usage {#airship_att_control_usage}
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```
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@ -32,8 +34,8 @@ airship_att_control <command> [arguments...]
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Source: [modules/control_allocator](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/control_allocator)
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### Description
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### Description
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This implements control allocation. It takes torque and thrust setpoints
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as inputs and outputs actuator setpoint messages.
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@ -53,11 +55,12 @@ control_allocator <command> [arguments...]
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Source: [modules/flight_mode_manager](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/flight_mode_manager)
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### Description
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### Description
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This implements the setpoint generation for all modes. It takes the current mode state of the vehicle as input
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and outputs setpoints for controllers.
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### Usage {#flight_mode_manager_usage}
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```
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@ -74,10 +77,11 @@ flight_mode_manager <command> [arguments...]
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Source: [modules/fw_att_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/fw_att_control)
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### Description
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### Description
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fw_att_control is the fixed wing attitude controller.
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### Usage {#fw_att_control_usage}
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```
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@ -95,10 +99,11 @@ fw_att_control <command> [arguments...]
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Source: [modules/fw_lateral_longitudinal_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/fw_lateral_longitudinal_control)
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### Description
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### Description
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fw_lat_lon_control computes attitude and throttle setpoints from lateral and longitudinal control setpoints.
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### Usage {#fw_lat_lon_control_usage}
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```
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@ -116,12 +121,13 @@ fw_lat_lon_control <command> [arguments...]
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Source: [modules/fw_mode_manager](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/fw_mode_manager)
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### Description
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### Description
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This implements the setpoint generation for all PX4-internal fixed-wing modes, height-rate control and higher.
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It takes the current mode state of the vehicle as input and outputs setpoints consumed by the fixed-wing
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lateral-longitudinal controller and and controllers below that (attitude, rate).
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### Usage {#fw_mode_manager_usage}
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```
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@ -138,10 +144,11 @@ fw_mode_manager <command> [arguments...]
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Source: [modules/fw_rate_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/fw_rate_control)
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### Description
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### Description
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fw_rate_control is the fixed-wing rate controller.
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### Usage {#fw_rate_control_usage}
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```
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@ -159,8 +166,8 @@ fw_rate_control <command> [arguments...]
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Source: [modules/mc_att_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mc_att_control)
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### Description
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### Description
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This implements the multicopter attitude controller. It takes attitude
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setpoints (`vehicle_attitude_setpoint`) as inputs and outputs a rate setpoint.
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@ -173,6 +180,7 @@ Institute for Dynamic Systems and Control (IDSC), ETH Zurich
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https://www.research-collection.ethz.ch/bitstream/handle/20.500.11850/154099/eth-7387-01.pdf
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### Usage {#mc_att_control_usage}
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```
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@ -186,36 +194,12 @@ mc_att_control <command> [arguments...]
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status print status info
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```
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## mc_nn_control
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Source: [modules/mc_nn_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mc_nn_control)
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### Description
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Multicopter Neural Network Control module.
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This module is an end-to-end neural network control system for multicopters.
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It takes in 15 input values and outputs 4 control actions.
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Inputs: [pos_err(3), att(6), vel(3), ang_vel(3)]
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Outputs: [Actuator motors(4)]
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### Usage {#mc_nn_control_usage}
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```
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mc_nn_control <command> [arguments...]
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Commands:
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start
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stop
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status print status info
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```
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## mc_pos_control
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Source: [modules/mc_pos_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mc_pos_control)
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### Description
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### Description
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The controller has two loops: a P loop for position error and a PID loop for velocity error.
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Output of the velocity controller is thrust vector that is split to thrust direction
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(i.e. rotation matrix for multicopter orientation) and thrust scalar (i.e. multicopter thrust itself).
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@ -240,13 +224,14 @@ mc_pos_control <command> [arguments...]
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Source: [modules/mc_rate_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mc_rate_control)
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### Description
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### Description
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This implements the multicopter rate controller. It takes rate setpoints (in acro mode
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via `manual_control_setpoint` topic) as inputs and outputs actuator control messages.
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The controller has a PID loop for angular rate error.
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### Usage {#mc_rate_control_usage}
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```
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@ -264,20 +249,20 @@ mc_rate_control <command> [arguments...]
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Source: [modules/navigator](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/navigator)
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### Description
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### Description
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Module that is responsible for autonomous flight modes. This includes missions (read from dataman),
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takeoff and RTL.
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It is also responsible for geofence violation checking.
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### Implementation
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The different internal modes are implemented as separate classes that inherit from a common base class `NavigatorMode`.
