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Move PX4 Guide source into /docs (#24490)
* Add vitepress tree * Update existing workflows so they dont trigger on changes in the docs path * Add nojekyll, package.json, LICENCE etc * Add crowdin docs upload/download scripts * Add docs flaw checker workflows * Used docs prefix for docs workflows * Crowdin obvious fixes * ci: docs move to self hosted runner runs on a beefy server for faster builds Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: don't run build action for docs or ci changes Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: update runners Signed-off-by: Ramon Roche <mrpollo@gmail.com> * Add docs/en * Add docs assets and scripts * Fix up editlinks to point to PX4 sources * Download just the translations that are supported * Add translation sources for zh, uk, ko * Update latest tranlsation and uorb graphs * update vitepress to latest --------- Signed-off-by: Ramon Roche <mrpollo@gmail.com> Co-authored-by: Ramon Roche <mrpollo@gmail.com>
This commit is contained in:
Hamish Willee
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Ramon Roche
Ramon Roche
parent
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commit
88d623bedb
@@ -0,0 +1,551 @@
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# Перший додаток (Hello Sky)
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У цій темі пояснюється, як створити та запустити свій перший бортовий додаток.
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Він охоплює всі основні концепції та API, необхідні для розробки додатків на PX4.
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:::info
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For simplicity, more advanced features like start/stop functionality and command-line arguments are omitted.
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These are covered in [Application/Module Template](../modules/module_template.md).
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:::
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## Вимоги
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Вам знадобиться наступне:
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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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## Мінімальна програма
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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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- Скопіюйте заголовок за замовчуванням у верхній частині сторінки.
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Це повинно бути присутнім у всіх розміщених файлах!
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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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- Скопіюйте наступний код під заголовком за замовчуванням.
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Це повинно бути присутнім у всіх розміщених файлах!
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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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Скопіюйте текст нижче:
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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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Скопіюйте текст нижче:
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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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## Побудуйте Програму/прошивку
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Додаток завершено.
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Для запуску його спершу потрібно переконатись, що він побудований як частина PX4.
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Applications are added to the build/firmware in the appropriate board-level _px4board_ file for your target:
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- PX4 SITL (Simulator): [PX4-Autopilot/boards/px4/sitl/default.px4board](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/sitl/default.px4board)
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- Pixhawk v1/2: [PX4-Autopilot/boards/px4/fmu-v2/default.px4board](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v2/default.px4board)
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- Pixracer (px4/fmu-v4): [PX4-Autopilot/boards/px4/fmu-v4/default.px4board](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v4/default.px4board)
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- _px4board_ files for other boards can be found in [PX4-Autopilot/boards/](https://github.com/PX4/PX4-Autopilot/tree/main/boards)
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To enable the compilation of the application into the firmware add the corresponding Kconfig key `CONFIG_EXAMPLES_PX4_SIMPLE_APP=y` in the _px4board_ file or run [boardconfig](../hardware/porting_guide_config.md#px4-menuconfig-setup) `make px4_fmu-v4_default boardconfig`:
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```
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examples --->
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[x] PX4 Simple app ----
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```
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:::info
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The line will already be present for most files, because the examples are included in firmware by default.
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:::
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Побудуйте приклад, використовуючи команду для конкретної плати:
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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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## Тестовий додаток (апаратне забезпечення)
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### Завантажте прошивку на вашу плату
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Увімкніть завантажувач, а потім скиньте плату:
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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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Перед скиданням дошки повинно бути надруковано певну кількість компілювальних повідомлень та в кінці:
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```sh
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Завантажена прошивка для X, X, очікування на загрузчик...
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```
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Після того, як плату скинуто і завантажено, вона починає друкувати:
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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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### Підключіть консоль
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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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Введіть ''help'' та натисніть ENTER
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```sh
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nsh> help
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help usage: help [-v] [<cmd>]
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[ df kill mkfifo ps sleep
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? echo losetup mkrd pwd test
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cat exec ls mh rm umount
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cd exit mb mount rmdir unset
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cp free mkdir mv set usleep
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dd help mkfatfs mw sh xd
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Builtin Apps:
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reboot
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perf
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top
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..
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px4_simple_app
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..
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sercon
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serdis
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```
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Note that `px4_simple_app` is now part of the available commands.
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Start it by typing `px4_simple_app` and ENTER:
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```sh
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nsh> px4_simple_app
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Hello Sky!
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```
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Заява зараз правильно зареєстрована в системі і може бути розширена для фактичного виконання корисних завдань.
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## Тестовий додаток (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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Додаток тепер може бути розширений для фактичного виконання корисних завдань.
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## Підписка на дані сенсорів
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Для того щоб зробити щось корисне, додаток повинен підписати входи та опублікувати виходи (наприклад, команди для мотору або серводвигуна).
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:::tip
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The benefits of the PX4 hardware abstraction comes into play here!
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Немає потреби взаємодіяти з драйверами сенсорів та оновлювати додаток, якщо плата або сенсори оновлені.
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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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Підписка на тему проста:
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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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Поточний потік переходить у режим сну і автоматично буде розбуджений планувальником, як тільки буде доступні нові дані, не використовуючи жодних циклів ЦП під час очікування.
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To do this, we use the [poll()](http://pubs.opengroup.org/onlinepubs/007908799/xsh/poll.html) POSIX system call.
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Adding `poll()` to the subscription looks like (_pseudocode, look for the full implementation below_):
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```cpp
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#include <poll.h>
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#include <uORB/topics/sensor_combined.h>
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..
