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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Compare commits
15 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 Julian Oes
|
54e2022624 | ||
|
Matthias Grob
|
a9f7f00844 | ||
|
mahima-yoga
|
fa168c4d4f | ||
|
mahima-yoga
|
d44991f33a | ||
|
mahima-yoga
|
0b3b5d9450 | ||
|
Matthias Grob
|
30df381f0e | ||
|
Matthias Grob
|
a8f5b6dc1b | ||
|
Matthias Grob
|
70ad2e6fe5 | ||
|
Dawid Rudy
|
508dc030b8 | ||
|
Marco Hauswirth
|
2cc9221aae | ||
|
Hamish Willee
|
54ddb14137 | ||
|
Matthias Grob
|
0b3fc0a62d | ||
|
Marco Hauswirth
|
9e45f077b1 | ||
|
Hamish Willee
|
c2f872c558 | ||
|
Michael Smith
|
0f2012ba06 |
@@ -122,7 +122,6 @@ add_custom_command(
|
||||
${romfs_gen_root_dir}/init.d/rc.autostart.post
|
||||
${romfs_gen_root_dir}/init.d/rc.filepaths
|
||||
${romfs_copy_stamp}
|
||||
COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}/*
|
||||
COMMAND ${CMAKE_COMMAND} -E tar xf ${romfs_tar_file}
|
||||
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
|
||||
--airframes-path ${romfs_gen_root_dir}/init.d
|
||||
@@ -217,6 +216,7 @@ foreach(board_extra_file ${OPTIONAL_BOARD_EXTRAS})
|
||||
# generate rc.board_bootloader_upgrade
|
||||
set(BOARD_FIRMWARE_BIN "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin")
|
||||
configure_file(${PX4_SOURCE_DIR}/platforms/nuttx/init/rc.board_bootloader_upgrade.in ${romfs_gen_root_dir}/init.d/rc.board_bootloader_upgrade @ONLY)
|
||||
message(STATUS "Created in ${romfs_gen_root_dir}/init.d/rc.board_bootloader_upgrade")
|
||||
else()
|
||||
# remove bootloader from extras
|
||||
list(REMOVE_ITEM OPTIONAL_BOARD_EXTRAS ${board_extra_file})
|
||||
|
||||
@@ -0,0 +1,47 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name HexarotorX SITL for SIH
|
||||
#
|
||||
# @type Hexarotor x
|
||||
# @class Copter
|
||||
#
|
||||
# @maintainer Matthias Grob <maetugr@gmail.com>
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
|
||||
PX4_SIM_MODEL=${PX4_SIM_MODEL:=hex}
|
||||
|
||||
param set-default SENS_EN_GPSSIM 1
|
||||
param set-default SENS_EN_BAROSIM 1
|
||||
param set-default SENS_EN_MAGSIM 1
|
||||
|
||||
param set SIH_VEHICLE_TYPE 4
|
||||
|
||||
# Symmetric hexacopter X clockwise motor numbering
|
||||
param set-default CA_ROTOR_COUNT 6
|
||||
param set-default CA_ROTOR0_PX 0.866
|
||||
param set-default CA_ROTOR0_PY 0.5
|
||||
param set-default CA_ROTOR1_PX 0
|
||||
param set-default CA_ROTOR1_PY 1
|
||||
param set-default CA_ROTOR1_KM -0.05
|
||||
param set-default CA_ROTOR2_PX -0.866
|
||||
param set-default CA_ROTOR2_PY 0.5
|
||||
param set-default CA_ROTOR3_PX -0.866
|
||||
param set-default CA_ROTOR3_PY -0.5
|
||||
param set-default CA_ROTOR3_KM -0.05
|
||||
param set-default CA_ROTOR4_PX 0
|
||||
param set-default CA_ROTOR4_PY -1
|
||||
param set-default CA_ROTOR5_PX 0.866
|
||||
param set-default CA_ROTOR5_PY -0.5
|
||||
param set-default CA_ROTOR5_KM -0.05
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
param set-default PWM_MAIN_FUNC3 103
|
||||
param set-default PWM_MAIN_FUNC4 104
|
||||
param set-default PWM_MAIN_FUNC5 105
|
||||
param set-default PWM_MAIN_FUNC6 106
|
||||
|
||||
param set-default EKF2_GPS_DELAY 0
|
||||
@@ -109,6 +109,7 @@ px4_add_romfs_files(
|
||||
10041_sihsim_airplane
|
||||
10042_sihsim_xvert
|
||||
10043_sihsim_standard_vtol
|
||||
10044_sihsim_hex
|
||||
|
||||
17001_flightgear_tf-g1
|
||||
17002_flightgear_tf-g2
|
||||
|
||||
@@ -40,25 +40,25 @@ The generated files will be written to the `modules` directory.
|
||||
## Categories
|
||||
"""
|
||||
for category in sorted(module_groups):
|
||||
result += "- [%s](modules_%s.md)\n" % (category.capitalize(), category)
|
||||
result += f"- [{category.capitalize()}](modules_{category}.md)\n"
|
||||
|
||||
self._outputs['main'] = result
|
||||
|
||||
for category in sorted(module_groups):
|
||||
result = "# Modules Reference: %s\n" % category.capitalize()
|
||||
result = f"# Modules Reference: {category.capitalize()}\n\n"
|
||||
subcategories = module_groups[category]
|
||||
|
||||
if len(subcategories) > 1:
|
||||
result += 'Subcategories:\n'
|
||||
for subcategory in subcategories:
|
||||
result += 'Subcategories:\n\n'
|
||||
for subcategory in sorted(subcategories):
|
||||
if subcategory == '':
|
||||
continue
|
||||
subcategory_label = subcategory.replace('_', ' ').title()
|
||||
subcategory_file_name = category+'_'+subcategory
|
||||
result += '- [%s](modules_%s.md)\n' % (subcategory_label, subcategory_file_name)
|
||||
result += f'- [{subcategory_label}](modules_{subcategory_file_name}.md)\n'
|
||||
|
||||
# add a sub-page for the subcategory
|
||||
result_subpage = '# Modules Reference: %s (%s)\n' % \
|
||||
(subcategory_label, category.capitalize())
|
||||
result_subpage = f'# Modules Reference: {subcategory_label} ({category.capitalize()})\n'
|
||||
result_subpage += self._ProcessModules(subcategories[subcategory])
|
||||
self._outputs[subcategory_file_name] = result_subpage
|
||||
|
||||
@@ -68,14 +68,14 @@ The generated files will be written to the `modules` directory.
|
||||
def _ProcessModules(self, module_list):
|
||||
result = ''
|
||||
for module in module_list:
|
||||
result += "## %s\n" % module.name()
|
||||
result += "Source: [%s](https://github.com/PX4/PX4-Autopilot/tree/main/src/%s)\n\n" % (module.scope(), module.scope())
|
||||
result += f"\n## {module.name()}\n\n"
|
||||
result += f"Source: [{module.scope()}](https://github.com/PX4/PX4-Autopilot/tree/main/src/{module.scope()})\n\n"
|
||||
doc = module.documentation()
|
||||
if len(doc) > 0:
|
||||
result += "%s\n" % doc
|
||||
result += f"{doc}\n"
|
||||
usage_string = module.usage_string()
|
||||
if len(usage_string) > 0:
|
||||
result += '<a id="%s_usage"></a>\n### Usage\n```\n%s\n```\n' % (module.name(), usage_string)
|
||||
result += f'### Usage {{#{module.name()}_usage}}\n\n```\n{usage_string}\n```\n'
|
||||
return result
|
||||
|
||||
def Save(self, dirname):
|
||||
|
||||
@@ -12,11 +12,11 @@ class ModuleDocumentation(object):
|
||||
"""
|
||||
|
||||
# If you add categories or subcategories, they also need to be added to the
|
||||
# TOC in https://github.com/PX4/PX4-user_guide/blob/main/en/SUMMARY.md
|
||||
# TOC in https://github.com/PX4/PX4-Autopilot/blob/main/docs/en/SUMMARY.md
|
||||
valid_categories = ['driver', 'estimator', 'controller', 'system',
|
||||
'communication', 'command', 'template', 'simulation', 'autotune']
|
||||
valid_subcategories = ['', 'camera', 'distance_sensor', 'imu', 'ins', 'airspeed_sensor',
|
||||
'magnetometer', 'baro', 'optical_flow', 'rpm_sensor', 'transponder']
|
||||
'magnetometer', 'baro', 'optical_flow', 'radio_control','rpm_sensor', 'transponder']
|
||||
|
||||
max_line_length = 80 # wrap lines that are longer than this
|
||||
|
||||
|
||||
@@ -736,6 +736,7 @@
|
||||
- [Magnetometer](modules/modules_driver_magnetometer.md)
|
||||
- [Optical Flow](modules/modules_driver_optical_flow.md)
|
||||
- [Rpm Sensor](modules/modules_driver_rpm_sensor.md)
|
||||
- [Radio Control](modules/modules_driver_radio_control.md)
|
||||
- [Transponder](modules/modules_driver_transponder.md)
|
||||
- [Estimators](modules/modules_estimator.md)
|
||||
- [Simulations](modules/modules_simulation.md)
|
||||
|
||||
+17
-7
@@ -42,8 +42,9 @@
|
||||
- [MindRacer BNF & RTF](/complete_vehicles_mc/mindracer_BNF_RTF.md)
|
||||
- [MindRacer 210](/complete_vehicles_mc/mindracer210.md)
|
||||
- [NanoMind 110](/complete_vehicles_mc/nanomind110.md)
|
||||
- [Holybro Kopis 2](/complete_vehicles_mc/holybro_kopis2.md)