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The member `_navigation_mode` contains the current active mode.
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Navigator publishes position setpoint triplets (`position_setpoint_triplet_s`), which are then used by the position
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controller.
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### Usage {#navigator_usage}
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```
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@ -298,8 +283,8 @@ navigator <command> [arguments...]
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Source: [modules/rover_ackermann](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/rover_ackermann)
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### Description
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### Description
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Rover ackermann module.
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### Usage {#rover_ackermann_usage}
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@ -318,8 +303,8 @@ rover_ackermann <command> [arguments...]
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Source: [modules/rover_differential](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/rover_differential)
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### Description
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### Description
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Rover differential module.
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### Usage {#rover_differential_usage}
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@ -338,8 +323,8 @@ rover_differential <command> [arguments...]
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Source: [modules/rover_mecanum](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/rover_mecanum)
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### Description
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### Description
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Rover mecanum module.
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### Usage {#rover_mecanum_usage}
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@ -354,14 +339,53 @@ rover_mecanum <command> [arguments...]
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status print status info
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```
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## rover_pos_control
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Source: [modules/rover_pos_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/rover_pos_control)
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### Description
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Controls the position of a ground rover using an L1 controller.
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Publishes `vehicle_thrust_setpoint (only in x) and vehicle_torque_setpoint (only yaw)` messages at IMU_GYRO_RATEMAX.
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### Implementation
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Currently, this implementation supports only a few modes:
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* Full manual: Throttle and yaw controls are passed directly through to the actuators
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* Auto mission: The rover runs missions
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* Loiter: The rover will navigate to within the loiter radius, then stop the motors
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### Examples
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CLI usage example:
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```
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rover_pos_control start
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rover_pos_control status
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rover_pos_control stop
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```
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### Usage {#rover_pos_control_usage}
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```
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rover_pos_control <command> [arguments...]
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Commands:
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start
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stop
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status print status info
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```
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## spacecraft
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Source: [modules/spacecraft](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/spacecraft)
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### Description
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This implements control allocation for spacecraft vehicles.
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It takes torque and thrust setpoints as inputs and outputs
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actuator setpoint messages.
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### Description
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This implements control allocation for spacecraft vehicles.
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It takes torque and thrust setpoints as inputs and outputs
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actuator setpoint messages.
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### Usage {#spacecraft_usage}
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@ -370,8 +394,6 @@ spacecraft <command> [arguments...]
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Commands:
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start
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status
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stop
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status print status info
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@ -381,29 +403,27 @@ spacecraft <command> [arguments...]
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Source: [modules/uuv_att_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/uuv_att_control)
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### Description
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### Description
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Controls the attitude of an unmanned underwater vehicle (UUV).
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Publishes `vehicle_thrust_setpont` and `vehicle_torque_setpoint` messages at a constant 250Hz.
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### Implementation
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Currently, this implementation supports only a few modes:
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- Full manual: Roll, pitch, yaw, and throttle controls are passed directly through to the actuators
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- Auto mission: The uuv runs missions
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* Full manual: Roll, pitch, yaw, and throttle controls are passed directly through to the actuators
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* Auto mission: The uuv runs missions
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### Examples
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CLI usage example:
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```
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uuv_att_control start
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uuv_att_control status
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uuv_att_control stop
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```
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### Usage {#uuv_att_control_usage}
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```
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@ -420,22 +440,16 @@ uuv_att_control <command> [arguments...]
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Source: [modules/uuv_pos_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/uuv_pos_control)
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### Description
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### Description
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Controls the attitude of an unmanned underwater vehicle (UUV).
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Publishes `attitude_setpoint` messages.
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### Implementation
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Currently, this implementation supports only a few modes:
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- Full manual: Roll, pitch, yaw, and throttle controls are passed directly through to the actuators
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- Auto mission: The uuv runs missions
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* Full manual: Roll, pitch, yaw, and throttle controls are passed directly through to the actuators
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* Auto mission: The uuv runs missions
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### Examples
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CLI usage example:
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```
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uuv_pos_control start
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uuv_pos_control status
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@ -458,8 +472,8 @@ uuv_pos_control <command> [arguments...]
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Source: [modules/vtol_att_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/vtol_att_control)
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### Description
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### Description
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fw_att_control is the fixed wing attitude controller.
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### Usage {#vtol_att_control_usage}
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@ -1108,12 +1108,8 @@ px4io <command> [arguments...]