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int sensor_sub_fd = orb_subscribe(ORB_ID(sensor_combined));
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/* one could wait for multiple topics with this technique, just using one here */
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px4_pollfd_struct_t fds[] = {
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{ .fd = sensor_sub_fd, .events = POLLIN },
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};
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||||
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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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||||
|
||||
Знову скомпілюйте додаток, введіть:
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||||
|
||||
```sh
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make
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||||
```
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||||
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### Тестування підписки на uORB
|
||||
|
||||
Останнім кроком є запуск вашої програми як фонового процесу / завдання, набираючи наступне у оболонці nsh:
|
||||
|
||||
```sh
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||||
px4_simple_app &
|
||||
```
|
||||
|
||||
Ваш застосунок відображатиме 5 значень датчиків у консолі, а потім завершить виконання:
|
||||
|
||||
```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.
|
||||
:::
|
||||
|
||||
## Публікація Даних
|
||||
|
||||
To use the calculated outputs, the next step is to _publish_ the results.
|
||||
Нижче ми покажемо, як опублікувати тему ставлення.
|
||||
|
||||
:::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);
|
||||
```
|
||||
|
||||
У головному циклі опублікуйте інформацію, коли вона буде готова:
|
||||
|
||||
```c
|
||||
orb_publish(ORB_ID(vehicle_attitude), att_pub_fd, &att);
|
||||
```
|
||||
|
||||
## Наприклад: Код Повного Прикладу
|
||||
|
||||
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;
|
||||
}
|
||||
```
|
||||
|
||||
## Виконання повного прикладу
|
||||
|
||||
І, нарешті, запустіть свою програму:
|
||||
|
||||
```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)).
|
||||
|
||||
## Підсумок
|
||||
|
||||
Цей посібник охоплює все необхідне для розробки базової програми автопілота PX4.
|
||||
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).
|
||||
|
||||
Наступна сторінка презентує шаблон для написання повної програми з можливістю запуску та зупинки.
|
||||
@@ -0,0 +1,6 @@
|
||||
<Redirect to="modules_main" />
|
||||
|
||||
# Модулі
|
||||
|
||||
Це плейсхолдер для документів модулів.
|
||||
Вбудований, але не в бічній панелі.
|
||||
@@ -0,0 +1,71 @@
|
||||
# Шаблон модуля для повноцінних додатків
|
||||
|
||||
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).
|
||||
У більшості випадків можна використовувати завдання робочої черги, оскільки це мінімізує використання ресурсів.
|
||||
|
||||
:::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.
|
||||
:::
|
||||
|
||||
## Завдання робочої черги
|
||||
|
||||
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).
|
||||
|
||||
Програма-задача робочої черги - це така сама програма, як і звичайна (задача), за винятком того, що їй потрібно вказати, що вона є задачею робочої черги, і запланувати свій запуск під час ініціалізації.
|
||||
|
||||
Приклад показує, як.
|
||||
Підсумовуючи:
|
||||
|
||||
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. Вкажіть чергу, до якої додати завдання у конструкторі ініціалізації.
|
||||
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).
|
||||
|
||||
## Задачі
|
||||
|
||||
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).
|
||||
|
||||
Шаблон демонструє наступні додаткові функції/аспекти, які є необхідними або корисними для повноцінної роботи програми:
|
||||
|
||||
- Доступ до параметрів та реагування на оновлення параметрів.
|
||||
- підписки на uORB та очікування оновлень теми.
|
||||
- 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).
|
||||
- Парсинг аргументів командного рядка.
|
||||
- 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)
|
||||
|
||||
### Опис
|
||||
|
||||
<a id="fw_autotune_attitude_control_usage"></a>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
### Опис
|
||||
|
||||
<a id="mc_autotune_attitude_control_usage"></a>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
mc_autotune_attitude_control <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
@@ -0,0 +1,724 @@
|
||||
# Modules Reference: Command
|
||||
|
||||
## actuator_test
|
||||
|
||||
Source: [systemcmds/actuator_test](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/actuator_test)
|
||||
|
||||
Утиліта для тестування актуаторів.
|
||||
|
||||
ПОПЕРЕДЖЕННЯ: перед використанням цієї команди приберіть усі пропелери.
|
||||
|
||||
<a id="actuator_test_usage"></a>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
actuator_test <command> [arguments...]
|
||||
Commands:
|
||||
set Set an actuator to a specific output value
|
||||
|
||||
The actuator can be specified by motor, servo or function directly:
|
||||
[-m <val>] Motor to test (1...8)
|
||||
[-s <val>] Servo to test (1...8)
|
||||
[-f <val>] Specify function directly
|
||||
-v <val> value (-1...1)
|
||||
[-t <val>] Timeout in seconds (run interactive if not set)
|
||||
default: 0
|
||||
|
||||
iterate-motors Iterate all motors starting and stopping one after the other
|
||||
|
||||
iterate-servos Iterate all servos deflecting one after the other
|
||||
```
|
||||
|
||||
## bl_update
|
||||
|
||||
Source: [systemcmds/bl_update](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/bl_update)
|
||||
|
||||
Utility to flash the bootloader from a file <a id="bl_update_usage"></a>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
bsondump [arguments...]
|
||||
<file> The BSON file to decode and print.
|
||||
```
|
||||
|
||||
## dumpfile
|
||||
|
||||
Source: [systemcmds/dumpfile](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/dumpfile)
|
||||
|
||||
Утиліта для роботи з файлами дампу. Виводить розмір та вміст файлу у бінарному режимі (не замінюйте LF на CR LF) до stdout. <a id="dumpfile_usage"></a>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
dumpfile [arguments...]
|
||||
<file> File to dump
|
||||
```
|
||||
|
||||
## dyn
|
||||
|
||||
Source: [systemcmds/dyn](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/dyn)
|
||||
|
||||
### Опис
|
||||
|
||||
Завантажує та запускає динамічний модуль PX4, який не було скомпільовано у бінарний файл PX4.
