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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
co-authored by
Ramon Roche
Ramon Roche
parent
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commit
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# 첫 번째 애플리케이션 튜토리얼(Hello Sky)
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첫 번째 온보드 애플리케이션을 만들고 실행하는 방법을 설명합니다.
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PX4에서 앱 개발에 필요한 기본 개념과 API를 설명합니다.
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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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## 준비 사항
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다음과 같은 것이 필요합니다.
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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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## 간단한 어플리케이션
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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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2. Create a new C file in that directory named **px4_simple_app.c**:
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- 기본 헤더를 페이지 상단에 복사합니다.
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이것은 기여한 모든 파일에 첨부하여야 합니다.
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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
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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
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* 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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```
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- 기본 헤더 아래에 다음 코드를 복사합니다.
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이것은 기여한 모든 파일에 첨부하여야 합니다.
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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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3. Create and open a new _cmake_ definition file named **CMakeLists.txt**.
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아래 텍스트를 복사하십시오.
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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
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# 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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4. 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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아래 텍스트를 복사하십시오.
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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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## 애플리케이션/펌웨어 빌드
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이제 어플리케이션 제작이 완료되었습니다.
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실행하려면 먼저 PX4의 일부로 빌드되었는지 확인합니다.
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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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보드별 명령어를 사용하여, 예제를 빌드합니다.
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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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## 앱 테스트(하드웨어)
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### 보드에 펌웨어 업로드합니다.
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업로더를 활성화한 다음 보드를 재설정합니다.
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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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보드 재설정전에 컴파일 메시지를 인쇄하고 마지막에 다음을 인쇄합니다.
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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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보드가 재설정되고 업로드되면 다음이 인쇄됩니다.
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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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### 콘솔을 연결합니다.
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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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'help'을 입력하고 Enter 키를 입력합니다.
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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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이제 어플리케이션이 시스템에 올바르게 등록되었으며, 실제 작업을 수행하도록 확장할 수 있습니다.
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## 앱 테스트(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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이제 응용 프로그램을 확장할 수 있습니다.
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## 센서 데이터 읽기
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유용한 작업을 수행하려면, 애플리케이션이 입력을 구독하고 출력(예: 모터 또는 서보 명령)을 게시해야 합니다.
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:::tip
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The benefits of the PX4 hardware abstraction comes into play here!
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센서 드라이버와 어떤 식으로든 상호 작용할 필요가 없으며, 보드 또는 센서가 업데이트된 경우 앱을 업데이트할 필요도 없습니다.
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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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주제 구독은 간단합니다.
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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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현재 스레드는 절전 모드로 전환되고, 새 데이터를 사용할 수 있게 되면 스케줄러에 의해 자동으로 깨어나며 기다리는 동안 CPU 주기를 소비하지 않습니다.
|
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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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|
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Adding `poll()` to the subscription looks like (_pseudocode, look for the full implementation below_):
|
||||
|
||||
```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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||||
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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],
|
||||
(double)raw.accelerometer_m_s2[2]);
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||||
}
|
||||
}
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||||
```
|
||||
|
||||
아래의 명령어로 앱을 다시 컴파일합니다.
|
||||
|
||||
```sh
|
||||
make
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||||
```
|
||||
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||||
### uORB 구독 테스트
|
||||
|
||||
마지막 단계는 nsh 셸에 다음을 입력하여 애플리케이션을 백그라운드 프로세스/작업으로 시작하는 것입니다.
|
||||
|
||||
```sh
|
||||
px4_simple_app &
|
||||
```
|
||||
|
||||
앱은 콘솔에 5개의 센서 값을 출력후 종료합니다.
|
||||
|
||||
```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
|
||||
```
|
||||
|
||||
:::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.
|
||||
:::
|
||||
|
||||
## 데이터 게시
|
||||
|
||||
To use the calculated outputs, the next step is to _publish_ the results.
|
||||
아래에서는 태도 주제를 게시하는 방법을 설명합니다.
|
||||
|
||||
:::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));
|
||||
orb_advert_t att_pub_fd = orb_advertise(ORB_ID(vehicle_attitude), &att);
|
||||
```
|
||||
|
||||
메인 루프에서 정보가 준비시마다 게시합니다.
|
||||
|
||||
```c
|
||||
orb_publish(ORB_ID(vehicle_attitude), att_pub_fd, &att);
|
||||
```
|
||||
|
||||
## 전체 예제 코드
|
||||
|
||||
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;
|
||||
}
|
||||
```
|
||||
|
||||
## 전체 예제 실행
|
||||
|
||||
마지막으로 앱을 실행합니다.
|
||||
|
||||
```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)).
|
||||
|
||||
## 마무리
|
||||
|
||||
이 튜토리얼에서는 PX4 자동조종장치를 앱 개발에 필요한 내용들을 설명하였습니다.