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```
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## rgbled
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<<<<<<< HEAD
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Source: [drivers/lights/rgbled_ncp5623c](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/lights/rgbled_ncp5623c)
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=======
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Source: [drivers/lights/rgbled](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/lights/rgbled)
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>>>>>>> 5b409a45c1 (docs: update module reference metadata)
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### Usage {#rgbled_usage}
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@ -200,7 +200,7 @@ lightware_sf45_serial <command> [arguments...]
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## ll40ls
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Source: [drivers/distance_sensor/ll40ls_pwm](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/ll40ls_pwm)
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Source: [drivers/distance_sensor/ll40ls](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/ll40ls)
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### Description
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@ -22,7 +22,7 @@ Source: [drivers/transponder/sagetech_mxs](https://github.com/PX4/PX4-Autopilot/
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$ sagetech_mxs opmode 0/1/2/3
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Set the Squawk Code
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$ sagetech_mxs squawk 1200
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### Usage {#sagetech_mxs_usage}
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```
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@ -1,11 +1,16 @@
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# Modules Reference: System
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## battery_simulator
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Source: [modules/simulation/battery_simulator](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/battery_simulator)
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### Description
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### Usage {#battery_simulator_usage}
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```
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@ -22,16 +27,17 @@ battery_simulator <command> [arguments...]
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Source: [modules/battery_status](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/battery_status)
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### Description
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The provided functionality includes:
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- Read the output from the ADC driver (via ioctl interface) and publish `battery_status`.
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### Implementation
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### Implementation
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It runs in its own thread and polls on the currently selected gyro topic.
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### Usage {#battery_status_usage}
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```
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@ -48,6 +54,7 @@ battery_status <command> [arguments...]
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Source: [modules/camera_feedback](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/camera_feedback)
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### Description
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The camera_feedback module publishes `CameraCapture` UORB topics when image capture has been triggered.
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@ -62,7 +69,7 @@ The `CAMERA_IMAGE_CAPTURED` message is then emitted (by streaming code) followin
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### Implementation
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`CameraTrigger` topics are published by the `camera_trigger` module (`feedback` field set `false`)
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when image capture is triggered, and may also be published by the `camera_capture` driver
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when image capture is triggered, and may also be published by the `camera_capture` driver
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(with `feedback` field set `true`) if the camera capture pin is activated.
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The `camera_feedback` module subscribes to `CameraTrigger`.
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@ -70,6 +77,7 @@ It discards topics from the `camera_trigger` module if camera capture is enabled
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For the topics that are not discarded it creates a `CameraCapture` topic with the timestamp information
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from the `CameraTrigger` and position information from the vehicle.
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### Usage {#camera_feedback_usage}
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```
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@ -86,8 +94,8 @@ camera_feedback <command> [arguments...]
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Source: [drivers/cdcacm_autostart](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/cdcacm_autostart)
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### Description
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### Description
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This module listens on USB and auto-configures the protocol depending on the bytes received.
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The supported protocols are: MAVLink, nsh, and ublox serial passthrough. If the parameter SYS_USB_AUTO=2
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the module will only try to start mavlink as long as the USB VBUS is detected. Otherwise it will spin
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@ -109,8 +117,8 @@ cdcacm_autostart <command> [arguments...]
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Source: [modules/commander](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/commander)
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### Description
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### Description
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The commander module contains the state machine for mode switching and failsafe behavior.
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### Usage {#commander_usage}
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@ -127,10 +135,6 @@ commander <command> [arguments...]
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check Run preflight checks
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safety Change prearm safety state
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on|off [on] to activate safety, [off] to deactivate safety and allow
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control surface movements
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arm
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[-f] Force arming (do not run preflight checks)
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@ -144,13 +148,13 @@ commander <command> [arguments...]
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transition VTOL transition
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mode Change flight mode
|
||||
manual|acro|offboard|stabilized|altctl|posctl|altitude_cruise|position:slow
|
||||
|auto:mission|auto:loiter|auto:rtl|auto:takeoff|auto:land|auto:
|
||||
precland|ext1 Flight mode
|
||||
manual|acro|offboard|stabilized|altctl|posctl|position:slow|auto:mission|au
|
||||
to:loiter|auto:rtl|auto:takeoff|auto:land|auto:precland|ext1
|
||||
Flight mode
|
||||
|
||||
pair
|
||||
|
||||
termination
|
||||
lockdown
|
||||
on|off Turn lockdown on or off
|
||||
|
||||
set_ekf_origin
|
||||
@ -158,9 +162,6 @@ commander <command> [arguments...]