|
||||
|
||||
### Приклад
|
||||
|
||||
```
|
||||
dyn ./hello.px4mod start
|
||||
```
|
||||
|
||||
<a id="dyn_usage"></a>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
### Опис
|
||||
|
||||
Впроваджує збої в систему.
|
||||
|
||||
### Імплементація
|
||||
|
||||
Ця системна команда надсилає транспортному засобу команду через uORB, щоб спровокувати збій.
|
||||
|
||||
### Приклади
|
||||
|
||||
Перевірити failsafe GPS, зупинивши GPS:
|
||||
|
||||
failure gps off
|
||||
|
||||
<a id="failure_usage"></a>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
### Опис
|
||||
|
||||
Ця команда використовується для читання та запису GPIO
|
||||
|
||||
```
|
||||
gpio read <PORT><PIN>/<DEVICE> [PULLDOWN|PULLUP] [--force]
|
||||
gpio write <PORT><PIN>/<DEVICE> <VALUE> [PUSHPULL|OPENDRAIN] [--force]
|
||||
```
|
||||
|
||||
### Приклади
|
||||
|
||||
Зчитати значення на port H pin 4 налаштований як імпульс, і це високо
|
||||
|
||||
```
|
||||
gpio read H4 PULLUP
|
||||
```
|
||||
|
||||
1 OK
|
||||
|
||||
Встановіть вихідне значення на виводі порту E на високий рівень
|
||||
|
||||
```
|
||||
gpio write E7 1 --force
|
||||
```
|
||||
|
||||
Встановіть вихідне значення на пристрої /dev/gpio1 на високе значення
|
||||
|
||||
```
|
||||
gpio write /dev/gpio1 1
|
||||
```
|
||||
|
||||
<a id="gpio_usage"></a>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
Утиліта апаратного збою
|
||||
|
||||
Використовується у сценаріях запуску для обробки апаратних збоїв
|
||||
|
||||
<a id="hardfault_log_usage"></a>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
Інструмент командного рядка для відображення історії повідомлень px4. Немає аргументів. <a id="hist_usage"></a>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
### Опис
|
||||
|
||||
Command-line tool to control & test the (external) LED's.
|
||||
|
||||
Щоб скористатися ним, переконайтеся, що запущено драйвер, який обробляє тему led_control uorb.
|
||||
|
||||
Існують різні пріоритети, наприклад, один модуль може встановити колір з низьким пріоритетом, а інший
|
||||
модуль може блимати N разів з високим пріоритетом, і світлодіоди автоматично повертаються до стану з низьким пріоритетом
|
||||
після блимання. The `reset` command can also be used to return to a lower priority.
|
||||
|
||||
### Приклади
|
||||
|
||||
Блимання першого світлодіода 5 разів синім кольором:
|
||||
|
||||
```
|
||||
led_control blink -c blue -l 0 -n 5
|
||||
```
|
||||
|
||||
<a id="led_control_usage"></a>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
Утиліта для прослуховування тем uORB та виводу даних у консоль.
|
||||
|
||||
Із прослуховування можна вийти в будь-який момент, натиснувши Ctrl+C, Esc або Q.
|
||||
|
||||
<a id="listener_usage"></a>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
Запуск оболонки NSH на заданому порту.
|
||||
|
||||
Раніше це використовувалося для запуску оболонки на послідовному порту USB.
|
||||
Тепер там працює mavlink, і можна використовувати оболонку поверх mavlink.
|
||||
|
||||
<a id="nshterm_usage"></a>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
### Опис
|
||||
|
||||
Команда для доступу до параметрів і маніпулювання ними через оболонку або скрипт.
|
||||
|
||||
Це використовується, наприклад, у сценарії запуску для встановлення специфічних для планера параметрів.
|
||||
|
||||
Parameters are automatically saved when changed, eg. with `param set`. Зазвичай вони зберігаються на FRAM
|
||||
або на SD-карту. `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.
|
||||
|
||||
Кожен параметр має прапорець «використано», який встановлюється при його зчитуванні під час завантаження. Він використовується для відображення лише релевантних параметрів на наземну станцію керування.
|
||||
|
||||
### Приклади
|
||||
|
||||
Змініть планер і переконайтеся, що завантажені параметри планера за замовчуванням:
|
||||
|
||||
```
|
||||
param set SYS_AUTOSTART 4001
|
||||
param set SYS_AUTOCONFIG 1
|
||||
reboot
|
||||
```
|
||||
|
||||
<a id="param_usage"></a>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
### Опис
|
||||
|
||||
Керує доставкою вантажу за допомогою захвату або лебідки з відповідним налаштуванням тайм-ауту / датчиком зворотнього зв'язку,
|
||||
та повертає результат доставки як підтвердження внутрішньо
|
||||
|
||||
<a id="payload_deliverer_usage"></a>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
Передає дані з одного пристрою на інший.
|
||||
|
||||
Це може бути використано для використання u-center, підключеного до USB з GPS через послідовний порт.
|
||||
|
||||
<a id="serial_passthru_usage"></a>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
### Опис
|
||||
|
||||
Інструмент командного рядка для встановлення та отримання системного часу.
|
||||
|
||||
### Приклади
|
||||
|
||||
Встановіть системний час і прочитайте його назад
|
||||
|
||||
```
|
||||
system_time set 1600775044
|
||||
system_time get
|
||||
```
|
||||
|
||||
<a id="system_time_usage"></a>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
Утиліта для перевірки підключення USB. Раніше використовувався в стартових скриптах.
