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mavlink: update usage & module description

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This commit is contained in:
Beat Küng 2017-04-27 17:57:16 +02:00
parent 2ad7194ed3
commit f691ae2a4f
1 changed files with 56 additions and 14 deletions
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70
src/modules/mavlink/mavlink_main.cpp
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@ -42,6 +42,7 @@
#include <px4_config.h>
#include <px4_defines.h>
#include <px4_getopt.h>
#include <px4_module.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
@ -2699,22 +2700,63 @@ Mavlink::set_boot_complete()
static void usage()
{
PX4_INFO("usage: mavlink {start|status|stream|stop-all|boot_complete}");
PX4_INFO(" [-d device]");
PRINT_MODULE_DESCRIPTION(
R"DESCR_STR(
This module implements the MAVLink protocol, which can be used on a Serial link or UDP network connection.
It communicates with the system via uORB: some messages are directly handled in the module (eg. mission
protocol), others are published via uORB (eg. vehicle_command).
Streams are used to send periodic messages with a specific rate, such as the vehicle attitude.
When starting the mavlink instance, a mode can be specified, which defines the set of enabled streams with their rates.
For a running instance, streams can be configured via 'mavlink stream' command.
There can be multiple independent instances of the module, each connected to one serial device or network port.
The implementation uses 2 threads, a sending and a receiving thread.
Example usage:
Start mavlink on ttyS1 serial with baudrate 921600 and maximum sending rate of 80kB/s:
$ mavlink start -d /dev/ttyS1 -b 921600 -m onboard -r 80000
Start mavlink on UDP port 14556 and enable the HIGHRES_IMU message with 50Hz:
$ mavlink start -u 14556 -r 1000000
$ mavlink stream -u 14556 -s HIGHRES_IMU -r 50
)DESCR_STR");
PRINT_MODULE_USAGE_NAME("mavlink", "communication");
PRINT_MODULE_USAGE_COMMAND_DESCR("start", "Start a new instance");
PRINT_MODULE_USAGE_PARAM_STRING('d', "/dev/ttyS1", "<file:dev>", "Select Serial Device", true);
PRINT_MODULE_USAGE_PARAM_INT('b', 57600, 9600, 3000000, "Baudrate", true);
PRINT_MODULE_USAGE_PARAM_INT('r', 0, 10, 10000000, "Maximum sending data rate in B/s (if 0, use baudrate / 20)", true);
#ifdef __PX4_POSIX
PX4_INFO(" [-u network_port]");
PX4_INFO(" [-o remote_port]");
PX4_INFO(" [-t partner_ip]");
PRINT_MODULE_USAGE_PARAM_INT('u', 14556, 0, 65536, "Select UDP Network Port (local)", true);
PRINT_MODULE_USAGE_PARAM_INT('o', 14550, 0, 65536, "Select UDP Network Port (remote)", true);
PRINT_MODULE_USAGE_PARAM_STRING('t', "127.0.0.1", nullptr,
"Partner IP (broadcasting can be enabled via MAV_BROADCAST param)", true);
#endif
PX4_INFO(" [-b baudrate]");
PX4_INFO(" [-r rate]");
PX4_INFO(" [-m mode]");
PX4_INFO(" [-s stream]");
PX4_INFO(" [-f]");
PX4_INFO(" [-p]");
PX4_INFO(" [-v]");
PX4_INFO(" [-w]");
PX4_INFO(" [-x]");
PRINT_MODULE_USAGE_PARAM_STRING('m', "normal", "custom|camera|onboard|osd|magic|config|iridium",
"Mode: sets default streams and rates", true);
PRINT_MODULE_USAGE_PARAM_FLAG('f', "Enable message forwarding to other Mavlink instances", true);
PRINT_MODULE_USAGE_PARAM_FLAG('v', "Verbose output", true);
PRINT_MODULE_USAGE_PARAM_FLAG('w', "Wait to send, until first message received", true);
PRINT_MODULE_USAGE_PARAM_FLAG('x', "Enable FTP", true);
PRINT_MODULE_USAGE_COMMAND_DESCR("stop-all", "Stop all instances");
PRINT_MODULE_USAGE_COMMAND_DESCR("status", "Print status for all instances");
PRINT_MODULE_USAGE_COMMAND_DESCR("stream", "Configure the sending rate of a stream for a running instance");
#ifdef __PX4_POSIX
PRINT_MODULE_USAGE_PARAM_INT('u', 0, 0, 65536, "Select Mavlink instance via local Network Port", true);
#endif
PRINT_MODULE_USAGE_PARAM_STRING('d', nullptr, "<file:dev>", "Select Mavlink instance via Serial Device", true);
PRINT_MODULE_USAGE_PARAM_STRING('s', nullptr, nullptr, "Mavlink stream to configure", false);
PRINT_MODULE_USAGE_PARAM_FLOAT('r', 0.f, 0.f, 2000.f, "Rate in Hz (0 = turn off)", false);
PRINT_MODULE_USAGE_COMMAND_DESCR("boot_complete",
"Enable sending of messages. (Must be) called as last step in startup script.");
}
int mavlink_main(int argc, char *argv[])