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Move PX4 Guide source into /docs (#24490)
* Add vitepress tree * Update existing workflows so they dont trigger on changes in the docs path * Add nojekyll, package.json, LICENCE etc * Add crowdin docs upload/download scripts * Add docs flaw checker workflows * Used docs prefix for docs workflows * Crowdin obvious fixes * ci: docs move to self hosted runner runs on a beefy server for faster builds Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: don't run build action for docs or ci changes Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: update runners Signed-off-by: Ramon Roche <mrpollo@gmail.com> * Add docs/en * Add docs assets and scripts * Fix up editlinks to point to PX4 sources * Download just the translations that are supported * Add translation sources for zh, uk, ko * Update latest tranlsation and uorb graphs * update vitepress to latest --------- Signed-off-by: Ramon Roche <mrpollo@gmail.com> Co-authored-by: Ramon Roche <mrpollo@gmail.com>
This commit is contained in:
Hamish Willee
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Ramon Roche
Ramon Roche
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commit
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@@ -0,0 +1,546 @@
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# First Application Tutorial (Hello Sky)
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This topic explains how to create and run your first onboard application.
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It covers all the basic concepts and APIs required for app development on PX4.
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::: info
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For simplicity, more advanced features like start/stop functionality and command-line arguments are omitted.
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These are covered in [Application/Module Template](../modules/module_template.md).
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:::
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## Prerequisites
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You will require the following:
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- [PX4 SITL Simulator](../simulation/index.md) _or_ a [PX4-compatible flight controller](../flight_controller/index.md).
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- [PX4 Development Toolchain](../dev_setup/dev_env.md) for the desired target.
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- [Download the PX4 Source Code](../dev_setup/building_px4.md#download-the-px4-source-code) from Github
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The source code [PX4-Autopilot/src/examples/px4_simple_app](https://github.com/PX4/PX4-Autopilot/tree/main/src/examples/px4_simple_app) directory contains a completed version of this tutorial that you can review if you get stuck.
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- Rename (or delete) the **px4_simple_app** directory.
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## Minimal Application
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In this section we create a _minimal application_ that just prints out `Hello Sky!`.
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This consists of a single _C_ file and a _cmake_ definition (which tells the toolchain how to build the application).
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1. Create a new directory **PX4-Autopilot/src/examples/px4_simple_app**.
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1. Create a new C file in that directory named **px4_simple_app.c**:
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- Copy in the default header to the top of the page.
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This should be present in all contributed files!
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```c
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/****************************************************************************
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*
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* Copyright (c) 2012-2022 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
|
||||
* are met:
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||||
*
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||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
|
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* used to endorse or promote products derived from this software
|
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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```
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- Copy the following code below the default header.
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This should be present in all contributed files!
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```c
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/**
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* @file px4_simple_app.c
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* Minimal application example for PX4 autopilot
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*
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* @author Example User <mail@example.com>
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*/
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#include <px4_platform_common/log.h>
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__EXPORT int px4_simple_app_main(int argc, char *argv[]);
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int px4_simple_app_main(int argc, char *argv[])
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{
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PX4_INFO("Hello Sky!");
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return OK;
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}
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```
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:::tip
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The main function must be named `<module_name>_main` and exported from the module as shown.
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:::
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:::tip
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`PX4_INFO` is the equivalent of `printf` for the PX4 shell (included from **px4_platform_common/log.h**).
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There are different log levels: `PX4_INFO`, `PX4_WARN`, `PX4_ERR`, `PX4_DEBUG`.
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Warnings and errors are additionally added to the [ULog](../dev_log/ulog_file_format.md) and shown on [Flight Review](https://logs.px4.io/).
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:::
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1. Create and open a new _cmake_ definition file named **CMakeLists.txt**.
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Copy in the text below:
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```cmake
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############################################################################
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#
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# Copyright (c) 2015 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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||||
# notice, this list of conditions and the following disclaimer.
|
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# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
|
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# used to endorse or promote products derived from this software
|
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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px4_add_module(
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MODULE examples__px4_simple_app
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MAIN px4_simple_app
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STACK_MAIN 2000
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SRCS
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px4_simple_app.c
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DEPENDS
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)
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```
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The `px4_add_module()` method builds a static library from a module description.
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- The `MODULE` block is the Firmware-unique name of the module (by convention the module name is prefixed by parent directories back to `src`).
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- The `MAIN` block lists the entry point of the module, which registers the command with NuttX so that it can be called from the PX4 shell or SITL console.
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:::tip
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The `px4_add_module()` format is documented in [PX4-Autopilot/cmake/px4_add_module.cmake](https://github.com/PX4/PX4-Autopilot/blob/main/cmake/px4_add_module.cmake). <!-- NEED px4_version -->
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:::
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::: info
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If you specify `DYNAMIC` as an option to `px4_add_module`, a _shared library_ is created instead of a static library on POSIX platforms (these can be loaded without having to recompile PX4, and shared to others as binaries rather than source code).
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Your app will not become a builtin command, but ends up in a separate file called `examples__px4_simple_app.px4mod`.
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You can then run your command by loading the file at runtime using the `dyn` command: `dyn ./examples__px4_simple_app.px4mod`
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:::
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1. Create and open a new _Kconfig_ definition file named **Kconfig** and define your symbol for naming (see [Kconfig naming convention](../hardware/porting_guide_config.md#px4-kconfig-symbol-naming-convention)).
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Copy in the text below:
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```
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menuconfig EXAMPLES_PX4_SIMPLE_APP
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bool "px4_simple_app"
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default n
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---help---
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Enable support for px4_simple_app
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```
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## Build the Application/Firmware
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The application is now complete.
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In order to run it you first need to make sure that it is built as part of PX4.
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Applications are added to the build/firmware in the appropriate board-level _px4board_ file for your target:
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- PX4 SITL (Simulator): [PX4-Autopilot/boards/px4/sitl/default.px4board](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/sitl/default.px4board)
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- Pixhawk v1/2: [PX4-Autopilot/boards/px4/fmu-v2/default.px4board](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v2/default.px4board)
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- Pixracer (px4/fmu-v4): [PX4-Autopilot/boards/px4/fmu-v4/default.px4board](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v4/default.px4board)
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- _px4board_ files for other boards can be found in [PX4-Autopilot/boards/](https://github.com/PX4/PX4-Autopilot/tree/main/boards)
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To enable the compilation of the application into the firmware add the corresponding Kconfig key `CONFIG_EXAMPLES_PX4_SIMPLE_APP=y` in the _px4board_ file or run [boardconfig](../hardware/porting_guide_config.md#px4-menuconfig-setup) `make px4_fmu-v4_default boardconfig`:
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```
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examples --->
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[x] PX4 Simple app ----
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```
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::: info
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The line will already be present for most files, because the examples are included in firmware by default.
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:::
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Build the example using the board-specific command:
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- jMAVSim Simulator: `make px4_sitl_default jmavsim`
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- Pixhawk v1/2: `make px4_fmu-v2_default` (or just `make px4_fmu-v2`)
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- Pixhawk v3: `make px4_fmu-v4_default`
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- Other boards: [Building the Code](../dev_setup/building_px4.md#building-for-nuttx)
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## Test App (Hardware)
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### Upload the firmware to your board
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Enable the uploader and then reset the board:
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- Pixhawk v1/2: `make px4_fmu-v2_default upload`
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- Pixhawk v3: `make px4_fmu-v4_default upload`
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It should print before you reset the board a number of compile messages and at the end:
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```sh
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Loaded firmware for X,X, waiting for the bootloader...
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```
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Once the board is reset, and uploads, it prints:
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```sh
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Erase : [====================] 100.0%
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Program: [====================] 100.0%
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Verify : [====================] 100.0%
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Rebooting.
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[100%] Built target upload
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```
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### Connect the Console
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Now connect to the [system console](../debug/system_console.md) either via serial or USB.
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Hitting **ENTER** will bring up the shell prompt:
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```sh
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nsh>
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```
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Type ''help'' and hit ENTER
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```sh
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nsh> help
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help usage: help [-v] [<cmd>]
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[ df kill mkfifo ps sleep
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? echo losetup mkrd pwd test
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cat exec ls mh rm umount
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cd exit mb mount rmdir unset
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cp free mkdir mv set usleep
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dd help mkfatfs mw sh xd
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Builtin Apps:
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reboot
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perf
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top
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..
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px4_simple_app
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..
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sercon
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serdis
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```
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Note that `px4_simple_app` is now part of the available commands.
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Start it by typing `px4_simple_app` and ENTER:
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```sh
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nsh> px4_simple_app
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Hello Sky!
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```
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The application is now correctly registered with the system and can be extended to actually perform useful tasks.
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## Test App (SITL)
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If you're using SITL the _PX4 console_ is automatically started (see [Building the Code > First Build (Using a Simulator)](../dev_setup/building_px4.md#first-build-using-a-simulator)).
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As with the _nsh console_ (see previous section) you can type `help` to see the list of built-in apps.
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Enter `px4_simple_app` to run the minimal app.
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```sh
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pxh> px4_simple_app
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INFO [px4_simple_app] Hello Sky!
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```
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The application can now be extended to actually perform useful tasks.
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## Subscribing to Sensor Data
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To do something useful, the application needs to subscribe inputs and publish outputs (e.g. motor or servo commands).
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:::tip
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The benefits of the PX4 hardware abstraction comes into play here!
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There is no need to interact in any way with sensor drivers and no need to update your app if the board or sensors are updated.
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:::
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Individual message channels between applications are called [topics](../middleware/uorb.md). For this tutorial, we are interested in the [SensorCombined](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorCombined.msg) topic, which holds the synchronized sensor data of the complete system.
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Subscribing to a topic is straightforward:
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```cpp
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#include <uORB/topics/sensor_combined.h>
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..
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int sensor_sub_fd = orb_subscribe(ORB_ID(sensor_combined));
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```
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The `sensor_sub_fd` is a topic handle and can be used to very efficiently perform a blocking wait for new data.
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The current thread goes to sleep and is woken up automatically by the scheduler once new data is available, not consuming any CPU cycles while waiting.
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To do this, we use the [poll()](http://pubs.opengroup.org/onlinepubs/007908799/xsh/poll.html) POSIX system call.
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Adding `poll()` to the subscription looks like (_pseudocode, look for the full implementation below_):
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```cpp
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#include <poll.h>
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#include <uORB/topics/sensor_combined.h>
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..
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int sensor_sub_fd = orb_subscribe(ORB_ID(sensor_combined));
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/* one could wait for multiple topics with this technique, just using one here */
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px4_pollfd_struct_t fds[] = {
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{ .fd = sensor_sub_fd, .events = POLLIN },
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};
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while (true) {
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/* wait for sensor update of 1 file descriptor for 1000 ms (1 second) */
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int poll_ret = px4_poll(fds, 1, 1000);
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..
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if (fds[0].revents & POLLIN) {
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/* obtained data for the first file descriptor */
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struct sensor_combined_s raw;
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/* copy sensors raw data into local buffer */
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orb_copy(ORB_ID(sensor_combined), sensor_sub_fd, &raw);
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PX4_INFO("Accelerometer:\t%8.4f\t%8.4f\t%8.4f",
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(double)raw.accelerometer_m_s2[0],
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(double)raw.accelerometer_m_s2[1],
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(double)raw.accelerometer_m_s2[2]);
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}
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}
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```
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|
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Compile the app again by entering:
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```sh
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make
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```
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### Testing the uORB Subscription
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The final step is to start your application as a background process/task by typing the following in the nsh shell:
|
||||
|
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```sh
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px4_simple_app &
|
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```
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||||
|
||||
Your app will display 5 sensor values in the console and then exit:
|
||||
|
||||
```sh
|
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[px4_simple_app] Accelerometer: 0.0483 0.0821 0.0332
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[px4_simple_app] Accelerometer: 0.0486 0.0820 0.0336
|
||||
[px4_simple_app] Accelerometer: 0.0487 0.0819 0.0327
|
||||
[px4_simple_app] Accelerometer: 0.0482 0.0818 0.0323
|
||||
[px4_simple_app] Accelerometer: 0.0482 0.0827 0.0331
|
||||
[px4_simple_app] Accelerometer: 0.0489 0.0804 0.0328
|
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```
|
||||
|
||||
:::tip
|
||||
The [Module Template for Full Applications](../modules/module_template.md) can be used to write background process that can be controlled from the command line.
|
||||
:::
|
||||
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## Publishing Data
|
||||
|
||||
To use the calculated outputs, the next step is to _publish_ the results.
|
||||
Below we show how to publish the attitude topic.
|
||||
|
||||
::: info
|
||||
We've chosen `attitude` because we know that the _mavlink_ app forwards it to the ground control station - providing an easy way to look at the results.
|
||||
:::
|
||||
|
||||
The interface is pretty simple: initialize the `struct` of the topic to be published and advertise the topic:
|
||||
|
||||
```c
|
||||
#include <uORB/topics/vehicle_attitude.h>
|
||||
..