|
||||
Значення 0 означає, що USB підключено, 1 - ні. <a id="usb_connected_usage"></a>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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 +1,168 @@
|
||||
# Modules Reference: Communication
|
||||
|
||||
## frsky_telemetry
|
||||
|
||||
Source: [drivers/telemetry/frsky_telemetry](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/telemetry/frsky_telemetry)
|
||||
|
||||
Підтримка FrSky Telemetry. Автоматичне визначення протоколу D або S.PORT. <a id="frsky_telemetry_usage"></a>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
### Опис
|
||||
|
||||
Цей модуль реалізує протокол MAVLink, який можна використовувати на послідовному каналі або мережевому з'єднанні UDP.
|
||||
Він взаємодіє з системою через uORB: деякі повідомлення обробляються безпосередньо в модулі (наприклад, протокол місії), інші публікуються через uORB (наприклад, vehicle_command).
|
||||
|
||||
Потоки використовуються для надсилання періодичних повідомлень з певною частотою, наприклад, про положення транспортного засобу.
|
||||
При запуску екземпляра mavlink можна вказати режим, який визначає набір увімкнених потоків з їхніми швидкостями.
|
||||
For a running instance, streams can be configured via `mavlink stream` command.
|
||||
|
||||
Може бути декілька незалежних екземплярів модуля, кожен з яких підключений до одного послідовного пристрою або мережевого порту.
|
||||
|
||||
### Імплементація
|
||||
|
||||
Реалізація використовує 2 потоки, потік відправлення та потік отримання. 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.
|
||||
|
||||
### Приклади
|
||||
|
||||
Запустіть mavlink на послідовному каналі ttyS1 з швидкістю передачі даних 921600 і максимальною швидкістю надсилання 80 кБ/с:
|
||||
|
||||
```
|
||||
mavlink start -d /dev/ttyS1 -b 921600 -m onboard -r 80000
|
||||
```
|
||||
|
||||
Запустіть mavlink на UDP-порт 14556 і увімкніть повідомлення HIGHRES_IMU з частотою 50 Гц:
|
||||
|
||||
```
|
||||
mavlink start -u 14556 -r 1000000
|
||||
mavlink stream -u 14556 -s HIGHRES_IMU -r 50
|
||||
```
|
||||
|
||||
<a id="mavlink_usage"></a>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
### Опис
|
||||
|
||||
uORB - це внутрішня система обміну повідомленнями pub-sub, яка використовується для комунікації між модулями.
|
||||
|
||||
### Імплементація
|
||||
|
||||
Реалізація є асинхронною та безблоковою, тобто видавець не чекає на підписника і навпаки.
|
||||
Це досягається завдяки наявності окремого буфера між публікатором і підписником.
|
||||
|
||||
Код оптимізовано для мінімізації використання пам'яті та затримок при обміні повідомленнями.
|
||||
|
||||
Messages are defined in the `/msg` directory. Вони перетворюються в код C/C++ під час збірки.
|
||||
|
||||
Якщо ви компілюєте з ORB_USE_PUBLISHER_RULES, файл з правилами публікації uORB можна використовувати для налаштування того, яким
|
||||
модулям дозволено публікувати які теми. Це використовується для загальносистемного відтворення.
|
||||
|
||||
### Приклади
|
||||
|
||||
Відстежуйте показники публікацій тем. Besides `top`, this is an important command for general system inspection:
|
||||
|
||||
```
|
||||
uorb top
|
||||
```
|
||||
|
||||
<a id="uorb_usage"></a>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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 +1,504 @@
|
||||
# Modules Reference: Controller
|
||||
|
||||
## airship_att_control
|
||||
|
||||
Source: [modules/airship_att_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/airship_att_control)
|
||||
|
||||
### Опис
|
||||
|
||||
Це реалізує регулятор положення аеростата і швидкості. 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.
|
||||
|
||||
### Імплементація
|
||||
|
||||
Щоб зменшити затримку керування, модуль безпосередньо опитує тему гіроскопа, опубліковану драйвером IMU.
|
||||
|
||||
<a id="airship_att_control_usage"></a>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
### Опис
|
||||
|
||||
Це реалізує розподіл управління. Він приймає задані значення крутного моменту та тяги
|
||||
як вхідні та вихідні повідомлення про задані значення привода.
|
||||
|
||||
<a id="control_allocator_usage"></a>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
### Опис
|
||||
|
||||
Це реалізує генерацію заданого значення для всіх режимів. Він приймає поточний стан режиму транспортного засобу як вхідні дані
|
||||
і виводить задані значення для контролерів.
|
||||
|
||||
<a id="flight_mode_manager_usage"></a>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
### Опис
|
||||
|
||||
fw_att_control - регулятор положення фіксованого крила.
|
||||
|
||||
<a id="fw_att_control_usage"></a>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
### Опис
|
||||
|
||||
fw_pos_control - контролер положення фіксованого крила.
|
||||
|
||||
<a id="fw_pos_control_usage"></a>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
### Опис
|
||||
|
||||
fw_rate_control - регулятор швидкості фіксованого крила.
|
||||
|
||||
<a id="fw_rate_control_usage"></a>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
### Опис
|
||||
|
||||
Це реалізує контролер положення мультикоптера. It takes attitude
|
||||
setpoints (`vehicle_attitude_setpoint`) as inputs and outputs a rate setpoint.