|
||||
|
||||
lat|lon|alt Origin latitude longitude altitude
|
||||
|
||||
set_heading Set current heading
|
||||
heading degrees from True North [0 360]
|
||||
|
||||
poweroff Power off board (if supported)
|
||||
|
||||
stop
|
||||
@ -172,11 +173,10 @@ commander <command> [arguments...]
|
||||
|
||||
Source: [modules/dataman](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/dataman)
|
||||
|
||||
### Description
|
||||
|
||||
### Description
|
||||
Module to provide persistent storage for the rest of the system in form of a simple database through a C API.
|
||||
Multiple backends are supported depending on the board:
|
||||
|
||||
- a file (eg. on the SD card)
|
||||
- RAM (this is obviously not persistent)
|
||||
|
||||
@ -184,9 +184,9 @@ It is used to store structured data of different types: mission waypoints, missi
|
||||
Each type has a specific type and a fixed maximum amount of storage items, so that fast random access is possible.
|
||||
|
||||
### Implementation
|
||||
|
||||
Reading and writing a single item is always atomic.
|
||||
|
||||
|
||||
### Usage {#dataman_usage}
|
||||
|
||||
```
|
||||
@ -209,6 +209,7 @@ dataman <command> [arguments...]
|
||||
|
||||
Source: [systemcmds/dmesg](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/dmesg)
|
||||
|
||||
|
||||
### Description
|
||||
|
||||
Command-line tool to show bootup console messages.
|
||||
@ -217,7 +218,6 @@ Note that output from NuttX's work queues and syslog are not captured.
|
||||
### Examples
|
||||
|
||||
Keep printing all messages in the background:
|
||||
|
||||
```
|
||||
dmesg -f &
|
||||
```
|
||||
@ -234,10 +234,11 @@ dmesg <command> [arguments...]
|
||||
|
||||
Source: [modules/esc_battery](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/esc_battery)
|
||||
|
||||
### Description
|
||||
|
||||
### Description
|
||||
This implements using information from the ESC status and publish it as battery status.
|
||||
|
||||
|
||||
### Usage {#esc_battery_usage}
|
||||
|
||||
```
|
||||
@ -254,10 +255,11 @@ esc_battery <command> [arguments...]
|
||||
|
||||
Source: [modules/gyro_calibration](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/gyro_calibration)
|
||||
|
||||
### Description
|
||||
|
||||
### Description
|
||||
Simple online gyroscope calibration.
|
||||
|
||||
|
||||
### Usage {#gyro_calibration_usage}
|
||||
|
||||
```
|
||||
@ -274,8 +276,10 @@ gyro_calibration <command> [arguments...]
|
||||
|
||||
Source: [modules/gyro_fft](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/gyro_fft)
|
||||
|
||||
|
||||
### Description
|
||||
|
||||
|
||||
### Usage {#gyro_fft_usage}
|
||||
|
||||
```
|
||||
@ -288,39 +292,12 @@ gyro_fft <command> [arguments...]
|
||||
status print status info
|
||||
```
|
||||
|
||||
## hardfault_stream
|
||||
|
||||
Source: [modules/hardfault_stream](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/hardfault_stream)
|
||||
|
||||
### Description
|
||||
|
||||
Background process that streams the latest hardfault via MAVLink.
|
||||
|
||||
The module is especially useful when it is necessary to quickly push a hard fault to the ground station.
|
||||
This is useful in cases where the drone experiences a hard fault during flight.
|
||||
It ensures that some data is retained in case the permanent storage is destroyed during a crash.
|
||||
|
||||
To reliably stream, it is necessary to send the STATUSTEXT message via MAVLink at a
|
||||
high enough frequency. The recommended frequency is 10 Hz or higher.
|
||||
|
||||
### Usage {#hardfault_stream_usage}
|
||||
|
||||
```
|
||||
hardfault_stream <command> [arguments...]
|
||||
Commands:
|
||||
start Start the background task
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## heater
|
||||
|
||||
Source: [drivers/heater](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/heater)
|
||||
|
||||
### Description
|
||||
|
||||
### Description
|
||||
Background process running periodically on the LP work queue to regulate IMU temperature at a setpoint.
|
||||
|
||||
This task can be started at boot from the startup scripts by setting SENS_EN_THERMAL or via CLI.
|
||||
@ -341,10 +318,11 @@ heater <command> [arguments...]
|
||||
|
||||
Source: [systemcmds/i2c_launcher](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/i2c_launcher)
|
||||
|
||||
### Description
|
||||
|
||||
### Description
|
||||
Daemon that starts drivers based on found I2C devices.