|
||||
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).
|
||||
|
||||
다음 페이지에서는 시작 및 중지 기능이 있는 전체 애플리케이션을 작성하기 위한 템플릿을 제공합니다.
|
||||
@@ -0,0 +1,6 @@
|
||||
<Redirect to="modules_main" />
|
||||
|
||||
# 모듈
|
||||
|
||||
This is a placholder for modules docs.
|
||||
Built but not in sidebar.
|
||||
@@ -0,0 +1,71 @@
|
||||
# 전체 애플리케이션을 위한 모듈 템플릿
|
||||
|
||||
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).
|
||||
대부분은, 리소스 최소화를 위하여 작업 대기열을 사용합니다.
|
||||
|
||||
:::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.
|
||||
:::
|
||||
|
||||
## 작업 대기열 작업
|
||||
|
||||
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).
|
||||
|
||||
작업 대기열 작업 응용 프로그램은 작업 대기열 작업임을 지정하고 초기화중에 실행되도록 예약해야 한다는 점을 제외하고 일반(작업) 응용 프로그램과 동일합니다.
|
||||
|
||||
예제는 방법을 설명합니다.
|
||||
요약
|
||||
|
||||
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
|
||||
```
|
||||
|
||||
2. In addition to `ModuleBase`, the task should also derive from `ScheduledWorkItem` (included from [ScheduledWorkItem.hpp](https://github.com/PX4/PX4-Autopilot/blob/main/platforms/common/include/px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp))
|
||||
|
||||
3. 생성자 초기화에서 작업을 추가할 대기열을 지정합니다.
|
||||
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).
|
||||
|
||||
:::
|
||||
|
||||
4. Implement the `ScheduledWorkItem::Run()` method to perform "work".
|
||||
|
||||
5. Implement the `task_spawn` method, specifying that the task is a work queue (using the `task_id_is_work_queue` id.
|
||||
|
||||
6. Schedule the work queue task using one of the scheduling methods (in the example we use `ScheduleOnInterval` from within the `init` method).
|
||||
|
||||
## 작업
|
||||
|
||||
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).
|
||||
|
||||
템플릿은 전체 애플리케이션에 필요하거나 유용한 다음과 같은 추가 기능/측면을 보여줍니다.
|
||||
|
||||
- 매개변수에 액세스하고 매개변수 업데이트에 반응합니다.
|
||||
- uORB 구독 및 주제 업데이트 대기 중입니다.
|
||||
- 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).
|
||||
- 명령줄 인수 구문 분석.
|
||||
- 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 +1,42 @@
|
||||
# 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)
|
||||
|
||||
### 설명
|
||||
|
||||
<a id="fw_autotune_attitude_control_usage"></a>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
### 설명
|
||||
|
||||
<a id="mc_autotune_attitude_control_usage"></a>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
mc_autotune_attitude_control <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
@@ -0,0 +1,725 @@
|
||||
# 모듈 참조: 명령
|
||||
|
||||
## bl_update
|
||||
|
||||
Source: [systemcmds/actuator_test](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/actuator_test)
|
||||
|
||||
파일에서 부트로더를 플래시하는 유틸리티
|
||||
|
||||
WARNING: remove all props before using this command.
|
||||
|
||||
<a id="actuator_test_usage"></a>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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
|
||||
```
|
||||
|
||||
## dumpfile
|
||||
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
bsondump [arguments...]
|
||||
<file> The BSON file to decode and print.
|
||||
```
|
||||
|
||||
## dyn
|
||||
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
dumpfile [arguments...]
|
||||
<file> File to dump
|
||||
```
|
||||
|
||||
## esc_calib
|
||||
|
||||
Source: [systemcmds/dyn](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/dyn)
|
||||
|
||||
### 설명
|
||||
|
||||
소스: <a href="https://github.com/PX4/PX4-Autopilot/tree/master/src/systemcmds/failure">systemcmds/failure</a>
|
||||
|
||||
### 예
|
||||
|
||||
```
|
||||
dyn ./hello.px4mod start
|
||||
```
|
||||
|
||||
<a id="dyn_usage"></a>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
### 설명
|
||||
|
||||
Inject failures into system.
|
||||
|
||||
### 구현
|
||||
|
||||
This system command sends a vehicle command over uORB to trigger failure.
|
||||
|
||||
### 예
|
||||
|
||||
Test the GPS failsafe by stopping GPS:
|
||||
|
||||
failure gps off
|
||||
|
||||
<a id="failure_usage"></a>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
### 설명
|
||||
|
||||
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]
|
||||
```
|
||||
|
||||
### 예
|
||||
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
### 설명
|
||||
|
||||
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.