|
||||
|
||||
Контролер має P цикл для кутової похибки
|
||||
|
||||
Публікація, що документує реалізоване кватерніонне керування положенням:
|
||||
Nonlinear Quadrocopter Attitude Control (2013)
|
||||
by Dario Brescianini, Markus Hehn and Raffaello D'Andrea
|
||||
Institute for Dynamic Systems and Control (IDSC), ETH Zurich
|
||||
|
||||
https://www.research-collection.ethz.ch/bitstream/handle/20.500.11850/154099/eth-7387-01.pdf
|
||||
|
||||
<a id="mc_att_control_usage"></a>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
### Опис
|
||||
|
||||
Контролер має два контури: P цикл для помилки положення і PID цикл для помилки швидкості.
|
||||
Виходом контролера швидкості є вектор тяги, який розділяється на напрямок тяги
|
||||
(тобто матрицю обертання для орієнтації мультикоптера) та скаляр тяги (тобто саму тягу мультикоптера).
|
||||
|
||||
Контролер не використовує кути Ейлера для своєї роботи, вони генеруються лише для більш зручного керування та
|
||||
логування.
|
||||
|
||||
<a id="mc_pos_control_usage"></a>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
### Опис
|
||||
|
||||
Це реалізує мультикоптерний регулятор швидкості. It takes rate setpoints (in acro mode
|
||||
via `manual_control_setpoint` topic) as inputs and outputs actuator control messages.
|
||||
|
||||
Контролер має PID-цикл для компенсації похибки кутової швидкості.
|
||||
|
||||
<a id="mc_rate_control_usage"></a>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
### Опис
|
||||
|
||||
Модуль відповідає за автономні режими польоту. Це включає місії (читайте з dataman),
|
||||
взліт та RTL.
|
||||
Він також відповідає за перевірку порушень геозони.
|
||||
|
||||
### Імплементація
|
||||
|
||||
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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
### Опис
|
||||
|
||||
Rover ackermann module.
|
||||
|
||||
<a id="rover_ackermann_usage"></a>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
### Опис
|
||||
|
||||
Rover differential module.
|
||||
|
||||
<a id="rover_differential_usage"></a>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
### Опис
|
||||
|
||||
Rover mecanum module.
|
||||
|
||||
<a id="rover_mecanum_usage"></a>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
### Опис
|
||||
|
||||
Контролює положення ровера за допомогою L1 контролера.
|
||||
|
||||
Publishes `vehicle_thrust_setpoint (only in x) and vehicle_torque_setpoint (only yaw)` messages at IMU_GYRO_RATEMAX.
|
||||
|
||||
### Імплементація
|
||||
|
||||
Наразі ця реалізація підтримує лише декілька режимів:
|
||||
|
||||
- Повна ручна: Throttle та yaw контроль передається безпосередньо на актуатори
|
||||
- Автоматична місія: Ровер виконує місії
|
||||
- Loiter: Ровер буде рухатися в межах радіусу очікування, а потім вимкне двигуни
|
||||
|
||||
### Приклади
|
||||
|
||||
Приклад використання CLI:
|
||||
|
||||
```
|
||||
rover_pos_control start
|
||||
rover_pos_control status
|
||||
rover_pos_control stop
|
||||
```
|
||||
|
||||
<a id="rover_pos_control_usage"></a>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
### Опис
|
||||
|
||||
Контролює положення безпілотного підводного апарату (UUV).
|
||||
|
||||
Publishes `vehicle_thrust_setpont` and `vehicle_torque_setpoint` messages at a constant 250Hz.
|
||||
|
||||
### Імплементація
|
||||
|
||||
Наразі ця реалізація підтримує лише декілька режимів:
|
||||
|
||||
- Повна ручна: Roll, pitch, yaw, та throttle контроль передається безпосередньо до актуаторів
|
||||
- Автоматична місія: UUV виконує місії
|
||||
|
||||
### Приклади
|
||||
|
||||
Приклад використання CLI:
|
||||
|
||||
```
|
||||
uuv_att_control start
|
||||
uuv_att_control status
|
||||
uuv_att_control stop
|
||||
```
|
||||
|
||||
<a id="uuv_att_control_usage"></a>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
### Опис
|
||||
|
||||
Контролює положення безпілотного підводного апарату (UUV).
|
||||
Publishes `attitude_setpoint` messages.
|
||||
|
||||
### Імплементація
|
||||
|
||||
Наразі ця реалізація підтримує лише декілька режимів:
|
||||
|
||||
- Повна ручна: Roll, pitch, yaw, та throttle контроль передається безпосередньо до актуаторів
|
||||
- Автоматична місія: UUV виконує місії
|
||||
|
||||
### Приклади
|
||||
|
||||
Приклад використання CLI:
|
||||
|
||||
```
|
||||
uuv_pos_control start
|
||||
uuv_pos_control status
|
||||
uuv_pos_control stop
|
||||
```
|
||||
|
||||
<a id="uuv_pos_control_usage"></a>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
### Опис
|
||||
|
||||
fw_att_control - регулятор положення фіксованого крила.
|
||||
|
||||
<a id="vtol_att_control_usage"></a>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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 @@
|
||||
# Modules Reference: Airspeed Sensor (Driver)
|
||||
|
||||
## asp5033
|
||||
|
||||
Source: [drivers/differential_pressure/asp5033](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/differential_pressure/asp5033)
|
||||
|
||||
### Опис
|
||||
|
||||
Драйвер для включення зовнішнього [ASP5033]
|
||||
(https://www.qio-tek.com/index.php/product/qiotek-asp5033-dronecan-airspeed-and-compass-module/)
|
||||
TE підключається через I2C.
|
||||
За замовчуванням це не включено до прошивки. 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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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 @@
|
||||
# Посилання на модулі: Baro (драйвер)
|
||||
|
||||
## bmp280
|
||||
|
||||
Source: [drivers/barometer/bmp280](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/barometer/bmp280)
|
||||
|
||||
<a id="bmp280_usage"></a>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
### Опис
|
||||
|
||||
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).
