fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

update modules ref

Browse Source
This commit is contained in:
Hamish Willee 2025-07-24 09:46:30 +10:00
parent 3848b754a5
commit efb4ff3353
5 changed files with 298 additions and 262 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

114
docs/en/modules/modules_controller.md
View File

@ -1,13 +1,11 @@
# Modules Reference: Controller
## airship_att_control
Source: [modules/airship_att_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/airship_att_control)
### Description
This implements the airship attitude and rate controller. Ideally it would
take attitude setpoints (`vehicle_attitude_setpoint`) or rate setpoints (in acro mode
via `manual_control_setpoint` topic) as inputs and outputs actuator control messages.
@ -15,8 +13,8 @@ via `manual_control_setpoint` topic) as inputs and outputs actuator control mess
Currently it is feeding the `manual_control_setpoint` topic directly to the actuators.
### Implementation
To reduce control latency, the module directly polls on the gyro topic published by the IMU driver.
To reduce control latency, the module directly polls on the gyro topic published by the IMU driver.
### Usage {#airship_att_control_usage}
@ -34,8 +32,8 @@ airship_att_control <command> [arguments...]
Source: [modules/control_allocator](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/control_allocator)
### Description
This implements control allocation. It takes torque and thrust setpoints
as inputs and outputs actuator setpoint messages.
@ -55,12 +53,11 @@ control_allocator <command> [arguments...]
Source: [modules/flight_mode_manager](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/flight_mode_manager)
### Description
This implements the setpoint generation for all modes. It takes the current mode state of the vehicle as input
and outputs setpoints for controllers.
### Usage {#flight_mode_manager_usage}
```
@ -77,10 +74,9 @@ flight_mode_manager <command> [arguments...]
Source: [modules/fw_att_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/fw_att_control)
### Description
fw_att_control is the fixed wing attitude controller.
fw_att_control is the fixed wing attitude controller.
### Usage {#fw_att_control_usage}
@ -99,10 +95,9 @@ fw_att_control <command> [arguments...]
Source: [modules/fw_lateral_longitudinal_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/fw_lateral_longitudinal_control)
### Description
fw_lat_lon_control computes attitude and throttle setpoints from lateral and longitudinal control setpoints.
fw_lat_lon_control computes attitude and throttle setpoints from lateral and longitudinal control setpoints.
### Usage {#fw_lat_lon_control_usage}
@ -121,13 +116,12 @@ fw_lat_lon_control <command> [arguments...]
Source: [modules/fw_mode_manager](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/fw_mode_manager)
### Description
This implements the setpoint generation for all PX4-internal fixed-wing modes, height-rate control and higher.
It takes the current mode state of the vehicle as input and outputs setpoints consumed by the fixed-wing
lateral-longitudinal controller and and controllers below that (attitude, rate).
### Usage {#fw_mode_manager_usage}
```
@ -144,10 +138,9 @@ fw_mode_manager <command> [arguments...]
Source: [modules/fw_rate_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/fw_rate_control)
### Description
fw_rate_control is the fixed-wing rate controller.
fw_rate_control is the fixed-wing rate controller.
### Usage {#fw_rate_control_usage}
@ -166,8 +159,8 @@ fw_rate_control <command> [arguments...]
Source: [modules/mc_att_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mc_att_control)
### Description
This implements the multicopter attitude controller. It takes attitude
setpoints (`vehicle_attitude_setpoint`) as inputs and outputs a rate setpoint.
@ -180,7 +173,6 @@ 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
### Usage {#mc_att_control_usage}
```
@ -198,8 +190,8 @@ mc_att_control <command> [arguments...]
Source: [modules/mc_pos_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mc_pos_control)
### Description
The controller has two loops: a P loop for position error and a PID loop for velocity error.
Output of the velocity controller is thrust vector that is split to thrust direction
(i.e. rotation matrix for multicopter orientation) and thrust scalar (i.e. multicopter thrust itself).
@ -224,14 +216,13 @@ mc_pos_control <command> [arguments...]
Source: [modules/mc_rate_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mc_rate_control)
### Description
This implements the multicopter rate controller. It takes rate setpoints (in acro mode
via `manual_control_setpoint` topic) as inputs and outputs actuator control messages.
The controller has a PID loop for angular rate error.
### Usage {#mc_rate_control_usage}
```
@ -249,20 +240,20 @@ mc_rate_control <command> [arguments...]
Source: [modules/navigator](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/navigator)
### Description
Module that is responsible for autonomous flight modes. This includes missions (read from dataman),
takeoff and RTL.
It is also responsible for geofence violation checking.
### Implementation
The different internal modes are implemented as separate classes that inherit from a common base class `NavigatorMode`.
The member `_navigation_mode` contains the current active mode.
Navigator publishes position setpoint triplets (`position_setpoint_triplet_s`), which are then used by the position
controller.
### Usage {#navigator_usage}
```
@ -283,8 +274,8 @@ navigator <command> [arguments...]
Source: [modules/rover_ackermann](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/rover_ackermann)
### Description
Rover ackermann module.
### Usage {#rover_ackermann_usage}
@ -303,8 +294,8 @@ rover_ackermann <command> [arguments...]
Source: [modules/rover_differential](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/rover_differential)
### Description
Rover differential module.
### Usage {#rover_differential_usage}
@ -323,8 +314,8 @@ rover_differential <command> [arguments...]
Source: [modules/rover_mecanum](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/rover_mecanum)
### Description
Rover mecanum module.
### Usage {#rover_mecanum_usage}
@ -339,54 +330,15 @@ rover_mecanum <command> [arguments...]
status print status info
```
## rover_pos_control
Source: [modules/rover_pos_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/rover_pos_control)
### Description
Controls the position of a ground rover using an L1 controller.
Publishes `vehicle_thrust_setpoint (only in x) and vehicle_torque_setpoint (only yaw)` messages at IMU_GYRO_RATEMAX.
### Implementation
Currently, this implementation supports only a few modes:
* Full manual: Throttle and yaw controls are passed directly through to the actuators
* Auto mission: The rover runs missions
* Loiter: The rover will navigate to within the loiter radius, then stop the motors
### Examples
CLI usage example:
```
rover_pos_control start
rover_pos_control status
rover_pos_control stop
```
### Usage {#rover_pos_control_usage}
```
rover_pos_control <command> [arguments...]
