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update modules ref

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This commit is contained in:
Hamish Willee
2025-07-24 10:06:39 +10:00
parent 3848b754a5
commit efb4ff3353
5 changed files with 298 additions and 262 deletions
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docs/en/modules/modules_driver.md
+75 -71
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@@ -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}
```