|
||||
Зокрема:
|
||||
|
||||
- `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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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 +1,605 @@
|
||||
# Modules Reference: Distance Sensor (Driver)
|
||||
|
||||
## afbrs50
|
||||
|
||||
Source: [drivers/distance_sensor/broadcom/afbrs50](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/broadcom/afbrs50)
|
||||
|
||||
### Опис
|
||||
|
||||
Драйвер для Broadcom AFBRS50.
|
||||
|
||||
### Приклади
|
||||
|
||||
Спроба запустити драйвер на вказаному послідовному пристрої.
|
||||
|
||||
```
|
||||
afbrs50 start
|
||||
```
|
||||
|
||||
Stop driver
|
||||
|
||||
```
|
||||
afbrs50 stop
|
||||
```
|
||||
|
||||
<a id="afbrs50_usage"></a>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
### Опис
|
||||
|
||||
Драйвер послідовної шини для LiDAR LeddarOne.
|
||||
|
||||
Більшість плат налаштовано на ввімкнення/запуск драйвера на вказаному UART за допомогою параметра SENS_LEDDAR1_CFG.
|
||||
|
||||
Інформація про налаштування/використання: https://docs.px4.io/main/en/sensor/leddar_one.html
|
||||
|
||||
### Приклади
|
||||
|
||||
Спроба запустити драйвер на вказаному послідовному пристрої.
|
||||
|
||||
```
|
||||
leddar_one start -d /dev/ttyS1
|
||||
```
|
||||
|
||||
Stop driver
|
||||
|
||||
```
|
||||
leddar_one stop
|
||||
```
|
||||
|
||||
<a id="leddar_one_usage"></a>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
### Опис
|
||||
|
||||
Драйвер шини I2C для LIDAR-далекомірів Lightware серії SFxx: SF10/a, SF10/b, SF10/c, SF11/c, SF/LW20.
|
||||
|
||||
Інформація про налаштування/використання: https://docs.px4.io/main/en/sensor/sfxx_lidar.html
|
||||
|
||||
<a id="lightware_laser_i2c_usage"></a>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
### Опис
|
||||
|
||||
Драйвер послідовної шини для лазерних далекомірів LightWare SF02/F, SF10/a, SF10/b, SF10/c, SF11/c.
|
||||
|
||||
Більшість плат налаштовано на увімкнення/запуск драйвера на вказаному UART за допомогою параметра SENS_SF0X_CFG.
|
||||
|
||||
Інформація про налаштування/використання: https://docs.px4.io/main/en/sensor/sfxx_lidar.html
|
||||
|
||||
### Приклади
|
||||
|
||||
Спроба запустити драйвер на вказаному послідовному пристрої.
|
||||
|
||||
```
|
||||
lightware_laser_serial start -d /dev/ttyS1
|
||||
```
|
||||
|
||||
Stop driver
|
||||
|
||||
```
|
||||
lightware_laser_serial stop
|
||||
```
|
||||
|
||||
<a id="lightware_laser_serial_usage"></a>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
### Опис
|
||||
|
||||
Драйвер послідовної шини для лазерного далекоміра Lightware SF45/b.
|
||||
|
||||
### Приклади
|
||||
|
||||
Спроба запустити драйвер на вказаному послідовному пристрої.
|
||||
|
||||
```
|
||||
lightware_sf45_serial start -d /dev/ttyS1
|
||||
```
|
||||
|
||||
Stop driver
|
||||
|
||||
```
|
||||
lightware_sf45_serial stop
|
||||
```
|
||||
|
||||
<a id="lightware_sf45_serial_usage"></a>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
### Опис
|
||||
|
||||
Драйвер шини I2C для далекомірів LidarLite.
|
||||
|
||||
Датчик/драйвер має бути увімкнений за допомогою параметра SENS_EN_LL40LS.
|
||||
|
||||
Інформація про налаштування/використання: https://docs.px4.io/main/en/sensor/lidar_lite.html
|
||||
|
||||
<a id="ll40ls_usage"></a>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
### Опис
|
||||
|
||||
Драйвер ультразвукового далекоміра, який здійснює зв'язок з пристроєм і публікує відстань через uORB.
|
||||
|
||||
### Імплементація
|
||||
|
||||
Цей драйвер реалізовано як завдання NuttX. Ця реалізація була обрана через необхідність опитування на повідомлення
|
||||
через UART, що не підтримується у work_queue. Цей драйвер безперервно вимірює дальність коли він
|
||||
працює. На рівні драйверів реалізовано простий алгоритм виявлення хибних показань, що має на меті покращити
|
||||
якість даних, що публікуються. Драйвер взагалі не публікуватиме дані, якщо вважатиме, що дані датчика
|
||||
недійсними або нестабільними.
|
||||
|
||||
<a id="pga460_usage"></a>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
### Опис
|
||||
|
||||
Драйвер для далекомірів HY-SRF05 / HC-SR05 та HC-SR04.
|
||||
|
||||
Датчик/драйвер потрібно увімкнути за допомогою параметра SENS_EN_HXSRX0X.
|
||||
|
||||
<a id="srf05_usage"></a>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
### Опис
|
||||
|
||||
Драйвер шини I2C для далекомірів TeraRanger.
|
||||
|
||||
Датчик/драйвер має бути увімкнений за допомогою параметра SENS_EN_TRANGER.
|
||||
|
||||
Інформація про налаштування/використання: https://docs.px4.io/main/en/sensor/rangefinders.html#teraranger-rangefinders
|
||||
|
||||
<a id="teraranger_usage"></a>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
### Опис
|
||||
|
||||
Серійний драйвер шини для Benewake TFmini LiDAR.