|
||||
- [Bitcraze Crazyflie 2.1](/complete_vehicles_mc/crazyflie21.md)
|
||||
- [Holybro Kopis 2](/complete_vehicles_mc/holybro_kopis2.md)
|
||||
- [Amov F410 Drone](/complete_vehicles_mc/amov_F410_drone.md)
|
||||
- [Kits](/frames_multicopter/kits.md)
|
||||
- [X500 v2 (Pixhawk 6C)](/frames_multicopter/holybro_x500v2_pixhawk6c.md)
|
||||
- [X500 v2 (Pixhawk 5X)](/frames_multicopter/holybro_x500V2_pixhawk5x.md)
|
||||
@@ -166,7 +167,7 @@
|
||||
- [AirMind MindPX](/flight_controller/mindpx.md)
|
||||
- [AirMind MindRacer](/flight_controller/mindracer.md)
|
||||
- [ARK Electronics ARKV6X](/flight_controller/ark_v6x.md)
|
||||
- [ARK FPV Flight Controller](/flight_controller/ark_fpv.md)
|
||||
- [ARK FPV Flight Controller](/flight_controller/ark_fpv.md)
|
||||
- [ARK Pi6X Flow Flight Controller](/flight_controller/ark_pi6x.md)
|
||||
- [CUAV X7](/flight_controller/cuav_x7.md)
|
||||
- [CUAV Nora](/flight_controller/cuav_nora.md)
|
||||
@@ -182,7 +183,7 @@
|
||||
- [Holybro Kakute H7v2](/flight_controller/kakuteh7v2.md)
|
||||
- [Holybro Kakute H7mini](/flight_controller/kakuteh7mini.md)
|
||||
- [Holybro Kakute H7](/flight_controller/kakuteh7.md)
|
||||
- [Holybro Kakute H7 Wing](flight_controller/kakuteh7-wing.md)
|
||||
- [Holybro Kakute H7 Wing](/flight_controller/kakuteh7-wing.md)
|
||||
- [Holybro Durandal](/flight_controller/durandal.md)
|
||||
- [Wiring Quickstart](/assembly/quick_start_durandal.md)
|
||||
- [Holybro Pix32 v5](/flight_controller/holybro_pix32_v5.md)
|
||||
@@ -255,7 +256,7 @@
|
||||
- [GNSS (GPS)](/gps_compass/index.md)
|
||||
- [ARK GPS (CAN)](/dronecan/ark_gps.md)
|
||||
- [ARK SAM GPS](/gps_compass/ark_sam_gps.md)
|
||||
- [ARK TESEO GPS](/dronecan/ark_teseo_gps.md)
|
||||
- [ARK TESEO GPS](/dronecan/ark_teseo_gps.md)
|
||||
- [CUAV NEO 3 GPS](/gps_compass/gps_cuav_neo_3.md)
|
||||
- [CUAV NEO 3 Pro GPS (CAN)](/gps_compass/gps_cuav_neo_3pro.md)
|
||||
- [CUAV NEO 3X GPS (CAN)](/gps_compass/gps_cuav_neo_3x.md)
|
||||
@@ -328,7 +329,9 @@
|
||||
- [ARK Electron Microhard Serial Telemetry Radio](/telemetry/ark_microhard_serial.md)
|
||||
- [Holybro Microhard P900 Telemetry Radio](/telemetry/holybro_microhard_p900_radio.md)
|
||||
- [CUAV P8 Telemetry Radio](/telemetry/cuav_p8_radio.md)
|
||||
- [J.Fi Wireless Telemetry Module](/telemetry/jfi_telemetry.md)
|
||||
- [HolyBro XBP9X - Discontinued](/telemetry/holybro_xbp9x_radio.md)
|
||||
|
||||
- [FrSky Telemetry](/peripherals/frsky_telemetry.md)
|
||||
- [TBS Crossfire (CRSF) Telemetry](/telemetry/crsf_telemetry.md)
|
||||
- [Satellite Comms (Iridium/RockBlock)](/advanced_features/satcom_roadblock.md)
|
||||
@@ -713,6 +716,10 @@
|
||||
- [YawEstimatorStatus](/msg_docs/YawEstimatorStatus.md)
|
||||
- [VehicleStatusV0](/msg_docs/VehicleStatusV0.md)
|
||||
- [MAVLink Messaging](/middleware/mavlink.md)
|
||||
- [Adding Messages](/mavlink/adding_messages.md)
|
||||
- [Streaming Messages](/mavlink/streaming_messages.md)
|
||||
- [Receiving Messages](/mavlink/receiving_messages.md)
|
||||
- [Custom MAVLink Messages](/mavlink/custom_messages.md)
|
||||
- [Standard Modes Protocol](/mavlink/standard_modes.md)
|
||||
- [uXRCE-DDS (PX4-ROS 2/DDS Bridge)](/middleware/uxrce_dds.md)
|
||||
- [Modules & Commands](/modules/modules_main.md)
|
||||
@@ -730,6 +737,7 @@
|
||||
- [Magnetometer](/modules/modules_driver_magnetometer.md)
|
||||
- [Optical Flow](/modules/modules_driver_optical_flow.md)
|
||||
- [Rpm Sensor](/modules/modules_driver_rpm_sensor.md)
|
||||
- [Radio Control](/modules/modules_driver_radio_control.md)
|
||||
- [Transponder](/modules/modules_driver_transponder.md)
|
||||
- [Estimators](/modules/modules_estimator.md)
|
||||
- [Simulations](/modules/modules_simulation.md)
|
||||
@@ -801,8 +809,10 @@
|
||||
- [Test MC_05 - Indoor Flight (Manual Modes)](/test_cards/mc_05_indoor_flight_manual_modes.md)
|
||||
- [Unit Tests](/test_and_ci/unit_tests.md)
|
||||
- [Continuous Integration](/test_and_ci/continous_integration.md)
|
||||
- [MAVSDK Integration Testing](/test_and_ci/integration_testing_mavsdk.md)
|
||||
- [ROS Integration Testing](/test_and_ci/integration_testing.md)
|
||||
- [Integration Testing](/test_and_ci/integration_testing.md)
|
||||
- [MAVSDK Integration Testing](/test_and_ci/integration_testing_mavsdk.md)
|
||||
- [PX4 ROS2 Interface Library Integration Testing](/test_and_ci/integration_testing_px4_ros2_interface.md)
|
||||
- [ROS 1 Integration Testing](/test_and_ci/integration_testing_ros1_mavros.md)
|
||||
- [Docker Containers](/test_and_ci/docker.md)
|
||||
- [Maintenance](/test_and_ci/maintenance.md)
|
||||
- [Drone Apps & APIs](/robotics/index.md)
|
||||
@@ -840,4 +850,4 @@
|
||||
- [1.15 (stable)](/releases/1.15.md)
|
||||
- [1.14](/releases/1.14.md)
|
||||
- [1.13](/releases/1.13.md)
|
||||
- [1.12](/releases/1.12.md)
|
||||
- [1.12](/releases/1.12.md)
|
||||
|
||||
@@ -30755,7 +30755,7 @@ INA226 Power Monitor Config.
|
||||
|
||||
Reboot | minValue | maxValue | increment | default | unit
|
||||
--- | --- | --- | --- | --- | ---
|
||||
| 0 | 65535 | 1 | 18139 |
|
||||
✓ | 0 | 65535 | 1 | 18139 |
|
||||
|
||||
### INA226_CURRENT (`FLOAT`) {#INA226_CURRENT}
|
||||
|
||||
@@ -30763,7 +30763,7 @@ INA226 Power Monitor Max Current.
|
||||
|
||||
Reboot | minValue | maxValue | increment | default | unit
|
||||
--- | --- | --- | --- | --- | ---
|
||||
| 0.1 | 200.0 | 0.1 | 164.0 |
|
||||
✓ | 0.1 | 200.0 | 0.1 | 164.0 |
|
||||
|
||||
### INA226_SHUNT (`FLOAT`) {#INA226_SHUNT}
|
||||
|
||||
@@ -30771,7 +30771,7 @@ INA226 Power Monitor Shunt.
|
||||
|
||||
Reboot | minValue | maxValue | increment | default | unit
|
||||
--- | --- | --- | --- | --- | ---
|
||||
| 0.000000001 | 0.1 | .000000001 | 0.0005 |
|
||||
✓ | 0.000000001 | 0.1 | .000000001 | 0.0005 |
|
||||
|
||||
### INA228_CONFIG (`INT32`) {#INA228_CONFIG}
|
||||
|
||||
@@ -30779,7 +30779,7 @@ INA228 Power Monitor Config.
|
||||
|
||||
Reboot | minValue | maxValue | increment | default | unit
|
||||
--- | --- | --- | --- | --- | ---
|
||||
| 0 | 65535 | 1 | 63779 |
|
||||
✓ | 0 | 65535 | 1 | 63779 |
|
||||
|
||||
### INA228_CURRENT (`FLOAT`) {#INA228_CURRENT}
|
||||
|
||||
@@ -30787,7 +30787,7 @@ INA228 Power Monitor Max Current.
|
||||
|
||||
Reboot | minValue | maxValue | increment | default | unit
|
||||
--- | --- | --- | --- | --- | ---
|
||||
| 0.1 | 327.68 | 0.1 | 327.68 |
|
||||
✓ | 0.1 | 327.68 | 0.1 | 327.68 |
|
||||
|
||||
### INA228_SHUNT (`FLOAT`) {#INA228_SHUNT}
|
||||
|
||||
@@ -30795,7 +30795,7 @@ INA228 Power Monitor Shunt.
|
||||
|
||||
Reboot | minValue | maxValue | increment | default | unit
|
||||
--- | --- | --- | --- | --- | ---
|
||||
| 0.000000001 | 0.1 | .000000001 | 0.0005 |
|
||||
✓ | 0.000000001 | 0.1 | .000000001 | 0.0005 |
|
||||
|
||||
### INA238_CURRENT (`FLOAT`) {#INA238_CURRENT}
|
||||
|
||||
@@ -30803,7 +30803,7 @@ INA238 Power Monitor Max Current.
|
||||
|
||||
Reboot | minValue | maxValue | increment | default | unit
|
||||
--- | --- | --- | --- | --- | ---
|
||||
| 0.1 | 327.68 | 0.1 | 327.68 |
|
||||
✓ | 0.1 | 327.68 | 0.1 | 327.68 |
|
||||
|
||||
### INA238_SHUNT (`FLOAT`) {#INA238_SHUNT}
|
||||
|
||||
@@ -30811,7 +30811,7 @@ INA238 Power Monitor Shunt.
|
||||
|
||||
Reboot | minValue | maxValue | increment | default | unit
|
||||
--- | --- | --- | --- | --- | ---
|
||||
| 0.000000001 | 0.1 | .000000001 | 0.0003 |
|
||||
✓ | 0.000000001 | 0.1 | .000000001 | 0.0005 |
|
||||
|
||||
### PCF8583_MAGNET (`INT32`) {#PCF8583_MAGNET}
|
||||
|
||||
@@ -33642,10 +33642,11 @@ Vehicle type.