Commands:
start
stop
status print status info
```
## spacecraft
Source: [modules/spacecraft](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/spacecraft)
### Description
This implements control allocation for spacecraft vehicles.
It takes torque and thrust setpoints as inputs and outputs
actuator setpoint messages.
### Description
This implements control allocation for spacecraft vehicles.
It takes torque and thrust setpoints as inputs and outputs
actuator setpoint messages.
### Usage {#spacecraft_usage}
```
@ -394,6 +346,8 @@ spacecraft <command> [arguments...]
Commands:
start
status
stop
status print status info
@ -403,27 +357,29 @@ spacecraft <command> [arguments...]
Source: [modules/uuv_att_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/uuv_att_control)
### Description
Controls the attitude of an unmanned underwater vehicle (UUV).
Publishes `vehicle_thrust_setpont` and `vehicle_torque_setpoint` messages at a constant 250Hz.
### Implementation
Currently, this implementation supports only a few modes:
* Full manual: Roll, pitch, yaw, and throttle controls are passed directly through to the actuators
* Auto mission: The uuv runs missions
- Full manual: Roll, pitch, yaw, and throttle controls are passed directly through to the actuators
- Auto mission: The uuv runs missions
### Examples
CLI usage example:
```
uuv_att_control start
uuv_att_control status
uuv_att_control stop
```
### Usage {#uuv_att_control_usage}
```
@ -440,16 +396,22 @@ uuv_att_control <command> [arguments...]
Source: [modules/uuv_pos_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/uuv_pos_control)
### Description
Controls the attitude of an unmanned underwater vehicle (UUV).
Publishes `attitude_setpoint` messages.
### Implementation
Currently, this implementation supports only a few modes:
* Full manual: Roll, pitch, yaw, and throttle controls are passed directly through to the actuators
* Auto mission: The uuv runs missions
- Full manual: Roll, pitch, yaw, and throttle controls are passed directly through to the actuators
- Auto mission: The uuv runs missions
### Examples
CLI usage example:
```
uuv_pos_control start
uuv_pos_control status
@ -472,8 +434,8 @@ uuv_pos_control <command> [arguments...]
Source: [modules/vtol_att_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/vtol_att_control)
### Description
fw_att_control is the fixed wing attitude controller.
### Usage {#vtol_att_control_usage}

146
docs/en/modules/modules_driver.md
View File

@ -14,7 +14,6 @@ Subcategories:
- [Rpm Sensor](modules_driver_rpm_sensor.md)
- [Transponder](modules_driver_transponder.md)
## MCP23009
Source: [drivers/gpio/mcp23009](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/gpio/mcp23009)
@ -51,10 +50,9 @@ MCP23009 <command> [arguments...]
Source: [drivers/adc/board_adc](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/adc/board_adc)
### Description
ADC driver.
ADC driver.
### Usage {#adc_usage}
@ -75,7 +73,6 @@ adc <command> [arguments...]
Source: [drivers/adc/ads1115](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/adc/ads1115)
### Description
Driver to enable an external [ADS1115](https://www.adafruit.com/product/1085) ADC connected via I2C.
@ -89,7 +86,6 @@ It is enabled/disabled using the
parameter, and is disabled by default.
If enabled, internal ADCs are not used.
### Usage {#ads1115_usage}
```
@ -114,8 +110,8 @@ ads1115 <command> [arguments...]
Source: [drivers/osd/atxxxx](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/osd/atxxxx)
### Description
OSD driver for the ATXXXX chip that is mounted on the OmnibusF4SD board for example.
It can be enabled with the OSD_ATXXXX_CFG parameter.
@ -144,17 +140,19 @@ atxxxx <command> [arguments...]
Source: [drivers/smart_battery/batmon](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/smart_battery/batmon)
### Description
Driver for SMBUS Communication with BatMon enabled smart-battery
Setup/usage information: https://rotoye.com/batmon-tutorial/
### Examples
To start at address 0x0B, on bus 4
```
batmon start -X -a 11 -b 4
```
### Usage {#batmon_usage}
```
@ -185,17 +183,18 @@ batmon <command> [arguments...]
Source: [drivers/batt_smbus](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/batt_smbus)
### Description
Smart battery driver for the BQ40Z50 fuel gauge IC.
### Examples
To write to flash to set parameters. address, number_of_bytes, byte0, ... , byteN
```
batt_smbus -X write_flash 19069 2 27 0
```
### Usage {#batt_smbus_usage}
```
@ -261,8 +260,8 @@ bst <command> [arguments...]
Source: [drivers/dshot](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/dshot)
### Description
This is the DShot output driver. It is similar to the fmu driver, and can be used as drop-in replacement
to use DShot as ESC communication protocol instead of PWM.
@ -270,16 +269,20 @@ On startup, the module tries to occupy all available pins for DShot output.
It skips all pins already in use (e.g. by a camera trigger module).
It supports:
- DShot150, DShot300, DShot600
- telemetry via separate UART and publishing as esc_status message
- sending DShot commands via CLI
### Examples
Permanently reverse motor 1:
```
dshot reverse -m 1
dshot save -m 1
```
After saving, the reversed direction will be regarded as the normal one. So to reverse again repeat the same commands.
### Usage {#dshot_usage}
@ -324,9 +327,6 @@ dshot <command> [arguments...]
beep5 Send Beep pattern 5
[-m <val>] Motor index (1-based, default=all)
esc_info Request ESC information
-m <val> Motor index (1-based)
stop
status print status info
@ -336,10 +336,8 @@ dshot <command> [arguments...]
Source: [examples/fake_gps](https://github.com/PX4/PX4-Autopilot/tree/main/src/examples/fake_gps)
### Description
### Usage {#fake_gps_usage}
```
@ -356,10 +354,8 @@ fake_gps <command> [arguments...]
Source: [examples/fake_imu](https://github.com/PX4/PX4-Autopilot/tree/main/src/examples/fake_imu)
### Description
### Usage {#fake_imu_usage}
```
@ -376,8 +372,8 @@ fake_imu <command> [arguments...]
Source: [examples/fake_magnetometer](https://github.com/PX4/PX4-Autopilot/tree/main/src/examples/fake_magnetometer)
### Description
Publish the earth magnetic field as a fake magnetometer (sensor_mag).