|
||||
/* advertise attitude topic */
|
||||
struct vehicle_attitude_s att;
|
||||
memset(&att, 0, sizeof(att));
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||||
orb_advert_t att_pub_fd = orb_advertise(ORB_ID(vehicle_attitude), &att);
|
||||
```
|
||||
|
||||
In the main loop, publish the information whenever its ready:
|
||||
|
||||
```c
|
||||
orb_publish(ORB_ID(vehicle_attitude), att_pub_fd, &att);
|
||||
```
|
||||
|
||||
## Full Example Code
|
||||
|
||||
The [complete example code](https://github.com/PX4/PX4-Autopilot/blob/main/src/examples/px4_simple_app/px4_simple_app.c) is now:
|
||||
|
||||
```c
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012-2019 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file px4_simple_app.c
|
||||
* Minimal application example for PX4 autopilot
|
||||
*
|
||||
* @author Example User <mail@example.com>
|
||||
*/
|
||||
|
||||
#include <px4_platform_common/px4_config.h>
|
||||
#include <px4_platform_common/tasks.h>
|
||||
#include <px4_platform_common/posix.h>
|
||||
#include <unistd.h>
|
||||
#include <stdio.h>
|
||||
#include <poll.h>
|
||||
#include <string.h>
|
||||
#include <math.h>
|
||||
|
||||
#include <uORB/uORB.h>
|
||||
#include <uORB/topics/sensor_combined.h>
|
||||
#include <uORB/topics/vehicle_attitude.h>
|
||||
|
||||
__EXPORT int px4_simple_app_main(int argc, char *argv[]);
|
||||
|
||||
int px4_simple_app_main(int argc, char *argv[])
|
||||
{
|
||||
PX4_INFO("Hello Sky!");
|
||||
|
||||
/* subscribe to sensor_combined topic */
|
||||
int sensor_sub_fd = orb_subscribe(ORB_ID(sensor_combined));
|
||||
/* limit the update rate to 5 Hz */
|
||||
orb_set_interval(sensor_sub_fd, 200);
|
||||
|
||||
/* advertise attitude topic */
|
||||
struct vehicle_attitude_s att;
|
||||
memset(&att, 0, sizeof(att));
|
||||
orb_advert_t att_pub = orb_advertise(ORB_ID(vehicle_attitude), &att);
|
||||
|
||||
/* one could wait for multiple topics with this technique, just using one here */
|
||||
px4_pollfd_struct_t fds[] = {
|
||||
{ .fd = sensor_sub_fd, .events = POLLIN },
|
||||
/* there could be more file descriptors here, in the form like:
|
||||
* { .fd = other_sub_fd, .events = POLLIN },
|
||||
*/
|
||||
};
|
||||
|
||||
int error_counter = 0;
|
||||
|
||||
for (int i = 0; i < 5; i++) {
|
||||
/* wait for sensor update of 1 file descriptor for 1000 ms (1 second) */
|
||||
int poll_ret = px4_poll(fds, 1, 1000);
|
||||
|
||||
/* handle the poll result */
|
||||
if (poll_ret == 0) {
|
||||
/* this means none of our providers is giving us data */
|
||||
PX4_ERR("Got no data within a second");
|
||||
|
||||
} else if (poll_ret < 0) {
|
||||
/* this is seriously bad - should be an emergency */
|
||||
if (error_counter < 10 || error_counter % 50 == 0) {
|
||||
/* use a counter to prevent flooding (and slowing us down) */
|
||||
PX4_ERR("ERROR return value from poll(): %d", poll_ret);
|
||||
}
|
||||
|
||||
error_counter++;
|
||||
|
||||
} else {
|
||||
|
||||
if (fds[0].revents & POLLIN) {
|
||||
/* obtained data for the first file descriptor */
|
||||
struct sensor_combined_s raw;
|
||||
/* copy sensors raw data into local buffer */
|
||||
orb_copy(ORB_ID(sensor_combined), sensor_sub_fd, &raw);
|
||||
PX4_INFO("Accelerometer:\t%8.4f\t%8.4f\t%8.4f",
|
||||
(double)raw.accelerometer_m_s2[0],
|
||||
(double)raw.accelerometer_m_s2[1],
|
||||
(double)raw.accelerometer_m_s2[2]);
|
||||
|
||||
/* set att and publish this information for other apps
|
||||
the following does not have any meaning, it's just an example
|
||||
*/
|
||||
att.q[0] = raw.accelerometer_m_s2[0];
|
||||
att.q[1] = raw.accelerometer_m_s2[1];
|
||||
att.q[2] = raw.accelerometer_m_s2[2];
|
||||
|
||||
orb_publish(ORB_ID(vehicle_attitude), att_pub, &att);
|
||||
}
|
||||
|
||||
/* there could be more file descriptors here, in the form like:
|
||||
* if (fds[1..n].revents & POLLIN) {}
|
||||
*/
|
||||
}
|
||||
}
|
||||
|
||||
PX4_INFO("exiting");
|
||||
|
||||
return 0;
|
||||
}
|
||||
```
|
||||
|
||||
## Running the Complete Example
|
||||
|
||||
And finally run your app:
|
||||
|
||||
```sh
|
||||
px4_simple_app
|
||||
```
|
||||
|
||||
If you start _QGroundControl_, you can check the sensor values in the real time plot ([Analyze > MAVLink Inspector](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/analyze_view/mavlink_inspector.html)).
|
||||
|
||||
## Wrap-Up
|
||||
|
||||
This tutorial covered everything needed to develop a basic PX4 autopilot application.
|
||||
Keep in mind that the full list of uORB messages/topics is [available here](https://github.com/PX4/PX4-Autopilot/tree/main/msg/) and that the headers are well documented and serve as reference.
|
||||
|
||||
Further information and troubleshooting/common pitfalls can be found here: [uORB](../middleware/uorb.md).
|
||||
|
||||
The next page presents a template for writing a full application with start and stop functionality.
|
||||
@@ -0,0 +1,6 @@
|
||||
<Redirect to="modules_main" />
|
||||
|
||||
# Modules
|
||||
|
||||
This is a placholder for modules docs.
|
||||
Built but not in sidebar.
|
||||
@@ -0,0 +1,67 @@
|
||||
# Module Template for Full Applications
|
||||
|
||||
An application can be written to run as either a *task* (a module with its own stack and process priority) or as a *work queue task* (a module that runs on a work queue thread, sharing the stack and thread priority with other tasks on the work queue).
|
||||
In most cases a work queue task can be used, as this minimizes resource usage.
|
||||
|
||||
::: info
|
||||
[Architectural Overview > Runtime Environment](../concept/architecture.md#runtime-environment) provides more information about tasks and work queue tasks.
|
||||
:::
|
||||
|
||||
::: info
|
||||
All the things learned in the [First Application Tutorial](../modules/hello_sky.md) are relevant for writing a full application.
|
||||
:::
|
||||
|
||||
## Work Queue Task
|
||||
|
||||
PX4-Autopilot contains a template for writing a new application (module) that runs as a *work queue task*:
|
||||
[src/examples/work_item](https://github.com/PX4/PX4-Autopilot/tree/main/src/examples/work_item).
|
||||
|
||||
A work queue task application is just the same as an ordinary (task) application, except that it needs to specify that it is a work queue task, and schedule itself to run during initialisation.
|
||||
|
||||
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)):
|
||||
```
|
||||
...
|
||||
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.
|
||||
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
|
||||
WorkItemExample::WorkItemExample() :
|
||||
ModuleParams(nullptr),
|
||||
ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::test1)
|
||||
{
|
||||
}
|
||||
```
|
||||
|
||||
::: info
|
||||
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).
|
||||
|
||||
|
||||
|
||||
## Tasks
|
||||
|
||||
PX4/PX4-Autopilot contains a template for writing a new application (module) that runs as a task on its own stack:
|
||||
[src/templates/template_module](https://github.com/PX4/PX4-Autopilot/tree/main/src/templates/template_module).
|
||||
|
||||
The template demonstrates the following additional features/aspects that are required or are useful for a full application:
|
||||
|
||||
- Accessing parameters and reacting to parameter updates.
|
||||
- uORB subscriptions and waiting for topic updates.
|
||||
- Controlling the task that runs in the background via `start`/`stop`/`status`.
|
||||
The `module start [<arguments>]` command can then be directly added to the
|
||||
[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)):
|
||||
- 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.
|
||||
|
||||
@@ -0,0 +1,39 @@
|
||||
# Modules Reference: Autotune
|
||||
|
||||
## fw_autotune_attitude_control
|
||||
Source: [modules/fw_autotune_attitude_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/fw_autotune_attitude_control)
|
||||
|
||||
|
||||
### Description
|
||||
|
||||
|
||||
<a id="fw_autotune_attitude_control_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
fw_autotune_attitude_control <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[vtol] VTOL mode
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## mc_autotune_attitude_control
|
||||
Source: [modules/mc_autotune_attitude_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mc_autotune_attitude_control)
|
||||
|
||||
|
||||
### Description
|
||||
|
||||
|
||||
<a id="mc_autotune_attitude_control_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
mc_autotune_attitude_control <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
@@ -0,0 +1,626 @@
|
||||
# Modules Reference: Command
|
||||
|
||||
## actuator_test
|
||||
Source: [systemcmds/actuator_test](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/actuator_test)
|
||||
|
||||
|
||||
Utility to test actuators.
|
||||
|
||||
WARNING: remove all props before using this command.
|
||||
|
||||
<a id="actuator_test_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
actuator_test <command> [arguments...]
|
||||
Commands:
|
||||
set Set an actuator to a specific output value
|
||||
|
||||
The actuator can be specified by motor, servo or function directly:
|
||||
[-m <val>] Motor to test (1...8)
|
||||
[-s <val>] Servo to test (1...8)
|
||||
[-f <val>] Specify function directly
|
||||
-v <val> value (-1...1)
|
||||
[-t <val>] Timeout in seconds (run interactive if not set)
|
||||
default: 0
|
||||
|
||||
iterate-motors Iterate all motors starting and stopping one after the other
|
||||
|
||||
iterate-servos Iterate all servos deflecting one after the other
|
||||
```
|
||||
## bl_update
|
||||
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>
|
||||
### Usage
|
||||
```
|
||||
bl_update [arguments...]
|
||||
setopt Set option bits to unlock the FLASH (only needed if in locked
|
||||
state)
|
||||
|
||||
<file> Bootloader bin file
|
||||
```
|
||||
## bsondump
|
||||
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>
|
||||
### Usage
|
||||
```
|
||||
bsondump [arguments...]
|
||||
<file> The BSON file to decode and print.
|
||||
```
|
||||
## dumpfile
|
||||
Source: [systemcmds/dumpfile](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/dumpfile)
|
||||
|
||||
Dump file utility. Prints file size and contents in binary mode (don't replace LF with CR LF) to stdout.
|
||||
<a id="dumpfile_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
dumpfile [arguments...]
|
||||
<file> File to dump
|
||||
```
|
||||
## dyn
|
||||
Source: [systemcmds/dyn](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/dyn)
|
||||
|
||||
|
||||
### Description
|
||||
Load and run a dynamic PX4 module, which was not compiled into the PX4 binary.
|
||||
|
||||
### Example
|
||||
```
|
||||
dyn ./hello.px4mod start
|
||||
```
|
||||
|
||||
|
||||
<a id="dyn_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
dyn [arguments...]
|
||||
<file> File containing the module
|
||||
[arguments...] Arguments to the module
|
||||
```
|
||||
## failure
|
||||
Source: [systemcmds/failure](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/failure)
|
||||
|
||||
|
||||
### Description
|
||||
Inject failures into system.
|
||||
|
||||
### Implementation
|
||||
This system command sends a vehicle command over uORB to trigger failure.
|
||||
|
||||
### Examples
|
||||
Test the GPS failsafe by stopping GPS:
|
||||
|
||||
failure gps off
|
||||
|
||||
<a id="failure_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
failure [arguments...]
|
||||
help Show this help text
|
||||
|
||||
gps|... Specify component
|
||||
|
||||
ok|off|... Specify failure type
|
||||
[-i <val>] sensor instance (0=all)
|
||||
default: 0
|
||||
```
|
||||
## gpio
|
||||
Source: [systemcmds/gpio](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/gpio)
|
||||
|
||||
|
||||
### Description
|
||||
This command is used to read and write GPIOs
|
||||
```
|
||||
gpio read <PORT><PIN>/<DEVICE> [PULLDOWN|PULLUP] [--force]
|
||||
gpio write <PORT><PIN>/<DEVICE> <VALUE> [PUSHPULL|OPENDRAIN] [--force]
|
||||
```
|
||||
|
||||
### Examples
|
||||
Read the value on port H pin 4 configured as pullup, and it is high
|
||||
```
|
||||
gpio read H4 PULLUP
|
||||
```
|
||||
1 OK
|
||||
|
||||
Set the output value on Port E pin 7 to high
|
||||
```
|
||||
gpio write E7 1 --force
|
||||
```
|
||||
|
||||
Set the output value on device /dev/gpio1 to high
|
||||
```
|
||||
gpio write /dev/gpio1 1
|
||||
```
|
||||
|
||||
|
||||
<a id="gpio_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
gpio [arguments...]
|
||||
read
|
||||
<PORT><PIN>/<DEVICE> GPIO port and pin or device
|
||||
[PULLDOWN|PULLUP] Pulldown/Pullup
|
||||
[--force] Force (ignore board gpio list)
|
||||
|
||||
write
|
||||
<PORT> <PIN> GPIO port and pin
|
||||
<VALUE> Value to write
|
||||
[PUSHPULL|OPENDRAIN] Pushpull/Opendrain
|
||||
[--force] Force (ignore board gpio list)
|
||||
```
|
||||
## hardfault_log
|
||||
Source: [systemcmds/hardfault_log](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/hardfault_log)
|
||||
|
||||
Hardfault utility
|
||||
|
||||
Used in startup scripts to handle hardfaults
|
||||
|
||||
<a id="hardfault_log_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
hardfault_log <command> [arguments...]