|
||||
|
||||
**Values:**
|
||||
|
||||
- `0`: Multicopter
|
||||
- `0`: Quadcopter
|
||||
- `1`: Fixed-Wing
|
||||
- `2`: Tailsitter
|
||||
- `3`: Standard VTOL
|
||||
- `4`: Hexacopter
|
||||
|
||||
|
||||
Reboot | minValue | maxValue | increment | default | unit
|
||||
|
||||
@@ -1,14 +1,17 @@
|
||||
# Modules Reference: Autotune
|
||||
|
||||
|
||||
|
||||
## fw_autotune_attitude_control
|
||||
|
||||
Source: [modules/fw_autotune_attitude_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/fw_autotune_attitude_control)
|
||||
|
||||
|
||||
### Description
|
||||
|
||||
|
||||
<a id="fw_autotune_attitude_control_usage"></a>
|
||||
### Usage
|
||||
### Usage {#fw_autotune_attitude_control_usage}
|
||||
|
||||
```
|
||||
fw_autotune_attitude_control <command> [arguments...]
|
||||
Commands:
|
||||
@@ -19,15 +22,17 @@ fw_autotune_attitude_control <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## mc_autotune_attitude_control
|
||||
|
||||
Source: [modules/mc_autotune_attitude_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mc_autotune_attitude_control)
|
||||
|
||||
|
||||
### Description
|
||||
|
||||
|
||||
<a id="mc_autotune_attitude_control_usage"></a>
|
||||
### Usage
|
||||
### Usage {#mc_autotune_attitude_control_usage}
|
||||
|
||||
```
|
||||
mc_autotune_attitude_control <command> [arguments...]
|
||||
Commands:
|
||||
|
||||
@@ -1,6 +1,9 @@
|
||||
# Modules Reference: Command
|
||||
|
||||
|
||||
|
||||
## actuator_test
|
||||
|
||||
Source: [systemcmds/actuator_test](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/actuator_test)
|
||||
|
||||
|
||||
@@ -8,8 +11,8 @@ Utility to test actuators.
|
||||
|
||||
WARNING: remove all props before using this command.
|
||||
|
||||
<a id="actuator_test_usage"></a>
|
||||
### Usage
|
||||
### Usage {#actuator_test_usage}
|
||||
|
||||
```
|
||||
actuator_test <command> [arguments...]
|
||||
Commands:
|
||||
@@ -27,12 +30,14 @@ actuator_test <command> [arguments...]
|
||||
|
||||
iterate-servos Iterate all servos deflecting one after the other
|
||||
```
|
||||
|
||||
## bl_update
|
||||
|
||||
Source: [systemcmds/bl_update](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/bl_update)
|
||||
|
||||
Utility to flash the bootloader from a file
|
||||
<a id="bl_update_usage"></a>
|
||||
### Usage
|
||||
### Usage {#bl_update_usage}
|
||||
|
||||
```
|
||||
bl_update [arguments...]
|
||||
setopt Set option bits to unlock the FLASH (only needed if in locked
|
||||
@@ -40,27 +45,33 @@ bl_update [arguments...]
|
||||
|
||||
<file> Bootloader bin file
|
||||
```
|
||||
|
||||
## bsondump
|
||||
|
||||
Source: [systemcmds/bsondump](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/bsondump)
|
||||
|
||||
Utility to read BSON from a file and print or output document size.
|
||||
<a id="bsondump_usage"></a>
|
||||
### Usage
|
||||
### Usage {#bsondump_usage}
|
||||
|
||||
```
|
||||
bsondump [arguments...]
|
||||
<file> The BSON file to decode and print.
|
||||
```
|
||||
|
||||
## dumpfile
|
||||
|
||||
Source: [systemcmds/dumpfile](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/dumpfile)
|
||||
|
||||
Dump file utility. Prints file size and contents in binary mode (don't replace LF with CR LF) to stdout.
|
||||
<a id="dumpfile_usage"></a>
|
||||
### Usage
|
||||
### Usage {#dumpfile_usage}
|
||||
|
||||
```
|
||||
dumpfile [arguments...]
|
||||
<file> File to dump
|
||||
```
|
||||
|
||||
## dyn
|
||||
|
||||
Source: [systemcmds/dyn](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/dyn)
|
||||
|
||||
|
||||
@@ -73,14 +84,16 @@ dyn ./hello.px4mod start
|
||||
```
|
||||
|
||||
|
||||
<a id="dyn_usage"></a>
|
||||
### Usage
|
||||
### Usage {#dyn_usage}
|
||||
|
||||
```
|
||||
dyn [arguments...]
|
||||
<file> File containing the module
|
||||
[arguments...] Arguments to the module
|
||||
```
|
||||
|
||||
## failure
|
||||
|
||||
Source: [systemcmds/failure](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/failure)
|
||||
|
||||
|
||||
@@ -95,8 +108,8 @@ Test the GPS failsafe by stopping GPS:
|
||||
|
||||
failure gps off
|
||||
|
||||
<a id="failure_usage"></a>
|
||||
### Usage
|
||||
### Usage {#failure_usage}
|
||||
|
||||
```
|
||||
failure [arguments...]
|
||||
help Show this help text
|
||||
@@ -107,7 +120,9 @@ failure [arguments...]
|
||||
[-i <val>] sensor instance (0=all)
|
||||
default: 0
|
||||
```
|
||||
|
||||
## gpio
|
||||
|
||||
Source: [systemcmds/gpio](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/gpio)
|
||||
|
||||
|
||||
@@ -136,8 +151,8 @@ gpio write /dev/gpio1 1
|
||||
```
|
||||
|
||||
|
||||
<a id="gpio_usage"></a>
|
||||
### Usage
|
||||
### Usage {#gpio_usage}
|
||||
|
||||
```
|
||||
gpio [arguments...]
|
||||
read
|
||||
@@ -151,15 +166,17 @@ gpio [arguments...]
|
||||
[PUSHPULL|OPENDRAIN] Pushpull/Opendrain
|
||||
[--force] Force (ignore board gpio list)
|
||||
```
|
||||
|
||||
## hardfault_log
|
||||
|
||||
Source: [systemcmds/hardfault_log](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/hardfault_log)
|
||||
|
||||
Hardfault utility
|
||||
|
||||
Used in startup scripts to handle hardfaults
|
||||
|
||||
<a id="hardfault_log_usage"></a>
|
||||
### Usage
|
||||
### Usage {#hardfault_log_usage}
|
||||
|
||||
```
|
||||
hardfault_log <command> [arguments...]
|
||||
Commands:
|
||||
@@ -180,27 +197,33 @@ hardfault_log <command> [arguments...]
|
||||
|
||||
reset Reset the reboot counter
|
||||
```
|
||||
|
||||
## hist
|
||||
|
||||
Source: [systemcmds/hist](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/hist)
|
||||
|
||||
Command-line tool to show the px4 message history. There are no arguments.
|
||||
<a id="hist_usage"></a>
|
||||
### Usage
|
||||
### Usage {#hist_usage}
|
||||
|
||||
```
|
||||
hist [arguments...]
|
||||
```
|
||||
|
||||
## i2cdetect
|
||||
|
||||
Source: [systemcmds/i2cdetect](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/i2cdetect)
|
||||
|
||||
Utility to scan for I2C devices on a particular bus.
|
||||
<a id="i2cdetect_usage"></a>
|
||||
### Usage
|
||||
### Usage {#i2cdetect_usage}
|
||||
|
||||
```
|
||||
i2cdetect [arguments...]
|
||||
[-b <val>] I2C bus
|
||||
default: 1
|
||||
```
|
||||
|
||||
## led_control
|
||||
|
||||
Source: [systemcmds/led_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/led_control)
|
||||
|
||||
|
||||
@@ -220,8 +243,8 @@ led_control blink -c blue -l 0 -n 5
|
||||
```
|
||||
|
||||
|
||||
<a id="led_control_usage"></a>
|
||||
### Usage
|
||||
### Usage {#led_control_usage}
|
||||
|
||||
```
|
||||
led_control <command> [arguments...]
|
||||
Commands:
|
||||
@@ -251,7 +274,9 @@ led_control <command> [arguments...]
|
||||
[-p <val>] Priority
|
||||
default: 2
|
||||
```
|
||||
|
||||
## listener
|
||||
|
||||
Source: [systemcmds/topic_listener](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/topic_listener)
|
||||
|
||||
|
||||
@@ -259,8 +284,8 @@ Utility to listen on uORB topics and print the data to the console.
|
||||
|
||||
The listener can be exited any time by pressing Ctrl+C, Esc, or Q.
|
||||
|
||||
<a id="listener_usage"></a>
|
||||
### Usage
|
||||
### Usage {#listener_usage}
|
||||
|
||||
```
|
||||
listener <command> [arguments...]
|
||||
Commands:
|
||||
@@ -272,23 +297,27 @@ listener <command> [arguments...]
|
||||
[-r <val>] Subscription rate (unlimited if 0)
|
||||
default: 0
|
||||
```
|
||||
|
||||
## mfd
|
||||
|
||||
Source: [systemcmds/mft](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/mft)
|
||||
|
||||
Utility interact with the manifest
|
||||
<a id="mfd_usage"></a>
|
||||
### Usage
|
||||
### Usage {#mfd_usage}
|
||||
|
||||
```
|
||||
mfd <command> [arguments...]
|
||||
Commands:
|
||||
query Returns true if not existed
|
||||
```
|
||||
|
||||
## mft_cfg
|
||||
|
||||
Source: [systemcmds/mft_cfg](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/mft_cfg)
|
||||
|
||||
Tool to set and get manifest configuration
|
||||
<a id="mft_cfg_usage"></a>
|
||||
### Usage
|
||||
### Usage {#mft_cfg_usage}
|
||||
|
||||
```
|
||||
mft_cfg <command> [arguments...]
|
||||
Commands:
|
||||
@@ -301,12 +330,14 @@ mft_cfg <command> [arguments...]
|
||||
-i <val> argument to set extended hardware id (id == version for
|
||||
<hwver>, id == revision for <hwrev> )
|
||||
```
|
||||
|
||||
## mtd
|
||||
|
||||
Source: [systemcmds/mtd](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/mtd)
|
||||
|
||||
Utility to mount and test partitions (based on FRAM/EEPROM storage as defined by the board)
|
||||
<a id="mtd_usage"></a>
|
||||
### Usage
|
||||
### Usage {#mtd_usage}
|
||||
|
||||
```
|
||||
mtd <command> [arguments...]