Requires vehicle_attitude and vehicle_gps_position.
@ -397,7 +393,6 @@ fake_magnetometer <command> [arguments...]
Source: [drivers/wind_sensor/ft_technologies](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/wind_sensor/ft_technologies)
### Description
Serial bus driver for the FT Technologies Digital Wind Sensor FT742. This driver is required to operate alongside
@ -408,10 +403,13 @@ Most boards are configured to enable/start the driver on a specified UART using
### Examples
Attempt to start driver on a specified serial device.
```
ft_technologies_serial start -d /dev/ttyS1
```
Stop driver
```
ft_technologies_serial stop
```
@ -431,15 +429,17 @@ ft_technologies_serial <command> [arguments...]
Source: [modules/gimbal](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/gimbal)
### Description
Mount/gimbal Gimbal control driver. It maps several different input methods (eg. RC or MAVLink) to a configured
output (eg. AUX channels or MAVLink).
Documentation how to use it is on the [gimbal_control](https://docs.px4.io/main/en/advanced/gimbal_control.html) page.
### Examples
Test the output by setting a angles (all omitted axes are set to 0):
```
gimbal test pitch -45 yaw 30
```
@ -471,8 +471,8 @@ gimbal <command> [arguments...]
Source: [drivers/gps](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/gps)
### Description
GPS driver module that handles the communication with the device and publishes the position via uORB.
It supports multiple protocols (device vendors) and by default automatically selects the correct one.
@ -481,17 +481,20 @@ on the second uORB topic instance, but it's currently not used by the rest of th
data will be logged, so that it can be used for comparisons).
### Implementation
There is a thread for each device polling for data. The GPS protocol classes are implemented with callbacks
so that they can be used in other projects as well (eg. QGroundControl uses them too).
### Examples
Starting 2 GPS devices (the main GPS on /dev/ttyS3 and the secondary on /dev/ttyS4):
```
gps start -d /dev/ttyS3 -e /dev/ttyS4
```
Initiate warm restart of GPS device
```
gps reset warm
```
@ -529,10 +532,8 @@ gps <command> [arguments...]
Source: [modules/simulation/gz_bridge](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/gz_bridge)
### Description
### Usage {#gz_bridge_usage}
```
@ -551,8 +552,8 @@ gz_bridge <command> [arguments...]
Source: [drivers/power_monitor/ina220](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/power_monitor/ina220)
### Description
Driver for the INA220 power monitor.
Multiple instances of this driver can run simultaneously, if each instance has a separate bus OR I2C address.
@ -564,7 +565,6 @@ the -f flag. If this flag is set, then if initialization fails, the driver will
every 0.5 seconds. With this flag set, you can plug in a battery after the driver starts, and it will work. Without
this flag set, the battery must be plugged in before starting the driver.
### Usage {#ina220_usage}
```
@ -594,8 +594,8 @@ ina220 <command> [arguments...]
Source: [drivers/power_monitor/ina226](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/power_monitor/ina226)
### Description
Driver for the INA226 power monitor.
Multiple instances of this driver can run simultaneously, if each instance has a separate bus OR I2C address.
@ -607,7 +607,6 @@ the -f flag. If this flag is set, then if initialization fails, the driver will
every 0.5 seconds. With this flag set, you can plug in a battery after the driver starts, and it will work. Without
this flag set, the battery must be plugged in before starting the driver.
### Usage {#ina226_usage}
```
@ -635,8 +634,8 @@ ina226 <command> [arguments...]
Source: [drivers/power_monitor/ina228](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/power_monitor/ina228)
### Description
Driver for the INA228 power monitor.
Multiple instances of this driver can run simultaneously, if each instance has a separate bus OR I2C address.
@ -648,7 +647,6 @@ the -f flag. If this flag is set, then if initialization fails, the driver will
every 0.5 seconds. With this flag set, you can plug in a battery after the driver starts, and it will work. Without
this flag set, the battery must be plugged in before starting the driver.
### Usage {#ina228_usage}
```
@ -676,8 +674,8 @@ ina228 <command> [arguments...]
Source: [drivers/power_monitor/ina238](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/power_monitor/ina238)
### Description
Driver for the INA238 power monitor.
Multiple instances of this driver can run simultaneously, if each instance has a separate bus OR I2C address.
@ -689,7 +687,6 @@ the -f flag. If this flag is set, then if initialization fails, the driver will
every 0.5 seconds. With this flag set, you can plug in a battery after the driver starts, and it will work. Without
this flag set, the battery must be plugged in before starting the driver.
### Usage {#ina238_usage}
```
@ -717,8 +714,8 @@ ina238 <command> [arguments...]
Source: [drivers/telemetry/iridiumsbd](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/telemetry/iridiumsbd)
### Description
IridiumSBD driver.
Creates a virtual serial port that another module can use for communication (e.g. mavlink).
@ -769,8 +766,8 @@ irlock <command> [arguments...]
Source: [drivers/linux_pwm_out](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/linux_pwm_out)
### Description
Linux PWM output driver with board-specific backend implementation.
### Usage {#linux_pwm_out_usage}
@ -815,20 +812,22 @@ lsm303agr <command> [arguments...]
Source: [drivers/osd/msp_osd](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/osd/msp_osd)
### Description
MSP telemetry streamer
### Implementation
Converts uORB messages to MSP telemetry packets
### Examples
CLI usage example:
```
msp_osd
```
### Usage {#msp_osd_usage}
```
@ -837,21 +836,26 @@ msp_osd <command> [arguments...]
stop
status print status info
channel Change VTX channel
```
## newpixel
Source: [drivers/lights/neopixel](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/lights/neopixel)
### Description
This module is responsible for driving interfasing to the Neopixel Serial LED
### Examples
It is typically started with:
```
neopixel -n 8
```
To drive all available leds.
### Usage {#newpixel_usage}
@ -920,8 +924,8 @@ paw3902 <command> [arguments...]
Source: [drivers/pca9685_pwm_out](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/pca9685_pwm_out)
### Description
This is a PCA9685 PWM output driver.
It runs on I2C workqueue which is asynchronous with FC control loop,
@ -931,12 +935,13 @@ It can do full 12bits output as duty-cycle mode, while also able to output preci
that can be accepted by most ESCs and servos.
