New Crowdin translations - zh-CN (#24895)

Co-authored-by: Crowdin Bot <support+bot@crowdin.com>
2026-10-16 05:43:34 +08:00 · 2025-05-22 07:49:55 +10:00
parent cc199aa807
commit 700ad7e49f
23 changed files with 505 additions and 936 deletions
@@ -739,6 +739,7 @@
      - [磁罗盘](modules/modules_driver_magnetometer.md)
      - [光流](modules/modules_driver_optical_flow.md)
      - [Rpm Sensor](modules/modules_driver_rpm_sensor.md)
+      - [Radio Control](modules/modules_driver_radio_control.md)
      - [Transponder](modules/modules_driver_transponder.md)
    - [估计器](modules/modules_estimator.md)
    - [仿真](modules/modules_simulation.md)
@@ -6,9 +6,7 @@ Source: [modules/fw_autotune_attitude_control](https://github.com/PX4/PX4-Autopi

 ### 描述

-<a id="fw_autotune_attitude_control_usage"></a>
-
-### 用法
+### Usage {#fw_autotune_attitude_control_usage}

 ```
 fw_autotune_attitude_control <command> [arguments...]
@@ -27,9 +25,7 @@ Source: [modules/mc_autotune_attitude_control](https://github.com/PX4/PX4-Autopi

 ### 描述

-<a id="mc_autotune_attitude_control_usage"></a>
-
-### 用法
+### Usage {#mc_autotune_attitude_control_usage}

 ```
 mc_autotune_attitude_control <command> [arguments...]
@@ -8,9 +8,7 @@ Source: [systemcmds/actuator_test](https://github.com/PX4/PX4-Autopilot/tree/mai

 警告：在使用此命令之前移除所有螺旋桨。

-<a id="actuator_test_usage"></a>
-
-### 用法
+### Usage {#actuator_test_usage}

 ```
 actuator_test <command> [arguments...]
@@ -34,9 +32,9 @@ actuator_test <command> [arguments...]

 Source: [systemcmds/bl_update](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/bl_update)

-Utility to flash the bootloader from a file <a id="bl_update_usage"></a>
+Utility to flash the bootloader from a file

-### 用法
+### Usage {#bl_update_usage}

 ```
 bl_update [arguments...]
@@ -50,9 +48,9 @@ bl_update [arguments...]

 Source: [systemcmds/bsondump](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/bsondump)

-Utility to read BSON from a file and print or output document size. <a id="bsondump_usage"></a>
+Utility to read BSON from a file and print or output document size.

-### 用法
+### Usage {#bsondump_usage}

 ```
 bsondump [arguments...]
@@ -63,9 +61,9 @@ bsondump [arguments...]

 Source: [systemcmds/dumpfile](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/dumpfile)

-转储文件实用程序。 以二进制模式（不要用 CR LF 替换 LF）将文件大小和内容打印到标准输出。 <a id="dumpfile_usage"></a>
+Dump file utility. Prints file size and contents in binary mode (don't replace LF with CR LF) to stdout.

-### 用法
+### Usage {#dumpfile_usage}

 ```
 dumpfile [arguments...]
@@ -78,7 +76,7 @@ Source: [systemcmds/dyn](https://github.com/PX4/PX4-Autopilot/tree/main/src/syst

 ### 描述

-加载并运行一个没有被编译进 PX4 的二进制文件的动态 PX4 模块
+Load and run a dynamic PX4 module, which was not compiled into the PX4 binary.

 ### Example

@@ -86,9 +84,7 @@ Source: [systemcmds/dyn](https://github.com/PX4/PX4-Autopilot/tree/main/src/syst
 dyn ./hello.px4mod start
 ```

-<a id="dyn_usage"></a>
-
-### 用法
+### Usage {#dyn_usage}

 ```
 dyn [arguments...]
@@ -102,21 +98,19 @@ Source: [systemcmds/failure](https://github.com/PX4/PX4-Autopilot/tree/main/src/

 ### 描述

-向系统中注入故障。
+Inject failures into system.

 ### 实现

-此系统命令通过 uORB 发送一个机体命令来出发故障。
+This system command sends a vehicle command over uORB to trigger failure.

 ### 示例

-通过停止GPS来测试GPS故障保护:
+Test the GPS failsafe by stopping GPS:

 failure gps off

-<a id="failure_usage"></a>
-
-### 用法
+### Usage {#failure_usage}

 ```
 failure [arguments...]
@@ -135,7 +129,7 @@ Source: [systemcmds/gpio](https://github.com/PX4/PX4-Autopilot/tree/main/src/sys

 ### 描述

-此命令用于读写GPIO
+This command is used to read and write GPIOs

 ```
 gpio read <PORT><PIN>/<DEVICE> [PULLDOWN|PULLUP] [--force]
@@ -144,7 +138,7 @@ gpio write <PORT><PIN>/<DEVICE> <VALUE> [PUSHPULL|OPENDRAIN] [--force]

 ### 示例

-读取配置为上拉的 PH4 引脚，它的值为高
+Read the value on port H pin 4 configured as pullup, and it is high

 ```
 gpio read H4 PULLUP
@@ -152,7 +146,7 @@ gpio read H4 PULLUP

 1 OK

-设置 PE7 的输出值为高
+Set the output value on Port E pin 7 to high

 ```
 gpio write E7 1 --force
@@ -164,9 +158,7 @@ Set the output value on device /dev/gpio1 to high
 gpio write /dev/gpio1 1
 ```

-<a id="gpio_usage"></a>
-
-### 用法
+### Usage {#gpio_usage}

 ```
 gpio [arguments...]
@@ -186,13 +178,11 @@ gpio [arguments...]

 Source: [systemcmds/hardfault_log](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/hardfault_log)

-Hardfault 实用程序
+Hardfault utility

-在启动脚本中用于处理 hardfaults。
+Used in startup scripts to handle hardfaults

-<a id="hardfault_log_usage"></a>
-
-### 用法
+### Usage {#hardfault_log_usage}

 ```
 hardfault_log <command> [arguments...]
@@ -219,9 +209,9 @@ hardfault_log <command> [arguments...]

 Source: [systemcmds/hist](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/hist)

-Command-line tool to show the px4 message history. There are no arguments. <a id="hist_usage"></a>
+Command-line tool to show the px4 message history. There are no arguments.

-### 用法
+### Usage {#hist_usage}

 ```
 hist [arguments...]
@@ -231,9 +221,9 @@ hist [arguments...]

 Source: [systemcmds/i2cdetect](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/i2cdetect)

-Utility to scan for I2C devices on a particular bus. <a id="i2cdetect_usage"></a>
+Utility to scan for I2C devices on a particular bus.

-### 用法
+### Usage {#i2cdetect_usage}

 ```
 i2cdetect [arguments...]
@@ -249,21 +239,21 @@ Source: [systemcmds/led_control](https://github.com/PX4/PX4-Autopilot/tree/main/

 Command-line tool to control & test the (external) LED's.

-要使用它，请确保有一个处理 led_control 的 uorb 主题的设备正在运行。
+To use it make sure there's a driver running, which handles the led_control uorb topic.

-有不同的优先级，例如一个模块可以设置低优先级的颜色，另一个模块可以高优先级闪烁 N 次，闪烁后 LED 自动返回低优先级状态。 The `reset` command can also be used to return to a lower priority.
+There are different priorities, such that for example one module can set a color with low priority, and another
+module can blink N times with high priority, and the LED's automatically return to the lower priority state
+after the blinking. The `reset` command can also be used to return to a lower priority.

 ### 示例

-第一个 LED 闪烁蓝光 5 次：
+Blink the first LED 5 times in blue:

 ```
 led_control blink -c blue -l 0 -n 5
 ```

-<a id="led_control_usage"></a>
-
-### 用法
+### Usage {#led_control_usage}

 ```
 led_control <command> [arguments...]
@@ -299,13 +289,11 @@ led_control <command> [arguments...]

 Source: [systemcmds/topic_listener](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/topic_listener)

-监听 uORB 主题并将数据打印到控制台的实用程序。
+Utility to listen on uORB topics and print the data to the console.

-可以通过按 Ctrl+C、Esc 或 Q 随时退出侦听器。
+The listener can be exited any time by pressing Ctrl+C, Esc, or Q.

-<a id="listener_usage"></a>
-
-### 用法
+### Usage {#listener_usage}

 ```
 listener <command> [arguments...]
@@ -323,9 +311,9 @@ listener <command> [arguments...]

 Source: [systemcmds/mft](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/mft)

-Utility interact with the manifest <a id="mfd_usage"></a>
+Utility interact with the manifest

-### 用法
+### Usage {#mfd_usage}

 ```
 mfd <command> [arguments...]
@@ -337,9 +325,9 @@ mfd <command> [arguments...]

 Source: [systemcmds/mft_cfg](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/mft_cfg)

-Tool to set and get manifest configuration <a id="mft_cfg_usage"></a>
+Tool to set and get manifest configuration

-### 用法
+### Usage {#mft_cfg_usage}

 ```
 mft_cfg <command> [arguments...]
@@ -358,9 +346,9 @@ mft_cfg <command> [arguments...]

 Source: [systemcmds/mtd](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/mtd)

-Utility to mount and test partitions (based on FRAM/EEPROM storage as defined by the board) <a id="mtd_usage"></a>
+Utility to mount and test partitions (based on FRAM/EEPROM storage as defined by the board)

-### 用法
+### Usage {#mtd_usage}

 ```
 mtd <command> [arguments...]
@@ -386,14 +374,12 @@ mtd <command> [arguments...]

 Source: [systemcmds/nshterm](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/nshterm)

-在指定端口启动一个 NSH shell。
+Start an NSH shell on a given port.

-该命令此前被用于在 USB 串口端口开启一个 shell。
-现在运行mavlink，并且可以在mavlink 上使用shell。
+This was previously used to start a shell on the USB serial port.
+Now there runs mavlink, and it is possible to use a shell over mavlink.

-<a id="nshterm_usage"></a>
-
-### 用法
+### Usage {#nshterm_usage}

 ```
 nshterm [arguments...]
@@ -406,22 +392,24 @@ Source: [systemcmds/param](https://github.com/PX4/PX4-Autopilot/tree/main/src/sy

 ### 描述

-通过 shell 或脚本访问和操作参数的命令。
+Command to access and manipulate parameters via shell or script.

-例如，这在启动脚本中用于设置特定于机身的参数。
+This is used for example in the startup script to set airframe-specific parameters.

-Parameters are automatically saved when changed, eg. with `param set`. 它们通常存储在 FRAM 或 SD 卡中。 `param select` can be used to change the storage location for subsequent saves (this will
+Parameters are automatically saved when changed, eg. with `param set`. They are typically stored to FRAM
+or to the SD card. `param select` can be used to change the storage location for subsequent saves (this will
 need to be (re-)configured on every boot).

 If the FLASH-based backend is enabled (which is done at compile time, e.g. for the Intel Aero or Omnibus),
 `param select` has no effect and the default is always the FLASH backend. However `param save/load <file>`
 can still be used to write to/read from files.

-每个参数有一个“已使用”的标志，此标志在启动过程参数被读取后被置位。 它只是用于向地面控制站显示相关参数。
+Each parameter has a 'used' flag, which is set when it's read during boot. It is used to only show relevant
+parameters to a ground control station.

 ### 示例

-更改机身并确保已加载机身的默认参数：
+Change the airframe and make sure the airframe's default parameters are loaded:

 ```
 param set SYS_AUTOSTART 4001
@@ -429,9 +417,7 @@ param set SYS_AUTOCONFIG 1
 reboot
 ```

-<a id="param_usage"></a>
-
-### 用法
+### Usage {#param_usage}

 ```
 param <command> [arguments...]
@@ -509,9 +495,7 @@ Source: [modules/payload_deliverer](https://github.com/PX4/PX4-Autopilot/tree/ma
 Handles payload delivery with either Gripper or a Winch with an appropriate timeout / feedback sensor setting,
 and communicates back the delivery result as an acknowledgement internally

-<a id="payload_deliverer_usage"></a>
-
-### 用法
+### Usage {#payload_deliverer_usage}

 ```
 payload_deliverer <command> [arguments...]
@@ -533,9 +517,9 @@ payload_deliverer <command> [arguments...]

 Source: [systemcmds/perf](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/perf)

-Tool to print performance counters <a id="perf_usage"></a>
+Tool to print performance counters

-### 用法
+### Usage {#perf_usage}

 ```
 perf [arguments...]
@@ -550,9 +534,9 @@ perf [arguments...]

 Source: [systemcmds/reboot](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/reboot)

-Reboot the system <a id="reboot_usage"></a>
+Reboot the system

-### 用法
+### Usage {#reboot_usage}

 ```
 reboot [arguments...]
@@ -565,9 +549,9 @@ reboot [arguments...]

 Source: [systemcmds/sd_bench](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/sd_bench)

-Test the speed of an SD Card <a id="sd_bench_usage"></a>
+Test the speed of an SD Card

-### 用法
+### Usage {#sd_bench_usage}

 ```
 sd_bench [arguments...]
@@ -588,9 +572,9 @@ sd_bench [arguments...]