|
||||
|
||||
### 예
|
||||
|
||||
Blink the first LED 5 times in blue:
|
||||
|
||||
```
|
||||
led_control blink -c blue -l 0 -n 5
|
||||
```
|
||||
|
||||
<a id="led_control_usage"></a>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
### 설명
|
||||
|
||||
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.
|
||||
|
||||
### 예
|
||||
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
### 설명
|
||||
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
### 설명
|
||||
|
||||
Command-line tool to set and get system time.
|
||||
|
||||
### 예
|
||||
|
||||
Set the system time and read it back
|
||||
|
||||
```
|
||||
system_time set 1600775044
|
||||
system_time get
|
||||
```
|
||||
|
||||
<a id="system_time_usage"></a>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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 +1,167 @@
|
||||
# 모듈 참조: 통신
|
||||
|
||||
## frsky_telemetry
|
||||
|
||||
Source: [drivers/telemetry/frsky_telemetry](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/telemetry/frsky_telemetry)
|
||||
|
||||
FrSky 텔레메트리를 지원합니다. D 또는 S.PORT 프로토콜을 자동으로 감지합니다. <a id="frsky_telemetry_usage"></a>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
### 설명
|
||||
|
||||
이 모듈은 직렬 링크 또는 UDP 네트워크에서 사용할 수 있는 MAVLink 프로토콜을 구현합니다.
|
||||
uORB로 시스템과 통신합니다. 일부 메시지는 모듈에서 직접 처리되고(예: 임무 프로토콜), 다른 메시지는 uORB를 통하여 게시됩니다(예: vehicle_command).
|
||||
|
||||
스트림은 차량 자세와 같은 특정 속도로 주기적 메시지를 전송합니다.
|
||||
mavlink 인스턴스를 시작시에 활성화된 스트림 세트를 속도와 함께 정의하는 모드를 지정할 수 있습니다.
|
||||
For a running instance, streams can be configured via `mavlink stream` command.
|
||||
|
||||
하나의 직렬 장치 또는 네트워크 포트에 각각 연결된 모듈의 여러 독립 인스턴스가 있을 수 있습니다.
|
||||
|
||||
### 구현
|
||||
|
||||
구현은 송신 및 수신 스레드의 2개 스레드를 사용합니다. 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.
|
||||
|
||||
### 예
|
||||
|
||||
전송 속도가 921600이고, 최대 전송 속도가 80kB/s인 ttyS1 직렬 포트에서 mavlink를 시작합니다.
|
||||
|
||||
```
|
||||
mavlink start -d /dev/ttyS1 -b 921600 -m onboard -r 80000
|
||||
```
|
||||
|
||||
UDP 포트 14556에서 mavlink를 시작하고, 50Hz로 HIGHRES_IMU 메시지를 활성화합니다.
|
||||
|
||||
```
|
||||
mavlink start -u 14556 -r 1000000
|
||||
mavlink stream -u 14556 -s HIGHRES_IMU -r 50
|
||||
```
|
||||
|
||||
<a id="mavlink_usage"></a>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
### 설명
|
||||
|
||||
uORB는 모듈 간의 통신에 사용되는 내부 pub-sub 메시징 시스템입니다.
|
||||
|
||||
### 구현
|
||||
|
||||
구현은 비동기식이며 잠금이 없습니다. 게시자는 구독자를 기다리지 않으며, 그 반대도 마찬가지입니다.
|
||||
이것은 발행자와 구독자 사이에 별도의 버퍼를 가짐으로써 달성됩니다.
|
||||
|
||||
코드는 메모리 공간과 메시지 교환 대기 시간을 최소화하도록 최적화되었습니다.
|
||||
|
||||
Messages are defined in the `/msg` directory. 빌드 타임에 C/C++ 코드로 변환됩니다.
|
||||
|
||||
ORB_USE_PUBLISHER_RULES로 컴파일하면, uORB 게시 규칙이 있는 파일을 사용하여, 어떤 모듈이 어떤 주제를 게시할 수 있는 지 설정할 수 있습니다. 이것은 시스템 전체 재생에 사용됩니다.
|
||||
|
||||
### 예
|
||||
|
||||
주제 게시 비율을 모니터링합니다. Besides `top`, this is an important command for general system inspection:
|
||||
|
||||
```
|
||||
uorb top
|
||||
```
|
||||
|
||||
<a id="uorb_usage"></a>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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 +1,499 @@
|
||||
# 모듈 참조: 콘트롤러
|
||||
|
||||
## airship_att_control
|
||||
|
||||
Source: [modules/airship_att_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/airship_att_control)
|
||||
|
||||
### 설명
|
||||
|
||||
이것은 비행선 자세 및 속도 컨트롤러를 구현합니다. 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.
