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Docs beginner tutorials update (#26639)

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* docs: module_template.md accuracy fix

* Modernise and Fix up Hello sky example

* Corrections

* Apply suggestions from code review

* Apply suggestions from code review

* Fix up indentation
This commit is contained in:
Hamish Willee
2026-03-05 20:18:57 +11:00
committed by GitHub
parent 19b5292dff
commit 7c4c773858
3 changed files with 72 additions and 58 deletions
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docs/en/modules/module_template.md
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@@ -22,13 +22,15 @@ The example shows how.
In summary:
1. Specify the dependency on the work queue library in the cmake definition file ([CMakeLists.txt](https://github.com/PX4/PX4-Autopilot/blob/main/src/examples/work_item/CMakeLists.txt)):
```
```txt
...
DEPENDS
px4_work_queue
```
1. In addition to `ModuleBase`, the task should also derive from `ScheduledWorkItem` (included from [ScheduledWorkItem.hpp](https://github.com/PX4/PX4-Autopilot/blob/main/platforms/common/include/px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp))
1. Specify the queue to add the task to in the constructor initialisation.
2. In addition to `ModuleBase`, the task should also derive from `ScheduledWorkItem` (included from [ScheduledWorkItem.hpp](https://github.com/PX4/PX4-Autopilot/blob/main/platforms/common/include/px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp))
3. Specify the queue to add the task to in the constructor initialisation.
The [work_item](https://github.com/PX4/PX4-Autopilot/blob/main/src/examples/work_item/WorkItemExample.cpp#L42) example adds itself to the `wq_configurations::test1` work queue as shown below:
```cpp
@@ -43,9 +45,11 @@ In summary:
The available work queues (`wq_configurations`) are listed in [WorkQueueManager.hpp](https://github.com/PX4/PX4-Autopilot/blob/main/platforms/common/include/px4_platform_common/px4_work_queue/WorkQueueManager.hpp#L49).
:::
1. Implement the `ScheduledWorkItem::Run()` method to perform "work".
1. Implement the `task_spawn` method, specifying that the task is a work queue (using the `task_id_is_work_queue` id.
1. Schedule the work queue task using one of the scheduling methods (in the example we use `ScheduleOnInterval` from within the `init` method).
4. Implement the `ScheduledWorkItem::Run()` method to perform "work".
5. Implement the `task_spawn` method, specifying that the task is a work queue (using the `task_id_is_work_queue` id).
6. Schedule the work queue task using one of the scheduling methods.
In the example, `init()` calls `registerCallback()` on a uORB subscription so that `Run()` is triggered whenever a new `sensor_accel` message is published.
`ScheduleOnInterval` is an alternative for fixed-rate scheduling.
## Tasks
@@ -61,6 +65,6 @@ The template demonstrates the following additional features/aspects that are req
[startup script](../concept/system_startup.md).
- Command-line argument parsing.
- Documentation: the `PRINT_MODULE_*` methods serve two purposes (the API is
documented [in the source code](https://github.com/PX4/PX4-Autopilot/blob/v1.8.0/src/platforms/px4_module.h#L381)):
documented [in the source code](https://github.com/PX4/PX4-Autopilot/blob/v1.17/platforms/common/include/px4_platform_common/module.h)):
- They are used to print the command-line usage when entering `module help` on the console.
- They are automatically extracted via script to generate the [Modules & Commands Reference](../modules/modules_main.md) page.