|
||||
Commands:
|
||||
@@ -326,7 +357,9 @@ mtd <command> [arguments...]
|
||||
[<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)
|
||||
|
||||
Start an NSH shell on a given port.
|
||||
@@ -334,13 +367,15 @@ Start an NSH shell on a given port.
|
||||
This was previously used to start a shell on the USB serial port.
|
||||
Now there runs mavlink, and it is possible to use a shell over mavlink.
|
||||
|
||||
<a id="nshterm_usage"></a>
|
||||
### Usage
|
||||
### Usage {#nshterm_usage}
|
||||
|
||||
```
|
||||
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)
|
||||
|
||||
|
||||
@@ -368,8 +403,8 @@ param set SYS_AUTOCONFIG 1
|
||||
reboot
|
||||
```
|
||||
|
||||
<a id="param_usage"></a>
|
||||
### Usage
|
||||
### Usage {#param_usage}
|
||||
|
||||
```
|
||||
param <command> [arguments...]
|
||||
Commands:
|
||||
@@ -436,7 +471,9 @@ param <command> [arguments...]
|
||||
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)
|
||||
|
||||
|
||||
@@ -445,8 +482,8 @@ Handles payload delivery with either Gripper or a Winch with an appropriate time
|
||||
and communicates back the delivery result as an acknowledgement internally
|
||||
|
||||
|
||||
<a id="payload_deliverer_usage"></a>
|
||||
### Usage
|
||||
### Usage {#payload_deliverer_usage}
|
||||
|
||||
```
|
||||
payload_deliverer <command> [arguments...]
|
||||
Commands:
|
||||
@@ -462,12 +499,14 @@ payload_deliverer <command> [arguments...]
|
||||
|
||||
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>
|
||||
### Usage
|
||||
### Usage {#perf_usage}
|
||||
|
||||
```
|
||||
perf [arguments...]
|
||||
reset Reset all counters
|
||||
@@ -476,24 +515,28 @@ perf [arguments...]
|
||||
|
||||
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>
|
||||
### Usage
|
||||
### Usage {#reboot_usage}
|
||||
|
||||
```
|
||||
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>
|
||||
### Usage
|
||||
### Usage {#sd_bench_usage}
|
||||
|
||||
```
|
||||
sd_bench [arguments...]
|
||||
[-b <val>] Block size for each read/write
|
||||
@@ -508,12 +551,14 @@ sd_bench [arguments...]
|
||||
[-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>
|
||||
### Usage
|
||||
### Usage {#sd_stress_usage}
|
||||
|
||||
```
|
||||
sd_stress [arguments...]
|
||||
[-r <val>] Number of runs
|
||||
@@ -521,15 +566,17 @@ sd_stress [arguments...]
|
||||
[-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)
|
||||
|
||||
Pass data from one device to another.
|
||||
|
||||
This can be used to use u-center connected to USB with a GPS on a serial port.
|
||||
|
||||
<a id="serial_passthru_usage"></a>
|
||||
### Usage
|
||||
### Usage {#serial_passthru_usage}
|
||||
|
||||
```
|
||||
serial_passthru [arguments...]
|
||||
-e <val> External device path
|
||||
@@ -540,7 +587,9 @@ serial_passthru [arguments...]
|
||||
default: 115200
|
||||
[-t] Track the External devices baudrate on internal device
|
||||
```
|
||||
|
||||
## system_time
|
||||
|
||||
Source: [systemcmds/system_time](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/system_time)
|
||||
|
||||
|
||||
@@ -556,8 +605,8 @@ system_time set 1600775044
|
||||
system_time get
|
||||
```
|
||||
|
||||
<a id="system_time_usage"></a>
|
||||
### Usage
|
||||
### Usage {#system_time_usage}
|
||||
|
||||
```
|
||||
system_time <command> [arguments...]
|
||||
Commands:
|
||||
@@ -565,32 +614,38 @@ system_time <command> [arguments...]
|
||||
|
||||
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>
|
||||
### Usage
|
||||
### Usage {#top_usage}
|
||||
|
||||
```
|
||||
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>
|
||||
### Usage
|
||||
### Usage {#usb_connected_usage}
|
||||
|
||||
```
|
||||
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>
|
||||
### Usage
|
||||
### Usage {#ver_usage}
|
||||
|
||||
```
|
||||
ver <command> [arguments...]
|
||||
Commands:
|
||||
|
||||
@@ -1,11 +1,14 @@
|
||||
# Modules Reference: Communication
|
||||
|
||||
|
||||
|
||||
## frsky_telemetry
|
||||
|
||||
Source: [drivers/telemetry/frsky_telemetry](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/telemetry/frsky_telemetry)
|
||||
|
||||
FrSky Telemetry support. Auto-detects D or S.PORT protocol.
|
||||
<a id="frsky_telemetry_usage"></a>
|
||||
### Usage
|
||||
### Usage {#frsky_telemetry_usage}
|
||||
|
||||
```
|
||||
frsky_telemetry <command> [arguments...]
|
||||
Commands:
|
||||
@@ -22,7 +25,9 @@ frsky_telemetry <command> [arguments...]
|
||||
|
||||
status
|
||||
```
|
||||
|
||||
## mavlink
|
||||
|
||||
Source: [modules/mavlink](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mavlink)
|
||||
|
||||
|
||||
@@ -57,8 +62,8 @@ mavlink start -u 14556 -r 1000000
|
||||
mavlink stream -u 14556 -s HIGHRES_IMU -r 50
|
||||
```
|
||||
|
||||
<a id="mavlink_usage"></a>
|
||||
### Usage
|
||||
### Usage {#mavlink_usage}
|
||||
|
||||
```
|
||||
mavlink <command> [arguments...]
|
||||
Commands:
|
||||
@@ -113,7 +118,9 @@ mavlink <command> [arguments...]
|
||||
boot_complete Enable sending of messages. (Must be) called as last step in
|
||||
startup script.
|
||||
```
|
||||
|
||||
## uorb
|
||||
|
||||
Source: [systemcmds/uorb](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/uorb)
|
||||
|
||||
|
||||
@@ -137,8 +144,8 @@ Monitor topic publication rates. Besides `top`, this is an important command for
|
||||
uorb top
|
||||
```
|
||||
|
||||
<a id="uorb_usage"></a>
|
||||
### Usage
|
||||
### Usage {#uorb_usage}
|
||||
|
||||
```
|
||||
uorb <command> [arguments...]
|
||||
Commands:
|
||||
|
||||
@@ -1,6 +1,9 @@
|
||||
# Modules Reference: Controller
|
||||
|
||||
|
||||
|
||||
## airship_att_control
|
||||
|
||||
Source: [modules/airship_att_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/airship_att_control)
|
||||
|
||||
|
||||
@@ -15,8 +18,8 @@ Currently it is feeding the `manual_control_setpoint` topic directly to the actu
|
||||
To reduce control latency, the module directly polls on the gyro topic published by the IMU driver.
|
||||
|
||||
|
||||
<a id="airship_att_control_usage"></a>
|
||||
### Usage
|
||||
### Usage {#airship_att_control_usage}
|
||||
|
||||
```
|
||||
airship_att_control <command> [arguments...]
|
||||
Commands:
|
||||
@@ -26,7 +29,9 @@ airship_att_control <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## control_allocator
|
||||
|
||||
Source: [modules/control_allocator](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/control_allocator)
|
||||
|
||||
|
||||
@@ -34,8 +39,8 @@ Source: [modules/control_allocator](https://github.com/PX4/PX4-Autopilot/tree/ma
|
||||
This implements control allocation. It takes torque and thrust setpoints
|
||||
as inputs and outputs actuator setpoint messages.
|
||||
|
||||
<a id="control_allocator_usage"></a>
|
||||
### Usage
|
||||
### Usage {#control_allocator_usage}
|
||||
|
||||
```
|
||||
control_allocator <command> [arguments...]
|
||||
Commands:
|
||||
@@ -45,7 +50,9 @@ control_allocator <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## flight_mode_manager
|
||||
|
||||
Source: [modules/flight_mode_manager](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/flight_mode_manager)
|
||||
|
||||
|
||||
@@ -54,8 +61,8 @@ This implements the setpoint generation for all modes. It takes the current mode
|
||||
and outputs setpoints for controllers.
|
||||
|
||||
|
||||
<a id="flight_mode_manager_usage"></a>
|
||||
### Usage
|
||||
### Usage {#flight_mode_manager_usage}
|
||||
|
||||
```
|
||||
flight_mode_manager <command> [arguments...]
|
||||
Commands:
|
||||
@@ -65,7 +72,9 @@ flight_mode_manager <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## fw_att_control
|
||||
|
||||
Source: [modules/fw_att_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/fw_att_control)
|
||||
|
||||
|
||||
@@ -73,8 +82,8 @@ Source: [modules/fw_att_control](https://github.com/PX4/PX4-Autopilot/tree/main/
|
||||
fw_att_control is the fixed wing attitude controller.
|
||||
|
||||
|
||||
<a id="fw_att_control_usage"></a>
|
||||
### Usage
|
||||
### Usage {#fw_att_control_usage}
|
||||
|
||||
```
|
||||
fw_att_control <command> [arguments...]
|
||||
Commands:
|
||||
@@ -85,7 +94,9 @@ fw_att_control <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## fw_pos_control
|
||||
|
||||
Source: [modules/fw_pos_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/fw_pos_control)
|
||||
|
||||
|
||||
@@ -93,8 +104,8 @@ Source: [modules/fw_pos_control](https://github.com/PX4/PX4-Autopilot/tree/main/
|
||||
fw_pos_control is the fixed-wing position controller.
|
||||
|
||||
|
||||
<a id="fw_pos_control_usage"></a>
|
||||
### Usage
|
||||
### Usage {#fw_pos_control_usage}
|
||||
|
||||
```
|
||||
fw_pos_control <command> [arguments...]
|
||||
Commands:
|
||||
@@ -105,7 +116,9 @@ fw_pos_control <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## fw_rate_control
|
||||
|
||||
Source: [modules/fw_rate_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/fw_rate_control)
|
||||
|
||||
|
||||
@@ -113,8 +126,8 @@ Source: [modules/fw_rate_control](https://github.com/PX4/PX4-Autopilot/tree/main
|
||||
fw_rate_control is the fixed-wing rate controller.