|
||||
|
||||
### 구현
|
||||
|
||||
제어 대기 시간을 줄이기 위하여, 모듈은 IMU 드라이버에서 게시한 자이로 주제를 직접 폴링합니다.
|
||||
|
||||
<a id="airship_att_control_usage"></a>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
### 설명
|
||||
|
||||
이것은 제어 할당을 구현합니다. 토크 및 추력 설정값을 입력으로 사용하고, 액추에이터 설정값 메시지를 출력합니다.
|
||||
|
||||
<a id="control_allocator_usage"></a>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
### 설명
|
||||
|
||||
이것은 모든 모드에 대한 설정값 생성을 구현합니다. 차량의 현재 모드 상태를 컨트롤러에 대한 입력 및 출력 설정값으로 사용합니다.
|
||||
|
||||
<a id="flight_mode_manager_usage"></a>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
### 설명
|
||||
|
||||
fw_att_control은 고정익 자세 컨트롤러입니다.
|
||||
|
||||
<a id="fw_att_control_usage"></a>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
### 설명
|
||||
|
||||
fw_pos_control is the fixed-wing position controller.
|
||||
|
||||
<a id="fw_pos_control_usage"></a>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
### 설명
|
||||
|
||||
fw_rate_control is the fixed-wing rate controller.
|
||||
|
||||
<a id="fw_rate_control_usage"></a>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
### 설명
|
||||
|
||||
이것은 멀티콥터 자세 컨트롤러를 구현합니다. It takes attitude
|
||||
setpoints (`vehicle_attitude_setpoint`) as inputs and outputs a rate setpoint.
|
||||
|
||||
컨트롤러에는 각도 오류에 대한 P 루프가 있습니다.
|
||||
|
||||
간행물: 구현된 쿼터니언 태도 제어를 문서화,
|
||||
제목: 비선형 쿼드로콥터 자세 제어(2013),
|
||||
저자: Dario Brescianini, Markus Hehn and Raffaello D'Andrea
|
||||
동적 시스템 및 제어 연구소(IDSC), ETH 취리히
|
||||
|
||||
https://www.research-collection.ethz.ch/bitstream/handle/20.500.11850/154099/eth-7387-01.pdf
|
||||
|
||||
<a id="mc_att_control_usage"></a>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
### 설명
|
||||
|
||||
컨트롤러에는 위치 오류용 P 루프와 속도 오류용 PID 루프의 두 가지 루프가 있습니다.
|
||||
속도 컨트롤러의 출력은 추력 방향(즉, 멀티콥터 방향에 대한 회전 행렬)과 추력 스칼라(즉, 멀티콥터 추력 자체)로 분할되는 추력 벡터입니다.
|
||||
|
||||
컨트롤러는 작업에 오일러 각도를 사용하지 않으며, 보다 인간 친화적인 제어 및 로깅을 위해서만 생성됩니다.
|
||||
|
||||
<a id="mc_pos_control_usage"></a>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
### 설명
|
||||
|
||||
이것은 멀티콥터 속도 컨트롤러를 구현합니다. It takes rate setpoints (in acro mode
|
||||
via `manual_control_setpoint` topic) as inputs and outputs actuator control messages.
|
||||
|
||||
컨트롤러에는 각속도 오류에 대한 PID 루프가 있습니다.
|
||||
|
||||
<a id="mc_rate_control_usage"></a>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
### 설명
|
||||
|
||||
자율 비행 모드를 담당하는 모듈입니다. 여기에는 임무(데이터맨에서 읽기), 이륙 및 RTL이 포함됩니다.
|
||||
또한, 지오펜스 위반 검사를 담당합니다.
|
||||
|
||||
### 구현
|
||||
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
### 설명
|
||||
|
||||
Rover ackermann module.
|
||||
|
||||
<a id="rover_ackermann_usage"></a>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
### 설명
|
||||
|
||||
Rover differential module.
|
||||
|
||||
<a id="rover_differential_usage"></a>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
### 설명
|
||||
|
||||
Rover mecanum module.
|
||||
|
||||
<a id="rover_mecanum_usage"></a>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
### 설명
|
||||
|
||||
L1 컨트롤러를 사용하여 그라운드 로버의 위치를 제어합니다.
|
||||
|
||||
Publishes `vehicle_thrust_setpoint (only in x) and vehicle_torque_setpoint (only yaw)` messages at IMU_GYRO_RATEMAX.
|
||||
|
||||
### 구현
|
||||
|
||||
현재 이 구현은 일부 모드만 지원합니다.
|
||||
|
||||
- 완전 수동: 스로틀 및 편요각 제어가 액츄에이터에 직접 전달됩니다.
|
||||
- 자동 미션: 로버가 미션을 실행합니다.