 Source: [systemcmds/sd_stress](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/sd_stress)

-Test operations on an SD Card <a id="sd_stress_usage"></a>
+Test operations on an SD Card

-### 用法
+### Usage {#sd_stress_usage}

 ```
 sd_stress [arguments...]
@@ -604,13 +588,11 @@ sd_stress [arguments...]

 Source: [systemcmds/serial_passthru](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/serial_passthru)

-把数据从一个设备传输到另一个设备。
+Pass data from one device to another.

 This can be used to use u-center connected to USB with a GPS on a serial port.

-<a id="serial_passthru_usage"></a>
-
-### 用法
+### Usage {#serial_passthru_usage}

 ```
 serial_passthru [arguments...]
@@ -623,7 +605,7 @@ serial_passthru [arguments...]
     [-t]        Track the External devices baudrate on internal device
 ```

-## 系统时间
+## system_time

 Source: [systemcmds/system_time](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/system_time)

@@ -640,9 +622,7 @@ system_time set 1600775044
 system_time get
 ```

-<a id="system_time_usage"></a>
-
-### 用法
+### Usage {#system_time_usage}

 ```
 system_time <command> [arguments...]
@@ -656,9 +636,9 @@ system_time <command> [arguments...]

 Source: [systemcmds/top](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/top)

-Monitor running processes and their CPU, stack usage, priority and state <a id="top_usage"></a>
+Monitor running processes and their CPU, stack usage, priority and state

-### 用法
+### Usage {#top_usage}

 ```
 top [arguments...]
@@ -670,9 +650,9 @@ top [arguments...]
 Source: [systemcmds/usb_connected](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/usb_connected)

 Utility to check if USB is connected. Was previously used in startup scripts.
-A return value of 0 means USB is connected, 1 otherwise. <a id="usb_connected_usage"></a>
+A return value of 0 means USB is connected, 1 otherwise.

-### 用法
+### Usage {#usb_connected_usage}

 ```
 usb_connected [arguments...]
@@ -682,9 +662,9 @@ usb_connected [arguments...]

 Source: [systemcmds/ver](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/ver)

-Tool to print various version information <a id="ver_usage"></a>
+Tool to print various version information

-### 用法
+### Usage {#ver_usage}

 ```
 ver <command> [arguments...]
@@ -4,9 +4,9 @@

 Source: [drivers/telemetry/frsky_telemetry](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/telemetry/frsky_telemetry)

-FrSky 数传支持， FrSky Telemetry support. Auto-detects D or S.PORT protocol. <a id="frsky_telemetry_usage"></a>
+FrSky 数传支持， FrSky Telemetry support. Auto-detects D or S.PORT protocol.

-### 用法
+### Usage {#frsky_telemetry_usage}

 ```
 frsky_telemetry <command> [arguments...]
@@ -64,9 +64,7 @@ mavlink start -u 14556 -r 1000000
 mavlink stream -u 14556 -s HIGHRES_IMU -r 50
 ```

-<a id="mavlink_usage"></a>
-
-### 用法
+### Usage {#mavlink_usage}

 ```
 mavlink <command> [arguments...]
@@ -129,7 +127,7 @@ Source: [systemcmds/uorb](https://github.com/PX4/PX4-Autopilot/tree/main/src/sys

 ### 描述

-uORB 是各模块之间进行通讯的基于 发布-订阅 机制的内部消息传递系统。
+uORB is the internal pub-sub messaging system, used for communication between modules.

 ### 实现

@@ -140,19 +138,18 @@ The code is optimized to minimize the memory footprint and the latency to exchan

 Messages are defined in the `/msg` directory. They are converted into C/C++ code at build-time.

-该接口基于文件描述符（file descriptor）实现：它在内部使用 <code>read</code>、<code>write</code> 和 <code>ioctl</code>。 The interface is based on file descriptors: internally it uses <code>read</code>, <code>write</code> and <code>ioctl</code>. Except for the publications, which use <code>orb_advert_t</code> handles, so that they can be used from interrupts as well (on NuttX).
+If compiled with ORB_USE_PUBLISHER_RULES, a file with uORB publication rules can be used to configure which
+modules are allowed to publish which topics. This is used for system-wide replay.

 ### 示例

-Messages are defined in the <code>/msg</code> directory. They are converted into C/C++ code at build-time. Besides `top`, this is an important command for general system inspection:
+Monitor topic publication rates. Besides `top`, this is an important command for general system inspection:

 ```
 uorb top
 ```

-<a id="uorb_usage"></a>
-
-### 用法
+### Usage {#uorb_usage}

 ```
 uorb <command> [arguments...]
@@ -16,9 +16,7 @@ Currently it is feeding the `manual_control_setpoint` topic directly to the actu

 To reduce control latency, the module directly polls on the gyro topic published by the IMU driver.

-<a id="airship_att_control_usage"></a>
-
-### 用法
+### Usage {#airship_att_control_usage}

 ```
 airship_att_control <command> [arguments...]
@@ -39,9 +37,7 @@ Source: [modules/control_allocator](https://github.com/PX4/PX4-Autopilot/tree/ma
 This implements control allocation. It takes torque and thrust setpoints
 as inputs and outputs actuator setpoint messages.

-<a id="control_allocator_usage"></a>
-
-### 用法
+### Usage {#control_allocator_usage}

 ```
 control_allocator <command> [arguments...]
@@ -53,7 +49,7 @@ control_allocator <command> [arguments...]
   status        print status info
 ```

-## fw_pos_control_l1
+## flight_mode_manager

 Source: [modules/flight_mode_manager](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/flight_mode_manager)

@@ -62,9 +58,7 @@ Source: [modules/flight_mode_manager](https://github.com/PX4/PX4-Autopilot/tree/
 This implements the setpoint generation for all modes. It takes the current mode state of the vehicle as input
 and outputs setpoints for controllers.

-<a id="flight_mode_manager_usage"></a>
-
-### 用法
+### Usage {#flight_mode_manager_usage}

 ```
 flight_mode_manager <command> [arguments...]
@@ -76,7 +70,7 @@ flight_mode_manager <command> [arguments...]
   status        print status info
 ```

-## mc_att_control
+## fw_att_control

 Source: [modules/fw_att_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/fw_att_control)

@@ -84,9 +78,7 @@ Source: [modules/fw_att_control](https://github.com/PX4/PX4-Autopilot/tree/main/

 fw_att_control is the fixed wing attitude controller.

-<a id="fw_att_control_usage"></a>
-
-### 用法
+### Usage {#fw_att_control_usage}

 ```
 fw_att_control <command> [arguments...]
@@ -107,9 +99,7 @@ Source: [modules/fw_pos_control](https://github.com/PX4/PX4-Autopilot/tree/main/

 fw_pos_control is the fixed-wing position controller.

-<a id="fw_pos_control_usage"></a>
-
-### 用法
+### Usage {#fw_pos_control_usage}

 ```
 fw_pos_control <command> [arguments...]
@@ -130,9 +120,7 @@ Source: [modules/fw_rate_control](https://github.com/PX4/PX4-Autopilot/tree/main

 fw_rate_control is the fixed-wing rate controller.

-<a id="fw_rate_control_usage"></a>
-
-### 用法
+### Usage {#fw_rate_control_usage}

 ```
 fw_rate_control <command> [arguments...]
@@ -156,13 +144,14 @@ setpoints (`vehicle_attitude_setpoint`) as inputs and outputs a rate setpoint.

 The controller has a P loop for angular error

-The different internal modes are implemented as separate classes that inherit from a common base class <code>NavigatorMode</code>. The member <code>_navigation_mode</code> contains the current active mode.
+Publication documenting the implemented Quaternion Attitude Control:
+Nonlinear Quadrocopter Attitude Control (2013)
+by Dario Brescianini, Markus Hehn and Raffaello D'Andrea
+Institute for Dynamic Systems and Control (IDSC), ETH Zurich

 https://www.research-collection.ethz.ch/bitstream/handle/20.500.11850/154099/eth-7387-01.pdf

-<a id="mc_att_control_usage"></a>
-
-### 用法
+### Usage {#mc_att_control_usage}

 ```
 mc_att_control <command> [arguments...]
@@ -175,7 +164,7 @@ mc_att_control <command> [arguments...]
   status        print status info
 ```

-## navigator
+## mc_pos_control

 Source: [modules/mc_pos_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mc_pos_control)

@@ -188,9 +177,7 @@ Output of the velocity controller is thrust vector that is split to thrust direc
 The controller doesn't use Euler angles for its work, they are generated only for more human-friendly control and
 logging.

-<a id="mc_pos_control_usage"></a>
-
-### 用法
+### Usage {#mc_pos_control_usage}

 ```
 mc_pos_control <command> [arguments...]
@@ -214,9 +201,7 @@ via `manual_control_setpoint` topic) as inputs and outputs actuator control mess

 The controller has a PID loop for angular rate error.

-<a id="mc_rate_control_usage"></a>
-
-### 用法
+### Usage {#mc_rate_control_usage}

 ```
 mc_rate_control <command> [arguments...]
@@ -247,9 +232,7 @@ The member `_navigation_mode` contains the current active mode.
 Navigator publishes position setpoint triplets (`position_setpoint_triplet_s`), which are then used by the position
 controller.

-<a id="navigator_usage"></a>
-
-### 用法
+### Usage {#navigator_usage}

 ```
 navigator <command> [arguments...]
@@ -273,9 +256,7 @@ Source: [modules/rover_ackermann](https://github.com/PX4/PX4-Autopilot/tree/main

 Rover ackermann module.

-<a id="rover_ackermann_usage"></a>
-
-### 用法
+### Usage {#rover_ackermann_usage}

 ```
 rover_ackermann <command> [arguments...]
@@ -295,9 +276,7 @@ Source: [modules/rover_differential](https://github.com/PX4/PX4-Autopilot/tree/m

 Rover differential module.

-<a id="rover_differential_usage"></a>
-
-### 用法
+### Usage {#rover_differential_usage}

 ```
 rover_differential <command> [arguments...]
@@ -317,9 +296,7 @@ Source: [modules/rover_mecanum](https://github.com/PX4/PX4-Autopilot/tree/main/s

 Rover mecanum module.

-<a id="rover_mecanum_usage"></a>
-
-### 用法
+### Usage {#rover_mecanum_usage}

 ```
 rover_mecanum <command> [arguments...]
@@ -359,9 +336,7 @@ rover_pos_control status
 rover_pos_control stop
 ```

-<a id="rover_pos_control_usage"></a>
-
-### 用法
+### Usage {#rover_pos_control_usage}

 ```
 rover_pos_control <command> [arguments...]
@@ -384,9 +359,7 @@ It takes torque and thrust setpoints as inputs and outputs
 actuator setpoint messages.
 ```

-<a id="spacecraft_usage"></a>
-
-### 用法
+### Usage {#spacecraft_usage}

 ```
 spacecraft <command> [arguments...]
@@ -425,9 +398,7 @@ uuv_att_control status
 uuv_att_control stop
 ```

-<a id="uuv_att_control_usage"></a>
-
-### 用法
+### Usage {#uuv_att_control_usage}

 ```
 uuv_att_control <command> [arguments...]
@@ -465,9 +436,7 @@ uuv_pos_control status
 uuv_pos_control stop
 ```

-<a id="uuv_pos_control_usage"></a>
-
-### 用法
+### Usage {#uuv_pos_control_usage}

 ```
 uuv_pos_control <command> [arguments...]
@@ -487,9 +456,7 @@ Source: [modules/vtol_att_control](https://github.com/PX4/PX4-Autopilot/tree/mai

 fw_att_control is the fixed wing attitude controller.

-<a id="vtol_att_control_usage"></a>
-
-### 用法
+### Usage {#vtol_att_control_usage}

 ```
 vtol_att_control <command> [arguments...]
@@ -3,23 +3,22 @@
 子分类

 - [Airspeed Sensor](modules_driver_airspeed_sensor.md)
- [Transponder](modules_driver_transponder.md)
- [Imu](modules_driver_imu.md)
- [Rpm Sensor](modules_driver_rpm_sensor.md)
- [Magnetometer](modules_driver_magnetometer.md)
+- [Baro](modules_driver_baro.md)
 - [Camera](modules_driver_camera.md)
 - [Distance Sensor](modules_driver_distance_sensor.md)
- [Optical Flow](modules_driver_optical_flow.md)
+- [Imu](modules_driver_imu.md)
 - [Ins](modules_driver_ins.md)
- [Baro](modules_driver_baro.md)
+- [Magnetometer](modules_driver_magnetometer.md)
+- [Optical Flow](modules_driver_optical_flow.md)
+- [Radio Control](modules_driver_radio_control.md)
+- [Rpm Sensor](modules_driver_rpm_sensor.md)
+- [Transponder](modules_driver_transponder.md)

 ## MCP23009

 Source: [drivers/gpio/mcp23009](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/gpio/mcp23009)

-<a id="MCP23009_usage"></a>
-
-### 用法
+### Usage {#MCP23009_usage}

 ```
 MCP23009 <command> [arguments...]
@@ -53,11 +52,9 @@ Source: [drivers/adc/board_adc](https://github.com/PX4/PX4-Autopilot/tree/main/s

 ### 描述

-ADC 驱动。
+ADC driver.

-<a id="adc_usage"></a>
-
-### 用法
+### Usage {#adc_usage}

 ```
 adc <command> [arguments...]
@@ -89,9 +86,7 @@ It is enabled/disabled using the
 parameter, and is disabled by default.
 If enabled, internal ADCs are not used.

-<a id="ads1115_usage"></a>
-
-### 用法
+### Usage {#ads1115_usage}

 ```
 ads1115 <command> [arguments...]
@@ -117,13 +112,11 @@ Source: [drivers/osd/atxxxx](https://github.com/PX4/PX4-Autopilot/tree/main/src/

 ### 描述

-例如挂载在OmnibusF4SD板上的针对 ATXXXX 芯片的OSD驱动。
+OSD driver for the ATXXXX chip that is mounted on the OmnibusF4SD board for example.

-可以通过 OSD_ATXXXX_CFG 参数使能.
+It can be enabled with the OSD_ATXXXX_CFG parameter.