|
||||
|
||||
|
||||
### Usage {#i2c_launcher_usage}
|
||||
|
||||
```
|
||||
@ -363,6 +341,7 @@ i2c_launcher <command> [arguments...]
|
||||
|
||||
Source: [modules/internal_combustion_engine_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/internal_combustion_engine_control)
|
||||
|
||||
|
||||
### Description
|
||||
|
||||
The module controls internal combustion engine (ICE) features including:
|
||||
@ -381,7 +360,7 @@ CONFIG_DRIVERS_RPM_CAPTURE=y
|
||||
Additionally, to enable the module:
|
||||
|
||||
- Set [ICE_EN](../advanced_config/parameter_reference.md#ICE_EN)
|
||||
to true and adjust the other `ICE_` module parameters according to your needs.
|
||||
to true and adjust the other `ICE_` module parameters according to your needs.
|
||||
- Set [RPM_CAP_ENABLE](../advanced_config/parameter_reference.md#RPM_CAP_ENABLE) to true.
|
||||
|
||||
The module outputs control signals for ignition, throttle, and choke,
|
||||
@ -406,6 +385,7 @@ The state machine:
|
||||
- In the state "Stopped" the throttle is set to NAN, which by definition will set the
|
||||
throttle output to the disarmed value configured for the specific output.
|
||||
|
||||
|
||||
The module publishes [InternalCombustionEngineControl.msg](../msg_docs/InternalCombustionEngineControl.md).
|
||||
|
||||
The architecture is as shown below:
|
||||
@ -430,20 +410,18 @@ internal_combustion_engine_control <command> [arguments...]
|
||||
|
||||
Source: [modules/land_detector](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/land_detector)
|
||||
|
||||
### Description
|
||||
|
||||
### Description
|
||||
Module to detect the freefall and landed state of the vehicle, and publishing the `vehicle_land_detected` topic.
|
||||
Each vehicle type (multirotor, fixedwing, vtol, ...) provides its own algorithm, taking into account various
|
||||
states, such as commanded thrust, arming state and vehicle motion.
|
||||
|
||||
### Implementation
|
||||
|
||||
Every type is implemented in its own class with a common base class. The base class maintains a state (landed,
|
||||
maybe_landed, ground_contact). Each possible state is implemented in the derived classes. A hysteresis and a fixed
|
||||
priority of each internal state determines the actual land_detector state.
|
||||
|
||||
#### Multicopter Land Detector
|
||||
|
||||
**ground_contact**: thrust setpoint and velocity in z-direction must be below a defined threshold for time
|
||||
GROUND_CONTACT_TRIGGER_TIME_US. When ground_contact is detected, the position controller turns off the thrust setpoint
|
||||
in body x and y.
|
||||
@ -473,8 +451,8 @@ land_detector <command> [arguments...]
|
||||
|
||||
Source: [modules/load_mon](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/load_mon)
|
||||
|
||||
### Description
|
||||
|
||||
### Description
|
||||
Background process running periodically on the low priority work queue to calculate the CPU load and RAM
|
||||
usage and publish the `cpuload` topic.
|
||||
|
||||
@ -497,14 +475,13 @@ load_mon <command> [arguments...]
|
||||
|
||||
Source: [modules/logger](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/logger)
|
||||
|
||||
### Description
|
||||
|
||||
### Description
|
||||
System logger which logs a configurable set of uORB topics and system printf messages
|
||||
(`PX4_WARN` and `PX4_ERR`) to ULog files. These can be used for system and flight performance evaluation,
|
||||
tuning, replay and crash analysis.
|
||||
|
||||
It supports 2 backends:
|
||||
|
||||
- Files: write ULog files to the file system (SD card)
|
||||
- MAVLink: stream ULog data via MAVLink to a client (the client must support this)
|
||||
|
||||
@ -516,9 +493,7 @@ vehicle management. It can be enabled and configured via SDLOG_MISSION parameter
|
||||
The normal log is always a superset of the mission log.
|
||||
|
||||
### Implementation
|
||||
|
||||
The implementation uses two threads:
|
||||
|
||||
- The main thread, running at a fixed rate (or polling on a topic if started with -p) and checking for
|
||||
data updates
|
||||
- The writer thread, writing data to the file
|
||||
@ -527,15 +502,12 @@ In between there is a write buffer with configurable size (and another fixed-siz
|
||||
the mission log). It should be large to avoid dropouts.
|
||||
|
||||
### Examples
|
||||
|
||||
Typical usage to start logging immediately:
|
||||
|
||||
```
|
||||
logger start -e -t
|
||||
```
|
||||
|
||||
Or if already running:
|
||||
|
||||
```
|
||||
logger on
|
||||
```
|
||||
@ -579,8 +551,8 @@ logger <command> [arguments...]