|
||||
- 배회: 로버가 배회 반경 내로 이동한 다음 모터를 중지합니다.
|
||||
|
||||
### 예
|
||||
|
||||
CLI 사용 예:
|
||||
|
||||
```
|
||||
rover_pos_control start
|
||||
rover_pos_control status
|
||||
rover_pos_control stop
|
||||
```
|
||||
|
||||
<a id="rover_pos_control_usage"></a>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
### 설명
|
||||
|
||||
무인수중선(UUV)의 자세를 제어합니다.
|
||||
|
||||
Publishes `vehicle_thrust_setpont` and `vehicle_torque_setpoint` messages at a constant 250Hz.
|
||||
|
||||
### 구현
|
||||
|
||||
현재 이 구현은 일부 모드만 지원합니다.
|
||||
|
||||
- 완전 수동: 롤, 피치, 요 및 스로틀 컨트롤이 액추에이터에 직접 전달됩니다.
|
||||
- 자동 임무: 무인수중선이 임무를 실행합니다.
|
||||
|
||||
### 예
|
||||
|
||||
CLI 사용 예:
|
||||
|
||||
```
|
||||
uuv_att_control start
|
||||
uuv_att_control status
|
||||
uuv_att_control stop
|
||||
```
|
||||
|
||||
<a id="uuv_att_control_usage"></a>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
### 설명
|
||||
|
||||
무인수중선(UUV)의 자세를 제어합니다.
|
||||
Publishes `attitude_setpoint` messages.
|
||||
|
||||
### 구현
|
||||
|
||||
현재 이 구현은 일부 모드만 지원합니다.
|
||||
|
||||
- 완전 수동: 롤, 피치, 요 및 스로틀 컨트롤이 액추에이터에 직접 전달됩니다.
|
||||
- 자동 임무: 무인수중선이 임무를 실행합니다.
|
||||
|
||||
### 예
|
||||
|
||||
CLI 사용 예:
|
||||
|
||||
```
|
||||
uuv_pos_control start
|
||||
uuv_pos_control status
|
||||
uuv_pos_control stop
|
||||
```
|
||||
|
||||
<a id="uuv_pos_control_usage"></a>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
### 설명
|
||||
|
||||
fw_att_control은 고정익 자세 컨트롤러입니다.
|
||||
|
||||
<a id="vtol_att_control_usage"></a>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
vtol_att_control <command> [arguments...]
|
||||
Commands:
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,195 @@
|
||||
# 모듈 참조: 항속 센서(드라이버)
|
||||
|
||||
## asp5033
|
||||
|
||||
Source: [drivers/differential_pressure/asp5033](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/differential_pressure/asp5033)
|
||||
|
||||
### 설명
|
||||
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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 +1,466 @@
|
||||
# 모듈 참조: 기압 센서(드라이버)
|
||||
|
||||
## bmp280
|
||||
|
||||
Source: [drivers/barometer/bmp280](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/barometer/bmp280)
|
||||
|
||||
<a id="bmp280_usage"></a>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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 +1,53 @@
|
||||
# Modules Reference: Camera (Driver)
|
||||
|
||||
## camera_trigger
|
||||
|
||||
Source: [drivers/camera_trigger](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/camera_trigger)
|
||||
|
||||
### 설명
|
||||
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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 +1,601 @@
|
||||
# 모듈 참조: 거리 센서(드라이버)
|
||||
|
||||
## afbrs50
|
||||
|
||||
Source: [drivers/distance_sensor/broadcom/afbrs50](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/broadcom/afbrs50)
|
||||
|
||||
### 설명
|
||||
|
||||
Broadcom AFBRS50용 드라이버입니다.
|
||||
|
||||
### 예
|
||||
|
||||
지정된 직렬 장치에서 드라이버를 시작하려고 합니다.
|
||||
|
||||
```
|
||||
afbrs50 start
|
||||
```
|
||||
|
||||
드라이버를 중지합니다.
|
||||
|
||||
```
|
||||
afbrs50 stop
|
||||
```
|
||||
|
||||
<a id="afbrs50_usage"></a>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
### 설명
|
||||
|
||||
LeddarOne LiDAR 직렬 버스 드라이버입니다.
|
||||
|
||||
대부분의 보드는 SENS_LEDDAR1_CFG 매개변수를 사용하여, 지정된 UART에서 드라이버를 활성화/시작하도록 설정합니다.
|
||||
|
||||
Setup/usage information: https://docs.px4.io/main/en/sensor/leddar_one.html
|
||||
|
||||
### 예
|
||||
|
||||
지정된 직렬 장치에서 드라이버를 시작하려고 합니다.
|
||||
|
||||
```
|
||||
leddar_one start -d /dev/ttyS1
|
||||
```
|
||||
|
||||
드라이버를 중지합니다.
