fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-28 13:04:06 +08:00
Code Issues Packages Projects Releases Wiki Activity

vmount: add module documentation

Browse Source
This commit is contained in:
Beat Küng 2017-05-10 10:32:01 +02:00
parent 28e5268497
commit 47073e9c32
1 changed files with 25 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

27
src/drivers/vmount/vmount.cpp
View File

@ -63,6 +63,7 @@
#include <uORB/topics/parameter_update.h>
#include <px4_config.h>
#include <px4_module.h>
using namespace vmount;
@ -127,8 +128,30 @@ extern "C" __EXPORT int vmount_main(int argc, char *argv[]);
static void usage()
{
PX4_INFO("usage: vmount {start|stop|status|test}");
PX4_INFO(" vmount test {roll|pitch|yaw} <angle_deg>");
PRINT_MODULE_DESCRIPTION(
R"DESCR_STR(
### Description
Mount (Gimbal) control driver. It maps several different input methods (eg. RC or MAVLink) to a configured
output (eg. AUX channels or MAVLink).
Documentation how to use it is on the [gimbal_control](https://dev.px4.io/en/advanced/gimbal_control.html) page.
### Implementation
Each method is implemented in its own class, and there is a common base class for inputs and outputs.
They are connected via an API, defined by the `ControlData` data structure. This makes sure that each input method
can be used with each output method and new inputs/outputs can be added with minimal effort.
### Examples
Test the output by setting a fixed yaw angle (and the other axes to 0):
$ vmount stop
$ vmount test yaw 30
)DESCR_STR");
PRINT_MODULE_USAGE_NAME("vmount", "driver");
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_COMMAND_DESCR("test", "Test the output: set a fixed angle for one axis (vmount must not be running)");
PRINT_MODULE_USAGE_ARG("roll|pitch|yaw <angle>", "Specify an axis and an angle in degrees", false);
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
}
static int vmount_thread_main(int argc, char *argv[])