|
||||
Commands:
|
||||
check Check if there's an uncommitted hardfault
|
||||
|
||||
rearm Drop an uncommitted hardfault
|
||||
|
||||
fault Generate a hardfault (this command crashes the system :)
|
||||
[0|1|2|3] Hardfault type: 0=divide by 0, 1=Assertion, 2=jump to 0x0,
|
||||
3=write to 0x0 (default=0)
|
||||
|
||||
commit Write uncommitted hardfault to /fs/microsd/fault_%i.txt (and
|
||||
rearm, but don't reset)
|
||||
|
||||
count Read the reboot counter, counts the number of reboots of an
|
||||
uncommitted hardfault (returned as the exit code of the
|
||||
program)
|
||||
|
||||
reset Reset the reboot counter
|
||||
```
|
||||
## hist
|
||||
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>
|
||||
### Usage
|
||||
```
|
||||
hist [arguments...]
|
||||
```
|
||||
## i2cdetect
|
||||
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>
|
||||
### Usage
|
||||
```
|
||||
i2cdetect [arguments...]
|
||||
[-b <val>] I2C bus
|
||||
default: 1
|
||||
```
|
||||
## led_control
|
||||
Source: [systemcmds/led_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/led_control)
|
||||
|
||||
|
||||
### Description
|
||||
Command-line tool to control & test the (external) LED's.
|
||||
|
||||
To use it make sure there's a driver running, which handles the led_control uorb topic.
|
||||
|
||||
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.
|
||||
|
||||
### Examples
|
||||
Blink the first LED 5 times in blue:
|
||||
```
|
||||
led_control blink -c blue -l 0 -n 5
|
||||
```
|
||||
|
||||
|
||||
<a id="led_control_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
led_control <command> [arguments...]
|
||||
Commands:
|
||||
test Run a test pattern
|
||||
|
||||
on Turn LED on
|
||||
|
||||
off Turn LED off
|
||||
|
||||
reset Reset LED priority
|
||||
|
||||
blink Blink LED N times
|
||||
[-n <val>] Number of blinks
|
||||
default: 3
|
||||
[-s <val>] Set blinking speed
|
||||
values: fast|normal|slow, default: normal
|
||||
|
||||
breathe Continuously fade LED in & out
|
||||
|
||||
flash Two fast blinks and then off with frequency of 1Hz
|
||||
|
||||
The following arguments apply to all of the above commands except for 'test':
|
||||
[-c <val>] color
|
||||
values: red|blue|green|yellow|purple|amber|cyan|white, default:
|
||||
white
|
||||
[-l <val>] Which LED to control: 0, 1, 2, ... (default=all)
|
||||
[-p <val>] Priority
|
||||
default: 2
|
||||
```
|
||||
## listener
|
||||
Source: [systemcmds/topic_listener](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/topic_listener)
|
||||
|
||||
|
||||
Utility to listen on uORB topics and print the data to the console.
|
||||
|
||||
The listener can be exited any time by pressing Ctrl+C, Esc, or Q.
|
||||
|
||||
<a id="listener_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
listener <command> [arguments...]
|
||||
Commands:
|
||||
<topic_name> uORB topic name
|
||||
[-i <val>] Topic instance
|
||||
default: 0
|
||||
[-n <val>] Number of messages
|
||||
default: 1
|
||||
[-r <val>] Subscription rate (unlimited if 0)
|
||||
default: 0
|
||||
```
|
||||
## mfd
|
||||
Source: [systemcmds/mft](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/mft)
|
||||
|
||||
Utility interact with the manifest
|
||||
<a id="mfd_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
mfd <command> [arguments...]
|
||||
Commands:
|
||||
query Returns true if not existed
|
||||
```
|
||||
## mft_cfg
|
||||
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>
|
||||
### Usage
|
||||
```
|
||||
mft_cfg <command> [arguments...]
|
||||
Commands:
|
||||
get get manifest configuration
|
||||
|
||||
set set manifest configuration
|
||||
|
||||
reset reset manifest configuration
|
||||
hwver|hwrev Select type: MTD_MTF_VER|MTD_MTF_REV
|
||||
-i <val> argument to set extended hardware id (id == version for
|
||||
<hwver>, id == revision for <hwrev> )
|
||||
```
|
||||
## mtd
|
||||
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>
|
||||
### Usage
|
||||
```
|
||||
mtd <command> [arguments...]
|
||||
Commands:
|
||||
status Print status information
|
||||
|
||||
readtest Perform read test
|
||||
|
||||
rwtest Perform read-write test
|
||||
|
||||
erase Erase partition(s)
|
||||
|
||||
The commands 'readtest' and 'rwtest' have an optional instance index:
|
||||
[-i <val>] storage index (if the board has multiple storages)
|
||||
default: 0
|
||||
|
||||
The commands 'readtest', 'rwtest' and 'erase' have an optional parameter:
|
||||
[<partition_name1> [<partition_name2> ...]] Partition names (eg.
|
||||
/fs/mtd_params), use system default if not provided
|
||||
```
|
||||
## nshterm
|
||||
Source: [systemcmds/nshterm](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/nshterm)
|
||||
|
||||
Start an NSH shell on a given port.
|
||||
|
||||
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>
|
||||
### Usage
|
||||
```
|
||||
nshterm [arguments...]
|
||||
<file:dev> Device on which to start the shell (eg. /dev/ttyACM0)
|
||||
```
|
||||
## param
|
||||
Source: [systemcmds/param](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/param)
|
||||
|
||||
|
||||
### Description
|
||||
Command to access and manipulate parameters via shell or script.
|
||||
|
||||
This is used for example in the startup script to set airframe-specific parameters.
|
||||
|
||||
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.
|
||||
|
||||
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.
|
||||
|
||||
### Examples
|
||||
Change the airframe and make sure the airframe's default parameters are loaded:
|
||||
```
|
||||
param set SYS_AUTOSTART 4001
|
||||
param set SYS_AUTOCONFIG 1
|
||||
reboot
|
||||
```
|
||||
|
||||
<a id="param_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
param <command> [arguments...]
|
||||
Commands:
|
||||
load Load params from a file (overwrite all)
|
||||
[<file>] File name (use default if not given)
|
||||
|
||||
import Import params from a file
|
||||
[<file>] File name (use default if not given)
|
||||
|
||||
save Save params to a file
|
||||
[<file>] File name (use default if not given)
|
||||
|
||||
select Select default file
|
||||
[<file>] File name
|
||||
|
||||
select-backup Select default file
|
||||
[<file>] File name
|
||||
|
||||
show Show parameter values
|
||||
[-a] Show all parameters (not just used)
|
||||
[-c] Show only changed params (unused too)
|
||||
[-q] quiet mode, print only param value (name needs to be exact)
|
||||
[<filter>] Filter by param name (wildcard at end allowed, eg. sys_*)
|
||||
|
||||
show-for-airframe Show changed params for airframe config
|
||||
|
||||
status Print status of parameter system
|
||||
|
||||
set Set parameter to a value
|
||||
<param_name> <value> Parameter name and value to set
|
||||
[fail] If provided, let the command fail if param is not found
|
||||
|
||||
set-default Set parameter default to a value
|
||||
[-s] If provided, silent errors if parameter doesn't exists
|
||||
<param_name> <value> Parameter name and value to set
|
||||
[fail] If provided, let the command fail if param is not found
|
||||
|
||||
compare Compare a param with a value. Command will succeed if equal
|
||||
[-s] If provided, silent errors if parameter doesn't exists
|
||||
<param_name> <value> Parameter name and value to compare
|
||||
|
||||
greater Compare a param with a value. Command will succeed if param is
|
||||
greater than the value
|
||||
[-s] If provided, silent errors if parameter doesn't exists
|
||||
<param_name> <value> Parameter name and value to compare
|
||||
<param_name> <value> Parameter name and value to compare
|
||||
|
||||
touch Mark a parameter as used
|
||||
[<param_name1> [<param_name2>]] Parameter name (one or more)
|
||||
|
||||
reset Reset only specified params to default
|
||||
[<param1> [<param2>]] Parameter names to reset (wildcard at end allowed)
|
||||
|
||||
reset_all Reset all params to default
|
||||
[<exclude1> [<exclude2>]] Do not reset matching params (wildcard at end
|
||||
allowed)
|
||||
|
||||
index Show param for a given index
|
||||
<index> Index: an integer >= 0
|
||||
|
||||
index_used Show used param for a given index
|
||||
<index> Index: an integer >= 0
|
||||
|
||||
find Show index of a param
|
||||
<param> param name
|
||||
```
|
||||
## payload_deliverer
|
||||
Source: [modules/payload_deliverer](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/payload_deliverer)
|
||||
|
||||
|
||||
### Description
|
||||
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>
|
||||
### Usage
|
||||
```
|
||||
payload_deliverer <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
|
||||
gripper_test Tests the Gripper's release & grabbing sequence
|
||||
|
||||
gripper_open Opens the gripper
|
||||
|
||||
gripper_close Closes the gripper
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## perf
|
||||
Source: [systemcmds/perf](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/perf)
|
||||
|
||||
Tool to print performance counters
|
||||
<a id="perf_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
perf [arguments...]
|
||||
reset Reset all counters
|
||||
|
||||
latency Print HRT timer latency histogram
|
||||
|
||||
Prints all performance counters if no arguments given
|
||||
```
|
||||
## reboot
|
||||
Source: [systemcmds/reboot](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/reboot)
|
||||
|
||||
Reboot the system
|
||||
<a id="reboot_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
reboot [arguments...]
|
||||
[-b] Reboot into bootloader
|
||||
[-i] Reboot into ISP (1st stage bootloader)
|
||||
[lock|unlock] Take/release the shutdown lock (for testing)
|
||||
```
|
||||
## sd_bench
|
||||
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>
|
||||
### Usage
|
||||
```
|
||||
sd_bench [arguments...]
|
||||
[-b <val>] Block size for each read/write
|
||||
default: 4096
|
||||
[-r <val>] Number of runs
|
||||
default: 5
|
||||
[-d <val>] Duration of a run in ms
|
||||
default: 2000
|
||||
[-k] Keep the test file
|
||||
[-s] Call fsync after each block (default=at end of each run)
|
||||
[-u] Test performance with unaligned data
|
||||
[-U] Test performance with forced byte unaligned data
|
||||
[-v] Verify data and block number
|
||||
```
|
||||
## sd_stress
|
||||
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>
|
||||
### Usage
|
||||
```
|
||||
sd_stress [arguments...]
|
||||
[-r <val>] Number of runs
|
||||
default: 5
|
||||
[-b <val>] Number of bytes
|
||||
default: 100
|
||||
```
|
||||
## serial_passthru
|
||||
Source: [systemcmds/serial_passthru](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/serial_passthru)
|
||||
|
||||
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>
|
||||
### Usage
|
||||
```
|
||||
serial_passthru [arguments...]
|
||||
-e <val> External device path
|
||||
values: <file:dev>
|
||||
-d <val> Internal device path
|
||||
values: <file:dev>
|
||||
[-b <val>] Baudrate
|
||||
default: 115200
|
||||
[-t] Track the External devices baudrate on internal device
|
||||
```
|
||||
## system_time
|
||||
Source: [systemcmds/system_time](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/system_time)
|
||||
|
||||
|
||||
### Description
|
||||
|
||||
Command-line tool to set and get system time.
|
||||
|
||||
### Examples
|
||||
|
||||
Set the system time and read it back
|
||||
```
|
||||
system_time set 1600775044
|
||||
system_time get
|
||||
```
|
||||
|
||||
<a id="system_time_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
system_time <command> [arguments...]
|
||||
Commands:
|
||||
set Set the system time, provide time in unix epoch time format
|
||||
|
||||
get Get the system time
|
||||
```
|
||||
## top
|
||||
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>
|
||||
### Usage
|
||||
```
|
||||
top [arguments...]
|
||||
once print load only once
|
||||
```
|
||||
## usb_connected
|
||||
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>
|
||||
### Usage
|
||||
```
|
||||
usb_connected [arguments...]
|
||||
```
|
||||
## ver
|
||||
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>
|
||||
### Usage
|
||||
```
|
||||
ver <command> [arguments...]
|
||||
Commands:
|
||||
hw Hardware architecture
|
||||
|
||||
mcu MCU info
|
||||
|
||||
git git version information
|
||||
|
||||
bdate Build date and time
|
||||
|
||||
gcc Compiler info
|
||||
|
||||
bdate Build date and time
|
||||
|
||||
px4guid PX4 GUID
|
||||
|
||||
uri Build URI
|
||||
|
||||
all Print all versions
|
||||
|
||||
hwcmp Compare hardware version (returns 0 on match)
|
||||
<hw> [<hw2>] Hardware to compare against (eg. PX4_FMU_V4). An OR comparison
|
||||
is used if multiple are specified
|
||||
|
||||
hwtypecmp Compare hardware type (returns 0 on match)
|
||||
<hwtype> [<hwtype2>] Hardware type to compare against (eg. V2). An OR
|
||||
comparison is used if multiple are specified
|
||||
|
||||
hwbasecmp Compare hardware base (returns 0 on match)
|
||||
<hwbase> [<hwbase2>] Hardware type to compare against (eg. V2). An OR
|
||||
comparison is used if multiple are specified
|
||||
```
|
||||
@@ -0,0 +1,152 @@
|
||||
# Modules Reference: Communication
|
||||
|
||||
## frsky_telemetry
|
||||
Source: [drivers/telemetry/frsky_telemetry](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/telemetry/frsky_telemetry)
|
||||
|
||||
FrSky Telemetry support. Auto-detects D or S.PORT protocol.
|
||||
<a id="frsky_telemetry_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
frsky_telemetry <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-d <val>] Select Serial Device
|
||||
values: <file:dev>, default: /dev/ttyS6
|
||||
[-t <val>] Scanning timeout [s] (default: no timeout)
|
||||
default: 0
|
||||
[-m <val>] Select protocol (default: auto-detect)
|
||||
values: sport|sport_single|sport_single_invert|dtype, default:
|
||||
auto
|
||||
|
||||
stop
|
||||
|
||||
status
|
||||
```
|
||||
## mavlink
|
||||
Source: [modules/mavlink](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mavlink)
|
||||
|
||||
|
||||
### Description
|
||||
This module implements the MAVLink protocol, which can be used on a Serial link or UDP network connection.