-<a id="atxxxx_usage"></a>
-
-### 用法
+### Usage {#atxxxx_usage}

 ```
 atxxxx <command> [arguments...]
@@ -149,19 +142,18 @@ Source: [drivers/smart_battery/batmon](https://github.com/PX4/PX4-Autopilot/tree

 ### 描述

-用于智能电池的BQ40Z50电量统计芯片
+Driver for SMBUS Communication with BatMon enabled smart-battery
+Setup/usage information: https://rotoye.com/batmon-tutorial/

 ### 示例

 To start at address 0x0B, on bus 4

 ```
-batt_smbus -X write_flash 19069 2 27 0
+batmon start -X -a 11 -b 4
 ```

-<a id="batmon_usage"></a>
-
-### 用法
+### Usage {#batmon_usage}

 ```
 batmon <command> [arguments...]
@@ -193,7 +185,7 @@ Source: [drivers/batt_smbus](https://github.com/PX4/PX4-Autopilot/tree/main/src/

 ### 描述

-This will enable capturing on the 4th pin. Then do:
+Smart battery driver for the BQ40Z50 fuel gauge IC.

 ### 示例

@@ -203,9 +195,7 @@ To write to flash to set parameters. address, number_of_bytes, byte0, ... , byte
 batt_smbus -X write_flash 19069 2 27 0
 ```

-<a id="batt_smbus_usage"></a>
-
-### 用法
+### Usage {#batt_smbus_usage}

 ```
 batt_smbus <command> [arguments...]
@@ -246,9 +236,7 @@ batt_smbus <command> [arguments...]

 Source: [drivers/telemetry/bst](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/telemetry/bst)

-<a id="bst_usage"></a>
-
-### 用法
+### Usage {#bst_usage}

 ```
 bst <command> [arguments...]
@@ -268,31 +256,7 @@ bst <command> [arguments...]
   status        print status info
 ```

-## crsf_rc
-
-Source: [drivers/rc/crsf_rc](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/rc/crsf_rc)
-
-### 描述
-
-This module parses the CRSF RC uplink protocol and generates CRSF downlink telemetry data
-
-<a id="crsf_rc_usage"></a>
-
-### 用法
-
-```
-crsf_rc <command> [arguments...]
- Commands:
-   start
-     [-d <val>]  RC device
-                 values: <file:dev>, default: /dev/ttyS3
-
-   stop
-
-   status        print status info
-```
-
-## sf1xx
+## dshot

 Source: [drivers/dshot](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/dshot)

@@ -307,8 +271,8 @@ It skips all pins already in use (e.g. by a camera trigger module).
 It supports:

 - DShot150, DShot300, DShot600
- 通过独立的串口遥控，并且发布esc_status消息
- 通过命令行接口发送 DShot 命令
+- telemetry via separate UART and publishing as esc_status message
+- sending DShot commands via CLI

 ### 示例

@@ -321,9 +285,7 @@ dshot save -m 1

 After saving, the reversed direction will be regarded as the normal one. So to reverse again repeat the same commands.

-<a id="dshot_usage"></a>
-
-### 用法
+### Usage {#dshot_usage}

 ```
 dshot <command> [arguments...]
@@ -371,41 +333,13 @@ dshot <command> [arguments...]
   status        print status info
 ```

-## dsm_rc
-
-Source: [drivers/rc/dsm_rc](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/rc/dsm_rc)
-
-### 描述
-
-This module does Spektrum DSM RC input parsing.
-
-<a id="dsm_rc_usage"></a>
-
-### 用法
-
-```
-dsm_rc <command> [arguments...]
- Commands:
-   start
-     [-d <val>]  RC device
-                 values: <file:dev>, default: /dev/ttyS3
-
-   bind          Send a DSM bind command (module must be running)
-
-   stop
-
-   status        print status info
-```
-
-## fmu mode_pwm
+## fake_gps

 Source: [examples/fake_gps](https://github.com/PX4/PX4-Autopilot/tree/main/src/examples/fake_gps)

 ### 描述

-<a id="fake_gps_usage"></a>
-
-### 用法
+### Usage {#fake_gps_usage}

 ```
 fake_gps <command> [arguments...]
@@ -423,9 +357,7 @@ Source: [examples/fake_imu](https://github.com/PX4/PX4-Autopilot/tree/main/src/e

 ### 描述

-<a id="fake_imu_usage"></a>
-
-### 用法
+### Usage {#fake_imu_usage}

 ```
 fake_imu <command> [arguments...]
@@ -437,7 +369,7 @@ fake_imu <command> [arguments...]
   status        print status info
 ```

-## gps
+## fake_magnetometer

 Source: [examples/fake_magnetometer](https://github.com/PX4/PX4-Autopilot/tree/main/src/examples/fake_magnetometer)

@@ -446,9 +378,7 @@ Source: [examples/fake_magnetometer](https://github.com/PX4/PX4-Autopilot/tree/m
 Publish the earth magnetic field as a fake magnetometer (sensor_mag).
 Requires vehicle_attitude and vehicle_gps_position.

-<a id="fake_magnetometer_usage"></a>
-
-### 用法
+### Usage {#fake_magnetometer_usage}

 ```
 fake_magnetometer <command> [arguments...]
@@ -479,15 +409,13 @@ Attempt to start driver on a specified serial device.
 ft_technologies_serial start -d /dev/ttyS1
 ```

-设置/使用 信息： https://docs.px4.io/master/en/sensor/leddar_one.html
+Stop driver

 ```
 ft_technologies_serial stop
 ```

-<a id="ft_technologies_serial_usage"></a>
-
-### 用法
+### Usage {#ft_technologies_serial_usage}

 ```
 ft_technologies_serial <command> [arguments...]
@@ -498,30 +426,6 @@ ft_technologies_serial <command> [arguments...]
   stop          Stop driver
 ```

-## ghst_rc
-
-Source: [drivers/rc/ghst_rc](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/rc/ghst_rc)
-
-### 描述
-
-This module does Ghost (GHST) RC input parsing.
-
-<a id="ghst_rc_usage"></a>
-
-### 用法
-
-```
-ghst_rc <command> [arguments...]
- Commands:
-   start
-     [-d <val>]  RC device
-                 values: <file:dev>, default: /dev/ttyS3
-
-   stop
-
-   status        print status info
-```
-
 ## gimbal

 Source: [modules/gimbal](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/gimbal)
@@ -541,9 +445,7 @@ Test the output by setting a angles (all omitted axes are set to 0):
 gimbal test pitch -45 yaw 30
 ```

-<a id="gimbal_usage"></a>
-
-### 用法
+### Usage {#gimbal_usage}

 ```
 gimbal <command> [arguments...]
@@ -598,9 +500,7 @@ Initiate warm restart of GPS device
 gps reset warm
 ```

-<a id="gps_usage"></a>
-
-### 用法
+### Usage {#gps_usage}

 ```
 gps <command> [arguments...]
@@ -635,9 +535,7 @@ Source: [modules/simulation/gz_bridge](https://github.com/PX4/PX4-Autopilot/tree

 ### 描述

-<a id="gz_bridge_usage"></a>
-
-### 用法
+### Usage {#gz_bridge_usage}

 ```
 gz_bridge <command> [arguments...]
@@ -668,9 +566,7 @@ the -f flag. If this flag is set, then if initialization fails, the driver will
 every 0.5 seconds. With this flag set, you can plug in a battery after the driver starts, and it will work. Without
 this flag set, the battery must be plugged in before starting the driver.

-<a id="ina220_usage"></a>
-
-### 用法
+### Usage {#ina220_usage}

 ```
 ina220 <command> [arguments...]
@@ -712,9 +608,7 @@ the -f flag. If this flag is set, then if initialization fails, the driver will
 every 0.5 seconds. With this flag set, you can plug in a battery after the driver starts, and it will work. Without
 this flag set, the battery must be plugged in before starting the driver.

-<a id="ina226_usage"></a>
-
-### 用法
+### Usage {#ina226_usage}

 ```
 ina226 <command> [arguments...]
@@ -754,9 +648,7 @@ the -f flag. If this flag is set, then if initialization fails, the driver will
 every 0.5 seconds. With this flag set, you can plug in a battery after the driver starts, and it will work. Without
 this flag set, the battery must be plugged in before starting the driver.

-<a id="ina228_usage"></a>
-
-### 用法
+### Usage {#ina228_usage}

 ```
 ina228 <command> [arguments...]
@@ -796,9 +688,7 @@ the -f flag. If this flag is set, then if initialization fails, the driver will
 every 0.5 seconds. With this flag set, you can plug in a battery after the driver starts, and it will work. Without
 this flag set, the battery must be plugged in before starting the driver.

-<a id="ina238_usage"></a>
-
-### 用法
+### Usage {#ina238_usage}

 ```
 ina238 <command> [arguments...]
@@ -831,9 +721,7 @@ IridiumSBD driver.

 Creates a virtual serial port that another module can use for communication (e.g. mavlink).

-<a id="iridiumsbd_usage"></a>
-
-### 用法
+### Usage {#iridiumsbd_usage}

 ```
 iridiumsbd <command> [arguments...]
@@ -855,9 +743,7 @@ iridiumsbd <command> [arguments...]

 Source: [drivers/irlock](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/irlock)

-<a id="irlock_usage"></a>
-
-### 用法
+### Usage {#irlock_usage}

 ```
 irlock <command> [arguments...]
@@ -885,9 +771,7 @@ Source: [drivers/linux_pwm_out](https://github.com/PX4/PX4-Autopilot/tree/main/s

 Linux PWM output driver with board-specific backend implementation.

-<a id="linux_pwm_out_usage"></a>
-
-### 用法
+### Usage {#linux_pwm_out_usage}

 ```
 linux_pwm_out <command> [arguments...]
@@ -903,9 +787,7 @@ linux_pwm_out <command> [arguments...]

 Source: [drivers/magnetometer/lsm303agr](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/magnetometer/lsm303agr)

-<a id="lsm303agr_usage"></a>
-
-### 用法
+### Usage {#lsm303agr_usage}

 ```
 lsm303agr <command> [arguments...]
@@ -947,9 +829,7 @@ CLI usage example:
 msp_osd
 ```

-<a id="msp_osd_usage"></a>
-
-### 用法
+### Usage {#msp_osd_usage}

 ```
 msp_osd <command> [arguments...]
@@ -977,9 +857,7 @@ neopixel -n 8

 To drive all available leds.

-<a id="newpixel_usage"></a>
-
-### 用法
+### Usage {#newpixel_usage}

 ```
 newpixel <command> [arguments...]
@@ -993,9 +871,7 @@ newpixel <command> [arguments...]

 Source: [drivers/optical_flow/paa3905](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/optical_flow/paa3905)

-<a id="paa3905_usage"></a>
-
-### 用法
+### Usage {#paa3905_usage}

 ```
 paa3905 <command> [arguments...]
@@ -1021,9 +897,7 @@ paa3905 <command> [arguments...]

 Source: [drivers/optical_flow/paw3902](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/optical_flow/paw3902)

-<a id="paw3902_usage"></a>
-
-### 用法
+### Usage {#paw3902_usage}

 ```
 paw3902 <command> [arguments...]
@@ -1067,9 +941,7 @@ It is typically started with:
 pca9685_pwm_out start -a 0x40 -b 1
 ```

-<a id="pca9685_pwm_out_usage"></a>
-
-### 用法
+### Usage {#pca9685_pwm_out_usage}

 ```
 pca9685_pwm_out <command> [arguments...]
@@ -1093,9 +965,7 @@ Source: [drivers/power_monitor/pm_selector_auterion](https://github.com/PX4/PX4-

 Driver for starting and auto-detecting different power monitors.

-<a id="pm_selector_auterion_usage"></a>
-
-### 用法
+### Usage {#pm_selector_auterion_usage}

 ```
 pm_selector_auterion <command> [arguments...]
@@ -1111,9 +981,7 @@ pm_selector_auterion <command> [arguments...]

 Source: [drivers/optical_flow/pmw3901](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/optical_flow/pmw3901)

-<a id="pmw3901_usage"></a>
-
-### 用法
+### Usage {#pmw3901_usage}

 ```
 pmw3901 <command> [arguments...]
@@ -1143,9 +1011,7 @@ Source: [drivers/pps_capture](https://github.com/PX4/PX4-Autopilot/tree/main/src

 This implements capturing PPS information from the GNSS module and calculates the drift between PPS and Real-time clock.

-<a id="pps_capture_usage"></a>
-
-### 用法
+### Usage {#pps_capture_usage}

 ```
 pps_capture <command> [arguments...]
@@ -1167,9 +1033,7 @@ This module is responsible for driving the output pins. For boards without a sep
 (eg. Pixracer), it uses the main channels. On boards with an IO chip (eg. Pixhawk), it uses the AUX channels, and the
 px4io driver is used for main ones.

-<a id="pwm_out_usage"></a>
-
-### 用法
+### Usage {#pwm_out_usage}

 ```
 pwm_out <command> [arguments...]
@@ -1195,9 +1059,7 @@ mix them with any loaded mixer and output the result to the

 It is used in SITL and HITL.

-<a id="pwm_out_sim_usage"></a>
-
-### 用法
+### Usage {#pwm_out_sim_usage}

 ```
 pwm_out_sim <command> [arguments...]
@@ -1215,9 +1077,7 @@ pwm_out_sim <command> [arguments...]