### Examples
It is typically started with:
```
pca9685_pwm_out start -a 0x40 -b 1
```
### Usage {#pca9685_pwm_out_usage}
```
@ -957,10 +962,9 @@ pca9685_pwm_out <command> [arguments...]
Source: [drivers/power_monitor/pm_selector_auterion](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/power_monitor/pm_selector_auterion)
### Description
Driver for starting and auto-detecting different power monitors.
Driver for starting and auto-detecting different power monitors.
### Usage {#pm_selector_auterion_usage}
@ -1004,10 +1008,9 @@ pmw3901 <command> [arguments...]
Source: [drivers/pps_capture](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/pps_capture)
### Description
This implements capturing PPS information from the GNSS module and calculates the drift between PPS and Real-time clock.
This implements capturing PPS information from the GNSS module and calculates the drift between PPS and Real-time clock.
### Usage {#pps_capture_usage}
@ -1025,13 +1028,12 @@ pps_capture <command> [arguments...]
Source: [drivers/pwm_out](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/pwm_out)
### Description
This module is responsible for driving the output pins. For boards without a separate IO chip
(eg. Pixracer), it uses the main channels. On boards with an IO chip (eg. Pixhawk), it uses the AUX channels, and the
px4io driver is used for main ones.
### Usage {#pwm_out_usage}
```
@ -1048,8 +1050,8 @@ pwm_out <command> [arguments...]
Source: [modules/simulation/pwm_out_sim](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/pwm_out_sim)
### Description
Driver for simulated PWM outputs.
Its only function is to take `actuator_control` uORB messages,
@ -1058,7 +1060,6 @@ mix them with any loaded mixer and output the result to the
It is used in SITL and HITL.
### Usage {#pwm_out_sim_usage}
```
@ -1101,8 +1102,8 @@ px4flow <command> [arguments...]
Source: [drivers/px4io](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/px4io)
### Description
Output driver communicating with the IO co-processor.
### Usage {#px4io_usage}
@ -1197,8 +1198,8 @@ rgbled_is31fl3195 <command> [arguments...]
Source: [drivers/lights/rgbled_lp5562](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/lights/rgbled_lp5562)
### Description
Driver for [LP5562](https://www.ti.com/product/LP5562) LED driver connected via I2C.
This used in some GPS modules by Holybro for [PX4 status notification](../getting_started/led_meanings.md)
@ -1231,14 +1232,13 @@ rgbled_lp5562 <command> [arguments...]
Source: [drivers/roboclaw](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/roboclaw)
### Description
This driver communicates over UART with the [Roboclaw motor driver](https://www.basicmicro.com/motor-controller).
It performs two tasks:
- Control the motors based on the OutputModuleInterface.
- Read the wheel encoders and publish the raw data in the `wheel_encoders` uORB topic
- Control the motors based on the OutputModuleInterface.
- Read the wheel encoders and publish the raw data in the `wheel_encoders` uORB topic
In order to use this driver, the Roboclaw should be put into Packet Serial mode (see the linked documentation), and
your flight controller's UART port should be connected to the Roboclaw as shown in the documentation.
@ -1279,12 +1279,11 @@ rpm_capture <command> [arguments...]
Source: [drivers/safety_button](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/safety_button)
### Description
This module is responsible for the safety button.
Pressing the safety button 3 times quickly will trigger a GCS pairing request.
### Usage {#safety_button_usage}
```
@ -1301,8 +1300,8 @@ safety_button <command> [arguments...]
Source: [drivers/gnss/septentrio](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/gnss/septentrio)
### Description
Driver for Septentrio GNSS receivers.
It can automatically configure them and make their output available for the rest of the system.
A secondary receiver is supported for redundancy, logging and dual-receiver heading.
@ -1312,17 +1311,20 @@ If others are used, the driver will use 230400 and give a warning.
### Examples
Use one receiver on port `/dev/ttyS0` and automatically configure it to use baud rate 230400:
```
septentrio start -d /dev/ttyS0 -b 230400
```
Use two receivers, the primary on port `/dev/ttyS3` and the secondary on `/dev/ttyS4`,
detect baud rate automatically and preserve them:
```
septentrio start -d /dev/ttyS3 -e /dev/ttyS4
```
Perform warm reset of the receivers:
```
gps reset warm
```
@ -1354,32 +1356,37 @@ septentrio <command> [arguments...]
Source: [drivers/hygrometer/sht3x](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/hygrometer/sht3x)
### Description
SHT3x Temperature and Humidity Sensor Driver by Senserion.
### Examples
CLI usage example:
```
sht3x start -X
```
Start the sensor driver on the external bus
Start the sensor driver on the external bus
```
sht3x status
```
Print driver status
Print driver status
```
sht3x values
```
Print last measured values
Print last measured values
```
sht3x reset
```
Reinitialize senzor, reset flags
Reinitialize senzor, reset flags
### Usage {#sht3x_usage}
@ -1410,7 +1417,6 @@ sht3x <command> [arguments...]
Source: [drivers/tap_esc](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/tap_esc)
### Description
This module controls the TAP_ESC hardware via UART. It listens on the
@ -1445,10 +1451,9 @@ tap_esc <command> [arguments...]
Source: [drivers/tone_alarm](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/tone_alarm)
### Description
This module is responsible for the tone alarm.
This module is responsible for the tone alarm.
### Usage {#tone_alarm_usage}
@ -1466,7 +1471,6 @@ tone_alarm <command> [arguments...]
Source: [drivers/uwb/uwb_sr150](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/uwb/uwb_sr150)
### Description
Driver for NXP UWB_SR150 UWB positioning system. This driver publishes a `uwb_distance` message
@ -1479,7 +1483,7 @@ Start the driver with a given device:
```
uwb start -d /dev/ttyS2
```
### Usage {#uwb_usage}
```
@ -1517,13 +1521,12 @@ vertiq_io <command> [arguments...]
Source: [drivers/voxl2_io](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/voxl2_io)
### Description
This module is responsible for driving the output pins. For boards without a separate IO chip
(eg. Pixracer), it uses the main channels. On boards with an IO chip (eg. Pixhawk), it uses the AUX channels, and the
px4io driver is used for main ones.
