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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>
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Hamish Willee
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Ramon Roche
Ramon Roche
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# Modules Reference: Communication
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## frsky_telemetry
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Source: [drivers/telemetry/frsky_telemetry](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/telemetry/frsky_telemetry)
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FrSky Telemetry support. Auto-detects D or S.PORT protocol.
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<a id="frsky_telemetry_usage"></a>
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### Usage
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```
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frsky_telemetry <command> [arguments...]
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Commands:
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start
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[-d <val>] Select Serial Device
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values: <file:dev>, default: /dev/ttyS6
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[-t <val>] Scanning timeout [s] (default: no timeout)
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default: 0
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[-m <val>] Select protocol (default: auto-detect)
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values: sport|sport_single|sport_single_invert|dtype, default:
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auto
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stop
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status
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```
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## mavlink
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Source: [modules/mavlink](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mavlink)
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### Description
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This module implements the MAVLink protocol, which can be used on a Serial link or UDP network connection.
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It communicates with the system via uORB: some messages are directly handled in the module (eg. mission
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protocol), others are published via uORB (eg. vehicle_command).
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Streams are used to send periodic messages with a specific rate, such as the vehicle attitude.
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When starting the mavlink instance, a mode can be specified, which defines the set of enabled streams with their rates.
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For a running instance, streams can be configured via `mavlink stream` command.
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There can be multiple independent instances of the module, each connected to one serial device or network port.
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### Implementation
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The implementation uses 2 threads, a sending and a receiving thread. The sender runs at a fixed rate and dynamically
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reduces the rates of the streams if the combined bandwidth is higher than the configured rate (`-r`) or the
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physical link becomes saturated. This can be checked with `mavlink status`, see if `rate mult` is less than 1.
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**Careful**: some of the data is accessed and modified from both threads, so when changing code or extend the
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functionality, this needs to be take into account, in order to avoid race conditions and corrupt data.
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### Examples
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Start mavlink on ttyS1 serial with baudrate 921600 and maximum sending rate of 80kB/s:
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```
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mavlink start -d /dev/ttyS1 -b 921600 -m onboard -r 80000
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```
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Start mavlink on UDP port 14556 and enable the HIGHRES_IMU message with 50Hz:
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```
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mavlink start -u 14556 -r 1000000
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mavlink stream -u 14556 -s HIGHRES_IMU -r 50
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```
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<a id="mavlink_usage"></a>
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### Usage
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```
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mavlink <command> [arguments...]
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Commands:
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start Start a new instance
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[-d <val>] Select Serial Device
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values: <file:dev>, default: /dev/ttyS1
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[-b <val>] Baudrate (can also be p:<param_name>)
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default: 57600
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[-r <val>] Maximum sending data rate in B/s (if 0, use baudrate / 20)
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default: 0
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[-p] Enable Broadcast
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[-u <val>] Select UDP Network Port (local)
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default: 14556
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[-o <val>] Select UDP Network Port (remote)
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default: 14550
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[-t <val>] Partner IP (broadcasting can be enabled via -p flag)
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default: 127.0.0.1
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[-m <val>] Mode: sets default streams and rates
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values: custom|camera|onboard|osd|magic|config|iridium|minimal|
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extvision|extvisionmin|gimbal|uavionix, default: normal
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[-n <val>] wifi/ethernet interface name
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values: <interface_name>
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[-c <val>] Multicast address (multicasting can be enabled via
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MAV_{i}_BROADCAST param)
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values: Multicast address in the range
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[239.0.0.0,239.255.255.255]
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[-F <val>] Sets the transmission frequency for iridium mode
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default: 0.0
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[-f] Enable message forwarding to other Mavlink instances
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[-w] Wait to send, until first message received
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[-x] Enable FTP
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[-z] Force hardware flow control always on
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[-Z] Force hardware flow control always off
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stop-all Stop all instances
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stop Stop a running instance
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[-u <val>] Select Mavlink instance via local Network Port
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[-d <val>] Select Mavlink instance via Serial Device
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values: <file:dev>
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status Print status for all instances
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[streams] Print all enabled streams
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stream Configure the sending rate of a stream for a running instance
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[-u <val>] Select Mavlink instance via local Network Port
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[-d <val>] Select Mavlink instance via Serial Device
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values: <file:dev>
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-s <val> Mavlink stream to configure
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-r <val> Rate in Hz (0 = turn off, -1 = set to default)
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boot_complete Enable sending of messages. (Must be) called as last step in
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startup script.
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```
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## uorb
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Source: [systemcmds/uorb](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/uorb)
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### Description
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uORB is the internal pub-sub messaging system, used for communication between modules.
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### Implementation
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The implementation is asynchronous and lock-free, ie. a publisher does not wait for a subscriber and vice versa.
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This is achieved by having a separate buffer between a publisher and a subscriber.
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The code is optimized to minimize the memory footprint and the latency to exchange messages.
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Messages are defined in the `/msg` directory. They are converted into C/C++ code at build-time.
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If compiled with ORB_USE_PUBLISHER_RULES, a file with uORB publication rules can be used to configure which
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modules are allowed to publish which topics. This is used for system-wide replay.
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### Examples
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Monitor topic publication rates. Besides `top`, this is an important command for general system inspection:
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```
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uorb top
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```
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<a id="uorb_usage"></a>
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### Usage
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```
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uorb <command> [arguments...]
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Commands:
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status Print topic statistics
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top Monitor topic publication rates
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[-a] print all instead of only currently publishing topics with
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subscribers
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[-1] run only once, then exit
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[<filter1> [<filter2>]] topic(s) to match (implies -a)
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```
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