 Source: [drivers/optical_flow/px4flow](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/optical_flow/px4flow)

-<a id="px4flow_usage"></a>
-
-### 用法
+### Usage {#px4flow_usage}

 ```
 px4flow <command> [arguments...]
@@ -1245,9 +1105,7 @@ Source: [drivers/px4io](https://github.com/PX4/PX4-Autopilot/tree/main/src/drive

 Output driver communicating with the IO co-processor.

-<a id="px4io_usage"></a>
-
-### 用法
+### Usage {#px4io_usage}

 ```
 px4io <command> [arguments...]
@@ -1281,46 +1139,11 @@ px4io <command> [arguments...]
   status        print status info
 ```

-## rc_input
-
-Source: [drivers/rc_input](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/rc_input)
-
-### 描述
-
-This module does the RC input parsing and auto-selecting the method. Supported methods are:
-
- PPM
- SBUS
- DSM
- SUMD
- ST24
- TBS Crossfire (CRSF)
-
-<a id="rc_input_usage"></a>
-
-### 用法
-
-```
-rc_input <command> [arguments...]
- Commands:
-   start
-     [-d <val>]  RC device
-                 values: <file:dev>, default: /dev/ttyS3
-
-   bind          Send a DSM bind command (module must be running)
-
-   stop
-
-   status        print status info
-```
-
 ## rgbled

 Source: [drivers/lights/rgbled_ncp5623c](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/lights/rgbled_ncp5623c)

-<a id="rgbled_usage"></a>
-
-### 用法
+### Usage {#rgbled_usage}

 ```
 rgbled <command> [arguments...]
@@ -1346,9 +1169,7 @@ rgbled <command> [arguments...]

 Source: [drivers/lights/rgbled_is31fl3195](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/lights/rgbled_is31fl3195)

-<a id="rgbled_is31fl3195_usage"></a>
-
-### 用法
+### Usage {#rgbled_is31fl3195_usage}

 ```
 rgbled_is31fl3195 <command> [arguments...]
@@ -1384,9 +1205,7 @@ This used in some GPS modules by Holybro for [PX4 status notification](../gettin

 The driver is included by default in firmware (KConfig key DRIVERS_LIGHTS_RGBLED_LP5562) and is always enabled.

-<a id="rgbled_lp5562_usage"></a>
-
-### 用法
+### Usage {#rgbled_lp5562_usage}

 ```
 rgbled_lp5562 <command> [arguments...]
@@ -1427,9 +1246,7 @@ the address `RBCLW_ADDRESS` needs to match the ESC configuration.

 The command to start this driver is: `$ roboclaw start <UART device> <baud rate>`

-<a id="roboclaw_usage"></a>
-
-### 用法
+### Usage {#roboclaw_usage}

 ```
 roboclaw <command> [arguments...]
@@ -1445,9 +1262,7 @@ roboclaw <command> [arguments...]

 Source: [drivers/rpm_capture](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/rpm_capture)

-<a id="rpm_capture_usage"></a>
-
-### 用法
+### Usage {#rpm_capture_usage}

 ```
 rpm_capture <command> [arguments...]
@@ -1468,9 +1283,7 @@ Source: [drivers/safety_button](https://github.com/PX4/PX4-Autopilot/tree/main/s
 This module is responsible for the safety button.
 Pressing the safety button 3 times quickly will trigger a GCS pairing request.

-<a id="safety_button_usage"></a>
-
-### 用法
+### Usage {#safety_button_usage}

 ```
 safety_button <command> [arguments...]
@@ -1482,30 +1295,6 @@ safety_button <command> [arguments...]
   status        print status info
 ```

-## sbus_rc
-
-Source: [drivers/rc/sbus_rc](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/rc/sbus_rc)
-
-### 描述
-
-This module does SBUS RC input parsing.
-
-<a id="sbus_rc_usage"></a>
-
-### 用法
-
-```
-sbus_rc <command> [arguments...]
- Commands:
-   start
-     [-d <val>]  RC device
-                 values: <file:dev>, default: /dev/ttyS3
-
-   stop
-
-   status        print status info
-```
-
 ## septentrio

 Source: [drivers/gnss/septentrio](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/gnss/septentrio)
@@ -1539,9 +1328,7 @@ Perform warm reset of the receivers:
 gps reset warm
 ```

-<a id="septentrio_usage"></a>
-
-### 用法
+### Usage {#septentrio_usage}

 ```
 septentrio <command> [arguments...]
@@ -1600,9 +1387,7 @@ sht3x reset

 Reinitialize senzor, reset flags

-<a id="sht3x_usage"></a>
-
-### 用法
+### Usage {#sht3x_usage}

 ```
 sht3x <command> [arguments...]
@@ -1649,9 +1434,7 @@ The module is typically started with:
 tap_esc start -d /dev/ttyS2 -n <1-8>
 ```

-<a id="tap_esc_usage"></a>
-
-### 用法
+### Usage {#tap_esc_usage}

 ```
 tap_esc <command> [arguments...]
@@ -1671,9 +1454,7 @@ Source: [drivers/tone_alarm](https://github.com/PX4/PX4-Autopilot/tree/main/src/

 This module is responsible for the tone alarm.

-<a id="tone_alarm_usage"></a>
-
-### 用法
+### Usage {#tone_alarm_usage}

 ```
 tone_alarm <command> [arguments...]
@@ -1702,9 +1483,7 @@ Start the driver with a given device:
 uwb start -d /dev/ttyS2
 ```

-<a id="uwb_usage"></a>
-
-### 用法
+### Usage {#uwb_usage}

 ```
 uwb <command> [arguments...]
@@ -1724,9 +1503,7 @@ uwb <command> [arguments...]

 Source: [drivers/actuators/vertiq_io](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/actuators/vertiq_io)

-<a id="vertiq_io_usage"></a>
-
-### 用法
+### Usage {#vertiq_io_usage}

 ```
 vertiq_io <command> [arguments...]
@@ -1749,9 +1526,7 @@ This module is responsible for driving the output pins. For boards without a sep
 (eg. Pixracer), it uses the main channels. On boards with an IO chip (eg. Pixhawk), it uses the AUX channels, and the
 px4io driver is used for main ones.

-<a id="voxl2_io_usage"></a>
-
-### 用法
+### Usage {#voxl2_io_usage}

 ```
 voxl2_io <command> [arguments...]
@@ -1791,9 +1566,7 @@ It is typically started with:
 todo
 ```

-<a id="voxl_esc_usage"></a>
-
-### 用法
+### Usage {#voxl_esc_usage}

 ```
 voxl_esc <command> [arguments...]
@@ -1840,9 +1613,7 @@ voxl_esc <command> [arguments...]

 Source: [drivers/power_monitor/voxlpm](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/power_monitor/voxlpm)

-<a id="voxlpm_usage"></a>
-
-### 用法
+### Usage {#voxlpm_usage}

 ```
 voxlpm [arguments...]
@@ -1872,9 +1643,7 @@ Source: [modules/zenoh](https://github.com/PX4/PX4-Autopilot/tree/main/src/modul

 Zenoh demo bridge

-<a id="zenoh_usage"></a>
-
-### 用法
+### Usage {#zenoh_usage}

 ```
 zenoh <command> [arguments...]
@@ -13,9 +13,7 @@ This is not included by default in firmware. It can be included with terminal co
 or in default.px4board with adding the line: "CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_ASP5033=y"
 It can be enabled with the "SENS_EN_ASP5033" parameter set to 1.

-<a id="asp5033_usage"></a>
-
-### 用法
+### Usage {#asp5033_usage}

 ```
 asp5033 <command> [arguments...]
@@ -39,9 +37,7 @@ asp5033 <command> [arguments...]

 Source: [drivers/differential_pressure/auav](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/differential_pressure/auav)

-<a id="auav_usage"></a>
-
-### 用法
+### Usage {#auav_usage}

 ```
 auav <command> [arguments...]
@@ -67,9 +63,7 @@ auav <command> [arguments...]

 Source: [drivers/differential_pressure/ets](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/differential_pressure/ets)

-<a id="ets_airspeed_usage"></a>
-
-### 用法
+### Usage {#ets_airspeed_usage}

 ```
 ets_airspeed <command> [arguments...]
@@ -93,9 +87,7 @@ ets_airspeed <command> [arguments...]

 Source: [drivers/differential_pressure/ms4515](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/differential_pressure/ms4515)

-<a id="ms4515_usage"></a>
-
-### 用法
+### Usage {#ms4515_usage}

 ```
 ms4515 <command> [arguments...]
@@ -119,9 +111,7 @@ ms4515 <command> [arguments...]

 Source: [drivers/differential_pressure/ms4525do](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/differential_pressure/ms4525do)

-<a id="ms4525do_usage"></a>
-
-### 用法
+### Usage {#ms4525do_usage}

 ```
 ms4525do <command> [arguments...]
@@ -145,9 +135,7 @@ ms4525do <command> [arguments...]

 Source: [drivers/differential_pressure/ms5525dso](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/differential_pressure/ms5525dso)

-<a id="ms5525dso_usage"></a>
-
-### 用法
+### Usage {#ms5525dso_usage}

 ```
 ms5525dso <command> [arguments...]
@@ -171,9 +159,7 @@ ms5525dso <command> [arguments...]

 Source: [drivers/differential_pressure/sdp3x](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/differential_pressure/sdp3x)

-<a id="sdp3x_usage"></a>
-
-### 用法
+### Usage {#sdp3x_usage}

 ```
 sdp3x <command> [arguments...]
@@ -4,9 +4,7 @@

 Source: [drivers/barometer/bmp280](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/barometer/bmp280)

-<a id="bmp280_usage"></a>
-
-### 用法
+### Usage {#bmp280_usage}

 ```
 bmp280 <command> [arguments...]
@@ -42,9 +40,7 @@ bmp280 <command> [arguments...]

 Source: [drivers/barometer/bmp388](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/barometer/bmp388)

-<a id="bmp388_usage"></a>
-
-### 用法
+### Usage {#bmp388_usage}

 ```
 bmp388 <command> [arguments...]
@@ -72,9 +68,7 @@ bmp388 <command> [arguments...]

 Source: [drivers/barometer/bmp581](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/barometer/bmp581)

-<a id="bmp581_usage"></a>
-
-### 用法
+### Usage {#bmp581_usage}

 ```
 bmp581 <command> [arguments...]
@@ -102,9 +96,7 @@ bmp581 <command> [arguments...]

 Source: [drivers/barometer/dps310](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/barometer/dps310)

-<a id="dps310_usage"></a>
-
-### 用法
+### Usage {#dps310_usage}

 ```
 dps310 <command> [arguments...]
@@ -140,9 +132,7 @@ dps310 <command> [arguments...]

 Source: [drivers/barometer/invensense/icp101xx](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/barometer/invensense/icp101xx)

-<a id="icp101xx_usage"></a>
-
-### 用法
+### Usage {#icp101xx_usage}

 ```
 icp101xx <command> [arguments...]
@@ -166,9 +156,7 @@ icp101xx <command> [arguments...]

 Source: [drivers/barometer/invensense/icp201xx](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/barometer/invensense/icp201xx)

-<a id="icp201xx_usage"></a>
-
-### 用法
+### Usage {#icp201xx_usage}

 ```
 icp201xx <command> [arguments...]
@@ -192,9 +180,7 @@ icp201xx <command> [arguments...]

 Source: [drivers/barometer/lps22hb](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/barometer/lps22hb)

-<a id="lps22hb_usage"></a>
-
-### 用法
+### Usage {#lps22hb_usage}

 ```
 lps22hb <command> [arguments...]
@@ -220,9 +206,7 @@ lps22hb <command> [arguments...]

 Source: [drivers/barometer/lps25h](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/barometer/lps25h)

-<a id="lps25h_usage"></a>
-
-### 用法
+### Usage {#lps25h_usage}

 ```
 lps25h <command> [arguments...]
@@ -248,9 +232,7 @@ lps25h <command> [arguments...]

 Source: [drivers/barometer/lps33hw](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/barometer/lps33hw)

-<a id="lps33hw_usage"></a>
-
-### 用法
+### Usage {#lps33hw_usage}

 ```
 lps33hw <command> [arguments...]
@@ -279,9 +261,7 @@ lps33hw <command> [arguments...]

 Source: [drivers/barometer/maiertek/mpc2520](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/barometer/maiertek/mpc2520)

-<a id="mpc2520_usage"></a>
-
-### 用法
+### Usage {#mpc2520_usage}

 ```
 mpc2520 <command> [arguments...]
@@ -305,9 +285,7 @@ mpc2520 <command> [arguments...]

 Source: [drivers/barometer/mpl3115a2](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/barometer/mpl3115a2)

-<a id="mpl3115a2_usage"></a>
-
-### 用法
+### Usage {#mpl3115a2_usage}

 ```
 mpl3115a2 <command> [arguments...]
@@ -331,9 +309,7 @@ mpl3115a2 <command> [arguments...]

 Source: [drivers/barometer/ms5611](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/barometer/ms5611)

-<a id="ms5611_usage"></a>
-
-### 用法
+### Usage {#ms5611_usage}

 ```
 ms5611 <command> [arguments...]
@@ -369,9 +345,7 @@ ms5611 <command> [arguments...]

 Source: [drivers/barometer/ms5837](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/barometer/ms5837)

-<a id="ms5837_usage"></a>
-
-### 用法
+### Usage {#ms5837_usage}

 ```
 ms5837 <command> [arguments...]
@@ -393,9 +367,7 @@ ms5837 <command> [arguments...]

 Source: [drivers/barometer/goertek/spa06](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/barometer/goertek/spa06)

-<a id="spa06_usage"></a>
-
-### 用法
+### Usage {#spa06_usage}

 ```
 spa06 <command> [arguments...]
@@ -431,9 +403,7 @@ spa06 <command> [arguments...]

 Source: [drivers/barometer/goertek/spl06](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/barometer/goertek/spl06)

-<a id="spl06_usage"></a>
-
-### 用法
+### Usage {#spl06_usage}

 ```
 spl06 <command> [arguments...]
@@ -34,9 +34,7 @@ In particular:

 [Setup/usage information](../camera/index.md).