|
||||
It communicates with the system via uORB: some messages are directly handled in the module (eg. mission
|
||||
protocol), others are published via uORB (eg. vehicle_command).
|
||||
|
||||
Streams are used to send periodic messages with a specific rate, such as the vehicle attitude.
|
||||
When starting the mavlink instance, a mode can be specified, which defines the set of enabled streams with their rates.
|
||||
For a running instance, streams can be configured via `mavlink stream` command.
|
||||
|
||||
There can be multiple independent instances of the module, each connected to one serial device or network port.
|
||||
|
||||
### Implementation
|
||||
The implementation uses 2 threads, a sending and a receiving thread. The sender runs at a fixed rate and dynamically
|
||||
reduces the rates of the streams if the combined bandwidth is higher than the configured rate (`-r`) or the
|
||||
physical link becomes saturated. This can be checked with `mavlink status`, see if `rate mult` is less than 1.
|
||||
|
||||
**Careful**: some of the data is accessed and modified from both threads, so when changing code or extend the
|
||||
functionality, this needs to be take into account, in order to avoid race conditions and corrupt data.
|
||||
|
||||
### Examples
|
||||
Start mavlink on ttyS1 serial with baudrate 921600 and maximum sending rate of 80kB/s:
|
||||
```
|
||||
mavlink start -d /dev/ttyS1 -b 921600 -m onboard -r 80000
|
||||
```
|
||||
|
||||
Start mavlink on UDP port 14556 and enable the HIGHRES_IMU message with 50Hz:
|
||||
```
|
||||
mavlink start -u 14556 -r 1000000
|
||||
mavlink stream -u 14556 -s HIGHRES_IMU -r 50
|
||||
```
|
||||
|
||||
<a id="mavlink_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
mavlink <command> [arguments...]
|
||||
Commands:
|
||||
start Start a new instance
|
||||
[-d <val>] Select Serial Device
|
||||
values: <file:dev>, default: /dev/ttyS1
|
||||
[-b <val>] Baudrate (can also be p:<param_name>)
|
||||
default: 57600
|
||||
[-r <val>] Maximum sending data rate in B/s (if 0, use baudrate / 20)
|
||||
default: 0
|
||||
[-p] Enable Broadcast
|
||||
[-u <val>] Select UDP Network Port (local)
|
||||
default: 14556
|
||||
[-o <val>] Select UDP Network Port (remote)
|
||||
default: 14550
|
||||
[-t <val>] Partner IP (broadcasting can be enabled via -p flag)
|
||||
default: 127.0.0.1
|
||||
[-m <val>] Mode: sets default streams and rates
|
||||
values: custom|camera|onboard|osd|magic|config|iridium|minimal|
|
||||
extvision|extvisionmin|gimbal|uavionix, default: normal
|
||||
[-n <val>] wifi/ethernet interface name
|
||||
values: <interface_name>
|
||||
[-c <val>] Multicast address (multicasting can be enabled via
|
||||
MAV_{i}_BROADCAST param)
|
||||
values: Multicast address in the range
|
||||
[239.0.0.0,239.255.255.255]
|
||||
[-F <val>] Sets the transmission frequency for iridium mode
|
||||
default: 0.0
|
||||
[-f] Enable message forwarding to other Mavlink instances
|
||||
[-w] Wait to send, until first message received
|
||||
[-x] Enable FTP
|
||||
[-z] Force hardware flow control always on
|
||||
[-Z] Force hardware flow control always off
|
||||
|
||||
stop-all Stop all instances
|
||||
|
||||
stop Stop a running instance
|
||||
[-u <val>] Select Mavlink instance via local Network Port
|
||||
[-d <val>] Select Mavlink instance via Serial Device
|
||||
values: <file:dev>
|
||||
|
||||
status Print status for all instances
|
||||
[streams] Print all enabled streams
|
||||
|
||||
stream Configure the sending rate of a stream for a running instance
|
||||
[-u <val>] Select Mavlink instance via local Network Port
|
||||
[-d <val>] Select Mavlink instance via Serial Device
|
||||
values: <file:dev>
|
||||
-s <val> Mavlink stream to configure
|
||||
-r <val> Rate in Hz (0 = turn off, -1 = set to default)
|
||||
|
||||
boot_complete Enable sending of messages. (Must be) called as last step in
|
||||
startup script.
|
||||
```
|
||||
## uorb
|
||||
Source: [systemcmds/uorb](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/uorb)
|
||||
|
||||
|
||||
### Description
|
||||
uORB is the internal pub-sub messaging system, used for communication between modules.
|
||||
|
||||
### Implementation
|
||||
The implementation is asynchronous and lock-free, ie. a publisher does not wait for a subscriber and vice versa.
|
||||
This is achieved by having a separate buffer between a publisher and a subscriber.
|
||||
|
||||
The code is optimized to minimize the memory footprint and the latency to exchange messages.
|
||||
|
||||
Messages are defined in the `/msg` directory. They are converted into C/C++ code at build-time.
|
||||
|
||||
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.
|
||||
|
||||
### Examples
|
||||
Monitor topic publication rates. Besides `top`, this is an important command for general system inspection:
|
||||
```
|
||||
uorb top
|
||||
```
|
||||
|
||||
<a id="uorb_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
uorb <command> [arguments...]
|
||||
Commands:
|
||||
status Print topic statistics
|
||||
|
||||
top Monitor topic publication rates
|
||||
[-a] print all instead of only currently publishing topics with
|
||||
subscribers
|
||||
[-1] run only once, then exit
|
||||
[<filter1> [<filter2>]] topic(s) to match (implies -a)
|
||||
```
|
||||
@@ -0,0 +1,428 @@
|
||||
# Modules Reference: Controller
|
||||
|
||||
## airship_att_control
|
||||
Source: [modules/airship_att_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/airship_att_control)
|
||||
|
||||
|
||||
### Description
|
||||
This implements the airship attitude and rate controller. Ideally it would
|
||||
take attitude setpoints (`vehicle_attitude_setpoint`) or rate setpoints (in acro mode
|
||||
via `manual_control_setpoint` topic) as inputs and outputs actuator control messages.
|
||||
|
||||
Currently it is feeding the `manual_control_setpoint` topic directly to the actuators.
|
||||
|
||||
### Implementation
|
||||
To reduce control latency, the module directly polls on the gyro topic published by the IMU driver.
|
||||
|
||||
|
||||
<a id="airship_att_control_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
airship_att_control <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## control_allocator
|
||||
Source: [modules/control_allocator](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/control_allocator)
|
||||
|
||||
|
||||
### Description
|
||||
This implements control allocation. It takes torque and thrust setpoints
|
||||
as inputs and outputs actuator setpoint messages.
|
||||
|
||||
<a id="control_allocator_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
control_allocator <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## flight_mode_manager
|
||||
Source: [modules/flight_mode_manager](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/flight_mode_manager)
|
||||
|
||||
|
||||
### Description
|
||||
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>
|
||||
### Usage
|
||||
```
|
||||
flight_mode_manager <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## fw_att_control
|
||||
Source: [modules/fw_att_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/fw_att_control)
|
||||
|
||||
|
||||
### Description
|
||||
fw_att_control is the fixed wing attitude controller.
|
||||
|
||||
|
||||
<a id="fw_att_control_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
fw_att_control <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[vtol] VTOL mode
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## fw_pos_control
|
||||
Source: [modules/fw_pos_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/fw_pos_control)
|
||||
|
||||
|
||||
### Description
|
||||
fw_pos_control is the fixed-wing position controller.
|
||||
|
||||
|
||||
<a id="fw_pos_control_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
fw_pos_control <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[vtol] VTOL mode
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## fw_rate_control
|
||||
Source: [modules/fw_rate_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/fw_rate_control)
|
||||
|
||||
|
||||
### Description
|
||||
fw_rate_control is the fixed-wing rate controller.
|
||||
|
||||
|
||||
<a id="fw_rate_control_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
fw_rate_control <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[vtol] VTOL mode
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## mc_att_control
|
||||
Source: [modules/mc_att_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mc_att_control)
|
||||
|
||||
|
||||
### Description
|
||||
This implements the multicopter attitude controller. It takes attitude
|
||||
setpoints (`vehicle_attitude_setpoint`) as inputs and outputs a rate setpoint.
|
||||
|
||||
The controller has a P loop for angular error
|
||||
|
||||
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>
|
||||
### Usage
|
||||
```
|
||||
mc_att_control <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[vtol] VTOL mode
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## mc_pos_control
|
||||
Source: [modules/mc_pos_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mc_pos_control)
|
||||
|
||||
|
||||
### Description
|
||||
The controller has two loops: a P loop for position error and a PID loop for velocity error.
|
||||
Output of the velocity controller is thrust vector that is split to thrust direction
|
||||
(i.e. rotation matrix for multicopter orientation) and thrust scalar (i.e. multicopter thrust itself).
|
||||
|
||||
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>
|
||||
### Usage
|
||||
```
|
||||
mc_pos_control <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[vtol] VTOL mode
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## mc_rate_control
|
||||
Source: [modules/mc_rate_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mc_rate_control)
|
||||
|
||||
|
||||
### Description
|
||||
This implements the multicopter rate controller. It takes rate setpoints (in acro mode
|
||||
via `manual_control_setpoint` topic) as inputs and outputs actuator control messages.
|
||||
|
||||
The controller has a PID loop for angular rate error.
|
||||
|
||||
|
||||
<a id="mc_rate_control_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
mc_rate_control <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[vtol] VTOL mode
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## navigator
|
||||
Source: [modules/navigator](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/navigator)
|
||||
|
||||
|
||||
### Description
|
||||
Module that is responsible for autonomous flight modes. This includes missions (read from dataman),
|
||||
takeoff and RTL.
|
||||
It is also responsible for geofence violation checking.
|
||||
|
||||
### Implementation
|
||||
The different internal modes are implemented as separate classes that inherit from a common base class `NavigatorMode`.
|
||||
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>
|
||||
### Usage
|
||||
```
|
||||
navigator <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
|
||||
fencefile load a geofence file from SD card, stored at etc/geofence.txt
|
||||
|
||||
fake_traffic publishes 24 fake transponder_report_s uORB messages
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## rover_ackermann
|
||||
Source: [modules/rover_ackermann](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/rover_ackermann)
|
||||
|
||||
|
||||
### Description
|
||||
Rover ackermann module.
|
||||
|
||||
<a id="rover_ackermann_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
rover_ackermann <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## rover_differential
|
||||
Source: [modules/rover_differential](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/rover_differential)
|
||||
|
||||
|
||||
### Description
|
||||
Rover differential module.
|
||||
|
||||
<a id="rover_differential_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
rover_differential <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## rover_mecanum
|
||||
Source: [modules/rover_mecanum](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/rover_mecanum)
|
||||
|
||||
|
||||
### Description
|
||||
Rover mecanum module.
|
||||
|
||||
<a id="rover_mecanum_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
rover_mecanum <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## rover_pos_control
|
||||
Source: [modules/rover_pos_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/rover_pos_control)
|
||||
|
||||
|
||||
### Description
|
||||
Controls the position of a ground rover using an L1 controller.
|
||||
|
||||
Publishes `vehicle_thrust_setpoint (only in x) and vehicle_torque_setpoint (only yaw)` messages at IMU_GYRO_RATEMAX.
|
||||
|
||||
### Implementation
|
||||
Currently, this implementation supports only a few modes:
|
||||
|
||||
* Full manual: Throttle and yaw controls are passed directly through to the actuators
|
||||
* Auto mission: The rover runs missions
|
||||
* Loiter: The rover will navigate to within the loiter radius, then stop the motors
|
||||
|
||||
### Examples
|
||||
CLI usage example:
|
||||
```
|
||||
rover_pos_control start
|
||||
rover_pos_control status
|
||||
rover_pos_control stop
|
||||
```
|
||||
|
||||
|
||||
<a id="rover_pos_control_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
rover_pos_control <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## spacecraft
|
||||
Source: [modules/spacecraft](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/spacecraft)
|
||||
|
||||
|
||||
### Description
|
||||
This implements control allocation for spacecraft vehicles.
|
||||
It takes torque and thrust setpoints as inputs and outputs
|
||||
actuator setpoint messages.
|
||||
|
||||
<a id="spacecraft_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
spacecraft <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## uuv_att_control
|
||||
Source: [modules/uuv_att_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/uuv_att_control)
|
||||
|
||||
|
||||
### Description
|
||||
Controls the attitude of an unmanned underwater vehicle (UUV).
|
||||
|
||||
Publishes `vehicle_thrust_setpont` and `vehicle_torque_setpoint` messages at a constant 250Hz.
|
||||
|
||||
### Implementation
|
||||
Currently, this implementation supports only a few modes:
|
||||
|
||||
* Full manual: Roll, pitch, yaw, and throttle controls are passed directly through to the actuators
|
||||
* Auto mission: The uuv runs missions
|
||||
|
||||
### Examples
|
||||
CLI usage example:
|
||||
```
|
||||
uuv_att_control start
|
||||
uuv_att_control status
|
||||
uuv_att_control stop
|
||||
```
|
||||
|
||||
|
||||
<a id="uuv_att_control_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
uuv_att_control <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## uuv_pos_control
|
||||
Source: [modules/uuv_pos_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/uuv_pos_control)
|
||||
|
||||
|
||||
### Description
|
||||
Controls the attitude of an unmanned underwater vehicle (UUV).
|
||||
Publishes `attitude_setpoint` messages.