|
||||
|
||||
|
||||
<a id="fw_rate_control_usage"></a>
|
||||
### Usage
|
||||
### Usage {#fw_rate_control_usage}
|
||||
|
||||
```
|
||||
fw_rate_control <command> [arguments...]
|
||||
Commands:
|
||||
@@ -125,7 +138,9 @@ fw_rate_control <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## mc_att_control
|
||||
|
||||
Source: [modules/mc_att_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mc_att_control)
|
||||
|
||||
|
||||
@@ -143,8 +158,8 @@ Institute for Dynamic Systems and Control (IDSC), ETH Zurich
|
||||
https://www.research-collection.ethz.ch/bitstream/handle/20.500.11850/154099/eth-7387-01.pdf
|
||||
|
||||
|
||||
<a id="mc_att_control_usage"></a>
|
||||
### Usage
|
||||
### Usage {#mc_att_control_usage}
|
||||
|
||||
```
|
||||
mc_att_control <command> [arguments...]
|
||||
Commands:
|
||||
@@ -155,7 +170,9 @@ mc_att_control <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## mc_pos_control
|
||||
|
||||
Source: [modules/mc_pos_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mc_pos_control)
|
||||
|
||||
|
||||
@@ -167,8 +184,8 @@ Output of the velocity controller is thrust vector that is split to thrust direc
|
||||
The controller doesn't use Euler angles for its work, they are generated only for more human-friendly control and
|
||||
logging.
|
||||
|
||||
<a id="mc_pos_control_usage"></a>
|
||||
### Usage
|
||||
### Usage {#mc_pos_control_usage}
|
||||
|
||||
```
|
||||
mc_pos_control <command> [arguments...]
|
||||
Commands:
|
||||
@@ -179,7 +196,9 @@ mc_pos_control <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## mc_rate_control
|
||||
|
||||
Source: [modules/mc_rate_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mc_rate_control)
|
||||
|
||||
|
||||
@@ -190,8 +209,8 @@ via `manual_control_setpoint` topic) as inputs and outputs actuator control mess
|
||||
The controller has a PID loop for angular rate error.
|
||||
|
||||
|
||||
<a id="mc_rate_control_usage"></a>
|
||||
### Usage
|
||||
### Usage {#mc_rate_control_usage}
|
||||
|
||||
```
|
||||
mc_rate_control <command> [arguments...]
|
||||
Commands:
|
||||
@@ -202,7 +221,9 @@ mc_rate_control <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## navigator
|
||||
|
||||
Source: [modules/navigator](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/navigator)
|
||||
|
||||
|
||||
@@ -219,8 +240,8 @@ Navigator publishes position setpoint triplets (`position_setpoint_triplet_s`),
|
||||
controller.
|
||||
|
||||
|
||||
<a id="navigator_usage"></a>
|
||||
### Usage
|
||||
### Usage {#navigator_usage}
|
||||
|
||||
```
|
||||
navigator <command> [arguments...]
|
||||
Commands:
|
||||
@@ -234,15 +255,17 @@ navigator <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## rover_ackermann
|
||||
|
||||
Source: [modules/rover_ackermann](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/rover_ackermann)
|
||||
|
||||
|
||||
### Description
|
||||
Rover ackermann module.
|
||||
|
||||
<a id="rover_ackermann_usage"></a>
|
||||
### Usage
|
||||
### Usage {#rover_ackermann_usage}
|
||||
|
||||
```
|
||||
rover_ackermann <command> [arguments...]
|
||||
Commands:
|
||||
@@ -252,15 +275,17 @@ rover_ackermann <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## rover_differential
|
||||
|
||||
Source: [modules/rover_differential](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/rover_differential)
|
||||
|
||||
|
||||
### Description
|
||||
Rover differential module.
|
||||
|
||||
<a id="rover_differential_usage"></a>
|
||||
### Usage
|
||||
### Usage {#rover_differential_usage}
|
||||
|
||||
```
|
||||
rover_differential <command> [arguments...]
|
||||
Commands:
|
||||
@@ -270,15 +295,17 @@ rover_differential <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## rover_mecanum
|
||||
|
||||
Source: [modules/rover_mecanum](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/rover_mecanum)
|
||||
|
||||
|
||||
### Description
|
||||
Rover mecanum module.
|
||||
|
||||
<a id="rover_mecanum_usage"></a>
|
||||
### Usage
|
||||
### Usage {#rover_mecanum_usage}
|
||||
|
||||
```
|
||||
rover_mecanum <command> [arguments...]
|
||||
Commands:
|
||||
@@ -288,7 +315,9 @@ 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)
|
||||
|
||||
|
||||
@@ -313,8 +342,8 @@ rover_pos_control stop
|
||||
```
|
||||
|
||||
|
||||
<a id="rover_pos_control_usage"></a>
|
||||
### Usage
|
||||
### Usage {#rover_pos_control_usage}
|
||||
|
||||
```
|
||||
rover_pos_control <command> [arguments...]
|
||||
Commands:
|
||||
@@ -324,7 +353,9 @@ rover_pos_control <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## spacecraft
|
||||
|
||||
Source: [modules/spacecraft](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/spacecraft)
|
||||
|
||||
|
||||
@@ -333,8 +364,8 @@ Source: [modules/spacecraft](https://github.com/PX4/PX4-Autopilot/tree/main/src/
|
||||
It takes torque and thrust setpoints as inputs and outputs
|
||||
actuator setpoint messages.
|
||||
|
||||
<a id="spacecraft_usage"></a>
|
||||
### Usage
|
||||
### Usage {#spacecraft_usage}
|
||||
|
||||
```
|
||||
spacecraft <command> [arguments...]
|
||||
Commands:
|
||||
@@ -344,7 +375,9 @@ spacecraft <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## uuv_att_control
|
||||
|
||||
Source: [modules/uuv_att_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/uuv_att_control)
|
||||
|
||||
|
||||
@@ -368,8 +401,8 @@ uuv_att_control stop
|
||||
```
|
||||
|
||||
|
||||
<a id="uuv_att_control_usage"></a>
|
||||
### Usage
|
||||
### Usage {#uuv_att_control_usage}
|
||||
|
||||
```
|
||||
uuv_att_control <command> [arguments...]
|
||||
Commands:
|
||||
@@ -379,7 +412,9 @@ uuv_att_control <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## uuv_pos_control
|
||||
|
||||
Source: [modules/uuv_pos_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/uuv_pos_control)
|
||||
|
||||
|
||||
@@ -398,8 +433,8 @@ uuv_pos_control status
|
||||
uuv_pos_control stop
|
||||
```
|
||||
|
||||
<a id="uuv_pos_control_usage"></a>
|
||||
### Usage
|
||||
### Usage {#uuv_pos_control_usage}
|
||||
|
||||
```
|
||||
uuv_pos_control <command> [arguments...]
|
||||
Commands:
|
||||
@@ -409,15 +444,17 @@ uuv_pos_control <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## vtol_att_control
|
||||
|
||||
Source: [modules/vtol_att_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/vtol_att_control)
|
||||
|
||||
|
||||
### Description
|
||||
fw_att_control is the fixed wing attitude controller.
|
||||
|
||||
<a id="vtol_att_control_usage"></a>
|
||||
### Usage
|
||||
### Usage {#vtol_att_control_usage}
|
||||
|
||||
```
|
||||
vtol_att_control <command> [arguments...]
|
||||
Commands:
|
||||
|
||||
+208
-218
File diff suppressed because it is too large
Load Diff
@@ -1,5 +1,7 @@
|
||||
# Modules Reference: Airspeed Sensor (Driver)
|
||||
|
||||
## asp5033
|
||||
|
||||
Source: [drivers/differential_pressure/asp5033](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/differential_pressure/asp5033)
|
||||
|
||||
|
||||
@@ -11,8 +13,8 @@ This is not included by default in firmware. It can be included with terminal co
|
||||
or in default.px4board with adding the line: "CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_ASP5033=y"
|
||||
It can be enabled with the "SENS_EN_ASP5033" parameter set to 1.
|
||||
|
||||
<a id="asp5033_usage"></a>
|
||||
### Usage
|
||||
### Usage {#asp5033_usage}
|
||||
|
||||
```
|
||||
asp5033 <command> [arguments...]
|
||||
Commands:
|
||||
@@ -30,11 +32,13 @@ asp5033 <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## auav
|
||||
|
||||
Source: [drivers/differential_pressure/auav](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/differential_pressure/auav)
|
||||
|
||||
<a id="auav_usage"></a>
|
||||
### Usage
|
||||
### Usage {#auav_usage}
|
||||
|
||||
```
|
||||
auav <command> [arguments...]
|
||||
Commands:
|
||||
@@ -54,11 +58,13 @@ auav <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## ets_airspeed
|
||||
|
||||
Source: [drivers/differential_pressure/ets](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/differential_pressure/ets)
|
||||
|
||||
<a id="ets_airspeed_usage"></a>
|
||||
### Usage
|
||||
### Usage {#ets_airspeed_usage}
|
||||
|
||||
```
|
||||
ets_airspeed <command> [arguments...]
|
||||
Commands:
|
||||
@@ -76,11 +82,13 @@ ets_airspeed <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## ms4515
|
||||
|
||||
Source: [drivers/differential_pressure/ms4515](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/differential_pressure/ms4515)
|
||||
|
||||
<a id="ms4515_usage"></a>
|
||||
### Usage
|
||||
### Usage {#ms4515_usage}
|
||||
|
||||
```
|
||||
ms4515 <command> [arguments...]
|
||||
Commands:
|
||||
@@ -98,11 +106,13 @@ ms4515 <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## ms4525do
|
||||
|
||||
Source: [drivers/differential_pressure/ms4525do](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/differential_pressure/ms4525do)
|
||||
|
||||
<a id="ms4525do_usage"></a>
|
||||
### Usage
|
||||
### Usage {#ms4525do_usage}
|
||||
|
||||
```
|
||||
ms4525do <command> [arguments...]
|
||||
Commands:
|
||||
@@ -120,11 +130,13 @@ ms4525do <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## ms5525dso
|
||||
|
||||
Source: [drivers/differential_pressure/ms5525dso](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/differential_pressure/ms5525dso)
|
||||
|
||||
<a id="ms5525dso_usage"></a>
|
||||
### Usage
|
||||
### Usage {#ms5525dso_usage}
|
||||
|
||||
```
|
||||
ms5525dso <command> [arguments...]