-<a id="camera_trigger_usage"></a>
-
-### 用法
+### Usage {#camera_trigger_usage}

 ```
 camera_trigger <command> [arguments...]
@@ -16,15 +16,13 @@ Attempt to start driver on a specified serial device.
 afbrs50 start
 ```

-设置/使用 信息： https://docs.px4.io/master/en/sensor/leddar_one.html
+Stop driver

 ```
 afbrs50 stop
 ```

-<a id="afbrs50_usage"></a>
-
-### 用法
+### Usage {#afbrs50_usage}

 ```
 afbrs50 <command> [arguments...]
@@ -43,9 +41,7 @@ afbrs50 <command> [arguments...]

 Source: [drivers/distance_sensor/gy_us42](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/gy_us42)

-<a id="gy_us42_usage"></a>
-
-### 用法
+### Usage {#gy_us42_usage}

 ```
 gy_us42 <command> [arguments...]
@@ -73,7 +69,7 @@ Source: [drivers/distance_sensor/leddar_one](https://github.com/PX4/PX4-Autopilo

 Serial bus driver for the LeddarOne LiDAR.

-针对 Lightware SFxx 系列 LIDAR 测距仪的 I2C 总线驱动： SF10/a, SF10/b, SF10/c, SF11/c, SF/LW20。
+Most boards are configured to enable/start the driver on a specified UART using the SENS_LEDDAR1_CFG parameter.

 Setup/usage information: https://docs.px4.io/main/en/sensor/leddar_one.html

@@ -85,15 +81,13 @@ Attempt to start driver on a specified serial device.
 leddar_one start -d /dev/ttyS1
 ```

-设置/使用 信息： https://docs.px4.io/master/en/sensor/leddar_one.html
+Stop driver

 ```
 leddar_one stop
 ```

-<a id="leddar_one_usage"></a>
-
-### 用法
+### Usage {#leddar_one_usage}

 ```
 leddar_one <command> [arguments...]
@@ -112,13 +106,11 @@ Source: [drivers/distance_sensor/lightware_laser_i2c](https://github.com/PX4/PX4

 ### 描述

-设置/使用 信息： https://docs.px4.io/master/en/sensor/sfxx_lidar.html
+I2C bus driver for Lightware SFxx series LIDAR rangefinders: SF10/a, SF10/b, SF10/c, SF11/c, SF/LW20.

 Setup/usage information: https://docs.px4.io/main/en/sensor/sfxx_lidar.html

-<a id="lightware_laser_i2c_usage"></a>
-
-### 用法
+### Usage {#lightware_laser_i2c_usage}

 ```
 lightware_laser_i2c <command> [arguments...]
@@ -160,15 +152,13 @@ Attempt to start driver on a specified serial device.
 lightware_laser_serial start -d /dev/ttyS1
 ```

-设置/使用 信息： https://docs.px4.io/master/en/sensor/leddar_one.html
+Stop driver

 ```
 lightware_laser_serial stop
 ```

-<a id="lightware_laser_serial_usage"></a>
-
-### 用法
+### Usage {#lightware_laser_serial_usage}

 ```
 lightware_laser_serial <command> [arguments...]
@@ -197,15 +187,13 @@ Attempt to start driver on a specified serial device.
 lightware_sf45_serial start -d /dev/ttyS1
 ```

-设置/使用 信息： https://docs.px4.io/master/en/sensor/leddar_one.html
+Stop driver

 ```
 lightware_sf45_serial stop
 ```

-<a id="lightware_sf45_serial_usage"></a>
-
-### 用法
+### Usage {#lightware_sf45_serial_usage}

 ```
 lightware_sf45_serial <command> [arguments...]
@@ -224,13 +212,11 @@ Source: [drivers/distance_sensor/ll40ls_pwm](https://github.com/PX4/PX4-Autopilo

 PWM driver for LidarLite rangefinders.

-超声笔测距仪驱动，负责处理与设备的用心并通过 uORB 将距离信息发布出去。
+The sensor/driver must be enabled using the parameter SENS_EN_LL40LS.

 Setup/usage information: https://docs.px4.io/main/en/sensor/lidar_lite.html

-<a id="ll40ls_usage"></a>
-
-### 用法
+### Usage {#ll40ls_usage}

 ```
 ll40ls <command> [arguments...]
@@ -244,13 +230,11 @@ ll40ls <command> [arguments...]
   stop          Stop driver
 ```

-## pga460
+## mappydot

 Source: [drivers/distance_sensor/mappydot](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/mappydot)

-<a id="mappydot_usage"></a>
-
-### 用法
+### Usage {#mappydot_usage}

 ```
 mappydot <command> [arguments...]
@@ -272,9 +256,7 @@ mappydot <command> [arguments...]

 Source: [drivers/distance_sensor/mb12xx](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/mb12xx)

-<a id="mb12xx_usage"></a>
-
-### 用法
+### Usage {#mb12xx_usage}

 ```
 mb12xx <command> [arguments...]
@@ -312,9 +294,7 @@ running. A simple algorithm to detect false readings is implemented at the drive
 the quality of data that is being published. The driver will not publish data at all if it deems the sensor data
 to be invalid or unstable.

-<a id="pga460_usage"></a>
-
-### 用法
+### Usage {#pga460_usage}

 ```
 pga460 <command> [arguments...]
@@ -333,9 +313,7 @@ pga460 <command> [arguments...]

 Source: [drivers/distance_sensor/srf02](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/srf02)

-<a id="srf02_usage"></a>
-
-### 用法
+### Usage {#srf02_usage}

 ```
 srf02 <command> [arguments...]
@@ -367,9 +345,7 @@ Driver for HY-SRF05 / HC-SR05 and HC-SR04 rangefinders.

 The sensor/driver must be enabled using the parameter SENS_EN_HXSRX0X.

-<a id="srf05_usage"></a>
-
-### 用法
+### Usage {#srf05_usage}

 ```
 srf05 <command> [arguments...]
@@ -399,9 +375,7 @@ The sensor/driver must be enabled using the parameter SENS_EN_TRANGER.

 Setup/usage information: https://docs.px4.io/main/en/sensor/rangefinders.html#teraranger-rangefinders

-<a id="teraranger_usage"></a>
-
-### 用法
+### Usage {#teraranger_usage}

 ```
 teraranger <command> [arguments...]
@@ -427,9 +401,7 @@ teraranger <command> [arguments...]

 Source: [drivers/distance_sensor/tf02pro](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/tf02pro)

-<a id="tf02pro_usage"></a>
-
-### 用法
+### Usage {#tf02pro_usage}

 ```
 tf02pro <command> [arguments...]
@@ -471,15 +443,13 @@ Attempt to start driver on a specified serial device.
 tfmini start -d /dev/ttyS1
 ```

-设置/使用 信息： https://docs.px4.io/master/en/sensor/leddar_one.html
+Stop driver

 ```
 tfmini stop
 ```

-<a id="tfmini_usage"></a>
-
-### 用法
+### Usage {#tfmini_usage}

 ```
 tfmini <command> [arguments...]
@@ -514,15 +484,13 @@ Attempt to start driver on a specified serial device.
 ulanding_radar start -d /dev/ttyS1
 ```

-设置/使用 信息： https://docs.px4.io/master/en/sensor/leddar_one.html
+Stop driver

 ```
 ulanding_radar stop
 ```

-<a id="ulanding_radar_usage"></a>
-
-### 用法
+### Usage {#ulanding_radar_usage}

 ```
 ulanding_radar <command> [arguments...]
@@ -540,9 +508,7 @@ ulanding_radar <command> [arguments...]

 Source: [drivers/distance_sensor/vl53l0x](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/vl53l0x)

-<a id="vl53l0x_usage"></a>
-
-### 用法
+### Usage {#vl53l0x_usage}

 ```
 vl53l0x <command> [arguments...]
@@ -568,9 +534,7 @@ vl53l0x <command> [arguments...]

 Source: [drivers/distance_sensor/vl53l1x](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/vl53l1x)

-<a id="vl53l1x_usage"></a>
-
-### 用法
+### Usage {#vl53l1x_usage}

 ```
 vl53l1x <command> [arguments...]
@@ -4,9 +4,7 @@

 Source: [drivers/imu/analog_devices/adis16448](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/analog_devices/adis16448)

-<a id="adis16448_usage"></a>
-
-### 用法
+### Usage {#adis16448_usage}

 ```
 adis16448 <command> [arguments...]
@@ -32,9 +30,7 @@ adis16448 <command> [arguments...]

 Source: [drivers/imu/analog_devices/adis16470](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/analog_devices/adis16470)

-<a id="adis16470_usage"></a>
-
-### 用法
+### Usage {#adis16470_usage}

 ```
 adis16470 <command> [arguments...]
@@ -60,9 +56,7 @@ adis16470 <command> [arguments...]

 Source: [drivers/imu/analog_devices/adis16477](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/analog_devices/adis16477)

-<a id="adis16477_usage"></a>
-
-### 用法
+### Usage {#adis16477_usage}

 ```
 adis16477 <command> [arguments...]
@@ -88,9 +82,7 @@ adis16477 <command> [arguments...]

 Source: [drivers/imu/analog_devices/adis16497](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/analog_devices/adis16497)

-<a id="adis16497_usage"></a>
-
-### 用法
+### Usage {#adis16497_usage}

 ```
 adis16497 <command> [arguments...]
@@ -116,9 +108,7 @@ adis16497 <command> [arguments...]

 Source: [drivers/imu/analog_devices/adis16507](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/analog_devices/adis16507)

-<a id="adis16507_usage"></a>
-
-### 用法
+### Usage {#adis16507_usage}

 ```
 adis16507 <command> [arguments...]
@@ -144,9 +134,7 @@ adis16507 <command> [arguments...]

 Source: [drivers/imu/bosch/bmi055](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/bosch/bmi055)

-<a id="bmi055_usage"></a>
-
-### 用法
+### Usage {#bmi055_usage}

 ```
 bmi055 <command> [arguments...]
@@ -174,9 +162,7 @@ bmi055 <command> [arguments...]

 Source: [drivers/imu/bosch/bmi085](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/bosch/bmi085)

-<a id="bmi085_usage"></a>
-
-### 用法
+### Usage {#bmi085_usage}

 ```
 bmi085 <command> [arguments...]
@@ -204,9 +190,7 @@ bmi085 <command> [arguments...]

 Source: [drivers/imu/bosch/bmi088](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/bosch/bmi088)

-<a id="bmi088_usage"></a>
-
-### 用法
+### Usage {#bmi088_usage}

 ```
 bmi088 <command> [arguments...]
@@ -234,9 +218,7 @@ bmi088 <command> [arguments...]

 Source: [drivers/imu/bosch/bmi088_i2c](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/bosch/bmi088_i2c)

-<a id="bmi088_i2c_usage"></a>
-
-### 用法
+### Usage {#bmi088_i2c_usage}

 ```
 bmi088_i2c <command> [arguments...]
@@ -264,9 +246,7 @@ bmi088_i2c <command> [arguments...]

 Source: [drivers/imu/bosch/bmi270](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/bosch/bmi270)

-<a id="bmi270_usage"></a>
-
-### 用法
+### Usage {#bmi270_usage}

 ```
 bmi270 <command> [arguments...]
@@ -292,9 +272,7 @@ bmi270 <command> [arguments...]

 Source: [drivers/imu/nxp/fxas21002c](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/nxp/fxas21002c)

-<a id="fxas21002c_usage"></a>
-
-### 用法
+### Usage {#fxas21002c_usage}

 ```
 fxas21002c <command> [arguments...]
@@ -328,9 +306,7 @@ fxas21002c <command> [arguments...]

 Source: [drivers/imu/nxp/fxos8701cq](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/nxp/fxos8701cq)

-<a id="fxos8701cq_usage"></a>
-
-### 用法
+### Usage {#fxos8701cq_usage}

 ```
 fxos8701cq <command> [arguments...]
@@ -364,9 +340,7 @@ fxos8701cq <command> [arguments...]

 Source: [drivers/imu/invensense/iam20680hp](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/iam20680hp)

-<a id="iam20680hp_usage"></a>
-
-### 用法
+### Usage {#iam20680hp_usage}

 ```
 iam20680hp <command> [arguments...]
@@ -392,9 +366,7 @@ iam20680hp <command> [arguments...]

 Source: [drivers/imu/invensense/icm20602](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/icm20602)

-<a id="icm20602_usage"></a>
-
-### 用法
+### Usage {#icm20602_usage}

 ```
 icm20602 <command> [arguments...]
@@ -420,9 +392,7 @@ icm20602 <command> [arguments...]

 Source: [drivers/imu/invensense/icm20608g](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/icm20608g)

-<a id="icm20608g_usage"></a>
-
-### 用法
+### Usage {#icm20608g_usage}

 ```
 icm20608g <command> [arguments...]
@@ -448,9 +418,7 @@ icm20608g <command> [arguments...]

 Source: [drivers/imu/invensense/icm20649](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/icm20649)

-<a id="icm20649_usage"></a>
-
-### 用法
+### Usage {#icm20649_usage}

 ```
 icm20649 <command> [arguments...]
@@ -476,9 +444,7 @@ icm20649 <command> [arguments...]

 Source: [drivers/imu/invensense/icm20689](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/icm20689)

-<a id="icm20689_usage"></a>
-
-### 用法
+### Usage {#icm20689_usage}

 ```
 icm20689 <command> [arguments...]
@@ -504,9 +470,7 @@ icm20689 <command> [arguments...]

 Source: [drivers/imu/invensense/icm20948](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/icm20948)

-<a id="icm20948_usage"></a>
-
-### 用法
+### Usage {#icm20948_usage}

 ```
 icm20948 <command> [arguments...]
@@ -533,9 +497,7 @@ icm20948 <command> [arguments...]