|
||||
|
||||
Більшість плат налаштовано на ввімкнення/вимкнення драйвера на вказаному UART за допомогою параметра SENS_TFMINI_CFG.
|
||||
|
||||
Інформація про налаштування/використання: https://docs.px4.io/main/en/sensor/tfmini.html
|
||||
|
||||
### Приклади
|
||||
|
||||
Спроба запустити драйвер на вказаному послідовному пристрої.
|
||||
|
||||
```
|
||||
tfmini start -d /dev/ttyS1
|
||||
```
|
||||
|
||||
Stop driver
|
||||
|
||||
```
|
||||
tfmini stop
|
||||
```
|
||||
|
||||
<a id="tfmini_usage"></a>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
### Опис
|
||||
|
||||
Серійний драйвер шини для радара Aerotenna uLanding.
|
||||
|
||||
Setup/usage information: https://docs.px4.io/main/en/sensor/ulanding_radar.html
|
||||
|
||||
### Приклади
|
||||
|
||||
Спроба запустити драйвер на вказаному послідовному пристрої.
|
||||
|
||||
```
|
||||
ulanding_radar start -d /dev/ttyS1
|
||||
```
|
||||
|
||||
Stop driver
|
||||
|
||||
```
|
||||
ulanding_radar stop
|
||||
```
|
||||
|
||||
<a id="ulanding_radar_usage"></a>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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 @@
|
||||
# Modules Reference: Imu (Драйвер)
|
||||
|
||||
## 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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
icm42605 <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-s] Internal SPI bus(es)
|
||||
[-S] External SPI bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
|
||||
[-m <val>] SPI mode
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-R <val>] Rotation
|
||||
default: 0
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## icm42670p
|
||||
|
||||
Source: [drivers/imu/invensense/icm42670p](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/icm42670p)
|
||||
|
||||
<a id="icm42670p_usage"></a>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
icm42670p <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-s] Internal SPI bus(es)
|
||||
[-S] External SPI bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
|
||||
[-m <val>] SPI mode
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-R <val>] Rotation
|
||||
default: 0
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## icm42688p
|
||||
|
||||
Source: [drivers/imu/invensense/icm42688p](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/icm42688p)
|
||||
|
||||
<a id="icm42688p_usage"></a>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
iim42653 <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-s] Internal SPI bus(es)
|
||||
[-S] External SPI bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
|
||||
[-m <val>] SPI mode
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-R <val>] Rotation
|
||||
default: 0
|
||||
[-C <val>] Input clock frequency (Hz)
|
||||
default: 0
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## l3gd20
|
||||
|
||||
Source: [drivers/imu/st/l3gd20](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/st/l3gd20)
|
||||
|
||||
<a id="l3gd20_usage"></a>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
l3gd20 <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-s] Internal SPI bus(es)
|
||||
[-S] External SPI bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
|
||||
[-m <val>] SPI mode
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-R <val>] Rotation
|
||||
default: 0
|
||||
|
||||
regdump
|
||||
|
||||
testerror
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## lsm303d
|
||||
|
||||
Source: [drivers/imu/st/lsm303d](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/st/lsm303d)
|
||||
|
||||
<a id="lsm303d_usage"></a>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
lsm303d <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-s] Internal SPI bus(es)
|
||||
[-S] External SPI bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
|
||||
[-m <val>] SPI mode
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-R <val>] Rotation
|
||||
default: 0
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## lsm9ds1
|
||||
|
||||
Source: [drivers/imu/st/lsm9ds1](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/st/lsm9ds1)
|
||||
|
||||
<a id="lsm9ds1_usage"></a>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
lsm9ds1 <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-s] Internal SPI bus(es)
|
||||
[-S] External SPI bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
|
||||
[-m <val>] SPI mode
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-R <val>] Rotation
|
||||
default: 0
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## mpu6000
|
||||
|
||||
Source: [drivers/imu/invensense/mpu6000](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/mpu6000)
|
||||
|
||||
<a id="mpu6000_usage"></a>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
mpu9250_i2c <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-I] Internal I2C bus(es)
|
||||
[-X] External I2C bus(es)
|
||||
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
||||
(default=1))
|
||||
[-f <val>] bus frequency in kHz
|
||||
[-q] quiet startup (no message if no device found)
|
||||
[-a <val>] I2C address
|
||||
default: 104
|
||||
[-R <val>] Rotation
|
||||
default: 0
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## mpu9520
|
||||
|
||||
Source: [drivers/imu/invensense/mpu6500](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/mpu6500)
|
||||
|
||||
<a id="mpu9520_usage"></a>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
### Опис
|
||||
|
||||
Драйвер послідовної шини для VectorNav VN-100, VN-200, VN-300.
|
||||
|
||||
Більшість плат налаштовано на увімкнення/запуск драйвера на вказаному UART за допомогою параметра SENS_VN_CFG.
|
||||
|
||||
Інформація про налаштування/використання: https://docs.px4.io/main/en/sensor/vectornav.html
|
||||
|
||||
### Приклади
|
||||
|
||||
Спроба запустити драйвер на вказаному послідовному пристрої.
|
||||
|
||||
```
|
||||
vectornav start -d /dev/ttyS1
|
||||
```
|
||||
|
||||
Stop driver
|
||||
|
||||
```
|
||||
vectornav stop
|
||||
```
|
||||
|
||||
<a id="vectornav_usage"></a>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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 @@
|
||||
# Modules Reference: Magnetometer (Driver)
|
||||
|
||||
## ak09916
|
||||
|
||||
Source: [drivers/magnetometer/akm/ak09916](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/magnetometer/akm/ak09916)
|
||||
|
||||
<a id="ak09916_usage"></a>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
### Опис
|
||||
|
||||
Драйвер послідовної шини для optical flow сенсору ThoneFlow-3901U.