|
||||
|
||||
Source: [modules/mag_bias_estimator](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mag_bias_estimator)
|
||||
|
||||
### Description
|
||||
|
||||
### Description
|
||||
Online magnetometer bias estimator.
|
||||
|
||||
### Usage {#mag_bias_estimator_usage}
|
||||
@ -599,10 +571,11 @@ mag_bias_estimator <command> [arguments...]
|
||||
|
||||
Source: [modules/manual_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/manual_control)
|
||||
|
||||
### Description
|
||||
|
||||
### Description
|
||||
Module consuming manual_control_inputs publishing one manual_control_setpoint.
|
||||
|
||||
|
||||
### Usage {#manual_control_usage}
|
||||
|
||||
```
|
||||
@ -619,37 +592,36 @@ manual_control <command> [arguments...]
|
||||
|
||||
Source: [systemcmds/netman](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/netman)
|
||||
|
||||
### Description
|
||||
|
||||
Network configuration manager saves the network settings in non-volatile
|
||||
memory. On boot the `update` option will be run. If a network configuration
|
||||
does not exist. The default setting will be saved in non-volatile and the
|
||||
system rebooted.
|
||||
### Description
|
||||
Network configuration manager saves the network settings in non-volatile
|
||||
memory. On boot the `update` option will be run. If a network configuration
|
||||
does not exist. The default setting will be saved in non-volatile and the
|
||||
system rebooted.
|
||||
|
||||
#### update
|
||||
#### update
|
||||
|
||||
`netman update` is run automatically by [a startup script](../concept/system_startup.md#system-startup).
|
||||
When run, the `update` option will check for the existence of `net.cfg` in the root of the SD Card.
|
||||
It then saves the network settings from `net.cfg` in non-volatile memory,
|
||||
deletes the file and reboots the system.
|
||||
`netman update` is run automatically by [a startup script](../concept/system_startup.md#system-startup).
|
||||
When run, the `update` option will check for the existence of `net.cfg` in the root of the SD Card.
|
||||
It then saves the network settings from `net.cfg` in non-volatile memory,
|
||||
deletes the file and reboots the system.
|
||||
|
||||
#### save
|
||||
#### save
|
||||
|
||||
The `save` option will save settings from non-volatile memory to a file named
|
||||
`net.cfg` on the SD Card filesystem for editing. Use this to edit the settings.
|
||||
Save does not immediately apply the network settings; the user must reboot the flight stack.
|
||||
By contrast, the `update` command is run by the start-up script, commits the settings to non-volatile memory,
|
||||
and reboots the flight controller (which will then use the new settings).
|
||||
The `save` option will save settings from non-volatile memory to a file named
|
||||
`net.cfg` on the SD Card filesystem for editing. Use this to edit the settings.
|
||||
Save does not immediately apply the network settings; the user must reboot the flight stack.
|
||||
By contrast, the `update` command is run by the start-up script, commits the settings to non-volatile memory,
|
||||
and reboots the flight controller (which will then use the new settings).
|
||||
|
||||
#### show
|
||||
#### show
|
||||
|
||||
The `show` option will display the network settings in `net.cfg` to the console.
|
||||
The `show` option will display the network settings in `net.cfg` to the console.
|
||||
|
||||
### Examples
|
||||
|
||||
$ netman save # Save the parameters to the SD card.
|
||||
$ netman show # display current settings.
|
||||
$ netman update -i eth0 # do an update
|
||||
### Examples
|
||||
$ netman save # Save the parameters to the SD card.
|
||||
$ netman show # display current settings.
|
||||
$ netman update -i eth0 # do an update
|
||||
|
||||
### Usage {#netman_usage}
|
||||
|
||||
@ -670,10 +642,11 @@ netman <command> [arguments...]
|
||||
|
||||
Source: [drivers/pwm_input](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/pwm_input)
|
||||
|
||||
### Description
|
||||
|
||||
### Description
|
||||
Measures the PWM input on AUX5 (or MAIN5) via a timer capture ISR and publishes via the uORB 'pwm_input` message.
|
||||
|
||||
|
||||
### Usage {#pwm_input_usage}
|
||||
|
||||
```
|
||||
@ -690,16 +663,16 @@ pwm_input <command> [arguments...]
|
||||
|
||||
Source: [modules/rc_update](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/rc_update)
|
||||
|
||||
### Description
|
||||
|
||||
### Description
|
||||
The rc_update module handles RC channel mapping: read the raw input channels (`input_rc`),
|
||||
then apply the calibration, map the RC channels to the configured channels & mode switches
|
||||
and then publish as `rc_channels` and `manual_control_input`.