 Source: [drivers/imu/invensense/icm20948](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/icm20948)

-<a id="icm20948_i2c_passthrough_usage"></a>
-
-### 用法
+### Usage {#icm20948_i2c_passthrough_usage}

 ```
 icm20948_i2c_passthrough <command> [arguments...]
@@ -559,9 +521,7 @@ icm20948_i2c_passthrough <command> [arguments...]

 Source: [drivers/imu/invensense/icm40609d](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/icm40609d)

-<a id="icm40609d_usage"></a>
-
-### 用法
+### Usage {#icm40609d_usage}

 ```
 icm40609d <command> [arguments...]
@@ -587,9 +547,7 @@ icm40609d <command> [arguments...]

 Source: [drivers/imu/invensense/icm42605](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/icm42605)

-<a id="icm42605_usage"></a>
-
-### 用法
+### Usage {#icm42605_usage}

 ```
 icm42605 <command> [arguments...]
@@ -615,9 +573,7 @@ icm42605 <command> [arguments...]

 Source: [drivers/imu/invensense/icm42670p](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/icm42670p)

-<a id="icm42670p_usage"></a>
-
-### 用法
+### Usage {#icm42670p_usage}

 ```
 icm42670p <command> [arguments...]
@@ -643,9 +599,7 @@ icm42670p <command> [arguments...]

 Source: [drivers/imu/invensense/icm42688p](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/icm42688p)

-<a id="icm42688p_usage"></a>
-
-### 用法
+### Usage {#icm42688p_usage}

 ```
 icm42688p <command> [arguments...]
@@ -674,9 +628,7 @@ icm42688p <command> [arguments...]

 Source: [drivers/imu/invensense/icm45686](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/icm45686)

-<a id="icm45686_usage"></a>
-
-### 用法
+### Usage {#icm45686_usage}

 ```
 icm45686 <command> [arguments...]
@@ -704,9 +656,7 @@ icm45686 <command> [arguments...]

 Source: [drivers/imu/invensense/iim42652](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/iim42652)

-<a id="iim42652_usage"></a>
-
-### 用法
+### Usage {#iim42652_usage}

 ```
 iim42652 <command> [arguments...]
@@ -734,9 +684,7 @@ iim42652 <command> [arguments...]

 Source: [drivers/imu/invensense/iim42653](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/iim42653)

-<a id="iim42653_usage"></a>
-
-### 用法
+### Usage {#iim42653_usage}

 ```
 iim42653 <command> [arguments...]
@@ -764,9 +712,7 @@ iim42653 <command> [arguments...]

 Source: [drivers/imu/st/l3gd20](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/st/l3gd20)

-<a id="l3gd20_usage"></a>
-
-### 用法
+### Usage {#l3gd20_usage}

 ```
 l3gd20 <command> [arguments...]
@@ -796,9 +742,7 @@ l3gd20 <command> [arguments...]

 Source: [drivers/imu/st/lsm303d](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/st/lsm303d)

-<a id="lsm303d_usage"></a>
-
-### 用法
+### Usage {#lsm303d_usage}

 ```
 lsm303d <command> [arguments...]
@@ -824,9 +768,7 @@ lsm303d <command> [arguments...]

 Source: [drivers/imu/st/lsm9ds1](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/st/lsm9ds1)

-<a id="lsm9ds1_usage"></a>
-
-### 用法
+### Usage {#lsm9ds1_usage}

 ```
 lsm9ds1 <command> [arguments...]
@@ -852,9 +794,7 @@ lsm9ds1 <command> [arguments...]

 Source: [drivers/imu/invensense/mpu6000](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/mpu6000)

-<a id="mpu6000_usage"></a>
-
-### 用法
+### Usage {#mpu6000_usage}

 ```
 mpu6000 <command> [arguments...]
@@ -880,9 +820,7 @@ mpu6000 <command> [arguments...]

 Source: [drivers/imu/invensense/mpu9250](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/mpu9250)

-<a id="mpu9250_usage"></a>
-
-### 用法
+### Usage {#mpu9250_usage}

 ```
 mpu9250 <command> [arguments...]
@@ -909,9 +847,7 @@ mpu9250 <command> [arguments...]

 Source: [drivers/imu/invensense/mpu9250](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/mpu9250)

-<a id="mpu9250_i2c_usage"></a>
-
-### 用法
+### Usage {#mpu9250_i2c_usage}

 ```
 mpu9250_i2c <command> [arguments...]
@@ -937,9 +873,7 @@ mpu9250_i2c <command> [arguments...]

 Source: [drivers/imu/invensense/mpu6500](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/mpu6500)

-<a id="mpu9520_usage"></a>
-
-### 用法
+### Usage {#mpu9520_usage}

 ```
 mpu9520 <command> [arguments...]
@@ -965,9 +899,7 @@ mpu9520 <command> [arguments...]

 Source: [drivers/imu/murata/sch16t](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/murata/sch16t)

-<a id="sch16t_usage"></a>
-
-### 用法
+### Usage {#sch16t_usage}

 ```
 sch16t <command> [arguments...]
@@ -20,15 +20,13 @@ Attempt to start driver on a specified serial device.
 vectornav start -d /dev/ttyS1
 ```

-设置/使用 信息： https://docs.px4.io/master/en/sensor/leddar_one.html
+Stop driver

 ```
 vectornav stop
 ```

-<a id="vectornav_usage"></a>
-
-### 用法
+### Usage {#vectornav_usage}

 ```
 vectornav <command> [arguments...]
@@ -4,9 +4,7 @@

 Source: [drivers/magnetometer/akm/ak09916](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/magnetometer/akm/ak09916)

-<a id="ak09916_usage"></a>
-
-### 用法
+### Usage {#ak09916_usage}

 ```
 ak09916 <command> [arguments...]
@@ -32,9 +30,7 @@ ak09916 <command> [arguments...]

 Source: [drivers/magnetometer/akm/ak8963](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/magnetometer/akm/ak8963)

-<a id="ak8963_usage"></a>
-
-### 用法
+### Usage {#ak8963_usage}

 ```
 ak8963 <command> [arguments...]
@@ -60,9 +56,7 @@ ak8963 <command> [arguments...]

 Source: [drivers/magnetometer/bosch/bmm150](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/magnetometer/bosch/bmm150)

-<a id="bmm150_usage"></a>
-
-### 用法
+### Usage {#bmm150_usage}

 ```
 bmm150 <command> [arguments...]
@@ -88,9 +82,7 @@ bmm150 <command> [arguments...]

 Source: [drivers/magnetometer/bosch/bmm350](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/magnetometer/bosch/bmm350)

-<a id="bmm350_usage"></a>
-
-### 用法
+### Usage {#bmm350_usage}

 ```
 bmm350 <command> [arguments...]
@@ -116,9 +108,7 @@ bmm350 <command> [arguments...]

 Source: [drivers/magnetometer/hmc5883](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/magnetometer/hmc5883)

-<a id="hmc5883_usage"></a>
-
-### 用法
+### Usage {#hmc5883_usage}

 ```
 hmc5883 <command> [arguments...]
@@ -147,9 +137,7 @@ hmc5883 <command> [arguments...]

 Source: [drivers/magnetometer/st/iis2mdc](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/magnetometer/st/iis2mdc)

-<a id="iis2mdc_usage"></a>
-
-### 用法
+### Usage {#iis2mdc_usage}

 ```
 iis2mdc <command> [arguments...]
@@ -173,9 +161,7 @@ iis2mdc <command> [arguments...]

 Source: [drivers/magnetometer/isentek/ist8308](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/magnetometer/isentek/ist8308)

-<a id="ist8308_usage"></a>
-
-### 用法
+### Usage {#ist8308_usage}

 ```
 ist8308 <command> [arguments...]
@@ -201,9 +187,7 @@ ist8308 <command> [arguments...]

 Source: [drivers/magnetometer/isentek/ist8310](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/magnetometer/isentek/ist8310)

-<a id="ist8310_usage"></a>
-
-### 用法
+### Usage {#ist8310_usage}

 ```
 ist8310 <command> [arguments...]
@@ -229,9 +213,7 @@ ist8310 <command> [arguments...]

 Source: [drivers/magnetometer/lis3mdl](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/magnetometer/lis3mdl)

-<a id="lis3mdl_usage"></a>
-
-### 用法
+### Usage {#lis3mdl_usage}

 ```
 lis3mdl <command> [arguments...]
@@ -263,9 +245,7 @@ lis3mdl <command> [arguments...]

 Source: [drivers/magnetometer/lsm9ds1_mag](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/magnetometer/lsm9ds1_mag)

-<a id="lsm9ds1_mag_usage"></a>
-
-### 用法
+### Usage {#lsm9ds1_mag_usage}

 ```
 lsm9ds1_mag <command> [arguments...]
@@ -291,9 +271,7 @@ lsm9ds1_mag <command> [arguments...]

 Source: [drivers/magnetometer/memsic/mmc5983ma](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/magnetometer/memsic/mmc5983ma)

-<a id="mmc5983ma_usage"></a>
-
-### 用法
+### Usage {#mmc5983ma_usage}

 ```
 mmc5983ma <command> [arguments...]
@@ -325,9 +303,7 @@ mmc5983ma <command> [arguments...]

 Source: [drivers/magnetometer/qmc5883l](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/magnetometer/qmc5883l)

-<a id="qmc5883l_usage"></a>
-
-### 用法
+### Usage {#qmc5883l_usage}

 ```
 qmc5883l <command> [arguments...]
@@ -353,9 +329,7 @@ qmc5883l <command> [arguments...]

 Source: [drivers/magnetometer/rm3100](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/magnetometer/rm3100)

-<a id="rm3100_usage"></a>
-
-### 用法
+### Usage {#rm3100_usage}

 ```
 rm3100 <command> [arguments...]
@@ -383,9 +357,7 @@ rm3100 <command> [arguments...]

 Source: [drivers/magnetometer/vtrantech/vcm1193l](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/magnetometer/vtrantech/vcm1193l)

-<a id="vcm1193l_usage"></a>
-
-### 用法
+### Usage {#vcm1193l_usage}

 ```
 vcm1193l <command> [arguments...]
@@ -20,15 +20,13 @@ Attempt to start driver on a specified serial device.
 thoneflow start -d /dev/ttyS1
 ```

-设置/使用 信息： https://docs.px4.io/master/en/sensor/leddar_one.html
+Stop driver

 ```
 thoneflow stop
 ```

-<a id="thoneflow_usage"></a>
-
-### 用法
+### Usage {#thoneflow_usage}

 ```
 thoneflow <command> [arguments...]
@@ -0,0 +1,122 @@
+# Modules Reference: Radio Control (Driver)
+
+## crsf_rc
+
+Source: [drivers/rc/crsf_rc](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/rc/crsf_rc)
+
+### 描述
+
+This module parses the CRSF RC uplink protocol and generates CRSF downlink telemetry data
+
+### Usage {#crsf_rc_usage}
+
+```
+crsf_rc <command> [arguments...]
+ Commands:
+   start
+     [-d <val>]  RC device
+                 values: <file:dev>, default: /dev/ttyS3
+
+   stop
+
+   status        print status info
+```
+
+## dsm_rc
+
+Source: [drivers/rc/dsm_rc](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/rc/dsm_rc)
+
+### 描述
+
+This module does Spektrum DSM RC input parsing.
+
+### Usage {#dsm_rc_usage}
+
+```
+dsm_rc <command> [arguments...]
+ Commands:
+   start
+     [-d <val>]  RC device
+                 values: <file:dev>, default: /dev/ttyS3
+
+   bind          Send a DSM bind command (module must be running)
+
+   stop
+
+   status        print status info
+```
+
+## ghst_rc
+
+Source: [drivers/rc/ghst_rc](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/rc/ghst_rc)
+
+### 描述
+
+This module does Ghost (GHST) RC input parsing.
+
+### Usage {#ghst_rc_usage}
+
+```
+ghst_rc <command> [arguments...]
+ Commands:
+   start
+     [-d <val>]  RC device
+                 values: <file:dev>, default: /dev/ttyS3
+
+   stop
+
+   status        print status info
+```
+
+## rc_input
+
+Source: [drivers/rc_input](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/rc_input)
+
+### 描述
+
+This module does the RC input parsing and auto-selecting the method. Supported methods are:
+
+- PPM
+- SBUS
+- DSM
+- SUMD
+- ST24
+- TBS Crossfire (CRSF)
+
+### Usage {#rc_input_usage}
+
+```
+rc_input <command> [arguments...]
+ Commands:
+   start
+     [-d <val>]  RC device
+                 values: <file:dev>, default: /dev/ttyS3
+
+   bind          Send a DSM bind command (module must be running)
+
+   stop
+
+   status        print status info
+```
+
+## sbus_rc
+
+Source: [drivers/rc/sbus_rc](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/rc/sbus_rc)
+
+### 描述
+
+This module does SBUS RC input parsing.
+
+### Usage {#sbus_rc_usage}
+
+```
+sbus_rc <command> [arguments...]
+ Commands:
+   start
+     [-d <val>]  RC device
+                 values: <file:dev>, default: /dev/ttyS3
+
+   stop
+
+   status        print status info
+```
@@ -4,9 +4,7 @@

 Source: [drivers/rpm/pcf8583](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/rpm/pcf8583)

-<a id="pcf8583_usage"></a>
-
-### 用法
+### Usage {#pcf8583_usage}

 ```
 pcf8583 <command> [arguments...]
@@ -24,9 +24,7 @@ Set the Squawk Code
 $ sagetech_mxs squawk 1200
 ```

-<a id="sagetech_mxs_usage"></a>
-
-### 用法
+### Usage {#sagetech_mxs_usage}

 ```
 sagetech_mxs <command> [arguments...]
@@ -8,9 +8,7 @@ Source: [modules/attitude_estimator_q](https://github.com/PX4/PX4-Autopilot/tree

 Attitude and position estimator using an Extended Kalman Filter. It is used for Multirotors and Fixed-Wing.

-<a id="AttitudeEstimatorQ_usage"></a>
-
-### 用法
+### Usage {#AttitudeEstimatorQ_usage}

 ```
 AttitudeEstimatorQ <command> [arguments...]
@@ -36,9 +34,7 @@ to a valid sensor in case of failure detection. For failure detection as well as
 the estimation of a scale factor from IAS to CAS, it runs several wind estimators
 and also publishes those.