|
||||
|
||||
```
|
||||
leddar_one stop
|
||||
```
|
||||
|
||||
<a id="leddar_one_usage"></a>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
### 설명
|
||||
|
||||
Lightware SFxx 시리즈 LIDAR 거리 측정기용 I2C 버스 드라이버: 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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
### 설명
|
||||
|
||||
LightWare SF02/F, SF10/a, SF10/b, SF10/c, SF11/c 레이저 거리 측정기용 직렬 버스 드라이버.
|
||||
|
||||
대부분의 보드는 SENS_SF0X_CFG 매개변수를 사용하여 지정된 UART에서 드라이버를 활성화/시작하도록 설정합니다.
|
||||
|
||||
Setup/usage information: https://docs.px4.io/main/en/sensor/sfxx_lidar.html
|
||||
|
||||
### 예
|
||||
|
||||
지정된 직렬 장치에서 드라이버를 시작하려고 합니다.
|
||||
|
||||
```
|
||||
lightware_laser_serial start -d /dev/ttyS1
|
||||
```
|
||||
|
||||
드라이버를 중지합니다.
|
||||
|
||||
```
|
||||
lightware_laser_serial stop
|
||||
```
|
||||
|
||||
<a id="lightware_laser_serial_usage"></a>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
### 설명
|
||||
|
||||
Serial bus driver for the Lightware SF45/b Laser rangefinder.
|
||||
|
||||
### 예
|
||||
|
||||
지정된 직렬 장치에서 드라이버를 시작하려고 합니다.
|
||||
|
||||
```
|
||||
lightware_sf45_serial start -d /dev/ttyS1
|
||||
```
|
||||
|
||||
드라이버를 중지합니다.
|
||||
|
||||
```
|
||||
lightware_sf45_serial stop
|
||||
```
|
||||
|
||||
<a id="lightware_sf45_serial_usage"></a>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
### 설명
|
||||
|
||||
LidarLite 거리 측정기를 위한 I2C 버스 드라이버입니다.
|
||||
|
||||
센서/드라이버는 매개변수 SENS_EN_LL40LS를 사용하여 활성화합니다.
|
||||
|
||||
Setup/usage information: https://docs.px4.io/main/en/sensor/lidar_lite.html
|
||||
|
||||
<a id="ll40ls_usage"></a>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
### 설명
|
||||
|
||||
장치와의 통신을 처리하고, uORB를 통해 거리를 게시하는 초음파 거리 측정기 드라이버입니다.
|
||||
|
||||
### 구현
|
||||
|
||||
This driver is implemented as a NuttX task. 이 구현은 work_queue에서 지원되지 않는 UART를 통해 메시지에 대한 폴링이 필요하기 때문에 선택되었습니다. 이 드라이버는 실행되는 동안 지속적으로 범위 측정을 수행합니다. 잘못된 판독값을 감지하는 간단한 알고리즘은 게시중인 데이터의 품질을 개선하기 위하여 드라이버 수준에서 구현됩니다. 드라이버는 센서 데이터가 유효하지 않거나 불안정하다고 판단되는 경우에는, 데이터를 게시하지 않습니다.
|
||||
|
||||
<a id="pga460_usage"></a>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
### 설명
|
||||
|
||||
HY-SRF05 / HC-SR05 및 HC-SR04 거리 측정기용 드라이버입니다.
|
||||
|
||||
센서/드라이버는 SENS_EN_HXSRX0X 매개변수를 사용하여 활성화합니다.
|
||||
|
||||
<a id="srf05_usage"></a>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
### 설명
|
||||
|
||||
TeraRanger 거리 측정기를 위한 I2C 버스 드라이버입니다.
|
||||
|
||||
센서/드라이버는 SENS_EN_TRANGER 매개변수를 사용하여 활성화합니다.
|
||||
|
||||
Setup/usage information: https://docs.px4.io/main/en/sensor/rangefinders.html#teraranger-rangefinders
|
||||
|
||||
<a id="teraranger_usage"></a>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
### 설명
|
||||
|
||||
Benewake TFmini LiDAR용 직렬 버스 드라이버입니다.
|
||||
|
||||
대부분의 보드는 SENS_TFMINI_CFG 매개변수를 사용하여 지정된 UART에서 드라이버를 활성화/시작하도록 설정합니다.
|
||||
|
||||
Setup/usage information: https://docs.px4.io/main/en/sensor/tfmini.html
|
||||
|
||||
### 예
|
||||
|
||||
지정된 직렬 장치에서 드라이버를 시작하려고 합니다.
|
||||
|
||||
```
|
||||
tfmini start -d /dev/ttyS1
|
||||
```
|
||||
|
||||
드라이버를 중지합니다.