|
||||
### Implementation
|
||||
Currently, this implementation supports only a few modes:
|
||||
* Full manual: Roll, pitch, yaw, and throttle controls are passed directly through to the actuators
|
||||
* Auto mission: The uuv runs missions
|
||||
### Examples
|
||||
CLI usage example:
|
||||
```
|
||||
uuv_pos_control start
|
||||
uuv_pos_control status
|
||||
uuv_pos_control stop
|
||||
```
|
||||
|
||||
<a id="uuv_pos_control_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
uuv_pos_control <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## vtol_att_control
|
||||
Source: [modules/vtol_att_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/vtol_att_control)
|
||||
|
||||
|
||||
### Description
|
||||
fw_att_control is the fixed wing attitude controller.
|
||||
|
||||
<a id="vtol_att_control_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
vtol_att_control <command> [arguments...]
|
||||
Commands:
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,167 @@
|
||||
# Modules Reference: Airspeed Sensor (Driver)
|
||||
## asp5033
|
||||
Source: [drivers/differential_pressure/asp5033](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/differential_pressure/asp5033)
|
||||
|
||||
|
||||
### Description
|
||||
Driver to enable an external [ASP5033]
|
||||
(https://www.qio-tek.com/index.php/product/qiotek-asp5033-dronecan-airspeed-and-compass-module/)
|
||||
TE connected via I2C.
|
||||
This is not included by default in firmware. It can be included with terminal command: "make <your_board> boardconfig"
|
||||
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>
|
||||
### Usage
|
||||
```
|
||||
asp5033 <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-I] Internal I2C bus(es)
|
||||
[-X] External I2C bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-a <val>] I2C address
|
||||
default: 109
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## auav
|
||||
Source: [drivers/differential_pressure/auav](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/differential_pressure/auav)
|
||||
|
||||
<a id="auav_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
auav <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-D] Differential pressure sensing
|
||||
[-A] Absolute pressure sensing
|
||||
[-I] Internal I2C bus(es)
|
||||
[-X] External I2C bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-a <val>] I2C address
|
||||
default: 38
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## ets_airspeed
|
||||
Source: [drivers/differential_pressure/ets](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/differential_pressure/ets)
|
||||
|
||||
<a id="ets_airspeed_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
ets_airspeed <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-I] Internal I2C bus(es)
|
||||
[-X] External I2C bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-a <val>] I2C address
|
||||
default: 117
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## ms4515
|
||||
Source: [drivers/differential_pressure/ms4515](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/differential_pressure/ms4515)
|
||||
|
||||
<a id="ms4515_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
ms4515 <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-I] Internal I2C bus(es)
|
||||
[-X] External I2C bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-a <val>] I2C address
|
||||
default: 70
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## ms4525do
|
||||
Source: [drivers/differential_pressure/ms4525do](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/differential_pressure/ms4525do)
|
||||
|
||||
<a id="ms4525do_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
ms4525do <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-I] Internal I2C bus(es)
|
||||
[-X] External I2C bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-a <val>] I2C address
|
||||
default: 40
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## ms5525dso
|
||||
Source: [drivers/differential_pressure/ms5525dso](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/differential_pressure/ms5525dso)
|
||||
|
||||
<a id="ms5525dso_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
ms5525dso <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-I] Internal I2C bus(es)
|
||||
[-X] External I2C bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-a <val>] I2C address
|
||||
default: 118
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## sdp3x
|
||||
Source: [drivers/differential_pressure/sdp3x](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/differential_pressure/sdp3x)
|
||||
|
||||
<a id="sdp3x_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
sdp3x <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-I] Internal I2C bus(es)
|
||||
[-X] External I2C bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-a <val>] I2C address
|
||||
default: 33
|
||||
[-k] if initialization (probing) fails, keep retrying periodically
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
@@ -0,0 +1,406 @@
|
||||
# Modules Reference: Baro (Driver)
|
||||
## bmp280
|
||||
Source: [drivers/barometer/bmp280](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/barometer/bmp280)
|
||||
|
||||
<a id="bmp280_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
bmp280 <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-I] Internal I2C bus(es)
|
||||
[-X] External I2C bus(es)
|
||||
[-s] Internal SPI bus(es)
|
||||
[-S] External SPI bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
|
||||
[-m <val>] SPI mode
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-a <val>] I2C address
|
||||
default: 118
|
||||
[-s] Internal SPI bus(es)
|
||||
[-S] External SPI bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
|
||||
[-m <val>] SPI mode
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## bmp388
|
||||
Source: [drivers/barometer/bmp388](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/barometer/bmp388)
|
||||
|
||||
<a id="bmp388_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
bmp388 <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-I] Internal I2C bus(es)
|
||||
[-X] External I2C bus(es)
|
||||
[-s] Internal SPI bus(es)
|
||||
[-S] External SPI bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
|
||||
[-m <val>] SPI mode
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-a <val>] I2C address
|
||||
default: 118
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## bmp581
|
||||
Source: [drivers/barometer/bmp581](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/barometer/bmp581)
|
||||
|
||||
<a id="bmp581_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
bmp581 <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-I] Internal I2C bus(es)
|
||||
[-X] External I2C bus(es)
|
||||
[-s] Internal SPI bus(es)
|
||||
[-S] External SPI bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
|
||||
[-m <val>] SPI mode
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-a <val>] I2C address
|
||||
default: 70
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## dps310
|
||||
Source: [drivers/barometer/dps310](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/barometer/dps310)
|
||||
|
||||
<a id="dps310_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
dps310 <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-I] Internal I2C bus(es)
|
||||
[-X] External I2C bus(es)
|
||||
[-s] Internal SPI bus(es)
|
||||
[-S] External SPI bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
|
||||
[-m <val>] SPI mode
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-a <val>] I2C address
|
||||
default: 119
|
||||
[-s] Internal SPI bus(es)
|
||||
[-S] External SPI bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
|
||||
[-m <val>] SPI mode
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## icp101xx
|
||||
Source: [drivers/barometer/invensense/icp101xx](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/barometer/invensense/icp101xx)
|
||||
|
||||
<a id="icp101xx_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
icp101xx <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-I] Internal I2C bus(es)
|
||||
[-X] External I2C bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-a <val>] I2C address
|
||||
default: 99
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## icp201xx
|
||||
Source: [drivers/barometer/invensense/icp201xx](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/barometer/invensense/icp201xx)
|
||||
|
||||
<a id="icp201xx_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
icp201xx <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-I] Internal I2C bus(es)
|
||||
[-X] External I2C bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-a <val>] I2C address
|
||||
default: 99
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## lps22hb
|
||||
Source: [drivers/barometer/lps22hb](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/barometer/lps22hb)
|
||||
|
||||
<a id="lps22hb_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
lps22hb <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-I] Internal I2C bus(es)
|
||||
[-X] External I2C bus(es)
|
||||
[-s] Internal SPI bus(es)
|
||||
[-S] External SPI bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
|
||||
[-m <val>] SPI mode
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## lps25h
|
||||
Source: [drivers/barometer/lps25h](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/barometer/lps25h)
|
||||
|
||||
<a id="lps25h_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
lps25h <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-I] Internal I2C bus(es)
|
||||
[-X] External I2C bus(es)
|
||||
[-s] Internal SPI bus(es)
|
||||
[-S] External SPI bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
|
||||
[-m <val>] SPI mode
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## lps33hw
|
||||
Source: [drivers/barometer/lps33hw](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/barometer/lps33hw)
|
||||
|
||||
<a id="lps33hw_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
lps33hw <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-I] Internal I2C bus(es)
|
||||
[-X] External I2C bus(es)
|
||||
[-s] Internal SPI bus(es)
|
||||
[-S] External SPI bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
|
||||
[-m <val>] SPI mode
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-a <val>] I2C address
|
||||
default: 93
|
||||
[-k] if initialization (probing) fails, keep retrying periodically
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## mpc2520
|
||||
Source: [drivers/barometer/maiertek/mpc2520](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/barometer/maiertek/mpc2520)
|
||||
|
||||
<a id="mpc2520_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
mpc2520 <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-I] Internal I2C bus(es)
|
||||
[-X] External I2C bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-a <val>] I2C address
|
||||
default: 118
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## mpl3115a2
|
||||
Source: [drivers/barometer/mpl3115a2](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/barometer/mpl3115a2)
|
||||
|
||||
<a id="mpl3115a2_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
mpl3115a2 <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-I] Internal I2C bus(es)
|
||||
[-X] External I2C bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-a <val>] I2C address
|
||||
default: 96
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## ms5611
|
||||
Source: [drivers/barometer/ms5611](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/barometer/ms5611)
|
||||
|
||||
<a id="ms5611_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
ms5611 <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-I] Internal I2C bus(es)
|
||||
[-X] External I2C bus(es)
|
||||
[-s] Internal SPI bus(es)
|
||||
[-S] External SPI bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
|
||||
[-m <val>] SPI mode
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-s] Internal SPI bus(es)
|
||||
[-S] External SPI bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
|
||||
[-m <val>] SPI mode
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-T <val>] Device type
|
||||
values: 5607|5611, default: 5611
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## ms5837
|
||||
Source: [drivers/barometer/ms5837](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/barometer/ms5837)
|
||||
|
||||
<a id="ms5837_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
ms5837 <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-I] Internal I2C bus(es)
|
||||
[-X] External I2C bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## spa06
|
||||
Source: [drivers/barometer/goertek/spa06](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/barometer/goertek/spa06)
|
||||
|
||||
<a id="spa06_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
spa06 <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-I] Internal I2C bus(es)
|
||||
[-X] External I2C bus(es)
|
||||
[-s] Internal SPI bus(es)
|
||||
[-S] External SPI bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
|
||||
[-m <val>] SPI mode
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-a <val>] I2C address
|
||||
default: 118
|
||||
[-s] Internal SPI bus(es)
|
||||
[-S] External SPI bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
|
||||
[-m <val>] SPI mode
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## spl06
|
||||
Source: [drivers/barometer/goertek/spl06](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/barometer/goertek/spl06)
|
||||
|
||||
<a id="spl06_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
spl06 <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-I] Internal I2C bus(es)
|
||||
[-X] External I2C bus(es)
|
||||
[-s] Internal SPI bus(es)
|
||||
[-S] External SPI bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
|
||||
[-m <val>] SPI mode
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-a <val>] I2C address
|
||||
default: 118
|
||||
[-s] Internal SPI bus(es)
|
||||
[-S] External SPI bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
|
||||
[-m <val>] SPI mode
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
@@ -0,0 +1,50 @@
|
||||
# Modules Reference: Camera (Driver)
|
||||
## camera_trigger
|
||||
Source: [drivers/camera_trigger](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/camera_trigger)
|
||||
|
||||
|
||||
### Description
|
||||
|
||||
Camera trigger driver.
|
||||
|
||||
This module triggers cameras that are connected to the flight-controller outputs,
|
||||
or simple MAVLink cameras that implement the MAVLink trigger protocol.
|
||||
|
||||
The driver responds to the following MAVLink trigger commands being found in missions or recieved over MAVLink:
|
||||
|
||||
- `MAV_CMD_DO_TRIGGER_CONTROL`
|
||||
- `MAV_CMD_DO_DIGICAM_CONTROL`
|
||||
- `MAV_CMD_DO_SET_CAM_TRIGG_DIST`
|
||||
- `MAV_CMD_OBLIQUE_SURVEY`
|
||||
|
||||
The commands cause the driver to trigger camera image capture based on time or distance.
|
||||
Each time an image capture is triggered, the `CAMERA_TRIGGER` MAVLink message is emitted.
|
||||
|
||||
A "simple MAVLink camera" is one that supports the above command set.
|
||||
When configured for this kind of camera, all the driver does is emit the `CAMERA_TRIGGER` MAVLink message as expected.
|
||||
The incoming commands must be forwarded to the MAVLink camera, and are automatically emitted to MAVLink channels
|
||||
when found in missions.
|
||||
|
||||
The driver is configured using [Camera Trigger parameters](../advanced_config/parameter_reference.md#camera-trigger).
|
||||
In particular:
|
||||
|
||||
- `TRIG_INTERFACE` - How the camera is connected to flight controller (PWM, GPIO, Seagull, MAVLink)
|
||||
- `TRIG_MODE` - Distance or time based triggering, with values set by `TRIG_DISTANCE` and `TRIG_INTERVAL`.
|
||||
|
||||
[Setup/usage information](../camera/index.md).
|
||||
|
||||
<a id="camera_trigger_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
camera_trigger <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
|
||||
stop Stop driver
|
||||
|
||||
status Print driver status information
|
||||
|
||||
test Trigger one image (not logged or forwarded to GCS)
|
||||
|
||||
test_power Toggle power
|
||||
```
|
||||
@@ -0,0 +1,528 @@
|
||||
# Modules Reference: Distance Sensor (Driver)
|
||||
## afbrs50
|
||||
Source: [drivers/distance_sensor/broadcom/afbrs50](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/broadcom/afbrs50)
|
||||
|
||||
|
||||
### Description
|
||||
|
||||
Driver for the Broadcom AFBRS50.
|
||||
|
||||
### Examples
|
||||
|
||||
Attempt to start driver on a specified serial device.
|
||||
```
|
||||
afbrs50 start
|
||||
```
|
||||
Stop driver
|
||||
```
|
||||
afbrs50 stop
|
||||
```
|
||||
|
||||
<a id="afbrs50_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
afbrs50 <command> [arguments...]