|
||||
Commands:
|
||||
@@ -142,11 +154,13 @@ ms5525dso <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## sdp3x
|
||||
|
||||
Source: [drivers/differential_pressure/sdp3x](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/differential_pressure/sdp3x)
|
||||
|
||||
<a id="sdp3x_usage"></a>
|
||||
### Usage
|
||||
### Usage {#sdp3x_usage}
|
||||
|
||||
```
|
||||
sdp3x <command> [arguments...]
|
||||
Commands:
|
||||
|
||||
@@ -1,9 +1,11 @@
|
||||
# Modules Reference: Baro (Driver)
|
||||
|
||||
## bmp280
|
||||
|
||||
Source: [drivers/barometer/bmp280](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/barometer/bmp280)
|
||||
|
||||
<a id="bmp280_usage"></a>
|
||||
### Usage
|
||||
### Usage {#bmp280_usage}
|
||||
|
||||
```
|
||||
bmp280 <command> [arguments...]
|
||||
Commands:
|
||||
@@ -33,11 +35,13 @@ bmp280 <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## bmp388
|
||||
|
||||
Source: [drivers/barometer/bmp388](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/barometer/bmp388)
|
||||
|
||||
<a id="bmp388_usage"></a>
|
||||
### Usage
|
||||
### Usage {#bmp388_usage}
|
||||
|
||||
```
|
||||
bmp388 <command> [arguments...]
|
||||
Commands:
|
||||
@@ -59,11 +63,13 @@ bmp388 <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## bmp581
|
||||
|
||||
Source: [drivers/barometer/bmp581](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/barometer/bmp581)
|
||||
|
||||
<a id="bmp581_usage"></a>
|
||||
### Usage
|
||||
### Usage {#bmp581_usage}
|
||||
|
||||
```
|
||||
bmp581 <command> [arguments...]
|
||||
Commands:
|
||||
@@ -85,11 +91,13 @@ bmp581 <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## dps310
|
||||
|
||||
Source: [drivers/barometer/dps310](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/barometer/dps310)
|
||||
|
||||
<a id="dps310_usage"></a>
|
||||
### Usage
|
||||
### Usage {#dps310_usage}
|
||||
|
||||
```
|
||||
dps310 <command> [arguments...]
|
||||
Commands:
|
||||
@@ -119,11 +127,13 @@ dps310 <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## icp101xx
|
||||
|
||||
Source: [drivers/barometer/invensense/icp101xx](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/barometer/invensense/icp101xx)
|
||||
|
||||
<a id="icp101xx_usage"></a>
|
||||
### Usage
|
||||
### Usage {#icp101xx_usage}
|
||||
|
||||
```
|
||||
icp101xx <command> [arguments...]
|
||||
Commands:
|
||||
@@ -141,11 +151,13 @@ icp101xx <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## icp201xx
|
||||
|
||||
Source: [drivers/barometer/invensense/icp201xx](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/barometer/invensense/icp201xx)
|
||||
|
||||
<a id="icp201xx_usage"></a>
|
||||
### Usage
|
||||
### Usage {#icp201xx_usage}
|
||||
|
||||
```
|
||||
icp201xx <command> [arguments...]
|
||||
Commands:
|
||||
@@ -163,11 +175,13 @@ icp201xx <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## lps22hb
|
||||
|
||||
Source: [drivers/barometer/lps22hb](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/barometer/lps22hb)
|
||||
|
||||
<a id="lps22hb_usage"></a>
|
||||
### Usage
|
||||
### Usage {#lps22hb_usage}
|
||||
|
||||
```
|
||||
lps22hb <command> [arguments...]
|
||||
Commands:
|
||||
@@ -187,11 +201,13 @@ lps22hb <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## lps25h
|
||||
|
||||
Source: [drivers/barometer/lps25h](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/barometer/lps25h)
|
||||
|
||||
<a id="lps25h_usage"></a>
|
||||
### Usage
|
||||
### Usage {#lps25h_usage}
|
||||
|
||||
```
|
||||
lps25h <command> [arguments...]
|
||||
Commands:
|
||||
@@ -211,11 +227,13 @@ lps25h <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## lps33hw
|
||||
|
||||
Source: [drivers/barometer/lps33hw](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/barometer/lps33hw)
|
||||
|
||||
<a id="lps33hw_usage"></a>
|
||||
### Usage
|
||||
### Usage {#lps33hw_usage}
|
||||
|
||||
```
|
||||
lps33hw <command> [arguments...]
|
||||
Commands:
|
||||
@@ -238,11 +256,13 @@ lps33hw <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## mpc2520
|
||||
|
||||
Source: [drivers/barometer/maiertek/mpc2520](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/barometer/maiertek/mpc2520)
|
||||
|
||||
<a id="mpc2520_usage"></a>
|
||||
### Usage
|
||||
### Usage {#mpc2520_usage}
|
||||
|
||||
```
|
||||
mpc2520 <command> [arguments...]
|
||||
Commands:
|
||||
@@ -260,11 +280,13 @@ mpc2520 <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## mpl3115a2
|
||||
|
||||
Source: [drivers/barometer/mpl3115a2](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/barometer/mpl3115a2)
|
||||
|
||||
<a id="mpl3115a2_usage"></a>
|
||||
### Usage
|
||||
### Usage {#mpl3115a2_usage}
|
||||
|
||||
```
|
||||
mpl3115a2 <command> [arguments...]
|
||||
Commands:
|
||||
@@ -282,11 +304,13 @@ mpl3115a2 <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## ms5611
|
||||
|
||||
Source: [drivers/barometer/ms5611](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/barometer/ms5611)
|
||||
|
||||
<a id="ms5611_usage"></a>
|
||||
### Usage
|
||||
### Usage {#ms5611_usage}
|
||||
|
||||
```
|
||||
ms5611 <command> [arguments...]
|
||||
Commands:
|
||||
@@ -316,11 +340,13 @@ ms5611 <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## ms5837
|
||||
|
||||
Source: [drivers/barometer/ms5837](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/barometer/ms5837)
|
||||
|
||||
<a id="ms5837_usage"></a>
|
||||
### Usage
|
||||
### Usage {#ms5837_usage}
|
||||
|
||||
```
|
||||
ms5837 <command> [arguments...]
|
||||
Commands:
|
||||
@@ -336,11 +362,13 @@ ms5837 <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## spa06
|
||||
|
||||
Source: [drivers/barometer/goertek/spa06](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/barometer/goertek/spa06)
|
||||
|
||||
<a id="spa06_usage"></a>
|
||||
### Usage
|
||||
### Usage {#spa06_usage}
|
||||
|
||||
```
|
||||
spa06 <command> [arguments...]
|
||||
Commands:
|
||||
@@ -370,11 +398,13 @@ spa06 <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## spl06
|
||||
|
||||
Source: [drivers/barometer/goertek/spl06](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/barometer/goertek/spl06)
|
||||
|
||||
<a id="spl06_usage"></a>
|
||||
### Usage
|
||||
### Usage {#spl06_usage}
|
||||
|
||||
```
|
||||
spl06 <command> [arguments...]
|
||||
Commands:
|
||||
|
||||
@@ -1,5 +1,7 @@
|
||||
# Modules Reference: Camera (Driver)
|
||||
|
||||
## camera_trigger
|
||||
|
||||
Source: [drivers/camera_trigger](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/camera_trigger)
|
||||
|
||||
|
||||
@@ -33,8 +35,8 @@ In particular:
|
||||
|
||||
[Setup/usage information](../camera/index.md).
|
||||
|
||||
<a id="camera_trigger_usage"></a>
|
||||
### Usage
|
||||
### Usage {#camera_trigger_usage}
|
||||
|
||||
```
|
||||
camera_trigger <command> [arguments...]
|
||||
Commands:
|
||||
|
||||
@@ -1,5 +1,7 @@
|
||||
# Modules Reference: Distance Sensor (Driver)
|
||||
|
||||
## afbrs50
|
||||
|
||||
Source: [drivers/distance_sensor/broadcom/afbrs50](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/broadcom/afbrs50)
|
||||
|
||||
|
||||
@@ -18,8 +20,8 @@ Stop driver
|
||||
afbrs50 stop
|
||||
```
|
||||
|
||||
<a id="afbrs50_usage"></a>
|
||||
### Usage
|
||||
### Usage {#afbrs50_usage}
|
||||
|
||||
```
|
||||
afbrs50 <command> [arguments...]
|
||||
Commands:
|
||||
@@ -32,11 +34,13 @@ afbrs50 <command> [arguments...]
|
||||
|
||||
stop Stop driver
|
||||
```
|
||||
|
||||
## gy_us42
|
||||
|
||||
Source: [drivers/distance_sensor/gy_us42](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/gy_us42)
|
||||
|
||||
<a id="gy_us42_usage"></a>
|
||||
### Usage
|
||||
### Usage {#gy_us42_usage}
|
||||
|
||||
```
|
||||
gy_us42 <command> [arguments...]
|
||||
Commands:
|
||||
@@ -54,7 +58,9 @@ gy_us42 <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## leddar_one
|
||||
|
||||
Source: [drivers/distance_sensor/leddar_one](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/leddar_one)
|
||||
|
||||
|
||||
@@ -77,8 +83,8 @@ Stop driver
|
||||
leddar_one stop
|
||||
```
|
||||
|
||||
<a id="leddar_one_usage"></a>
|
||||
### Usage
|
||||
### Usage {#leddar_one_usage}
|
||||
|
||||
```
|
||||
leddar_one <command> [arguments...]
|
||||
Commands:
|
||||
@@ -89,7 +95,9 @@ leddar_one <command> [arguments...]
|
||||
|
||||
stop Stop driver
|
||||
```
|
||||
|
||||
## lightware_laser_i2c
|
||||
|
||||
Source: [drivers/distance_sensor/lightware_laser_i2c](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/lightware_laser_i2c)
|
||||
|
||||
|
||||
@@ -99,8 +107,8 @@ I2C bus driver for Lightware SFxx series LIDAR rangefinders: SF10/a, SF10/b, SF1
|
||||
|
||||
Setup/usage information: https://docs.px4.io/main/en/sensor/sfxx_lidar.html
|
||||
|
||||
<a id="lightware_laser_i2c_usage"></a>
|
||||
### Usage
|
||||
### Usage {#lightware_laser_i2c_usage}
|
||||
|
||||
```
|
||||
lightware_laser_i2c <command> [arguments...]
