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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
@@ -0,0 +1,721 @@
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# 模块参考：命令（Command）
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## actuator_test
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Source: [systemcmds/actuator_test](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/actuator_test)
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用于测试执行器的实用程序
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警告：在使用此命令之前移除所有螺旋桨。
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<a id="actuator_test_usage"></a>
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### 用法
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```
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actuator_test <command> [arguments...]
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Commands:
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set Set an actuator to a specific output value
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The actuator can be specified by motor, servo or function directly:
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[-m <val>] Motor to test (1...8)
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[-s <val>] Servo to test (1...8)
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[-f <val>] Specify function directly
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-v <val> value (-1...1)
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[-t <val>] Timeout in seconds (run interactive if not set)
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default: 0
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iterate-motors Iterate all motors starting and stopping one after the other
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iterate-servos Iterate all servos deflecting one after the other
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```
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## bl_update
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Source: [systemcmds/bl_update](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/bl_update)
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Utility to flash the bootloader from a file <a id="bl_update_usage"></a>
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### 用法
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```
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bl_update [arguments...]
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setopt Set option bits to unlock the FLASH (only needed if in locked
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state)
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<file> Bootloader bin file
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```
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## bsondump
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Source: [systemcmds/bsondump](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/bsondump)
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Utility to read BSON from a file and print or output document size. <a id="bsondump_usage"></a>
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### 用法
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```
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bsondump [arguments...]
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<file> The BSON file to decode and print.
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```
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## dumpfile
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Source: [systemcmds/dumpfile](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/dumpfile)
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转储文件实用程序。 以二进制模式（不要用 CR LF 替换 LF）将文件大小和内容打印到标准输出。 <a id="dumpfile_usage"></a>
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### 用法
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```
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dumpfile [arguments...]
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<file> File to dump
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```
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## dyn
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Source: [systemcmds/dyn](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/dyn)
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### 描述
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加载并运行一个没有被编译进 PX4 的二进制文件的动态 PX4 模块
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### Example
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```
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dyn ./hello.px4mod start
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```
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<a id="dyn_usage"></a>
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### 用法
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```
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dyn [arguments...]
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<file> File containing the module
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[arguments...] Arguments to the module
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```
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## failure
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Source: [systemcmds/failure](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/failure)
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### 描述
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向系统中注入故障。
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### 实现
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此系统命令通过 uORB 发送一个机体命令来出发故障。
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### 示例
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通过停止GPS来测试GPS故障保护:
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failure gps off
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<a id="failure_usage"></a>
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### 用法
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```
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failure [arguments...]
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help Show this help text
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gps|... Specify component
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ok|off|... Specify failure type
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[-i <val>] sensor instance (0=all)
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default: 0
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```
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## gpio
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Source: [systemcmds/gpio](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/gpio)
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### 描述
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此命令用于读写GPIO
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```
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gpio read <PORT><PIN>/<DEVICE> [PULLDOWN|PULLUP] [--force]
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gpio write <PORT><PIN>/<DEVICE> <VALUE> [PUSHPULL|OPENDRAIN] [--force]
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```
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### 示例
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读取配置为上拉的 PH4 引脚，它的值为高
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```
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gpio read H4 PULLUP
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```
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1 OK
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设置 PE7 的输出值为高
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```
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gpio write E7 1 --force
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```
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Set the output value on device /dev/gpio1 to high
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```
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gpio write /dev/gpio1 1
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```
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<a id="gpio_usage"></a>
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### 用法
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```
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gpio [arguments...]
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read
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<PORT><PIN>/<DEVICE> GPIO port and pin or device
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[PULLDOWN|PULLUP] Pulldown/Pullup
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[--force] Force (ignore board gpio list)
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write
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<PORT> <PIN> GPIO port and pin
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<VALUE> Value to write
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[PUSHPULL|OPENDRAIN] Pushpull/Opendrain
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[--force] Force (ignore board gpio list)
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```
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## hardfault_log
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Source: [systemcmds/hardfault_log](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/hardfault_log)
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Hardfault 实用程序
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在启动脚本中用于处理 hardfaults。
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<a id="hardfault_log_usage"></a>
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### 用法
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```
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hardfault_log <command> [arguments...]
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Commands:
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check Check if there's an uncommitted hardfault
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rearm Drop an uncommitted hardfault
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fault Generate a hardfault (this command crashes the system :)
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[0|1|2|3] Hardfault type: 0=divide by 0, 1=Assertion, 2=jump to 0x0,
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3=write to 0x0 (default=0)
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commit Write uncommitted hardfault to /fs/microsd/fault_%i.txt (and
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rearm, but don't reset)
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count Read the reboot counter, counts the number of reboots of an
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uncommitted hardfault (returned as the exit code of the
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program)
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reset Reset the reboot counter
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```
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## hist
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Source: [systemcmds/hist](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/hist)
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Command-line tool to show the px4 message history. There are no arguments. <a id="hist_usage"></a>
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### 用法
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```
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hist [arguments...]
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```
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## i2cdetect
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Source: [systemcmds/i2cdetect](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/i2cdetect)
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Utility to scan for I2C devices on a particular bus. <a id="i2cdetect_usage"></a>
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### 用法
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```
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i2cdetect [arguments...]
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[-b <val>] I2C bus
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default: 1
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```
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## led_control
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Source: [systemcmds/led_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/led_control)
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### 描述
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Command-line tool to control & test the (external) LED's.
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要使用它，请确保有一个处理 led_control 的 uorb 主题的设备正在运行。
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有不同的优先级，例如一个模块可以设置低优先级的颜色，另一个模块可以高优先级闪烁 N 次，闪烁后 LED 自动返回低优先级状态。 The `reset` command can also be used to return to a lower priority.