|
||||
Commands:
|
||||
start Start driver
|
||||
-d <val> Serial device
|
||||
[-r <val>] Sensor rotation - downward facing by default
|
||||
default: 25
|
||||
|
||||
test Test driver
|
||||
|
||||
stop Stop driver
|
||||
```
|
||||
## gy_us42
|
||||
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>
|
||||
### Usage
|
||||
```
|
||||
gy_us42 <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-I] Internal I2C bus(es)
|
||||
[-X] External I2C bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-R <val>] Sensor rotation - downward facing by default
|
||||
default: 25
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## leddar_one
|
||||
Source: [drivers/distance_sensor/leddar_one](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/leddar_one)
|
||||
|
||||
|
||||
### Description
|
||||
|
||||
Serial bus driver for the LeddarOne LiDAR.
|
||||
|
||||
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
|
||||
|
||||
### Examples
|
||||
|
||||
Attempt to start driver on a specified serial device.
|
||||
```
|
||||
leddar_one start -d /dev/ttyS1
|
||||
```
|
||||
Stop driver
|
||||
```
|
||||
leddar_one stop
|
||||
```
|
||||
|
||||
<a id="leddar_one_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
leddar_one <command> [arguments...]
|
||||
Commands:
|
||||
start Start driver
|
||||
-d <val> Serial device
|
||||
[-r <val>] Sensor rotation - downward facing by default
|
||||
default: 25
|
||||
|
||||
stop Stop driver
|
||||
```
|
||||
## lightware_laser_i2c
|
||||
Source: [drivers/distance_sensor/lightware_laser_i2c](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/lightware_laser_i2c)
|
||||
|
||||
|
||||
### Description
|
||||
|
||||
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>
|
||||
### Usage
|
||||
```
|
||||
lightware_laser_i2c <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-I] Internal I2C bus(es)
|
||||
[-X] External I2C bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-a <val>] I2C address
|
||||
default: 102
|
||||
[-R <val>] Sensor rotation - downward facing by default
|
||||
default: 25
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## lightware_laser_serial
|
||||
Source: [drivers/distance_sensor/lightware_laser_serial](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/lightware_laser_serial)
|
||||
|
||||
|
||||
### Description
|
||||
|
||||
Serial bus driver for the LightWare SF02/F, SF10/a, SF10/b, SF10/c, SF11/c Laser rangefinders.
|
||||
|
||||
Most boards are configured to enable/start the driver on a specified UART using the SENS_SF0X_CFG parameter.
|
||||
|
||||
Setup/usage information: https://docs.px4.io/main/en/sensor/sfxx_lidar.html
|
||||
|
||||
### Examples
|
||||
|
||||
Attempt to start driver on a specified serial device.
|
||||
```
|
||||
lightware_laser_serial start -d /dev/ttyS1
|
||||
```
|
||||
Stop driver
|
||||
```
|
||||
lightware_laser_serial stop
|
||||
```
|
||||
|
||||
<a id="lightware_laser_serial_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
lightware_laser_serial <command> [arguments...]
|
||||
Commands:
|
||||
start Start driver
|
||||
-d <val> Serial device
|
||||
[-R <val>] Sensor rotation - downward facing by default
|
||||
default: 25
|
||||
|
||||
stop Stop driver
|
||||
```
|
||||
## lightware_sf45_serial
|
||||
Source: [drivers/distance_sensor/lightware_sf45_serial](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/lightware_sf45_serial)
|
||||
|
||||
|
||||
### Description
|
||||
|
||||
Serial bus driver for the Lightware SF45/b Laser rangefinder.
|
||||
|
||||
|
||||
### Examples
|
||||
|
||||
Attempt to start driver on a specified serial device.
|
||||
```
|
||||
lightware_sf45_serial start -d /dev/ttyS1
|
||||
```
|
||||
Stop driver
|
||||
```
|
||||
lightware_sf45_serial stop
|
||||
```
|
||||
|
||||
<a id="lightware_sf45_serial_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
lightware_sf45_serial <command> [arguments...]
|
||||
Commands:
|
||||
start Start driver
|
||||
-d <val> Serial device
|
||||
|
||||
stop Stop driver
|
||||
```
|
||||
## ll40ls
|
||||
Source: [drivers/distance_sensor/ll40ls](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/ll40ls)
|
||||
|
||||
|
||||
### Description
|
||||
|
||||
I2C bus driver for LidarLite rangefinders.
|
||||
|
||||
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>
|
||||
### Usage
|
||||
```
|
||||
ll40ls <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-I] Internal I2C bus(es)
|
||||
[-X] External I2C bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-a <val>] I2C address
|
||||
default: 98
|
||||
[-R <val>] Sensor rotation - downward facing by default
|
||||
default: 25
|
||||
|
||||
regdump
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## mappydot
|
||||
Source: [drivers/distance_sensor/mappydot](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/mappydot)
|
||||
|
||||
<a id="mappydot_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
mappydot <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-I] Internal I2C bus(es)
|
||||
[-X] External I2C bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## mb12xx
|
||||
Source: [drivers/distance_sensor/mb12xx](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/mb12xx)
|
||||
|
||||
<a id="mb12xx_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
mb12xx <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-I] Internal I2C bus(es)
|
||||
[-X] External I2C bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
|
||||
set_address
|
||||
[-a <val>] I2C address
|
||||
default: 112
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## pga460
|
||||
Source: [drivers/distance_sensor/pga460](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/pga460)
|
||||
|
||||
|
||||
### Description
|
||||
|
||||
Ultrasonic range finder driver that handles the communication with the device and publishes the distance via uORB.
|
||||
|
||||
### Implementation
|
||||
|
||||
This driver is implemented as a NuttX task. This Implementation was chosen due to the need for polling on a message
|
||||
via UART, which is not supported in the work_queue. This driver continuously takes range measurements while it is
|
||||
running. A simple algorithm to detect false readings is implemented at the driver levelin an attemptto improve
|
||||
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>
|
||||
### Usage
|
||||
```
|
||||
pga460 <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[device_path] The pga460 sensor device path, (e.g: /dev/ttyS6)
|
||||
|
||||
status
|
||||
|
||||
stop
|
||||
|
||||
help
|
||||
```
|
||||
## srf02
|
||||
Source: [drivers/distance_sensor/srf02](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/srf02)
|
||||
|
||||
<a id="srf02_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
srf02 <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-I] Internal I2C bus(es)
|
||||
[-X] External I2C bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-a <val>] I2C address
|
||||
default: 112
|
||||
[-R <val>] Sensor rotation - downward facing by default
|
||||
default: 25
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## srf05
|
||||
Source: [drivers/distance_sensor/srf05](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/srf05)
|
||||
|
||||
|
||||
### Description
|
||||
|
||||
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>
|
||||
### Usage
|
||||
```
|
||||
srf05 <command> [arguments...]
|
||||
Commands:
|
||||
start Start driver
|
||||
[-R <val>] Sensor rotation - downward facing by default
|
||||
default: 25
|
||||
|
||||
status Print driver status information
|
||||
|
||||
stop Stop driver
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## teraranger
|
||||
Source: [drivers/distance_sensor/teraranger](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/teraranger)
|
||||
|
||||
|
||||
### Description
|
||||
|
||||
I2C bus driver for TeraRanger rangefinders.
|
||||
|
||||
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>
|
||||
### Usage
|
||||
```
|
||||
teraranger <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-I] Internal I2C bus(es)
|
||||
[-X] External I2C bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-a <val>] I2C address
|
||||
default: 48
|
||||
[-R <val>] Sensor rotation - downward facing by default
|
||||
default: 25
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## tf02pro
|
||||
Source: [drivers/distance_sensor/tf02pro](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/tf02pro)
|
||||
|
||||
<a id="tf02pro_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
tf02pro <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-I] Internal I2C bus(es)
|
||||
[-X] External I2C bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-a <val>] I2C address
|
||||
default: 16
|
||||
[-R <val>] Sensor rotation - downward facing by default
|
||||
default: 25
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## tfmini
|
||||
Source: [drivers/distance_sensor/tfmini](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/tfmini)
|
||||
|
||||
|
||||
### Description
|
||||
|
||||
Serial bus driver for the Benewake TFmini LiDAR.
|
||||
|
||||
Most boards are configured to enable/start the driver on a specified UART using the SENS_TFMINI_CFG parameter.
|
||||
|
||||
Setup/usage information: https://docs.px4.io/main/en/sensor/tfmini.html
|
||||
|
||||
### Examples
|
||||
|
||||
Attempt to start driver on a specified serial device.
|
||||
```
|
||||
tfmini start -d /dev/ttyS1
|
||||
```
|
||||
Stop driver
|
||||
```
|
||||
tfmini stop
|
||||
```
|
||||
|
||||
<a id="tfmini_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
tfmini <command> [arguments...]
|
||||
Commands:
|
||||
start Start driver
|
||||
-d <val> Serial device
|
||||
[-R <val>] Sensor rotation - downward facing by default
|
||||
default: 25
|
||||
|
||||
status Driver status
|
||||
|
||||
stop Stop driver
|
||||
|
||||
test Test driver (basic functional tests)
|
||||
|
||||
status Print driver status
|
||||
```
|
||||
## ulanding_radar
|
||||
Source: [drivers/distance_sensor/ulanding_radar](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/ulanding_radar)
|
||||
|
||||
|
||||
### Description
|
||||
|
||||
Serial bus driver for the Aerotenna uLanding radar.
|
||||
|
||||
Setup/usage information: https://docs.px4.io/main/en/sensor/ulanding_radar.html
|
||||
|
||||
### Examples
|
||||
|
||||
Attempt to start driver on a specified serial device.
|
||||
```
|
||||
ulanding_radar start -d /dev/ttyS1
|
||||
```
|
||||
Stop driver
|
||||
```
|
||||
ulanding_radar stop
|
||||
```
|
||||
|
||||
<a id="ulanding_radar_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
ulanding_radar <command> [arguments...]
|
||||
Commands:
|
||||
start Start driver
|
||||
-d <val> Serial device
|
||||
values: <file:dev>, default: /dev/ttyS3
|
||||
[-R <val>] Sensor rotation - downward facing by default
|
||||
default: 25
|
||||
|
||||
stop Stop driver
|
||||
```
|
||||
## vl53l0x
|
||||
Source: [drivers/distance_sensor/vl53l0x](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/vl53l0x)
|
||||
|
||||
<a id="vl53l0x_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
vl53l0x <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-I] Internal I2C bus(es)
|
||||
[-X] External I2C bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-a <val>] I2C address
|
||||
default: 41
|
||||
[-R <val>] Sensor rotation - downward facing by default
|
||||
default: 25
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## vl53l1x
|
||||
Source: [drivers/distance_sensor/vl53l1x](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/vl53l1x)
|
||||
|
||||
<a id="vl53l1x_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
vl53l1x <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-I] Internal I2C bus(es)
|
||||
[-X] External I2C bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-a <val>] I2C address
|
||||
default: 41
|
||||
[-R <val>] Sensor rotation - downward facing by default
|
||||
default: 25
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
@@ -0,0 +1,854 @@
|
||||
# Modules Reference: Imu (Driver)
|
||||
## adis16448
|
||||
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>
|
||||
### Usage
|
||||
```
|
||||
adis16448 <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-s] Internal SPI bus(es)
|
||||
[-S] External SPI bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
|
||||
[-m <val>] SPI mode
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-R <val>] Rotation
|
||||
default: 0
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## adis16470
|
||||
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>
|
||||
### Usage
|
||||
```
|
||||
adis16470 <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-s] Internal SPI bus(es)
|
||||
[-S] External SPI bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
|
||||
[-m <val>] SPI mode
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-R <val>] Rotation
|
||||
default: 0
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## adis16477
|
||||
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>
|
||||
### Usage
|
||||
```
|
||||
adis16477 <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-s] Internal SPI bus(es)
|
||||
[-S] External SPI bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
|
||||
[-m <val>] SPI mode
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-R <val>] Rotation
|
||||
default: 0
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## adis16497
|
||||
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>
|
||||
### Usage
|
||||
```
|
||||
adis16497 <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-s] Internal SPI bus(es)
|
||||
[-S] External SPI bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
|
||||
[-m <val>] SPI mode
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-R <val>] Rotation
|
||||
default: 0
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## adis16507
|
||||
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>
|
||||
### Usage
|
||||
```
|
||||
adis16507 <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-s] Internal SPI bus(es)
|
||||
[-S] External SPI bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
|
||||
[-m <val>] SPI mode
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-R <val>] Rotation
|
||||
default: 0
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## bmi055
|
||||
Source: [drivers/imu/bosch/bmi055](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/bosch/bmi055)
|
||||
|
||||
<a id="bmi055_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
bmi055 <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-A] Accel
|
||||
[-G] Gyro
|
||||
[-s] Internal SPI bus(es)
|
||||
[-S] External SPI bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
|
||||
[-m <val>] SPI mode
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-R <val>] Rotation
|
||||
default: 0
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## bmi085
|
||||
Source: [drivers/imu/bosch/bmi085](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/bosch/bmi085)
|
||||
|
||||
<a id="bmi085_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
bmi085 <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-A] Accel
|
||||
[-G] Gyro
|
||||
[-s] Internal SPI bus(es)
|
||||
[-S] External SPI bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
|
||||
[-m <val>] SPI mode
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-R <val>] Rotation
|
||||
default: 0
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## bmi088
|
||||
Source: [drivers/imu/bosch/bmi088](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/bosch/bmi088)
|
||||
|
||||
<a id="bmi088_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
bmi088 <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-A] Accel
|
||||
[-G] Gyro
|
||||