### Usage {#voxl2_io_usage}
```
@ -1548,20 +1551,22 @@ voxl2_io <command> [arguments...]
Source: [drivers/actuators/voxl_esc](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/actuators/voxl_esc)
### Description
This module is responsible for...
### Implementation
By default the module runs on a work queue with a callback on the uORB actuator_controls topic.
### Examples
It is typically started with:
```
todo
```
### Usage {#voxl_esc_usage}
```
@ -1635,11 +1640,10 @@ voxlpm [arguments...]
Source: [modules/zenoh](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/zenoh)
### Description
Zenoh demo bridge
### Usage {#zenoh_usage}
```

79
docs/en/modules/modules_driver_distance_sensor.md
View File

@ -4,7 +4,6 @@
Source: [drivers/distance_sensor/broadcom/afbrs50](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/broadcom/afbrs50)
### Description
Driver for the Broadcom AFBRS50.
@ -12,10 +11,13 @@ Driver for the Broadcom AFBRS50.
### Examples
Attempt to start driver on a specified serial device.
```
afbrs50 start
```
Stop driver
```
afbrs50 stop
```
@ -30,8 +32,6 @@ afbrs50 <command> [arguments...]
[-r <val>] Sensor rotation - downward facing by default
default: 25
test Test driver
stop Stop driver
```
@ -63,7 +63,6 @@ gy_us42 <command> [arguments...]
Source: [drivers/distance_sensor/leddar_one](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/leddar_one)
### Description
Serial bus driver for the LeddarOne LiDAR.
@ -75,10 +74,13 @@ Setup/usage information: https://docs.px4.io/main/en/sensor/leddar_one.html
### Examples
Attempt to start driver on a specified serial device.
```
leddar_one start -d /dev/ttyS1
```
Stop driver
```
leddar_one stop
```
@ -100,7 +102,6 @@ leddar_one <command> [arguments...]
Source: [drivers/distance_sensor/lightware_laser_i2c](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/lightware_laser_i2c)
### Description
I2C bus driver for Lightware SFxx series LIDAR rangefinders: SF10/a, SF10/b, SF10/c, SF11/c, SF/LW20.
@ -133,7 +134,6 @@ lightware_laser_i2c <command> [arguments...]
Source: [drivers/distance_sensor/lightware_laser_serial](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/lightware_laser_serial)
### Description
Serial bus driver for the LightWare SF02/F, SF10/a, SF10/b, SF10/c, SF11/c Laser rangefinders.
@ -145,10 +145,13 @@ Setup/usage information: https://docs.px4.io/main/en/sensor/sfxx_lidar.html
### Examples
Attempt to start driver on a specified serial device.
```
lightware_laser_serial start -d /dev/ttyS1
```
Stop driver
```
lightware_laser_serial stop
```
@ -170,19 +173,20 @@ lightware_laser_serial <command> [arguments...]
Source: [drivers/distance_sensor/lightware_sf45_serial](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/lightware_sf45_serial)
### Description
Serial bus driver for the Lightware SF45/b Laser rangefinder.
### Examples
Attempt to start driver on a specified serial device.
```
lightware_sf45_serial start -d /dev/ttyS1
```
Stop driver
```
lightware_sf45_serial stop
```
@ -200,12 +204,11 @@ lightware_sf45_serial <command> [arguments...]
## ll40ls
Source: [drivers/distance_sensor/ll40ls_pwm](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/ll40ls_pwm)
Source: [drivers/distance_sensor/ll40ls](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/ll40ls)
### Description
PWM driver for LidarLite rangefinders.
I2C bus driver for LidarLite rangefinders.
The sensor/driver must be enabled using the parameter SENS_EN_LL40LS.
@ -215,6 +218,42 @@ Setup/usage information: https://docs.px4.io/main/en/sensor/lidar_lite.html
```
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
```
## ll40ls_pwm
Source: [drivers/distance_sensor/ll40ls_pwm](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/ll40ls_pwm)
### Description
PWM driver for LidarLite rangefinders.
The sensor/driver must be enabled using the parameter SENS_EN_LL40LS.
Setup/usage information: https://docs.px4.io/main/en/sensor/lidar_lite.html
### Usage {#ll40ls_pwm_usage}
```
ll40ls_pwm <command> [arguments...]
Commands:
start Start driver
[-R <val>] Sensor rotation - downward facing by default
@ -277,7 +316,6 @@ mb12xx <command> [arguments...]
Source: [drivers/distance_sensor/pga460](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/pga460)
### Description
Ultrasonic range finder driver that handles the communication with the device and publishes the distance via uORB.
@ -335,14 +373,12 @@ srf02 <command> [arguments...]
Source: [drivers/distance_sensor/srf05](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/srf05)
### Description
### Description
Driver for HY-SRF05 / HC-SR05 and HC-SR04 rangefinders.
Driver for HY-SRF05 / HC-SR05 and HC-SR04 rangefinders.
The sensor/driver must be enabled using the parameter SENS_EN_HXSRX0X.
The sensor/driver must be enabled using the parameter SENS_EN_HXSRX0X.
### Usage {#srf05_usage}
```
@ -365,7 +401,6 @@ srf05 <command> [arguments...]
Source: [drivers/distance_sensor/teraranger](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/teraranger)
### Description
I2C bus driver for TeraRanger rangefinders.
@ -426,7 +461,6 @@ tf02pro <command> [arguments...]
Source: [drivers/distance_sensor/tfmini](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/tfmini)
### Description
Serial bus driver for the Benewake TFmini LiDAR.
@ -438,10 +472,13 @@ Setup/usage information: https://docs.px4.io/main/en/sensor/tfmini.html
### Examples
Attempt to start driver on a specified serial device.
```
tfmini start -d /dev/ttyS1
```
Stop driver
```
tfmini stop
```
@ -467,7 +504,6 @@ tfmini <command> [arguments...]
Source: [drivers/distance_sensor/ulanding_radar](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/ulanding_radar)
### Description
Serial bus driver for the Aerotenna uLanding radar.
@ -477,10 +513,13 @@ Setup/usage information: https://docs.px4.io/main/en/sensor/ulanding_radar.html
### Examples
Attempt to start driver on a specified serial device.