|
||||
Commands:
|
||||
@@ -120,7 +128,9 @@ lightware_laser_i2c <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## lightware_laser_serial
|
||||
|
||||
Source: [drivers/distance_sensor/lightware_laser_serial](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/lightware_laser_serial)
|
||||
|
||||
|
||||
@@ -143,8 +153,8 @@ Stop driver
|
||||
lightware_laser_serial stop
|
||||
```
|
||||
|
||||
<a id="lightware_laser_serial_usage"></a>
|
||||
### Usage
|
||||
### Usage {#lightware_laser_serial_usage}
|
||||
|
||||
```
|
||||
lightware_laser_serial <command> [arguments...]
|
||||
Commands:
|
||||
@@ -155,7 +165,9 @@ lightware_laser_serial <command> [arguments...]
|
||||
|
||||
stop Stop driver
|
||||
```
|
||||
|
||||
## lightware_sf45_serial
|
||||
|
||||
Source: [drivers/distance_sensor/lightware_sf45_serial](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/lightware_sf45_serial)
|
||||
|
||||
|
||||
@@ -175,8 +187,8 @@ Stop driver
|
||||
lightware_sf45_serial stop
|
||||
```
|
||||
|
||||
<a id="lightware_sf45_serial_usage"></a>
|
||||
### Usage
|
||||
### Usage {#lightware_sf45_serial_usage}
|
||||
|
||||
```
|
||||
lightware_sf45_serial <command> [arguments...]
|
||||
Commands:
|
||||
@@ -185,7 +197,9 @@ lightware_sf45_serial <command> [arguments...]
|
||||
|
||||
stop Stop driver
|
||||
```
|
||||
|
||||
## ll40ls
|
||||
|
||||
Source: [drivers/distance_sensor/ll40ls_pwm](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/ll40ls_pwm)
|
||||
|
||||
|
||||
@@ -197,8 +211,8 @@ 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
|
||||
|
||||
<a id="ll40ls_usage"></a>
|
||||
### Usage
|
||||
### Usage {#ll40ls_usage}
|
||||
|
||||
```
|
||||
ll40ls <command> [arguments...]
|
||||
Commands:
|
||||
@@ -210,11 +224,13 @@ ll40ls <command> [arguments...]
|
||||
|
||||
stop Stop driver
|
||||
```
|
||||
|
||||
## mappydot
|
||||
|
||||
Source: [drivers/distance_sensor/mappydot](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/mappydot)
|
||||
|
||||
<a id="mappydot_usage"></a>
|
||||
### Usage
|
||||
### Usage {#mappydot_usage}
|
||||
|
||||
```
|
||||
mappydot <command> [arguments...]
|
||||
Commands:
|
||||
@@ -230,11 +246,13 @@ mappydot <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## mb12xx
|
||||
|
||||
Source: [drivers/distance_sensor/mb12xx](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/mb12xx)
|
||||
|
||||
<a id="mb12xx_usage"></a>
|
||||
### Usage
|
||||
### Usage {#mb12xx_usage}
|
||||
|
||||
```
|
||||
mb12xx <command> [arguments...]
|
||||
Commands:
|
||||
@@ -254,7 +272,9 @@ mb12xx <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## pga460
|
||||
|
||||
Source: [drivers/distance_sensor/pga460](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/pga460)
|
||||
|
||||
|
||||
@@ -270,8 +290,8 @@ running. A simple algorithm to detect false readings is implemented at the drive
|
||||
the quality of data that is being published. The driver will not publish data at all if it deems the sensor data
|
||||
to be invalid or unstable.
|
||||
|
||||
<a id="pga460_usage"></a>
|
||||
### Usage
|
||||
### Usage {#pga460_usage}
|
||||
|
||||
```
|
||||
pga460 <command> [arguments...]
|
||||
Commands:
|
||||
@@ -284,11 +304,13 @@ pga460 <command> [arguments...]
|
||||
|
||||
help
|
||||
```
|
||||
|
||||
## srf02
|
||||
|
||||
Source: [drivers/distance_sensor/srf02](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/srf02)
|
||||
|
||||
<a id="srf02_usage"></a>
|
||||
### Usage
|
||||
### Usage {#srf02_usage}
|
||||
|
||||
```
|
||||
srf02 <command> [arguments...]
|
||||
Commands:
|
||||
@@ -308,7 +330,9 @@ srf02 <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## srf05
|
||||
|
||||
Source: [drivers/distance_sensor/srf05](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/srf05)
|
||||
|
||||
|
||||
@@ -319,8 +343,8 @@ Source: [drivers/distance_sensor/srf05](https://github.com/PX4/PX4-Autopilot/tre
|
||||
The sensor/driver must be enabled using the parameter SENS_EN_HXSRX0X.
|
||||
|
||||
|
||||
<a id="srf05_usage"></a>
|
||||
### Usage
|
||||
### Usage {#srf05_usage}
|
||||
|
||||
```
|
||||
srf05 <command> [arguments...]
|
||||
Commands:
|
||||
@@ -336,7 +360,9 @@ srf05 <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## teraranger
|
||||
|
||||
Source: [drivers/distance_sensor/teraranger](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/teraranger)
|
||||
|
||||
|
||||
@@ -348,8 +374,8 @@ The sensor/driver must be enabled using the parameter SENS_EN_TRANGER.
|
||||
|
||||
Setup/usage information: https://docs.px4.io/main/en/sensor/rangefinders.html#teraranger-rangefinders
|
||||
|
||||
<a id="teraranger_usage"></a>
|
||||
### Usage
|
||||
### Usage {#teraranger_usage}
|
||||
|
||||
```
|
||||
teraranger <command> [arguments...]
|
||||
Commands:
|
||||
@@ -369,11 +395,13 @@ teraranger <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## tf02pro
|
||||
|
||||
Source: [drivers/distance_sensor/tf02pro](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/tf02pro)
|
||||
|
||||
<a id="tf02pro_usage"></a>
|
||||
### Usage
|
||||
### Usage {#tf02pro_usage}
|
||||
|
||||
```
|
||||
tf02pro <command> [arguments...]
|
||||
Commands:
|
||||
@@ -393,7 +421,9 @@ tf02pro <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## tfmini
|
||||
|
||||
Source: [drivers/distance_sensor/tfmini](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/tfmini)
|
||||
|
||||
|
||||
@@ -416,8 +446,8 @@ Stop driver
|
||||
tfmini stop
|
||||
```
|
||||
|
||||
<a id="tfmini_usage"></a>
|
||||
### Usage
|
||||
### Usage {#tfmini_usage}
|
||||
|
||||
```
|
||||
tfmini <command> [arguments...]
|
||||
Commands:
|
||||
@@ -432,7 +462,9 @@ tfmini <command> [arguments...]
|
||||
|
||||
status Print driver status
|
||||
```
|
||||
|
||||
## ulanding_radar
|
||||
|
||||
Source: [drivers/distance_sensor/ulanding_radar](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/ulanding_radar)
|
||||
|
||||
|
||||
@@ -453,8 +485,8 @@ Stop driver
|
||||
ulanding_radar stop
|
||||
```
|
||||
|
||||
<a id="ulanding_radar_usage"></a>
|
||||
### Usage
|
||||
### Usage {#ulanding_radar_usage}
|
||||
|
||||
```
|
||||
ulanding_radar <command> [arguments...]
|
||||
Commands:
|
||||
@@ -466,11 +498,13 @@ ulanding_radar <command> [arguments...]
|
||||
|
||||
stop Stop driver
|
||||
```
|
||||
|
||||
## vl53l0x
|
||||
|
||||
Source: [drivers/distance_sensor/vl53l0x](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/vl53l0x)
|
||||
|
||||
<a id="vl53l0x_usage"></a>
|
||||
### Usage
|
||||
### Usage {#vl53l0x_usage}
|
||||
|
||||
```
|
||||
vl53l0x <command> [arguments...]
|
||||
Commands:
|
||||
@@ -490,11 +524,13 @@ vl53l0x <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## vl53l1x
|
||||
|
||||
Source: [drivers/distance_sensor/vl53l1x](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/vl53l1x)
|
||||
|
||||
<a id="vl53l1x_usage"></a>
|
||||
### Usage
|
||||
### Usage {#vl53l1x_usage}
|
||||
|
||||
```
|
||||
vl53l1x <command> [arguments...]
|
||||
Commands:
|
||||
|
||||
@@ -1,9 +1,11 @@
|
||||
# Modules Reference: Imu (Driver)
|
||||
|
||||
## adis16448
|
||||
|
||||
Source: [drivers/imu/analog_devices/adis16448](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/analog_devices/adis16448)
|
||||
|
||||
<a id="adis16448_usage"></a>
|
||||
### Usage
|
||||
### Usage {#adis16448_usage}
|
||||
|
||||
```
|
||||
adis16448 <command> [arguments...]
|
||||
Commands:
|
||||
@@ -23,11 +25,13 @@ adis16448 <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## adis16470
|
||||
|
||||
Source: [drivers/imu/analog_devices/adis16470](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/analog_devices/adis16470)
|
||||
|
||||
<a id="adis16470_usage"></a>
|
||||
### Usage
|
||||
### Usage {#adis16470_usage}
|
||||
|
||||
```
|
||||
adis16470 <command> [arguments...]
|
||||
Commands:
|
||||
@@ -47,11 +51,13 @@ adis16470 <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## adis16477
|
||||
|
||||
Source: [drivers/imu/analog_devices/adis16477](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/analog_devices/adis16477)
|
||||
|
||||
<a id="adis16477_usage"></a>
|
||||
### Usage
|
||||
### Usage {#adis16477_usage}
|
||||
|
||||
```
|
||||
adis16477 <command> [arguments...]
|
||||
Commands:
|
||||
@@ -71,11 +77,13 @@ adis16477 <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## adis16497
|
||||
|
||||
Source: [drivers/imu/analog_devices/adis16497](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/analog_devices/adis16497)
|
||||
|
||||
<a id="adis16497_usage"></a>
|
||||
### Usage
|
||||
### Usage {#adis16497_usage}
|
||||
|
||||
```
|
||||
adis16497 <command> [arguments...]