[-s] Internal SPI bus(es)
|
||||
[-S] External SPI bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
|
||||
[-m <val>] SPI mode
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-R <val>] Rotation
|
||||
default: 0
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## bmi088_i2c
|
||||
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>
|
||||
### Usage
|
||||
```
|
||||
bmi088_i2c <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-A] Accel
|
||||
[-G] Gyro
|
||||
[-I] Internal I2C bus(es)
|
||||
[-X] External I2C bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-a <val>] I2C address
|
||||
default: 24
|
||||
[-R <val>] Rotation
|
||||
default: 0
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## bmi270
|
||||
Source: [drivers/imu/bosch/bmi270](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/bosch/bmi270)
|
||||
|
||||
<a id="bmi270_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
bmi270 <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-s] Internal SPI bus(es)
|
||||
[-S] External SPI bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
|
||||
[-m <val>] SPI mode
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-R <val>] Rotation
|
||||
default: 0
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## fxas21002c
|
||||
Source: [drivers/imu/nxp/fxas21002c](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/nxp/fxas21002c)
|
||||
|
||||
<a id="fxas21002c_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
fxas21002c <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-I] Internal I2C bus(es)
|
||||
[-X] External I2C bus(es)
|
||||
[-s] Internal SPI bus(es)
|
||||
[-S] External SPI bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
|
||||
[-m <val>] SPI mode
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-a <val>] I2C address
|
||||
default: 32
|
||||
[-R <val>] Rotation
|
||||
default: 0
|
||||
|
||||
regdump
|
||||
|
||||
testerror
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## fxos8701cq
|
||||
Source: [drivers/imu/nxp/fxos8701cq](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/nxp/fxos8701cq)
|
||||
|
||||
<a id="fxos8701cq_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
fxos8701cq <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-I] Internal I2C bus(es)
|
||||
[-X] External I2C bus(es)
|
||||
[-s] Internal SPI bus(es)
|
||||
[-S] External SPI bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
|
||||
[-m <val>] SPI mode
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-a <val>] I2C address
|
||||
default: 30
|
||||
[-R <val>] Rotation
|
||||
default: 0
|
||||
|
||||
regdump
|
||||
|
||||
testerror
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## iam20680hp
|
||||
Source: [drivers/imu/invensense/iam20680hp](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/iam20680hp)
|
||||
|
||||
<a id="iam20680hp_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
iam20680hp <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-s] Internal SPI bus(es)
|
||||
[-S] External SPI bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
|
||||
[-m <val>] SPI mode
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-R <val>] Rotation
|
||||
default: 0
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## icm20602
|
||||
Source: [drivers/imu/invensense/icm20602](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/icm20602)
|
||||
|
||||
<a id="icm20602_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
icm20602 <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-s] Internal SPI bus(es)
|
||||
[-S] External SPI bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
|
||||
[-m <val>] SPI mode
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-R <val>] Rotation
|
||||
default: 0
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## icm20608g
|
||||
Source: [drivers/imu/invensense/icm20608g](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/icm20608g)
|
||||
|
||||
<a id="icm20608g_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
icm20608g <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-s] Internal SPI bus(es)
|
||||
[-S] External SPI bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
|
||||
[-m <val>] SPI mode
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-R <val>] Rotation
|
||||
default: 0
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## icm20649
|
||||
Source: [drivers/imu/invensense/icm20649](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/icm20649)
|
||||
|
||||
<a id="icm20649_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
icm20649 <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-s] Internal SPI bus(es)
|
||||
[-S] External SPI bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
|
||||
[-m <val>] SPI mode
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-R <val>] Rotation
|
||||
default: 0
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## icm20689
|
||||
Source: [drivers/imu/invensense/icm20689](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/icm20689)
|
||||
|
||||
<a id="icm20689_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
icm20689 <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-s] Internal SPI bus(es)
|
||||
[-S] External SPI bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
|
||||
[-m <val>] SPI mode
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-R <val>] Rotation
|
||||
default: 0
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## icm20948
|
||||
Source: [drivers/imu/invensense/icm20948](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/icm20948)
|
||||
|
||||
<a id="icm20948_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
icm20948 <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-s] Internal SPI bus(es)
|
||||
[-S] External SPI bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
|
||||
[-m <val>] SPI mode
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-M] Enable Magnetometer (AK8963)
|
||||
[-R <val>] Rotation
|
||||
default: 0
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## icm20948_i2c_passthrough
|
||||
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>
|
||||
### Usage
|
||||
```
|
||||
icm20948_i2c_passthrough <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-I] Internal I2C bus(es)
|
||||
[-X] External I2C bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-a <val>] I2C address
|
||||
default: 105
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## icm40609d
|
||||
Source: [drivers/imu/invensense/icm40609d](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/icm40609d)
|
||||
|
||||
<a id="icm40609d_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
icm40609d <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-s] Internal SPI bus(es)
|
||||
[-S] External SPI bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
|
||||
[-m <val>] SPI mode
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-R <val>] Rotation
|
||||
default: 0
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## icm42605
|
||||
Source: [drivers/imu/invensense/icm42605](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/icm42605)
|
||||
|
||||
<a id="icm42605_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
icm42605 <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-s] Internal SPI bus(es)
|
||||
[-S] External SPI bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
|
||||
[-m <val>] SPI mode
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-R <val>] Rotation
|
||||
default: 0
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## icm42670p
|
||||
Source: [drivers/imu/invensense/icm42670p](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/icm42670p)
|
||||
|
||||
<a id="icm42670p_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
icm42670p <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-s] Internal SPI bus(es)
|
||||
[-S] External SPI bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
|
||||
[-m <val>] SPI mode
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-R <val>] Rotation
|
||||
default: 0
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## icm42688p
|
||||
Source: [drivers/imu/invensense/icm42688p](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/icm42688p)
|
||||
|
||||
<a id="icm42688p_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
icm42688p <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-s] Internal SPI bus(es)
|
||||
[-S] External SPI bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
|
||||
[-m <val>] SPI mode
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-R <val>] Rotation
|
||||
default: 0
|
||||
[-C <val>] Input clock frequency (Hz)
|
||||
default: 0
|
||||
[-6] Drive ICM-42686
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## icm45686
|
||||
Source: [drivers/imu/invensense/icm45686](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/icm45686)
|
||||
|
||||
<a id="icm45686_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
icm45686 <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-s] Internal SPI bus(es)
|
||||
[-S] External SPI bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
|
||||
[-m <val>] SPI mode
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-R <val>] Rotation
|
||||
default: 0
|
||||
[-C <val>] Input clock frequency (Hz)
|
||||
default: 0
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## iim42652
|
||||
Source: [drivers/imu/invensense/iim42652](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/iim42652)
|
||||
|
||||
<a id="iim42652_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
iim42652 <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-s] Internal SPI bus(es)
|
||||
[-S] External SPI bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
|
||||
[-m <val>] SPI mode
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-R <val>] Rotation
|
||||
default: 0
|
||||
[-C <val>] Input clock frequency (Hz)
|
||||
default: 0
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## iim42653
|
||||
Source: [drivers/imu/invensense/iim42653](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/iim42653)
|
||||
|
||||
<a id="iim42653_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
iim42653 <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-s] Internal SPI bus(es)
|
||||
[-S] External SPI bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
|
||||
[-m <val>] SPI mode
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-R <val>] Rotation
|
||||
default: 0
|
||||
[-C <val>] Input clock frequency (Hz)
|
||||
default: 0
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## l3gd20
|
||||
Source: [drivers/imu/st/l3gd20](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/st/l3gd20)
|
||||
|
||||
<a id="l3gd20_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
l3gd20 <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-s] Internal SPI bus(es)
|
||||
[-S] External SPI bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
|
||||
[-m <val>] SPI mode
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-R <val>] Rotation
|
||||
default: 0
|
||||
|
||||
regdump
|
||||
|
||||
testerror
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## lsm303d
|
||||
Source: [drivers/imu/st/lsm303d](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/st/lsm303d)
|
||||
|
||||
<a id="lsm303d_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
lsm303d <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-s] Internal SPI bus(es)
|
||||
[-S] External SPI bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
|
||||
[-m <val>] SPI mode
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-R <val>] Rotation
|
||||
default: 0
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## lsm9ds1
|
||||
Source: [drivers/imu/st/lsm9ds1](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/st/lsm9ds1)
|
||||
|
||||
<a id="lsm9ds1_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
lsm9ds1 <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-s] Internal SPI bus(es)
|
||||
[-S] External SPI bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
|
||||
[-m <val>] SPI mode
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-R <val>] Rotation
|
||||
default: 0
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## mpu6000
|
||||
Source: [drivers/imu/invensense/mpu6000](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/mpu6000)
|
||||
|
||||
<a id="mpu6000_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
mpu6000 <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-s] Internal SPI bus(es)
|
||||
[-S] External SPI bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
|
||||
[-m <val>] SPI mode
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-R <val>] Rotation
|
||||
default: 0
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## mpu9250
|
||||
Source: [drivers/imu/invensense/mpu9250](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/mpu9250)
|
||||
|
||||
<a id="mpu9250_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
mpu9250 <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-s] Internal SPI bus(es)
|
||||
[-S] External SPI bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
|
||||
[-m <val>] SPI mode
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-M] Enable Magnetometer (AK8963)
|
||||
[-R <val>] Rotation
|
||||
default: 0
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## mpu9250_i2c
|
||||
Source: [drivers/imu/invensense/mpu9250](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/mpu9250)
|
||||
|
||||
<a id="mpu9250_i2c_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
mpu9250_i2c <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-I] Internal I2C bus(es)
|
||||
[-X] External I2C bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-a <val>] I2C address
|
||||
default: 104
|
||||
[-R <val>] Rotation
|
||||
default: 0
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## mpu9520
|
||||
Source: [drivers/imu/invensense/mpu6500](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/mpu6500)
|
||||
|
||||
<a id="mpu9520_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
mpu9520 <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-s] Internal SPI bus(es)
|
||||
[-S] External SPI bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
|
||||
[-m <val>] SPI mode
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-R <val>] Rotation
|
||||
default: 0
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## sch16t
|
||||
Source: [drivers/imu/murata/sch16t](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/murata/sch16t)
|
||||
|
||||
<a id="sch16t_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
sch16t <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-s] Internal SPI bus(es)
|
||||
[-S] External SPI bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
|
||||
[-m <val>] SPI mode
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-R <val>] Rotation
|
||||
default: 0
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
@@ -0,0 +1,38 @@
|
||||
# Modules Reference: Ins (Driver)
|
||||
## vectornav
|
||||
Source: [drivers/ins/vectornav](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/ins/vectornav)
|
||||
|
||||
|
||||
### Description
|
||||
|
||||
Serial bus driver for the VectorNav VN-100, VN-200, VN-300.
|
||||
|
||||
Most boards are configured to enable/start the driver on a specified UART using the SENS_VN_CFG parameter.
|
||||
|
||||
Setup/usage information: https://docs.px4.io/main/en/sensor/vectornav.html
|
||||
|
||||
### Examples
|
||||
|
||||
Attempt to start driver on a specified serial device.
|
||||
```
|
||||
vectornav start -d /dev/ttyS1
|
||||
```
|
||||
Stop driver
|
||||
```
|
||||
vectornav stop
|
||||
```
|
||||
|
||||
<a id="vectornav_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
vectornav <command> [arguments...]