```
ulanding_radar start -d /dev/ttyS1
```
Stop driver
```
ulanding_radar stop
```

26
docs/en/modules/modules_driver_magnetometer.md
View File

@ -325,6 +325,32 @@ qmc5883l <command> [arguments...]
status print status info
```
## qmc5883p
Source: [drivers/magnetometer/qmc5883p](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/magnetometer/qmc5883p)
### Usage {#qmc5883p_usage}
```
qmc5883p <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: 44
[-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)

195
docs/en/modules/modules_system.md
View File

@ -1,16 +1,11 @@
# Modules Reference: System
## battery_simulator
Source: [modules/simulation/battery_simulator](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/battery_simulator)
### Description
### Usage {#battery_simulator_usage}
```
@ -27,16 +22,15 @@ battery_simulator <command> [arguments...]
Source: [modules/battery_status](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/battery_status)
### Description
The provided functionality includes:
- Read the output from the ADC driver (via ioctl interface) and publish `battery_status`.
### Implementation
It runs in its own thread and polls on the currently selected gyro topic.
It runs in its own thread and polls on the currently selected gyro topic.
### Usage {#battery_status_usage}
@ -54,7 +48,6 @@ battery_status <command> [arguments...]
Source: [modules/camera_feedback](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/camera_feedback)
### Description
The camera_feedback module publishes `CameraCapture` UORB topics when image capture has been triggered.
@ -69,7 +62,7 @@ The `CAMERA_IMAGE_CAPTURED` message is then emitted (by streaming code) followin
### Implementation
`CameraTrigger` topics are published by the `camera_trigger` module (`feedback` field set `false`)
when image capture is triggered, and may also be published by the `camera_capture` driver
when image capture is triggered, and may also be published by the `camera_capture` driver
(with `feedback` field set `true`) if the camera capture pin is activated.
The `camera_feedback` module subscribes to `CameraTrigger`.
@ -77,7 +70,6 @@ It discards topics from the `camera_trigger` module if camera capture is enabled
For the topics that are not discarded it creates a `CameraCapture` topic with the timestamp information
from the `CameraTrigger` and position information from the vehicle.
### Usage {#camera_feedback_usage}
```
@ -94,8 +86,8 @@ camera_feedback <command> [arguments...]
Source: [drivers/cdcacm_autostart](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/cdcacm_autostart)
### Description
This module listens on USB and auto-configures the protocol depending on the bytes received.
The supported protocols are: MAVLink, nsh, and ublox serial passthrough. If the parameter SYS_USB_AUTO=2
the module will only try to start mavlink as long as the USB VBUS is detected. Otherwise it will spin
@ -117,8 +109,8 @@ cdcacm_autostart <command> [arguments...]
Source: [modules/commander](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/commander)
### Description
The commander module contains the state machine for mode switching and failsafe behavior.
### Usage {#commander_usage}
@ -173,10 +165,11 @@ commander <command> [arguments...]
Source: [modules/dataman](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/dataman)
### Description
Module to provide persistent storage for the rest of the system in form of a simple database through a C API.
Multiple backends are supported depending on the board:
- a file (eg. on the SD card)
- RAM (this is obviously not persistent)
@ -184,8 +177,8 @@ It is used to store structured data of different types: mission waypoints, missi
Each type has a specific type and a fixed maximum amount of storage items, so that fast random access is possible.
### Implementation
Reading and writing a single item is always atomic.
Reading and writing a single item is always atomic.
### Usage {#dataman_usage}
@ -209,7 +202,6 @@ dataman <command> [arguments...]
Source: [systemcmds/dmesg](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/dmesg)
### Description
Command-line tool to show bootup console messages.
@ -218,6 +210,7 @@ Note that output from NuttX's work queues and syslog are not captured.
### Examples
Keep printing all messages in the background:
```
dmesg -f &
```
@ -234,10 +227,9 @@ dmesg <command> [arguments...]
Source: [modules/esc_battery](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/esc_battery)
### Description
This implements using information from the ESC status and publish it as battery status.
This implements using information from the ESC status and publish it as battery status.
### Usage {#esc_battery_usage}
@ -255,10 +247,9 @@ esc_battery <command> [arguments...]
Source: [modules/gyro_calibration](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/gyro_calibration)
### Description
Simple online gyroscope calibration.
Simple online gyroscope calibration.
### Usage {#gyro_calibration_usage}
@ -276,10 +267,8 @@ gyro_calibration <command> [arguments...]
Source: [modules/gyro_fft](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/gyro_fft)
### Description
### Usage {#gyro_fft_usage}
```
@ -292,12 +281,39 @@ gyro_fft <command> [arguments...]
status print status info
```
## hardfault_stream
Source: [modules/hardfault_stream](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/hardfault_stream)
### Description
Background process that streams the latest hardfault via MAVLink.
The module is especially useful when it is necessary to quickly push a hard fault to the ground station.
This is useful in cases where the drone experiences a hard fault during flight.
It ensures that some data is retained in case the permanent storage is destroyed during a crash.
To reliably stream, it is necessary to send the STATUSTEXT message via MAVLink at a
high enough frequency. The recommended frequency is 10 Hz or higher.
### Usage {#hardfault_stream_usage}
```
hardfault_stream <command> [arguments...]
Commands:
start Start the background task
stop
status print status info
```
## heater
Source: [drivers/heater](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/heater)
### Description
Background process running periodically on the LP work queue to regulate IMU temperature at a setpoint.
This task can be started at boot from the startup scripts by setting SENS_EN_THERMAL or via CLI.
@ -318,10 +334,9 @@ heater <command> [arguments...]
Source: [systemcmds/i2c_launcher](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/i2c_launcher)
### Description
Daemon that starts drivers based on found I2C devices.
Daemon that starts drivers based on found I2C devices.
### Usage {#i2c_launcher_usage}
@ -341,9 +356,8 @@ i2c_launcher <command> [arguments...]
Source: [modules/internal_combustion_engine_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/internal_combustion_engine_control)
### Description
The module controls internal combustion engine (ICE) features including:
ignition (on/off), throttle and choke level, starter engine delay, and user request.
@ -360,7 +374,7 @@ CONFIG_DRIVERS_RPM_CAPTURE=y
Additionally, to enable the module:
- Set [ICE_EN](../advanced_config/parameter_reference.md#ICE_EN)
to true and adjust the other `ICE_` module parameters according to your needs.
to true and adjust the other `ICE_` module parameters according to your needs.