-<a id="airspeed_estimator_usage"></a>
-
-### 用法
+### Usage {#airspeed_estimator_usage}

 ```
 airspeed_estimator <command> [arguments...]
@@ -63,9 +59,7 @@ The documentation can be found on the [ECL/EKF Overview & Tuning](https://docs.p
 ekf2 can be started in replay mode (`-r`): in this mode, it does not access the system time, but only uses the
 timestamps from the sensor topics.

-<a id="ekf2_usage"></a>
-
-### 用法
+### Usage {#ekf2_usage}

 ```
 ekf2 <command> [arguments...]
@@ -90,9 +84,7 @@ Source: [modules/local_position_estimator](https://github.com/PX4/PX4-Autopilot/

 基于扩展卡尔曼滤波器的姿态和位置估计器。

-<a id="local_position_estimator_usage"></a>
-
-### 用法
+### Usage {#local_position_estimator_usage}

 ```
 local_position_estimator <command> [arguments...]
@@ -110,9 +102,7 @@ Source: [modules/mc_hover_thrust_estimator](https://github.com/PX4/PX4-Autopilot

 ### 描述

-<a id="mc_hover_thrust_estimator_usage"></a>
-
-### 用法
+### Usage {#mc_hover_thrust_estimator_usage}

 ```
 mc_hover_thrust_estimator <command> [arguments...]
@@ -21,9 +21,7 @@ signals given by the control allocation module.
 积分计算采用前向欧拉法。
 为避免堆栈溢出，大部分变量在 .hpp 文件中声明为全局变量。

-<a id="simulator_sih_usage"></a>
-
-### 用法
+### Usage {#simulator_sih_usage}

 ```
 simulator_sih <command> [arguments...]
@@ -6,9 +6,7 @@ Source: [modules/simulation/battery_simulator](https://github.com/PX4/PX4-Autopi

 ### 描述

-<a id="battery_simulator_usage"></a>
-
-### 用法
+### Usage {#battery_simulator_usage}

 ```
 battery_simulator <command> [arguments...]
@@ -26,17 +24,15 @@ Source: [modules/battery_status](https://github.com/PX4/PX4-Autopilot/tree/main/

 ### 描述

-模块提供的功能包括：
+The provided functionality includes:

 - Read the output from the ADC driver (via ioctl interface) and publish `battery_status`.

 ### 实现

-模块运行在它自己的线程中，并轮询当前选定的陀螺仪主题。
+It runs in its own thread and polls on the currently selected gyro topic.

-<a id="battery_status_usage"></a>
-
-### 用法
+### Usage {#battery_status_usage}

 ```
 battery_status <command> [arguments...]
@@ -74,9 +70,7 @@ It discards topics from the `camera_trigger` module if camera capture is enabled
 For the topics that are not discarded it creates a `CameraCapture` topic with the timestamp information
 from the `CameraTrigger` and position information from the vehicle.

-<a id="camera_feedback_usage"></a>
-
-### 用法
+### Usage {#camera_feedback_usage}

 ```
 camera_feedback <command> [arguments...]
@@ -99,9 +93,7 @@ The supported protocols are: MAVLink, nsh, and ublox serial passthrough. If the
 the module will only try to start mavlink as long as the USB VBUS is detected. Otherwise it will spin
 and continue to check for VBUS and start mavlink once it is detected.

-<a id="cdcacm_autostart_usage"></a>
-
-### 用法
+### Usage {#cdcacm_autostart_usage}

 ```
 cdcacm_autostart <command> [arguments...]
@@ -119,11 +111,9 @@ Source: [modules/commander](https://github.com/PX4/PX4-Autopilot/tree/main/src/m

 ### 描述

-该模块包含飞行模式切换和失效保护状态机。
+The commander module contains the state machine for mode switching and failsafe behavior.

-<a id="commander_usage"></a>
-
-### 用法
+### Usage {#commander_usage}

 ```
 commander <command> [arguments...]
@@ -177,22 +167,20 @@ Source: [modules/dataman](https://github.com/PX4/PX4-Autopilot/tree/main/src/mod

 ### 描述

-该模块通过基于C语言的API以简单数据库的形式为系统的其他部分提供持续性存储功能。
+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)
- FLASH(需要飞控板支持)
+- RAM (this is obviously not persistent)

-It is used to store structured data of different types: mission waypoints, mission state and geofence polygons. Each type has a specific type and a fixed maximum amount of storage items, so that fast random access is possible.
-每种类型的数据都有一个特定的类型和一个固定的最大存储条目的数量，因此可以实现对数据的快速随机访问。
+It is used to store structured data of different types: mission waypoints, mission state and geofence polygons.
+Each type has a specific type and a fixed maximum amount of storage items, so that fast random access is possible.

 ### 实现

-单个数据的读取和写入是原子操作。
+Reading and writing a single item is always atomic.

-<a id="dataman_usage"></a>
-
-### 用法
+### Usage {#dataman_usage}

 ```
 dataman <command> [arguments...]
@@ -216,20 +204,18 @@ Source: [systemcmds/dmesg](https://github.com/PX4/PX4-Autopilot/tree/main/src/sy

 ### 描述

-用于显示启动控制台消息的命令行工具
-需要注意的是，NuttX系统的工作队列和系统日志输出都未被捕捉到。
+Command-line tool to show bootup console messages.
+Note that output from NuttX's work queues and syslog are not captured.

 ### 示例

-持续在后台打印所有消息。
+Keep printing all messages in the background:

 ```
 dmesg -f &
 ```

-<a id="dmesg_usage"></a>
-
-### 用法
+### Usage {#dmesg_usage}

 ```
 dmesg <command> [arguments...]
@@ -243,11 +229,9 @@ Source: [modules/esc_battery](https://github.com/PX4/PX4-Autopilot/tree/main/src

 ### 描述

-Background process running periodically with 1 Hz on the LP work queue to calculate the CPU load and RAM usage and publish the <code>cpuload</code> topic.
+This implements using information from the ESC status and publish it as battery status.

-<a id="esc_battery_usage"></a>
-
-### 用法
+### Usage {#esc_battery_usage}

 ```
 esc_battery <command> [arguments...]
@@ -265,11 +249,9 @@ Source: [modules/gyro_calibration](https://github.com/PX4/PX4-Autopilot/tree/mai

 ### 描述

-源码：<a href="https://github.com/PX4/Firmware/tree/master/src/drivers/heater">drivers/heater</a>
+Simple online gyroscope calibration.

-<a id="gyro_calibration_usage"></a>
-
-### 用法
+### Usage {#gyro_calibration_usage}

 ```
 gyro_calibration <command> [arguments...]
@@ -281,15 +263,13 @@ gyro_calibration <command> [arguments...]
   status        print status info
 ```

-## heater
+## gyro_fft

 Source: [modules/gyro_fft](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/gyro_fft)

 ### 描述

-<a id="gyro_fft_usage"></a>
-
-### 用法
+### Usage {#gyro_fft_usage}

 ```
 gyro_fft <command> [arguments...]
@@ -301,19 +281,17 @@ gyro_fft <command> [arguments...]
   status        print status info
 ```

-## land_detector
+## heater

 Source: [drivers/heater](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/heater)

 ### 描述

-源码：<a href="https://github.com/PX4/Firmware/tree/master/src/modules/land_detector">modules/land_detector</a>
+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.

-<a id="heater_usage"></a>
-
-### 用法
+### Usage {#heater_usage}

 ```
 heater <command> [arguments...]
@@ -333,9 +311,7 @@ Source: [systemcmds/i2c_launcher](https://github.com/PX4/PX4-Autopilot/tree/main

 Daemon that starts drivers based on found I2C devices.

-<a id="i2c_launcher_usage"></a>
-
-### 用法
+### Usage {#i2c_launcher_usage}

 ```
 i2c_launcher <command> [arguments...]
@@ -401,9 +377,7 @@ The architecture is as shown below:

 <a id="internal_combustion_engine_control_usage"></a>

-<a id="internal_combustion_engine_control_usage"></a>
-
-### 用法
+### Usage {#internal_combustion_engine_control_usage}

 ```
 internal_combustion_engine_control <command> [arguments...]
@@ -415,7 +389,7 @@ internal_combustion_engine_control <command> [arguments...]
   status        print status info
 ```

-## load_mon
+## land_detector

 Source: [modules/land_detector](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/land_detector)

@@ -427,10 +401,11 @@ states, such as commanded thrust, arming state and vehicle motion.

 ### 实现

-Every type is implemented in its own class with a common base class. 触发时间由变量 MAYBE_LAND_TRIGGER_TIME 定义。 当检测到 maybe_landed 状态时，位置控制器会将推理设定值设置为零。 A hysteresis and a fixed
+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.

-#### 多旋翼的 Land Detector
+#### 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
@@ -442,11 +417,9 @@ position controller sets the thrust setpoint to zero.

 **landed**: it requires maybe_landed to be true for time LAND_DETECTOR_TRIGGER_TIME_US.

-There are 2 environment variables used for configuration: <code>replay</code>, which must be set to an ULog file name - it's the log file to be replayed. The second is the mode, specified via <code>replay_mode</code>:
+The module runs periodically on the HP work queue.

-<a id="land_detector_usage"></a>
-
-### 用法
+### Usage {#land_detector_usage}

 ```
 land_detector <command> [arguments...]
@@ -459,7 +432,7 @@ land_detector <command> [arguments...]
   status        print status info
 ```

-## logger
+## load_mon

 Source: [modules/load_mon](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/load_mon)

@@ -471,9 +444,7 @@ usage and publish the `cpuload` topic.
 On NuttX it also checks the stack usage of each process and if it falls below 300 bytes, a warning is output,
 which will also appear in the log file.

-<a id="load_mon_usage"></a>
-
-### 用法
+### Usage {#load_mon_usage}

 ```
 load_mon <command> [arguments...]
@@ -497,21 +468,23 @@ tuning, replay and crash analysis.

 It supports 2 backends:

- 文件：写入 ULog 文件到文件系统中（SD 卡）
- MAVLink: 通过 MAVLink 将 ULog 数据流传输到客户端上（需要客户端支持此方式）
+- Files: write ULog files to the file system (SD card)
+- MAVLink: stream ULog data via MAVLink to a client (the client must support this)

-模块的实现使用了两个线程：
+Both backends can be enabled and used at the same time.

-In between there is a write buffer with configurable size (and another fixed-size buffer for the mission log). It should be large to avoid dropouts. 缓冲区应大到可以避免出现数据溢出。 It can be enabled and configured via SDLOG_MISSION parameter.
+The file backend supports 2 types of log files: full (the normal log) and a mission
+log. The mission log is a reduced ulog file and can be used for example for geotagging or
+vehicle management. It can be enabled and configured via SDLOG_MISSION parameter.
 The normal log is always a superset of the mission log.

 ### 实现

-立刻开始记录日志的典型用法：
+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
- 写入线程，将数据写入文件中、
+- The writer thread, writing data to the file

 In between there is a write buffer with configurable size (and another fixed-size buffer for
 the mission log). It should be large to avoid dropouts.
@@ -521,7 +494,7 @@ the mission log). It should be large to avoid dropouts.
 Typical usage to start logging immediately:

 ```
-logger on
+logger start -e -t
 ```

 Or if already running:
@@ -530,9 +503,7 @@ Or if already running:
 logger on
 ```

-<a id="logger_usage"></a>
-
-### 用法
+### Usage {#logger_usage}

 ```
 logger <command> [arguments...]
@@ -575,9 +546,7 @@ Source: [modules/mag_bias_estimator](https://github.com/PX4/PX4-Autopilot/tree/m

 Online magnetometer bias estimator.

-<a id="mag_bias_estimator_usage"></a>
-
-### 用法
+### Usage {#mag_bias_estimator_usage}

 ```
 mag_bias_estimator <command> [arguments...]
@@ -589,7 +558,7 @@ mag_bias_estimator <command> [arguments...]
   status        print status info
 ```

-## replay
+## manual_control

 Source: [modules/manual_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/manual_control)

@@ -597,9 +566,7 @@ Source: [modules/manual_control](https://github.com/PX4/PX4-Autopilot/tree/main/

 Module consuming manual_control_inputs publishing one manual_control_setpoint.

-<a id="manual_control_usage"></a>
-
-### 用法
+### Usage {#manual_control_usage}

 ```
 manual_control <command> [arguments...]
@@ -647,9 +614,7 @@ $ netman save           # Save the parameters to the SD card.
 $ netman show           # display current settings.
 $ netman update -i eth0 # do an update

-<a id="netman_usage"></a>
-
-### 用法
+### Usage {#netman_usage}

 ```
 netman <command> [arguments...]
@@ -672,9 +637,7 @@ Source: [drivers/pwm_input](https://github.com/PX4/PX4-Autopilot/tree/main/src/d

 Measures the PWM input on AUX5 (or MAIN5) via a timer capture ISR and publishes via the uORB 'pwm_input\` message.