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### 示例
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第一个 LED 闪烁蓝光 5 次：
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```
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led_control blink -c blue -l 0 -n 5
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```
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<a id="led_control_usage"></a>
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### 用法
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||||
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```
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led_control <command> [arguments...]
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Commands:
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test Run a test pattern
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on Turn LED on
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off Turn LED off
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reset Reset LED priority
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blink Blink LED N times
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[-n <val>] Number of blinks
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default: 3
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[-s <val>] Set blinking speed
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values: fast|normal|slow, default: normal
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breathe Continuously fade LED in & out
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flash Two fast blinks and then off with frequency of 1Hz
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The following arguments apply to all of the above commands except for 'test':
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[-c <val>] color
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values: red|blue|green|yellow|purple|amber|cyan|white, default:
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white
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[-l <val>] Which LED to control: 0, 1, 2, ... (default=all)
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[-p <val>] Priority
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default: 2
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```
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## listener
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||||
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Source: [systemcmds/topic_listener](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/topic_listener)
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监听 uORB 主题并将数据打印到控制台的实用程序。
|
||||
|
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可以通过按 Ctrl+C、Esc 或 Q 随时退出侦听器。
|
||||
|
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<a id="listener_usage"></a>
|
||||
|
||||
### 用法
|
||||
|
||||
```
|
||||
listener <command> [arguments...]
|
||||
Commands:
|
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<topic_name> uORB topic name
|
||||
[-i <val>] Topic instance
|
||||
default: 0
|
||||
[-n <val>] Number of messages
|
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default: 1
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||||
[-r <val>] Subscription rate (unlimited if 0)
|
||||
default: 0
|
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```
|
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|
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## mfd
|
||||
|
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Source: [systemcmds/mft](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/mft)
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|
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Utility interact with the manifest <a id="mfd_usage"></a>
|
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|
||||
### 用法
|
||||
|
||||
```
|
||||
mfd <command> [arguments...]
|
||||
Commands:
|
||||
query Returns true if not existed
|
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```
|
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|
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## mft_cfg
|
||||
|
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Source: [systemcmds/mft_cfg](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/mft_cfg)
|
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|
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Tool to set and get manifest configuration <a id="mft_cfg_usage"></a>
|
||||
|
||||
### 用法
|
||||
|
||||
```
|
||||
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> )
|
||||
```
|
||||
|
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## 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>
|
||||
|
||||
### 用法
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
在指定端口启动一个 NSH shell。
|
||||
|
||||
该命令此前被用于在 USB 串口端口开启一个 shell。
|
||||
现在运行mavlink，并且可以在mavlink 上使用shell。
|
||||
|
||||
<a id="nshterm_usage"></a>
|
||||
|
||||
### 用法
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
### 描述
|
||||
|
||||
通过 shell 或脚本访问和操作参数的命令。
|
||||
|
||||
例如，这在启动脚本中用于设置特定于机身的参数。
|
||||
|
||||
Parameters are automatically saved when changed, eg. with `param set`. 它们通常存储在 FRAM 或 SD 卡中。 `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.
|
||||
|
||||
每个参数有一个“已使用”的标志，此标志在启动过程参数被读取后被置位。 它只是用于向地面控制站显示相关参数。
|
||||
|
||||
### 示例
|
||||
|
||||
更改机身并确保已加载机身的默认参数：
|
||||
|
||||
```
|
||||
param set SYS_AUTOSTART 4001
|
||||
param set SYS_AUTOCONFIG 1
|
||||
reboot
|
||||
```
|
||||
|
||||
<a id="param_usage"></a>
|
||||
|
||||
### 用法
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
### 描述
|
||||
|
||||
Handles payload delivery with either Gripper or a Winch with an appropriate timeout / feedback sensor setting,
|
||||
and communicates back the delivery result as an acknowledgement internally
|
||||
|
||||
<a id="payload_deliverer_usage"></a>
|
||||
|
||||
### 用法
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 用法
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 用法
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 用法
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 用法
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
把数据从一个设备传输到另一个设备。
|
||||
|
||||
This can be used to use u-center connected to USB with a GPS on a serial port.
|
||||
|
||||
<a id="serial_passthru_usage"></a>
|
||||
|
||||
### 用法
|
||||
|
||||
```
|
||||
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
|
||||
```
|
||||
|
||||
## 系统时间
|
||||
|
||||
Source: [systemcmds/system_time](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/system_time)
|
||||
|
||||
### 描述
|
||||
|
||||
Command-line tool to set and get system time.
|
||||
|
||||
### 示例
|
||||
|
||||
Set the system time and read it back
|
||||
|
||||
```
|
||||
system_time set 1600775044
|
||||
system_time get
|
||||
```
|
||||
|
||||
<a id="system_time_usage"></a>
|
||||
|
||||
### 用法
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 用法
|
||||
|
||||
```
|
||||
top [arguments...]
|
||||
once print load only once
|
||||
```
|
||||
|
||||
## usb_connected
|
||||
|
||||
Source: [systemcmds/usb_connected](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/usb_connected)
|
||||
|
||||
Utility to check if USB is connected. Was previously used in startup scripts.
|
||||
A return value of 0 means USB is connected, 1 otherwise. <a id="usb_connected_usage"></a>
|
||||
|
||||
### 用法
|
||||
|
||||
```
|
||||
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>
|
||||
|
||||
### 用法
|
||||
|
||||
```
|
||||
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
|
||||
```
|
||||
Reference in New Issue
Block a user