|
||||
|
||||
### Implementation
|
||||
|
||||
To reduce control latency, the module is scheduled on input_rc publications.
|
||||
|
||||
|
||||
### Usage {#rc_update_usage}
|
||||
|
||||
```
|
||||
@ -716,13 +689,12 @@ rc_update <command> [arguments...]
|
||||
|
||||
Source: [modules/replay](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/replay)
|
||||
|
||||
### Description
|
||||
|
||||
### Description
|
||||
This module is used to replay ULog files.
|
||||
|
||||
There are 2 environment variables used for configuration: `replay`, which must be set to an ULog file name - it's
|
||||
the log file to be replayed. The second is the mode, specified via `replay_mode`:
|
||||
|
||||
- `replay_mode=ekf2`: specific EKF2 replay mode. It can only be used with the ekf2 module, but allows the replay
|
||||
to run as fast as possible.
|
||||
- Generic otherwise: this can be used to replay any module(s), but the replay will be done with the same speed as the
|
||||
@ -755,8 +727,8 @@ replay <command> [arguments...]
|
||||
|
||||
Source: [modules/events](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/events)
|
||||
|
||||
### Description
|
||||
|
||||
### Description
|
||||
Background process running periodically on the LP work queue to perform housekeeping tasks.
|
||||
It is currently only responsible for tone alarm on RC Loss.
|
||||
|
||||
@ -778,10 +750,11 @@ send_event <command> [arguments...]
|
||||
|
||||
Source: [modules/simulation/sensor_agp_sim](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/sensor_agp_sim)
|
||||
|
||||
### Description
|
||||
|
||||
### Description
|
||||
Module to simulate auxiliary global position measurements with optional failure modes for SIH simulation.
|
||||
|
||||
|
||||
### Usage {#sensor_agp_sim_usage}
|
||||
|
||||
```
|
||||
@ -798,8 +771,11 @@ sensor_agp_sim <command> [arguments...]
|
||||
|
||||
Source: [modules/simulation/sensor_airspeed_sim](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/sensor_airspeed_sim)
|
||||
|
||||
|
||||
### Description
|
||||
|
||||
|
||||
|
||||
### Usage {#sensor_arispeed_sim_usage}
|
||||
|
||||
```
|
||||
@ -816,8 +792,11 @@ sensor_arispeed_sim <command> [arguments...]
|
||||
|
||||
Source: [modules/simulation/sensor_baro_sim](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/sensor_baro_sim)
|
||||
|
||||
|
||||
### Description
|
||||
|
||||
|
||||
|
||||
### Usage {#sensor_baro_sim_usage}
|
||||
|
||||
```
|
||||
@ -834,8 +813,11 @@ sensor_baro_sim <command> [arguments...]
|
||||
|
||||
Source: [modules/simulation/sensor_gps_sim](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/sensor_gps_sim)
|
||||
|
||||
|
||||
### Description
|
||||
|
||||
|
||||
|
||||
### Usage {#sensor_gps_sim_usage}
|
||||
|
||||
```
|
||||
@ -852,8 +834,11 @@ sensor_gps_sim <command> [arguments...]
|
||||
|
||||
Source: [modules/simulation/sensor_mag_sim](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/sensor_mag_sim)
|
||||
|
||||
|
||||
### Description
|
||||
|
||||
|
||||
|
||||
### Usage {#sensor_mag_sim_usage}
|
||||
|
||||
```
|
||||
@ -870,13 +855,12 @@ sensor_mag_sim <command> [arguments...]
|
||||
|
||||
Source: [modules/sensors](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/sensors)
|
||||
|
||||
### Description
|
||||
|
||||
### Description
|
||||
The sensors module is central to the whole system. It takes low-level output from drivers, turns
|
||||
it into a more usable form, and publishes it for the rest of the system.
|
||||
|
||||
The provided functionality includes:
|
||||
|
||||
- Read the output from the sensor drivers (`SensorGyro`, etc.).
|
||||
If there are multiple of the same type, do voting and failover handling.
|
||||
Then apply the board rotation and temperature calibration (if enabled). And finally publish the data; one of the
|
||||
@ -887,9 +871,9 @@ The provided functionality includes:
|
||||
- Do sensor consistency checks and publish the `SensorsStatusImu` topic.
|
||||
|
||||
### Implementation
|
||||
|
||||
It runs in its own thread and polls on the currently selected gyro topic.