- Set [RPM_CAP_ENABLE](../advanced_config/parameter_reference.md#RPM_CAP_ENABLE) to true.
The module outputs control signals for ignition, throttle, and choke,
@ -377,18 +391,20 @@ The ICE is implemented with a (4) state machine:
![Architecture](../../assets/hardware/ice/ice_control_state_machine.png)
The state machine:
- Checks if [Rpm.msg](../msg_docs/Rpm.md) is updated to know if the engine is running
- Allows for user inputs from:
- AUX{N}
- Manual control AUX
- Arming state in [VehicleStatus.msg](../msg_docs/VehicleStatus.md)
- In the state "Stopped" the throttle is set to NAN, which by definition will set the
throttle output to the disarmed value configured for the specific output.
The module publishes [InternalCombustionEngineControl.msg](../msg_docs/InternalCombustionEngineControl.md).
The architecture is as shown below:
![Architecture](../../assets/hardware/ice/ice_control_diagram.png)
<a id="internal_combustion_engine_control_usage"></a>
### Usage {#internal_combustion_engine_control_usage}
@ -407,18 +423,20 @@ internal_combustion_engine_control <command> [arguments...]
Source: [modules/land_detector](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/land_detector)
### Description
Module to detect the freefall and landed state of the vehicle, and publishing the `vehicle_land_detected` topic.
Each vehicle type (multirotor, fixedwing, vtol, ...) provides its own algorithm, taking into account various
states, such as commanded thrust, arming state and vehicle motion.
### Implementation
Every type is implemented in its own class with a common base class. The base class maintains a state (landed,
maybe_landed, ground_contact). Each possible state is implemented in the derived classes. A hysteresis and a fixed
priority of each internal state determines the actual land_detector state.
#### Multicopter Land Detector
**ground_contact**: thrust setpoint and velocity in z-direction must be below a defined threshold for time
GROUND_CONTACT_TRIGGER_TIME_US. When ground_contact is detected, the position controller turns off the thrust setpoint
in body x and y.
@ -448,8 +466,8 @@ land_detector <command> [arguments...]
Source: [modules/load_mon](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/load_mon)
### Description
Background process running periodically on the low priority work queue to calculate the CPU load and RAM
usage and publish the `cpuload` topic.
@ -472,13 +490,14 @@ load_mon <command> [arguments...]
Source: [modules/logger](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/logger)
### Description
System logger which logs a configurable set of uORB topics and system printf messages
(`PX4_WARN` and `PX4_ERR`) to ULog files. These can be used for system and flight performance evaluation,
tuning, replay and crash analysis.
It supports 2 backends:
- Files: write ULog files to the file system (SD card)
- MAVLink: stream ULog data via MAVLink to a client (the client must support this)
@ -490,7 +509,9 @@ vehicle management. It can be enabled and configured via SDLOG_MISSION parameter
The normal log is always a superset of the mission log.
### Implementation
The implementation uses two threads:
- The main thread, running at a fixed rate (or polling on a topic if started with -p) and checking for
data updates
- The writer thread, writing data to the file
@ -499,12 +520,15 @@ In between there is a write buffer with configurable size (and another fixed-siz
the mission log). It should be large to avoid dropouts.
### Examples
Typical usage to start logging immediately:
```
logger start -e -t
```
Or if already running:
```
logger on
```
@ -548,8 +572,8 @@ logger <command> [arguments...]
Source: [modules/mag_bias_estimator](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mag_bias_estimator)
### Description
Online magnetometer bias estimator.
### Usage {#mag_bias_estimator_usage}
@ -568,10 +592,9 @@ mag_bias_estimator <command> [arguments...]
Source: [modules/manual_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/manual_control)
### Description
Module consuming manual_control_inputs publishing one manual_control_setpoint.
Module consuming manual_control_inputs publishing one manual_control_setpoint.
### Usage {#manual_control_usage}
@ -589,36 +612,37 @@ manual_control <command> [arguments...]
Source: [systemcmds/netman](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/netman)
### Description
### Description
Network configuration manager saves the network settings in non-volatile
memory. On boot the `update` option will be run. If a network configuration
does not exist. The default setting will be saved in non-volatile and the
system rebooted.
Network configuration manager saves the network settings in non-volatile
memory. On boot the `update` option will be run. If a network configuration
does not exist. The default setting will be saved in non-volatile and the
system rebooted.
#### update
#### update
`netman update` is run automatically by [a startup script](../concept/system_startup.md#system-startup).
When run, the `update` option will check for the existence of `net.cfg` in the root of the SD Card.
It then saves the network settings from `net.cfg` in non-volatile memory,
deletes the file and reboots the system.
`netman update` is run automatically by [a startup script](../concept/system_startup.md#system-startup).
When run, the `update` option will check for the existence of `net.cfg` in the root of the SD Card.
It then saves the network settings from `net.cfg` in non-volatile memory,
deletes the file and reboots the system.
#### save
#### save
The `save` option will save settings from non-volatile memory to a file named
`net.cfg` on the SD Card filesystem for editing. Use this to edit the settings.
Save does not immediately apply the network settings; the user must reboot the flight stack.
By contrast, the `update` command is run by the start-up script, commits the settings to non-volatile memory,
and reboots the flight controller (which will then use the new settings).
The `save` option will save settings from non-volatile memory to a file named
`net.cfg` on the SD Card filesystem for editing. Use this to edit the settings.
Save does not immediately apply the network settings; the user must reboot the flight stack.
By contrast, the `update` command is run by the start-up script, commits the settings to non-volatile memory,
and reboots the flight controller (which will then use the new settings).
#### show
#### show
The `show` option will display the network settings in `net.cfg` to the console.
The `show` option will display the network settings in `net.cfg` to the console.
### Examples
$ netman save # Save the parameters to the SD card.
$ netman show # display current settings.
$ netman update -i eth0 # do an update
### Examples
$ netman save # Save the parameters to the SD card.
$ netman show # display current settings.
$ netman update -i eth0 # do an update
### Usage {#netman_usage}
@ -639,10 +663,9 @@ netman <command> [arguments...]