|
||||
|
||||
Більшість плат налаштовано на ввімкнення/вимкнення драйвера на вказаному UART за допомогою параметра SENS_TFLOW_CFG.
|
||||
|
||||
Інформація про налаштування/використання: https://docs.px4.io/main/en/sensor/pmw3901.html#thone-thoneflow-3901u
|
||||
|
||||
### Приклади
|
||||
|
||||
Спроба запустити драйвер на вказаному послідовному пристрої.
|
||||
|
||||
```
|
||||
thoneflow start -d /dev/ttyS1
|
||||
```
|
||||
|
||||
Stop driver
|
||||
|
||||
```
|
||||
thoneflow stop
|
||||
```
|
||||
|
||||
<a id="thoneflow_usage"></a>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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: Транспондер (Драйвер)
|
||||
|
||||
## 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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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 +1,123 @@
|
||||
# Посилання на Модулі: Оцінка
|
||||
|
||||
## AttitudeEstimatorQ
|
||||
|
||||
Source: [modules/attitude_estimator_q](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/attitude_estimator_q)
|
||||
|
||||
### Опис
|
||||
|
||||
Оцінювач висоти q.
|
||||
|
||||
<a id="AttitudeEstimatorQ_usage"></a>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
### Опис
|
||||
|
||||
Цей модуль надає єдину тему airspeed_validated, яка містить вказану (IAS), калібровану (CAS), справжню повітряну швидкість (TAS) та інформацію, чи є оцінка зараз недійсною і чи ґрунтується на показаннях датчика чи на швидкості на землі мінус швидкість вітру.
|
||||
Підтримуючи введення декількох «сирих» входів швидкості повітря, цей модуль автоматично перемикається
|
||||
на коректний датчик у разі виявлення несправності. Для виявлення несправностей, а також для
|
||||
оцінки масштабного коефіцієнта від IAS до CAS, вона запускає кілька оцінювачів вітру
|
||||
а також публікує їх.
|
||||
|
||||
<a id="airspeed_estimator_usage"></a>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
### Опис
|
||||
|
||||
Оцінювач відношення та позиції за допомогою розширеного фільтра Калмана. Використовується для багатороторних і фіксованих крил.
|
||||
|
||||
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>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
### Опис
|
||||
|
||||
Оцінювач відношення та позиції за допомогою розширеного фільтра Калмана.
|
||||
|
||||
<a id="local_position_estimator_usage"></a>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
### Опис
|
||||
|
||||
<a id="mc_hover_thrust_estimator_usage"></a>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
mc_hover_thrust_estimator <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
@@ -0,0 +1,34 @@
|
||||
# Modules & Commands Reference
|
||||
|
||||
На наступних сторінках описано модулі, драйвери та команди PX4.Вони описують надані функціональні можливості, загальний огляд реалізації на високому рівні та способи використання інтерфейсу командного рядка.
|
||||
|
||||
:::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.
|
||||
Сторінки документації можуть бути згенеровані шляхом виконання наступної команди з
|
||||
кореневого каталогу PX4-Autopilot :
|
||||
|
||||
```
|
||||
make module_documentation
|
||||
```
|
||||
|
||||
The generated files will be written to the `modules` directory.
|
||||
|
||||
## Категорії
|
||||
|
||||
- [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 +1,31 @@
|
||||
# Посилання на модулі: Симуляція
|
||||
|
||||
## simulator_sih
|
||||
|
||||
Source: [modules/simulation/simulator_sih](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/simulator_sih)
|
||||
|
||||
### Опис
|
||||
|
||||
Цей модуль надає симулятор для квадрокоптерів та фіксованих крил, що повністю працює всередині апаратного автопілота.
|
||||
|
||||
Цей симулятор підписується на "actuator_outputs", які є сигналами ШІМ, наданими модулем розподілу керування.
|
||||
|
||||
Цей симулятор публікує сигнали датчиків, спотворені реалістичним шумом, щоб включити оцінювання стану в петлю.
|
||||
|
||||
### Імплементація
|
||||
|
||||
Симулятор реалізує рівняння руху за допомогою матричної алгебри.Використовується кватерніонне представлення для орієнтації.Для інтегрування використовується пряма схема Ейлера.Більшість змінних оголошуються глобальними в файлі .hpp, щоб уникнути переповнення стеку.
|
||||
|
||||
<a id="simulator_sih_usage"></a>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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 @@
|
||||
# Modules Reference: Template
|
||||
|
||||
## module
|
||||
|
||||
Source: [templates/template_module](https://github.com/PX4/PX4-Autopilot/tree/main/src/templates/template_module)
|
||||
|
||||
### Опис
|
||||
|
||||
Розділ, що описує наданий функціонал модуля.
|
||||
|
||||
Це шаблон для модуля, що працює як завдання у фоновому режимі з функціями start/stop/status.
|
||||
|
||||
### Імплементація
|
||||
|
||||
Секція, що описує високорівневу реалізацію цього модуля.
|
||||
|
||||
### Приклади
|
||||
|
||||
Приклад використання CLI:
|
||||
|
||||
```
|
||||
module start -f -p 42
|
||||
```
|
||||
|
||||
<a id="module_usage"></a>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
### Опис
|
||||
|
||||
Приклад простого модуля, який виконується з черги завдань.
|
||||
|
||||
<a id="work_item_example_usage"></a>
|
||||
|
||||
### Використання
|
||||
|
||||
```
|
||||
work_item_example <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
Reference in New Issue
Block a user