|
||||
|
||||
|
||||
### Usage {#sensors_usage}
|
||||
|
||||
```
|
||||
@ -907,8 +891,11 @@ sensors <command> [arguments...]
|
||||
|
||||
Source: [modules/simulation/system_power_simulator](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/system_power_simulator)
|
||||
|
||||
|
||||
### Description
|
||||
|
||||
|
||||
|
||||
### Usage {#system_power_simulation_usage}
|
||||
|
||||
```
|
||||
@ -925,10 +912,11 @@ system_power_simulation <command> [arguments...]
|
||||
|
||||
Source: [drivers/tattu_can](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/tattu_can)
|
||||
|
||||
### Description
|
||||
|
||||
### Description
|
||||
Driver for reading data from the Tattu 12S 16000mAh smart battery.
|
||||
|
||||
|
||||
### Usage {#tattu_can_usage}
|
||||
|
||||
```
|
||||
@ -945,14 +933,15 @@ tattu_can <command> [arguments...]
|
||||
|
||||
Source: [modules/temperature_compensation](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/temperature_compensation)
|
||||
|
||||
### Description
|
||||
|
||||
### Description
|
||||
The temperature compensation module allows all of the gyro(s), accel(s), and baro(s) in the system to be temperature
|
||||
compensated. The module monitors the data coming from the sensors and updates the associated sensor_correction topic
|
||||
whenever a change in temperature is detected. The module can also be configured to perform the coeffecient calculation
|
||||
routine at next boot, which allows the thermal calibration coeffecients to be calculated while the vehicle undergoes
|
||||
a temperature cycle.
|
||||
|
||||
|
||||
### Usage {#temperature_compensation_usage}
|
||||
|
||||
```
|
||||
@ -977,12 +966,13 @@ temperature_compensation <command> [arguments...]
|
||||
|
||||
Source: [modules/time_persistor](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/time_persistor)
|
||||
|
||||
### Description
|
||||
|
||||
### Description
|
||||
Writes the RTC time cyclically to a file and reloads this value on startup.
|
||||
This allows monotonic time on systems that only have a software RTC (that is not battery powered).
|
||||
Explicitly setting the time backwards (e.g. via system_time) is still possible.
|
||||
|
||||
|
||||
### Usage {#time_persistor_usage}
|
||||
|
||||
```
|
||||
@ -999,6 +989,7 @@ time_persistor <command> [arguments...]
|
||||
|
||||
Source: [systemcmds/tune_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/tune_control)
|
||||
|
||||
|
||||
### Description
|
||||
|
||||
Command-line tool to control & test the (external) tunes.
|
||||
@ -1012,7 +1003,6 @@ https://github.com/PX4/PX4-Autopilot/blob/main/src/lib/tunes/tune_definition.des
|
||||
### Examples
|
||||
|
||||
Play system tune #2:
|
||||
|
||||
```
|
||||
tune_control play -t 2
|
||||
```
|
||||
@ -1042,12 +1032,11 @@ tune_control <command> [arguments...]
|
||||
|
||||
Source: [modules/uxrce_dds_client](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/uxrce_dds_client)
|
||||
|
||||
### Description
|
||||
|
||||
### Description
|
||||
UXRCE-DDS Client used to communicate uORB topics with an Agent over serial or UDP.
|
||||
|
||||
### Examples
|
||||
|
||||
```
|
||||
uxrce_dds_client start -t serial -d /dev/ttyS3 -b 921600
|
||||
uxrce_dds_client start -t udp -h 127.0.0.1 -p 15555
|
||||
@ -1069,9 +1058,7 @@ uxrce_dds_client <command> [arguments...]
|
||||
values: <IP>
|
||||
[-p <val>] Agent listening port. If not provided, defaults to
|
||||
UXRCE_DDS_PRT
|
||||
[-n <val>] Client DDS namespace. If not provided but UXRCE_DDS_NS_IDX is
|
||||
between 0 and 9999 inclusive, then uav_ + UXRCE_DDS_NS_IDX will
|
||||
be used
|
||||
[-n <val>] Client DDS namespace
|
||||
|
||||
stop
|
||||
|
||||
@ -1082,10 +1069,12 @@ uxrce_dds_client <command> [arguments...]
|
||||
|
||||
Source: [systemcmds/work_queue](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/work_queue)
|
||||
|
||||
|
||||
### Description
|
||||
|
||||
Command-line tool to show work queue status.
|
||||
|
||||
|
||||
### Usage {#work_queue_usage}
|
||||
|
||||
```
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user