|
||||
Commands:
|
||||
start Start driver
|
||||
-d <val> Serial device
|
||||
|
||||
status Driver status
|
||||
|
||||
stop Stop driver
|
||||
|
||||
status Print driver status
|
||||
```
|
||||
@@ -0,0 +1,378 @@
|
||||
# Modules Reference: Magnetometer (Driver)
|
||||
## ak09916
|
||||
Source: [drivers/magnetometer/akm/ak09916](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/magnetometer/akm/ak09916)
|
||||
|
||||
<a id="ak09916_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
ak09916 <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-I] Internal I2C bus(es)
|
||||
[-X] External I2C bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-a <val>] I2C address
|
||||
default: 12
|
||||
[-R <val>] Rotation
|
||||
default: 0
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## ak8963
|
||||
Source: [drivers/magnetometer/akm/ak8963](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/magnetometer/akm/ak8963)
|
||||
|
||||
<a id="ak8963_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
ak8963 <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-I] Internal I2C bus(es)
|
||||
[-X] External I2C bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-a <val>] I2C address
|
||||
default: 12
|
||||
[-R <val>] Rotation
|
||||
default: 0
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## bmm150
|
||||
Source: [drivers/magnetometer/bosch/bmm150](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/magnetometer/bosch/bmm150)
|
||||
|
||||
<a id="bmm150_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
bmm150 <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-I] Internal I2C bus(es)
|
||||
[-X] External I2C bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-a <val>] I2C address
|
||||
default: 16
|
||||
[-R <val>] Rotation
|
||||
default: 0
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## bmm350
|
||||
Source: [drivers/magnetometer/bosch/bmm350](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/magnetometer/bosch/bmm350)
|
||||
|
||||
<a id="bmm350_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
bmm350 <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-I] Internal I2C bus(es)
|
||||
[-X] External I2C bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-a <val>] I2C address
|
||||
default: 20
|
||||
[-R <val>] Rotation
|
||||
default: 0
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## hmc5883
|
||||
Source: [drivers/magnetometer/hmc5883](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/magnetometer/hmc5883)
|
||||
|
||||
<a id="hmc5883_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
hmc5883 <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-I] Internal I2C bus(es)
|
||||
[-X] External I2C bus(es)
|
||||
[-s] Internal SPI bus(es)
|
||||
[-S] External SPI bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
|
||||
[-m <val>] SPI mode
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-R <val>] Rotation
|
||||
default: 0
|
||||
[-T] Enable temperature compensation
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## iis2mdc
|
||||
Source: [drivers/magnetometer/st/iis2mdc](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/magnetometer/st/iis2mdc)
|
||||
|
||||
<a id="iis2mdc_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
iis2mdc <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-I] Internal I2C bus(es)
|
||||
[-X] External I2C bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-a <val>] I2C address
|
||||
default: 48
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## ist8308
|
||||
Source: [drivers/magnetometer/isentek/ist8308](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/magnetometer/isentek/ist8308)
|
||||
|
||||
<a id="ist8308_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
ist8308 <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-I] Internal I2C bus(es)
|
||||
[-X] External I2C bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-a <val>] I2C address
|
||||
default: 12
|
||||
[-R <val>] Rotation
|
||||
default: 0
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## ist8310
|
||||
Source: [drivers/magnetometer/isentek/ist8310](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/magnetometer/isentek/ist8310)
|
||||
|
||||
<a id="ist8310_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
ist8310 <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-I] Internal I2C bus(es)
|
||||
[-X] External I2C bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-a <val>] I2C address
|
||||
default: 14
|
||||
[-R <val>] Rotation
|
||||
default: 0
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## lis2mdl
|
||||
Source: [drivers/magnetometer/lis2mdl](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/magnetometer/lis2mdl)
|
||||
|
||||
<a id="lis2mdl_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
lis2mdl <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-I] Internal I2C bus(es)
|
||||
[-X] External I2C bus(es)
|
||||
[-s] Internal SPI bus(es)
|
||||
[-S] External SPI bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
|
||||
[-m <val>] SPI mode
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-a <val>] I2C address
|
||||
default: 30
|
||||
[-R <val>] Rotation
|
||||
default: 0
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## lis3mdl
|
||||
Source: [drivers/magnetometer/lis3mdl](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/magnetometer/lis3mdl)
|
||||
|
||||
<a id="lis3mdl_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
lis3mdl <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-I] Internal I2C bus(es)
|
||||
[-X] External I2C bus(es)
|
||||
[-s] Internal SPI bus(es)
|
||||
[-S] External SPI bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
|
||||
[-m <val>] SPI mode
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-a <val>] I2C address
|
||||
default: 30
|
||||
[-R <val>] Rotation
|
||||
default: 0
|
||||
|
||||
reset
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## lsm9ds1_mag
|
||||
Source: [drivers/magnetometer/lsm9ds1_mag](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/magnetometer/lsm9ds1_mag)
|
||||
|
||||
<a id="lsm9ds1_mag_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
lsm9ds1_mag <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-s] Internal SPI bus(es)
|
||||
[-S] External SPI bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
|
||||
[-m <val>] SPI mode
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-R <val>] Rotation
|
||||
default: 0
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## mmc5983ma
|
||||
Source: [drivers/magnetometer/memsic/mmc5983ma](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/magnetometer/memsic/mmc5983ma)
|
||||
|
||||
<a id="mmc5983ma_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
mmc5983ma <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-I] Internal I2C bus(es)
|
||||
[-X] External I2C bus(es)
|
||||
[-s] Internal SPI bus(es)
|
||||
[-S] External SPI bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
|
||||
[-m <val>] SPI mode
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-a <val>] I2C address
|
||||
default: 48
|
||||
[-R <val>] Rotation
|
||||
default: 0
|
||||
|
||||
reset
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## qmc5883l
|
||||
Source: [drivers/magnetometer/qmc5883l](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/magnetometer/qmc5883l)
|
||||
|
||||
<a id="qmc5883l_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
qmc5883l <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-I] Internal I2C bus(es)
|
||||
[-X] External I2C bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-a <val>] I2C address
|
||||
default: 13
|
||||
[-R <val>] Rotation
|
||||
default: 0
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## rm3100
|
||||
Source: [drivers/magnetometer/rm3100](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/magnetometer/rm3100)
|
||||
|
||||
<a id="rm3100_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
rm3100 <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-I] Internal I2C bus(es)
|
||||
[-X] External I2C bus(es)
|
||||
[-s] Internal SPI bus(es)
|
||||
[-S] External SPI bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
|
||||
[-m <val>] SPI mode
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-R <val>] Rotation
|
||||
default: 0
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## vcm1193l
|
||||
Source: [drivers/magnetometer/vtrantech/vcm1193l](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/magnetometer/vtrantech/vcm1193l)
|
||||
|
||||
<a id="vcm1193l_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
vcm1193l <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-I] Internal I2C bus(es)
|
||||
[-X] External I2C bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-R <val>] Rotation
|
||||
default: 0
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
@@ -0,0 +1,36 @@
|
||||
# Modules Reference: Optical Flow (Driver)
|
||||
## thoneflow
|
||||
Source: [drivers/optical_flow/thoneflow](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/optical_flow/thoneflow)
|
||||
|
||||
|
||||
### Description
|
||||
|
||||
Serial bus driver for the ThoneFlow-3901U optical flow sensor.
|
||||
|
||||
Most boards are configured to enable/start the driver on a specified UART using the SENS_TFLOW_CFG parameter.
|
||||
|
||||
Setup/usage information: https://docs.px4.io/main/en/sensor/pmw3901.html#thone-thoneflow-3901u
|
||||
|
||||
### Examples
|
||||
|
||||
Attempt to start driver on a specified serial device.
|
||||
```
|
||||
thoneflow start -d /dev/ttyS1
|
||||
```
|
||||
Stop driver
|
||||
```
|
||||
thoneflow stop
|
||||
```
|
||||
|
||||
<a id="thoneflow_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
thoneflow <command> [arguments...]
|
||||
Commands:
|
||||
start Start driver
|
||||
-d <val> Serial device
|
||||
|
||||
stop Stop driver
|
||||
|
||||
info Print driver information
|
||||
```
|
||||
@@ -0,0 +1,24 @@
|
||||
# Modules Reference: Rpm Sensor (Driver)
|
||||
## pcf8583
|
||||
Source: [drivers/rpm/pcf8583](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/rpm/pcf8583)
|
||||
|
||||
<a id="pcf8583_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
pcf8583 <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-I] Internal I2C bus(es)
|
||||
[-X] External I2C bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-a <val>] I2C address
|
||||
default: 80
|
||||
[-k] if initialization (probing) fails, keep retrying periodically
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
@@ -0,0 +1,42 @@
|
||||
# Modules Reference: Transponder (Driver)
|
||||
## sagetech_mxs
|
||||
Source: [drivers/transponder/sagetech_mxs](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/transponder/sagetech_mxs)
|
||||
|
||||
|
||||
### Description
|
||||
|
||||
This driver integrates the Sagetech MXS Certified Transponder to send and receive ADSB messages and traffic.
|
||||
|
||||
### Examples
|
||||
|
||||
Attempt to start driver on a specified serial device.
|
||||
$ sagetech_mxs start -d /dev/ttyS1
|
||||
Stop driver
|
||||
$ sagetech_mxs stop
|
||||
Set Flight ID (8 char max)
|
||||
$ sagetech_mxs flight_id MXS12345
|
||||
Set MXS Operating Mode
|
||||
$ sagetech_mxs opmode off/on/stby/alt
|
||||
$ sagetech_mxs opmode 0/1/2/3
|
||||
Set the Squawk Code
|
||||
$ sagetech_mxs squawk 1200
|
||||
|
||||
<a id="sagetech_mxs_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
sagetech_mxs <command> [arguments...]
|
||||
Commands:
|
||||
start Start driver
|
||||
-d <val> Serial device
|
||||
|
||||
stop Stop driver
|
||||
|
||||
flightid Set Flight ID (8 char max)
|
||||
|
||||
ident Set the IDENT bit in ADSB-Out messages
|
||||
|
||||
opmode Set the MXS operating mode. ('off', 'on', 'stby', 'alt', or
|
||||
numerical [0-3])
|
||||
|
||||
squawk Set the Squawk Code. [0-7777] Octal (no digit larger than 7)
|
||||
```
|
||||
@@ -0,0 +1,112 @@
|
||||
# Modules Reference: Estimator
|
||||
|
||||
## AttitudeEstimatorQ
|
||||
Source: [modules/attitude_estimator_q](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/attitude_estimator_q)
|
||||
|
||||
|
||||
### Description
|
||||
Attitude estimator q.
|
||||
|
||||
|
||||
<a id="AttitudeEstimatorQ_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
AttitudeEstimatorQ <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## airspeed_estimator
|
||||
Source: [modules/airspeed_selector](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/airspeed_selector)
|
||||
|
||||
|
||||
### Description
|
||||
This module provides a single airspeed_validated topic, containing indicated (IAS),
|
||||
calibrated (CAS), true airspeed (TAS) and the information if the estimation currently
|
||||
is invalid and if based sensor readings or on groundspeed minus windspeed.
|
||||
Supporting the input of multiple "raw" airspeed inputs, this module automatically switches
|
||||
to a valid sensor in case of failure detection. For failure detection as well as for
|
||||
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>
|
||||
### Usage
|
||||
```
|
||||
airspeed_estimator <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## ekf2
|
||||
Source: [modules/ekf2](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/ekf2)
|
||||
|
||||
|
||||
### Description
|
||||
Attitude and position estimator using an Extended Kalman Filter. It is used for Multirotors and Fixed-Wing.
|
||||
|
||||
The documentation can be found on the [ECL/EKF Overview & Tuning](https://docs.px4.io/main/en/advanced_config/tuning_the_ecl_ekf.html) page.
|
||||
|
||||
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>
|
||||
### Usage
|
||||
```
|
||||
ekf2 <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-r] Enable replay mode
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
[-v] verbose (print all states and full covariance matrix)
|
||||
|
||||
select_instance Request switch to new estimator instance
|
||||
<instance> Specify desired estimator instance
|
||||
```
|
||||
## local_position_estimator
|
||||
Source: [modules/local_position_estimator](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/local_position_estimator)
|
||||
|
||||
|
||||
### Description
|
||||
Attitude and position estimator using an Extended Kalman Filter.
|
||||
|
||||
|
||||
<a id="local_position_estimator_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
local_position_estimator <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## mc_hover_thrust_estimator
|
||||
Source: [modules/mc_hover_thrust_estimator](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mc_hover_thrust_estimator)
|
||||
|
||||
|
||||
### Description
|
||||
|
||||
|
||||
<a id="mc_hover_thrust_estimator_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
mc_hover_thrust_estimator <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
@@ -0,0 +1,35 @@
|
||||
|
||||
# Modules & Commands Reference
|
||||
|
||||
The following pages document the PX4 modules, drivers and commands.
|
||||
They describe the provided functionality, high-level implementation overview and how
|
||||
to use the command-line interface.
|
||||
|
||||
::: info
|
||||
**This is auto-generated from the source code** and contains the most recent modules documentation.
|
||||
:::
|
||||
|
||||
It is not a complete list and NuttX provides some additional commands
|
||||
as well (such as `free`). Use `help` on the console to get a list of all
|
||||
available commands, and in most cases `command help` will print the usage.
|
||||
|
||||
Since this is generated from source, errors must be reported/fixed
|
||||
in the [PX4-Autopilot](https://github.com/PX4/PX4-Autopilot) repository.
|
||||
The documentation pages can be generated by running the following command from
|
||||
the root of the PX4-Autopilot directory:
|
||||
|
||||
```
|
||||
make module_documentation
|
||||
```
|
||||
The generated files will be written to the `modules` directory.
|
||||
|
||||
## Categories
|
||||
- [Autotune](modules_autotune.md)
|
||||
- [Command](modules_command.md)
|
||||
- [Communication](modules_communication.md)
|
||||
- [Controller](modules_controller.md)
|
||||
- [Driver](modules_driver.md)
|
||||
- [Estimator](modules_estimator.md)
|
||||
- [Simulation](modules_simulation.md)
|
||||
- [System](modules_system.md)
|
||||
- [Template](modules_template.md)
|
||||
@@ -0,0 +1,35 @@
|
||||
# Modules Reference: Simulation
|
||||
|
||||
## simulator_sih
|
||||
Source: [modules/simulation/simulator_sih](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/simulator_sih)
|
||||
|
||||
|
||||
### Description
|
||||
This module provides a simulator for quadrotors and fixed-wings running fully
|
||||
inside the hardware autopilot.
|
||||
|
||||
This simulator subscribes to "actuator_outputs" which are the actuator pwm
|
||||
signals given by the control allocation module.
|
||||
|
||||
This simulator publishes the sensors signals corrupted with realistic noise
|
||||
in order to incorporate the state estimator in the loop.
|
||||
|
||||
### Implementation
|
||||
The simulator implements the equations of motion using matrix algebra.
|
||||
Quaternion representation is used for the attitude.
|
||||
Forward Euler is used for integration.
|
||||
Most of the variables are declared global in the .hpp file to avoid stack overflow.
|
||||
|
||||
|
||||
|
||||
<a id="simulator_sih_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
simulator_sih <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,54 @@
|
||||
# Modules Reference: Template
|
||||
|
||||
## module
|
||||
Source: [templates/template_module](https://github.com/PX4/PX4-Autopilot/tree/main/src/templates/template_module)
|
||||
|
||||
|
||||
### Description
|
||||
Section that describes the provided module functionality.
|
||||
|
||||
This is a template for a module running as a task in the background with start/stop/status functionality.
|
||||
|
||||
### Implementation
|
||||
Section describing the high-level implementation of this module.
|
||||
|
||||
### Examples
|
||||
CLI usage example:
|
||||
```
|
||||
module start -f -p 42
|
||||
```
|
||||
|
||||
|
||||
<a id="module_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
module <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-f] Optional example flag
|
||||
[-p <val>] Optional example parameter
|
||||
default: 0
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
## work_item_example
|
||||
Source: [examples/work_item](https://github.com/PX4/PX4-Autopilot/tree/main/src/examples/work_item)
|
||||
|
||||
|
||||
### Description
|
||||
Example of a simple module running out of a work queue.
|
||||
|
||||
|
||||
<a id="work_item_example_usage"></a>
|
||||
### Usage
|
||||
```
|
||||
work_item_example <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
Reference in New Issue
Block a user