-<a id="pwm_input_usage"></a>
-
-### 用法
+### Usage {#pwm_input_usage}

 ```
 pwm_input <command> [arguments...]
@@ -700,9 +663,7 @@ and then publish as `rc_channels` and `manual_control_input`.

 To reduce control latency, the module is scheduled on input_rc publications.

-<a id="rc_update_usage"></a>
-
-### 用法
+### Usage {#rc_update_usage}

 ```
 rc_update <command> [arguments...]
@@ -737,9 +698,7 @@ the log.
 The replay procedure is documented on the [System-wide Replay](https://docs.px4.io/main/en/debug/system_wide_replay.html)
 page.

-<a id="replay_usage"></a>
-
-### 用法
+### Usage {#replay_usage}

 ```
 replay <command> [arguments...]
@@ -766,9 +725,7 @@ It is currently only responsible for tone alarm on RC Loss.

 The tasks can be started via CLI or uORB topics (vehicle_command from MAVLink, etc.).

-<a id="send_event_usage"></a>
-
-### 用法
+### Usage {#send_event_usage}

 ```
 send_event <command> [arguments...]
@@ -788,9 +745,7 @@ Source: [modules/simulation/sensor_agp_sim](https://github.com/PX4/PX4-Autopilot

 Module to simulate auxiliary global position measurements with optional failure modes for SIH simulation.

-<a id="sensor_agp_sim_usage"></a>
-
-### 用法
+### Usage {#sensor_agp_sim_usage}

 ```
 sensor_agp_sim <command> [arguments...]
@@ -808,9 +763,7 @@ Source: [modules/simulation/sensor_airspeed_sim](https://github.com/PX4/PX4-Auto

 ### 描述

-<a id="sensor_arispeed_sim_usage"></a>
-
-### 用法
+### Usage {#sensor_arispeed_sim_usage}

 ```
 sensor_arispeed_sim <command> [arguments...]
@@ -828,9 +781,7 @@ Source: [modules/simulation/sensor_baro_sim](https://github.com/PX4/PX4-Autopilo

 ### 描述

-<a id="sensor_baro_sim_usage"></a>
-
-### 用法
+### Usage {#sensor_baro_sim_usage}

 ```
 sensor_baro_sim <command> [arguments...]
@@ -848,9 +799,7 @@ Source: [modules/simulation/sensor_gps_sim](https://github.com/PX4/PX4-Autopilot

 ### 描述

-<a id="sensor_gps_sim_usage"></a>
-
-### 用法
+### Usage {#sensor_gps_sim_usage}

 ```
 sensor_gps_sim <command> [arguments...]
@@ -868,9 +817,7 @@ Source: [modules/simulation/sensor_mag_sim](https://github.com/PX4/PX4-Autopilot

 ### 描述

-<a id="sensor_mag_sim_usage"></a>
-
-### 用法
+### Usage {#sensor_mag_sim_usage}

 ```
 sensor_mag_sim <command> [arguments...]
@@ -891,24 +838,22 @@ Source: [modules/sensors](https://github.com/PX4/PX4-Autopilot/tree/main/src/mod
 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.

-模块提供的功能包括：
+The provided functionality includes:

 - Read the output from the sensor drivers (`SensorGyro`, etc.).
- 如果存在多个同类型传感器，那个模块将进行投票和容错处理。
- 然后应用飞控板的旋转和温度校正（如果被启用）。 And finally publish the data; one of the
+ 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
 topics is `SensorCombined`, used by many parts of the system.
 - Make sure the sensor drivers get the updated calibration parameters (scale & offset) when the parameters change or
- on startup. 传感器驱动使用 ioctl 接口获取参数更新。 For this to work properly, the
+ on startup. The sensor drivers use the ioctl interface for parameter updates. For this to work properly, the
 sensor drivers must already be running when `sensors` is started.
 - Do sensor consistency checks and publish the `SensorsStatusImu` topic.

 ### 实现

-模块运行在它自己的线程中，并轮询当前选定的陀螺仪主题。
+It runs in its own thread and polls on the currently selected gyro topic.

-<a id="sensors_usage"></a>
-
-### 用法
+### Usage {#sensors_usage}

 ```
 sensors <command> [arguments...]
@@ -927,9 +872,7 @@ Source: [modules/simulation/system_power_simulator](https://github.com/PX4/PX4-A

 ### 描述

-<a id="system_power_simulation_usage"></a>
-
-### 用法
+### Usage {#system_power_simulation_usage}

 ```
 system_power_simulation <command> [arguments...]
@@ -949,9 +892,7 @@ Source: [drivers/tattu_can](https://github.com/PX4/PX4-Autopilot/tree/main/src/d

 Driver for reading data from the Tattu 12S 16000mAh smart battery.

-<a id="tattu_can_usage"></a>
-
-### 用法
+### Usage {#tattu_can_usage}

 ```
 tattu_can <command> [arguments...]
@@ -975,9 +916,7 @@ whenever a change in temperature is detected. The module can also be configured
 routine at next boot, which allows the thermal calibration coeffecients to be calculated while the vehicle undergoes
 a temperature cycle.

-<a id="temperature_compensation_usage"></a>
-
-### 用法
+### Usage {#temperature_compensation_usage}

 ```
 temperature_compensation <command> [arguments...]
@@ -1007,9 +946,7 @@ 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.

-<a id="time_persistor_usage"></a>
-
-### 用法
+### Usage {#time_persistor_usage}

 ```
 time_persistor <command> [arguments...]
@@ -1043,9 +980,7 @@ Play system tune #2:
 tune_control play -t 2
 ```

-<a id="tune_control_usage"></a>
-
-### 用法
+### Usage {#tune_control_usage}

 ```
 tune_control <command> [arguments...]
@@ -1081,9 +1016,7 @@ uxrce_dds_client start -t serial -d /dev/ttyS3 -b 921600
 uxrce_dds_client start -t udp -h 127.0.0.1 -p 15555
 ```

-<a id="uxrce_dds_client_usage"></a>
-
-### 用法
+### Usage {#uxrce_dds_client_usage}

 ```
 uxrce_dds_client <command> [arguments...]
@@ -1114,9 +1047,7 @@ Source: [systemcmds/work_queue](https://github.com/PX4/PX4-Autopilot/tree/main/s

 Command-line tool to show work queue status.

-<a id="work_queue_usage"></a>
-
-### 用法
+### Usage {#work_queue_usage}

 ```
 work_queue <command> [arguments...]
@@ -22,9 +22,7 @@ CLI usage example:
 module start -f -p 42
 ```

-<a id="module_usage"></a>
-
-### 用法
+### Usage {#module_usage}

 ```
 module <command> [arguments...]
@@ -47,9 +45,7 @@ Source: [examples/work_item](https://github.com/PX4/PX4-Autopilot/tree/main/src/

 Example of a simple module running out of a work queue.

-<a id="work_item_example_usage"></a>
-
-### 用法
+### Usage {#work_item_example_usage}

 ```
 work_item_example <command> [arguments...]
@@ -58,6 +58,7 @@ To set up/start SIH:
 2. Open QGroundControl and wait for the flight controller too boot and connect.
 3. Open [Vehicle Setup > Airframe](../config/airframe.md) then select the desired frame:
  - [SIH Quadcopter X](../airframes/airframe_reference.md#copter_simulation_sih_quadcopter_x)
+  - SIH Hexacopter X currently only has an airframe for SITL to safe flash so on flight control hardware it has to be manually configured equivalently.
  - [SIH plane AERT](../airframes/airframe_reference.md#plane_simulation_sih_plane_aert)
  - [SIH Tailsitter Duo](../airframes/airframe_reference.md#vtol_simulation_sih_tailsitter_duo)
  - [SIH Standard VTOL QuadPlane](../airframes/airframe_reference.md#vtol_simulation_sih_standard_vtol_quadplane)
@@ -116,25 +117,31 @@ To run SIH as SITL:
 1. Install the [PX4 Development toolchain](../dev_setup/dev_env.md).
 2. Run the appropriate make command for each vehicle type (at the root of the PX4-Autopilot repository):

-  - quadrotor:
+  - Quadcopter

    ```sh
    make px4_sitl sihsim_quadx
    ```

-  - Fixed-wing (plane):
+  - Hexacopter
+
+    ```sh
+    make px4_sitl sihsim_hex
+    ```
+
+  - Fixed-wing (plane)

    ```sh
    make px4_sitl sihsim_airplane
    ```

-  - XVert VTOL tailsitter:
+  - XVert VTOL tailsitter

    ```sh
    make px4_sitl sihsim_xvert
    ```

-  - Standard VTOL:
+  - 标准垂起固定翼

    ```sh
    make px4_sitl sihsim_standard_vtol
@@ -235,7 +242,8 @@ For specific examples see the `_sihsim_` airframes in [ROMFS/px4fmu_common/init.

 The dynamic models for the various vehicles are:

- Quadrotor: [pdf report](https://github.com/PX4/PX4-user_guide/raw/main/assets/simulation/SIH_dynamic_model.pdf).
+- Quadcopter: [pdf report](https://github.com/PX4/PX4-user_guide/raw/main/assets/simulation/SIH_dynamic_model.pdf).
+- Hexacopter: Equivalent to the Quadcopter but with a symmetric hexacopter x actuation setup.
 - Fixed-wing: Inspired by the PhD thesis: "Dynamics modeling of agile fixed-wing unmanned aerial vehicles." Khan, Waqas, supervised by Nahon, Meyer, McGill University, PhD thesis, 2016.
 - Tailsitter: Inspired by the master's thesis: "Modeling and control of a flying wing tailsitter unmanned aerial vehicle." Chiappinelli, Romain, supervised by Nahon, Meyer, McGill University, Masters thesis, 2018.

@@ -12,10 +12,10 @@ See [Toolchain Installation](../dev_setup/dev_env.md) for information about the
 这些工具有来自其社区的不同程度的支持 (有些得到很好的支持，有些则没有) 。
 Questions about these tools should be raised on the [discussion forums](../contribute/support.md#forums-and-chat)

-| 仿真器                                                                    | 描述                                                                                                                                                                                                                                                                                                                                                                                                                 |
-| ---------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
-| [FlightGear](../sim_flightgear/index.md)                               | <p>A simulator that provides physically and visually realistic simulations. In particular it can simulate many weather conditions, including thunderstorms, snow, rain and hail, and can also simulate thermals and different types of atmospheric flows. [Multi-vehicle simulation](../sim_flightgear/multi_vehicle.md) is also supported.</p> <p><strong>Supported Vehicles:</strong> Plane, Autogyro, Rover</p> |
-| [JMAVSim](../sim_jmavsim/index.md)                                     | <p>A simple multirotor/quad simulator. This was previously part of the PX4 development toolchain but was removed in favour of [Gazebo](../sim_gazebo_gz/index.md).</p> <p><strong>Supported Vehicles:</strong> Quad</p>                                                                                                                                                                                            |
-| [JSBSim](../sim_jsbsim/index.md)                                       | <p>A simulator that provides advanced flight dynamics models. This can be used to model realistic flight dynamics based on wind tunnel data.</p> <p><strong>Supported Vehicles:</strong> Plane, Quad, Hex</p>                                                                                                                                                                                                      |
-| [AirSim](../sim_airsim/index.md)                                       | <p>A cross platform simulator that provides physically and visually realistic simulations. This simulator is resource intensive, and requires a very significantly more powerful computer than the other simulators described here.</p><p><strong>Supported Vehicles:</strong> Iris (MultiRotor model and a configuration for PX4 QuadRotor in the X configuration).</p>                                           |
-| [Simulation-In-Hardware](../sim_sih/index.md) (SIH) | <p>An alternative to HITL that offers a hard real-time simulation directly on the hardware autopilot. This simulator is implemented in C++ as a PX4 module directly in the Firmware [code](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/simulator_sih). </p><p><strong>Supported Vehicles:</strong> Plane, Quad, Tailsitter, Standard VTOL</p>                                            |
+| 仿真器                                                                    | 描述                                                                                                                                                                                                                                                                                                                                                                                                                         |
+| ---------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| [Simulation-In-Hardware](../sim_sih/index.md) (SIH) | <p>A simulator implemented in C++ as a PX4 module directly in the Firmware [code](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/simulator_sih). It can be ran in SITL directly on the computer or as an alternative to HITL offering a hard real-time simulation directly on the hardware autopilot.  </p><p><strong>Supported Vehicles:</strong> Quad, Hexa, Plane, Tailsitter, Standard VTOL</p> |
+| [FlightGear](../sim_flightgear/index.md)                               | <p>A simulator that provides physically and visually realistic simulations. In particular it can simulate many weather conditions, including thunderstorms, snow, rain and hail, and can also simulate thermals and different types of atmospheric flows. [Multi-vehicle simulation](../sim_flightgear/multi_vehicle.md) is also supported.</p> <p><strong>Supported Vehicles:</strong> Plane, Autogyro, Rover</p>         |
+| [JMAVSim](../sim_jmavsim/index.md)                                     | <p>A simple multirotor/quad simulator. This was previously part of the PX4 development toolchain but was removed in favour of [Gazebo](../sim_gazebo_gz/index.md).</p> <p><strong>Supported Vehicles:</strong> Quad</p>                                                                                                                                                                                                    |
+| [JSBSim](../sim_jsbsim/index.md)                                       | <p>A simulator that provides advanced flight dynamics models. This can be used to model realistic flight dynamics based on wind tunnel data.</p> <p><strong>Supported Vehicles:</strong> Plane, Quad, Hex</p>                                                                                                                                                                                                              |
+| [AirSim](../sim_airsim/index.md)                                       | <p>A cross platform simulator that provides physically and visually realistic simulations. This simulator is resource intensive, and requires a very significantly more powerful computer than the other simulators described here.</p><p><strong>Supported Vehicles:</strong> Iris (MultiRotor model and a configuration for PX4 QuadRotor in the X configuration).</p>                                                   |