|
||||
|
||||
```
|
||||
tfmini stop
|
||||
```
|
||||
|
||||
<a id="tfmini_usage"></a>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
### 설명
|
||||
|
||||
Aerotenna uLanding 레이더용 직렬 버스 드라이버입니다.
|
||||
|
||||
Setup/usage information: https://docs.px4.io/main/en/sensor/ulanding_radar.html
|
||||
|
||||
### 예
|
||||
|
||||
지정된 직렬 장치에서 드라이버를 시작하려고 합니다.
|
||||
|
||||
```
|
||||
ulanding_radar start -d /dev/ttyS1
|
||||
```
|
||||
|
||||
드라이버를 중지합니다.
|
||||
|
||||
```
|
||||
ulanding_radar stop
|
||||
```
|
||||
|
||||
<a id="ulanding_radar_usage"></a>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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 +1,990 @@
|
||||
# 모듈 참조: 관성 센서(드라이버)
|
||||
|
||||
## 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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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
|
||||
```
|
||||
|
||||
## icm42688p
|
||||
|
||||
Source: [drivers/imu/invensense/icm42670p](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/icm42670p)
|
||||
|
||||
<a id="icm42670p_usage"></a>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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
|
||||
```
|
||||
|
||||
## l3gd20
|
||||
|
||||
Source: [drivers/imu/invensense/icm42688p](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/icm42688p)
|
||||
|
||||
<a id="icm42688p_usage"></a>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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
|
||||
```
|
||||
|
||||
## lsm303d
|
||||
|
||||
Source: [drivers/imu/st/l3gd20](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/st/l3gd20)
|
||||
|
||||
<a id="l3gd20_usage"></a>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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
|
||||
```
|
||||
|
||||
## lsm9ds1
|
||||
|
||||
Source: [drivers/imu/st/lsm303d](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/st/lsm303d)
|
||||
|
||||
<a id="lsm303d_usage"></a>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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
|
||||
```
|
||||
|
||||
## mpu6000
|
||||
|
||||
Source: [drivers/imu/st/lsm9ds1](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/st/lsm9ds1)
|
||||
|
||||
<a id="lsm9ds1_usage"></a>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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
|
||||
```
|
||||
|
||||
## mpu9520
|
||||
|
||||
Source: [drivers/imu/invensense/mpu6000](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/mpu6000)
|
||||
|
||||
<a id="mpu6000_usage"></a>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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_i2c
|
||||
|
||||
Source: [drivers/imu/invensense/mpu6500](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/mpu6500)
|
||||
|
||||
<a id="mpu9520_usage"></a>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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 +1,44 @@
|
||||
# Modules Reference: Ins (Driver)
|
||||
|
||||
## vectornav
|
||||
|
||||
Source: [drivers/ins/vectornav](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/ins/vectornav)
|
||||
|
||||
### 설명
|
||||
|
||||
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
|
||||
|
||||
### 예
|
||||
|
||||
지정된 직렬 장치에서 드라이버를 시작하려고 합니다.
|
||||
|
||||
```
|
||||
vectornav start -d /dev/ttyS1
|
||||
```
|
||||
|
||||
드라이버를 중지합니다.
|
||||
|
||||
```
|
||||
vectornav stop
|
||||
```
|
||||
|
||||
<a id="vectornav_usage"></a>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
vectornav <command> [arguments...]
|
||||
Commands:
|
||||
start Start driver
|
||||
-d <val> Serial device
|
||||
|
||||
status Driver status
|
||||
|
||||
stop Stop driver
|
||||
|
||||
status Print driver status
|
||||
```
|
||||
@@ -0,0 +1,438 @@
|
||||
# 모듈 참조: 자기 센서(드라이버)
|
||||
|
||||
## ak09916
|
||||
|
||||
Source: [drivers/magnetometer/akm/ak09916](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/magnetometer/akm/ak09916)
|
||||
|
||||
<a id="ak09916_usage"></a>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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 +1,42 @@
|
||||
# Modules Reference: Optical Flow (Driver)
|
||||
|
||||
## thoneflow
|
||||
|
||||
Source: [drivers/optical_flow/thoneflow](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/optical_flow/thoneflow)
|
||||
|
||||
### 설명
|
||||
|
||||
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
|
||||
|
||||
### 예
|
||||
|
||||
지정된 직렬 장치에서 드라이버를 시작하려고 합니다.
|
||||
|
||||
```
|
||||
thoneflow start -d /dev/ttyS1
|
||||
```
|
||||
|
||||
드라이버를 중지합니다.
|
||||
|
||||
```
|
||||
thoneflow stop
|
||||
```
|
||||
|
||||
<a id="thoneflow_usage"></a>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
thoneflow <command> [arguments...]