Source: [drivers/pwm_input](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/pwm_input)
### Description
Measures the PWM input on AUX5 (or MAIN5) via a timer capture ISR and publishes via the uORB 'pwm_input` message.
Measures the PWM input on AUX5 (or MAIN5) via a timer capture ISR and publishes via the uORB 'pwm_input` message.
### Usage {#pwm_input_usage}
@ -660,15 +683,15 @@ pwm_input <command> [arguments...]
Source: [modules/rc_update](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/rc_update)
### Description
The rc_update module handles RC channel mapping: read the raw input channels (`input_rc`),
then apply the calibration, map the RC channels to the configured channels & mode switches
and then publish as `rc_channels` and `manual_control_input`.
### Implementation
To reduce control latency, the module is scheduled on input_rc publications.
To reduce control latency, the module is scheduled on input_rc publications.
### Usage {#rc_update_usage}
@ -686,12 +709,13 @@ rc_update <command> [arguments...]
Source: [modules/replay](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/replay)
### Description
This module is used to replay ULog files.
There are 2 environment variables used for configuration: `replay`, which must be set to an ULog file name - it's
the log file to be replayed. The second is the mode, specified via `replay_mode`:
- `replay_mode=ekf2`: specific EKF2 replay mode. It can only be used with the ekf2 module, but allows the replay
to run as fast as possible.
- Generic otherwise: this can be used to replay any module(s), but the replay will be done with the same speed as the
@ -724,8 +748,8 @@ replay <command> [arguments...]
Source: [modules/events](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/events)
### Description
Background process running periodically on the LP work queue to perform housekeeping tasks.
It is currently only responsible for tone alarm on RC Loss.
@ -747,10 +771,9 @@ send_event <command> [arguments...]
Source: [modules/simulation/sensor_agp_sim](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/sensor_agp_sim)
### Description
Module to simulate auxiliary global position measurements with optional failure modes for SIH simulation.
Module to simulate auxiliary global position measurements with optional failure modes for SIH simulation.
### Usage {#sensor_agp_sim_usage}
@ -768,11 +791,8 @@ sensor_agp_sim <command> [arguments...]
Source: [modules/simulation/sensor_airspeed_sim](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/sensor_airspeed_sim)
### Description
### Usage {#sensor_arispeed_sim_usage}
```
@ -789,11 +809,8 @@ sensor_arispeed_sim <command> [arguments...]
Source: [modules/simulation/sensor_baro_sim](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/sensor_baro_sim)
### Description
### Usage {#sensor_baro_sim_usage}
```
@ -810,11 +827,8 @@ sensor_baro_sim <command> [arguments...]
Source: [modules/simulation/sensor_gps_sim](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/sensor_gps_sim)
### Description
### Usage {#sensor_gps_sim_usage}
```
@ -831,11 +845,8 @@ sensor_gps_sim <command> [arguments...]
Source: [modules/simulation/sensor_mag_sim](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/sensor_mag_sim)
### Description
### Usage {#sensor_mag_sim_usage}
```
@ -852,12 +863,13 @@ sensor_mag_sim <command> [arguments...]
Source: [modules/sensors](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/sensors)
### Description
The sensors module is central to the whole system. It takes low-level output from drivers, turns
it into a more usable form, and publishes it for the rest of the system.
The provided functionality includes:
- Read the output from the sensor drivers (`SensorGyro`, etc.).
If there are multiple of the same type, do voting and failover handling.
Then apply the board rotation and temperature calibration (if enabled). And finally publish the data; one of the
@ -868,8 +880,8 @@ The provided functionality includes:
- Do sensor consistency checks and publish the `SensorsStatusImu` topic.
### Implementation
It runs in its own thread and polls on the currently selected gyro topic.
It runs in its own thread and polls on the currently selected gyro topic.
### Usage {#sensors_usage}
@ -888,11 +900,8 @@ sensors <command> [arguments...]
Source: [modules/simulation/system_power_simulator](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/system_power_simulator)
### Description
### Usage {#system_power_simulation_usage}
```
@ -909,10 +918,9 @@ system_power_simulation <command> [arguments...]
Source: [drivers/tattu_can](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/tattu_can)
### Description
Driver for reading data from the Tattu 12S 16000mAh smart battery.
Driver for reading data from the Tattu 12S 16000mAh smart battery.
### Usage {#tattu_can_usage}
@ -930,15 +938,14 @@ tattu_can <command> [arguments...]
Source: [modules/temperature_compensation](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/temperature_compensation)
### Description
The temperature compensation module allows all of the gyro(s), accel(s), and baro(s) in the system to be temperature
compensated. The module monitors the data coming from the sensors and updates the associated sensor_correction topic
whenever a change in temperature is detected. The module can also be configured to perform the coeffecient calculation
routine at next boot, which allows the thermal calibration coeffecients to be calculated while the vehicle undergoes
a temperature cycle.
### Usage {#temperature_compensation_usage}
```
@ -963,13 +970,12 @@ temperature_compensation <command> [arguments...]
Source: [modules/time_persistor](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/time_persistor)
### Description
Writes the RTC time cyclically to a file and reloads this value on startup.
This allows monotonic time on systems that only have a software RTC (that is not battery powered).
Explicitly setting the time backwards (e.g. via system_time) is still possible.
### Usage {#time_persistor_usage}
```
@ -986,7 +992,6 @@ time_persistor <command> [arguments...]
Source: [systemcmds/tune_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/tune_control)
### Description
Command-line tool to control & test the (external) tunes.
@ -1000,6 +1005,7 @@ https://github.com/PX4/PX4-Autopilot/blob/main/src/lib/tunes/tune_definition.des
### Examples
Play system tune #2:
```
tune_control play -t 2
```
@ -1029,11 +1035,12 @@ tune_control <command> [arguments...]
Source: [modules/uxrce_dds_client](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/uxrce_dds_client)
### Description
UXRCE-DDS Client used to communicate uORB topics with an Agent over serial or UDP.
### Examples
```
uxrce_dds_client start -t serial -d /dev/ttyS3 -b 921600
uxrce_dds_client start -t udp -h 127.0.0.1 -p 15555
@ -1066,12 +1073,10 @@ uxrce_dds_client <command> [arguments...]
Source: [systemcmds/work_queue](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/work_queue)
### Description
Command-line tool to show work queue status.
### Usage {#work_queue_usage}
```