|
||||
Commands:
|
||||
start Start driver
|
||||
-d <val> Serial device
|
||||
|
||||
stop Stop driver
|
||||
|
||||
info Print driver information
|
||||
```
|
||||
@@ -0,0 +1,28 @@
|
||||
# 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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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 +1,47 @@
|
||||
# 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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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 +1,120 @@
|
||||
# 모듈 참조: 추정기
|
||||
|
||||
## AttitudeEstimatorQ
|
||||
|
||||
Source: [modules/attitude_estimator_q](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/attitude_estimator_q)
|
||||
|
||||
### 설명
|
||||
|
||||
자세 추정자 Q입니다.
|
||||
|
||||
<a id="AttitudeEstimatorQ_usage"></a>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
### 설명
|
||||
|
||||
이 모듈은 표시(IAS), 보정(CAS), 실제 속도(TAS) 및 추정이 현재 유효하지 않은 경우와 기반 센서 판독값 또는 지상 속도에서 풍속을 뺀 경우 정보를 포함하는 단일 airspeed_validated 주제를 제공합니다.
|
||||
다중 "원시" 속도 입력을 지원하는 이 모듈은 오류 감지시 자동으로 유효한 센서로 전환합니다. 고장 감지와 IAS에서 CAS까지의 축척 계수 추정을 위하여 여러 바람 추정기를 실행하고 이를 게시합니다.
|
||||
|
||||
<a id="airspeed_estimator_usage"></a>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
### 설명
|
||||
|
||||
확장 칼만 필터를 사용한 태도 및 위치 추정기입니다. 멀티콥터와 고정익에 사용됩니다.
|
||||
|
||||
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>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
### 설명
|
||||
|
||||
확장 칼만 필터를 사용한 태도 및 위치 추정기입니다.
|
||||
|
||||
<a id="local_position_estimator_usage"></a>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
### 설명
|
||||
|
||||
<a id="mc_hover_thrust_estimator_usage"></a>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
mc_hover_thrust_estimator <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
@@ -0,0 +1,35 @@
|
||||
# Modules & Commands Reference
|
||||
|
||||
다음 페이지들은 PX4 모듈, 드라이버 및 명령어에 대하여 설명합니다.
|
||||
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.
|
||||
문서 페이지는 PX4-Autopilot 디렉토리의 루트에서 다음 명령어를 실행하여 생성합니다.
|
||||
|
||||
```
|
||||
make module_documentation
|
||||
```
|
||||
|
||||
The generated files will be written to the `modules` directory.
|
||||
|
||||
## 카테고리
|
||||
|
||||
- [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 +1,36 @@
|
||||
# 모듈 참조: 시뮬레이션
|
||||
|
||||
## simulator_sih
|
||||
|
||||
Source: [modules/simulation/simulator_sih](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/simulator_sih)
|
||||
|
||||
### 설명
|
||||
|
||||
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.
|
||||
|
||||
이 시뮬레이터는 루프에 상태 추정기를 통합하기 위하여 실제 노이즈로 손상된 센서 신호를 게시합니다.
|
||||
|
||||
### 구현
|
||||
|
||||
시뮬레이터는 선형대수를 사용하여 운동 방정식을 구현합니다.
|
||||
쿼터니언 표현은 태도에 사용됩니다.
|
||||
적분에는 순방향 오일러가 사용됩니다.
|
||||
대부분의 변수는 스택 오버플로를 피하기 위하여 .hpp 파일에서 전역으로 선언됩니다.
|
||||
|
||||
<a id="simulator_sih_usage"></a>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
simulator_sih <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,62 @@
|
||||
# 모듈 참고: 템플릿
|
||||
|
||||
## module
|
||||
|
||||
Source: [templates/template_module](https://github.com/PX4/PX4-Autopilot/tree/main/src/templates/template_module)
|
||||
|
||||
### 설명
|
||||
|
||||
제공된 모듈 기능을 설명하는 섹션입니다.
|
||||
|
||||
시작/중지/상태 기능이 있는 백그라운드에서 작업으로 실행되는 모듈의 템플릿입니다.
|
||||
|
||||
### 구현
|
||||
|
||||
이 모듈의 상위 수준 구현을 설명하는 섹션입니다.
|
||||
|
||||
### 예
|
||||
|
||||
CLI 사용 예:
|
||||
|
||||
```
|
||||
module start -f -p 42
|
||||
```
|
||||
|
||||
<a id="module_usage"></a>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
### 설명
|
||||
|
||||
작업 대기열에서 실행되는 간단한 모듈의 예입니다.
|
||||
|
||||
<a id="work_item_example_usage"></a>
|
||||
|
||||
### 사용법
|
||||
|
||||
```
|
||||
work_item_example <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
Reference in New Issue
Block a user