|
||||
Commands:
|
||||
@@ -95,11 +103,13 @@ adis16497 <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## adis16507
|
||||
|
||||
Source: [drivers/imu/analog_devices/adis16507](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/analog_devices/adis16507)
|
||||
|
||||
<a id="adis16507_usage"></a>
|
||||
### Usage
|
||||
### Usage {#adis16507_usage}
|
||||
|
||||
```
|
||||
adis16507 <command> [arguments...]
|
||||
Commands:
|
||||
@@ -119,11 +129,13 @@ adis16507 <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## bmi055
|
||||
|
||||
Source: [drivers/imu/bosch/bmi055](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/bosch/bmi055)
|
||||
|
||||
<a id="bmi055_usage"></a>
|
||||
### Usage
|
||||
### Usage {#bmi055_usage}
|
||||
|
||||
```
|
||||
bmi055 <command> [arguments...]
|
||||
Commands:
|
||||
@@ -145,11 +157,13 @@ bmi055 <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## bmi085
|
||||
|
||||
Source: [drivers/imu/bosch/bmi085](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/bosch/bmi085)
|
||||
|
||||
<a id="bmi085_usage"></a>
|
||||
### Usage
|
||||
### Usage {#bmi085_usage}
|
||||
|
||||
```
|
||||
bmi085 <command> [arguments...]
|
||||
Commands:
|
||||
@@ -171,11 +185,13 @@ bmi085 <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## bmi088
|
||||
|
||||
Source: [drivers/imu/bosch/bmi088](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/bosch/bmi088)
|
||||
|
||||
<a id="bmi088_usage"></a>
|
||||
### Usage
|
||||
### Usage {#bmi088_usage}
|
||||
|
||||
```
|
||||
bmi088 <command> [arguments...]
|
||||
Commands:
|
||||
@@ -197,11 +213,13 @@ bmi088 <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## bmi088_i2c
|
||||
|
||||
Source: [drivers/imu/bosch/bmi088_i2c](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/bosch/bmi088_i2c)
|
||||
|
||||
<a id="bmi088_i2c_usage"></a>
|
||||
### Usage
|
||||
### Usage {#bmi088_i2c_usage}
|
||||
|
||||
```
|
||||
bmi088_i2c <command> [arguments...]
|
||||
Commands:
|
||||
@@ -223,11 +241,13 @@ bmi088_i2c <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## bmi270
|
||||
|
||||
Source: [drivers/imu/bosch/bmi270](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/bosch/bmi270)
|
||||
|
||||
<a id="bmi270_usage"></a>
|
||||
### Usage
|
||||
### Usage {#bmi270_usage}
|
||||
|
||||
```
|
||||
bmi270 <command> [arguments...]
|
||||
Commands:
|
||||
@@ -247,11 +267,13 @@ bmi270 <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## fxas21002c
|
||||
|
||||
Source: [drivers/imu/nxp/fxas21002c](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/nxp/fxas21002c)
|
||||
|
||||
<a id="fxas21002c_usage"></a>
|
||||
### Usage
|
||||
### Usage {#fxas21002c_usage}
|
||||
|
||||
```
|
||||
fxas21002c <command> [arguments...]
|
||||
Commands:
|
||||
@@ -279,11 +301,13 @@ fxas21002c <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## fxos8701cq
|
||||
|
||||
Source: [drivers/imu/nxp/fxos8701cq](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/nxp/fxos8701cq)
|
||||
|
||||
<a id="fxos8701cq_usage"></a>
|
||||
### Usage
|
||||
### Usage {#fxos8701cq_usage}
|
||||
|
||||
```
|
||||
fxos8701cq <command> [arguments...]
|
||||
Commands:
|
||||
@@ -311,11 +335,13 @@ fxos8701cq <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## iam20680hp
|
||||
|
||||
Source: [drivers/imu/invensense/iam20680hp](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/iam20680hp)
|
||||
|
||||
<a id="iam20680hp_usage"></a>
|
||||
### Usage
|
||||
### Usage {#iam20680hp_usage}
|
||||
|
||||
```
|
||||
iam20680hp <command> [arguments...]
|
||||
Commands:
|
||||
@@ -335,11 +361,13 @@ iam20680hp <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## icm20602
|
||||
|
||||
Source: [drivers/imu/invensense/icm20602](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/icm20602)
|
||||
|
||||
<a id="icm20602_usage"></a>
|
||||
### Usage
|
||||
### Usage {#icm20602_usage}
|
||||
|
||||
```
|
||||
icm20602 <command> [arguments...]
|
||||
Commands:
|
||||
@@ -359,11 +387,13 @@ icm20602 <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## icm20608g
|
||||
|
||||
Source: [drivers/imu/invensense/icm20608g](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/icm20608g)
|
||||
|
||||
<a id="icm20608g_usage"></a>
|
||||
### Usage
|
||||
### Usage {#icm20608g_usage}
|
||||
|
||||
```
|
||||
icm20608g <command> [arguments...]
|
||||
Commands:
|
||||
@@ -383,11 +413,13 @@ icm20608g <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## icm20649
|
||||
|
||||
Source: [drivers/imu/invensense/icm20649](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/icm20649)
|
||||
|
||||
<a id="icm20649_usage"></a>
|
||||
### Usage
|
||||
### Usage {#icm20649_usage}
|
||||
|
||||
```
|
||||
icm20649 <command> [arguments...]
|
||||
Commands:
|
||||
@@ -407,11 +439,13 @@ icm20649 <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## icm20689
|
||||
|
||||
Source: [drivers/imu/invensense/icm20689](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/icm20689)
|
||||
|
||||
<a id="icm20689_usage"></a>
|
||||
### Usage
|
||||
### Usage {#icm20689_usage}
|
||||
|
||||
```
|
||||
icm20689 <command> [arguments...]
|
||||
Commands:
|
||||
@@ -431,11 +465,13 @@ icm20689 <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## icm20948
|
||||
|
||||
Source: [drivers/imu/invensense/icm20948](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/icm20948)
|
||||
|
||||
<a id="icm20948_usage"></a>
|
||||
### Usage
|
||||
### Usage {#icm20948_usage}
|
||||
|
||||
```
|
||||
icm20948 <command> [arguments...]
|
||||
Commands:
|
||||
@@ -456,11 +492,13 @@ icm20948 <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## icm20948_i2c_passthrough
|
||||
|
||||
Source: [drivers/imu/invensense/icm20948](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/icm20948)
|
||||
|
||||
<a id="icm20948_i2c_passthrough_usage"></a>
|
||||
### Usage
|
||||
### Usage {#icm20948_i2c_passthrough_usage}
|
||||
|
||||
```
|
||||
icm20948_i2c_passthrough <command> [arguments...]
|
||||
Commands:
|
||||
@@ -478,11 +516,13 @@ icm20948_i2c_passthrough <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## icm40609d
|
||||
|
||||
Source: [drivers/imu/invensense/icm40609d](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/icm40609d)
|
||||
|
||||
<a id="icm40609d_usage"></a>
|
||||
### Usage
|
||||
### Usage {#icm40609d_usage}
|
||||
|
||||
```
|
||||
icm40609d <command> [arguments...]
|
||||
Commands:
|
||||
@@ -502,11 +542,13 @@ icm40609d <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## icm42605
|
||||
|
||||
Source: [drivers/imu/invensense/icm42605](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/icm42605)
|
||||
|
||||
<a id="icm42605_usage"></a>
|
||||
### Usage
|
||||
### Usage {#icm42605_usage}
|
||||
|
||||
```
|
||||
icm42605 <command> [arguments...]
|
||||
Commands:
|
||||
@@ -526,11 +568,13 @@ icm42605 <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## icm42670p
|
||||
|
||||
Source: [drivers/imu/invensense/icm42670p](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/icm42670p)
|
||||
|
||||
<a id="icm42670p_usage"></a>
|
||||
### Usage
|
||||
### Usage {#icm42670p_usage}
|
||||
|
||||
```
|
||||
icm42670p <command> [arguments...]
|
||||
Commands:
|
||||
@@ -550,11 +594,13 @@ icm42670p <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## icm42688p
|
||||
|
||||
Source: [drivers/imu/invensense/icm42688p](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/icm42688p)
|
||||
|
||||
<a id="icm42688p_usage"></a>
|
||||
### Usage
|
||||
### Usage {#icm42688p_usage}
|
||||
|
||||
```
|
||||
icm42688p <command> [arguments...]
|
||||
Commands:
|
||||
@@ -577,11 +623,13 @@ icm42688p <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## icm45686
|
||||
|
||||
Source: [drivers/imu/invensense/icm45686](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/icm45686)
|
||||
|
||||
<a id="icm45686_usage"></a>
|
||||
### Usage
|
||||
### Usage {#icm45686_usage}
|
||||
|
||||
```
|
||||
icm45686 <command> [arguments...]
|
||||
Commands:
|
||||
@@ -603,11 +651,13 @@ icm45686 <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## iim42652
|
||||
|
||||
Source: [drivers/imu/invensense/iim42652](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/iim42652)
|
||||
|
||||
<a id="iim42652_usage"></a>
|
||||
### Usage
|
||||
### Usage {#iim42652_usage}
|
||||
|
||||
```
|
||||
iim42652 <command> [arguments...]
|
||||
Commands:
|
||||
@@ -629,11 +679,13 @@ iim42652 <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## iim42653
|
||||
|
||||
Source: [drivers/imu/invensense/iim42653](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/iim42653)
|
||||
|
||||
<a id="iim42653_usage"></a>
|
||||
### Usage
|
||||
### Usage {#iim42653_usage}
|
||||
|
||||
```
|
||||
iim42653 <command> [arguments...]
|
||||
Commands:
|
||||
@@ -655,11 +707,13 @@ iim42653 <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## l3gd20
|
||||
|
||||
Source: [drivers/imu/st/l3gd20](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/st/l3gd20)
|
||||
|
||||
<a id="l3gd20_usage"></a>
|
||||
### Usage
|
||||
### Usage {#l3gd20_usage}
|
||||
|
||||
```
|
||||
l3gd20 <command> [arguments...]
|
||||
Commands:
|
||||
@@ -683,11 +737,13 @@ l3gd20 <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## lsm303d
|
||||
|
||||
Source: [drivers/imu/st/lsm303d](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/st/lsm303d)
|
||||
|
||||
<a id="lsm303d_usage"></a>
|
||||
### Usage
|
||||
### Usage {#lsm303d_usage}
|
||||
|
||||
```
|
||||
lsm303d <command> [arguments...]
|
||||
Commands:
|
||||
@@ -707,11 +763,13 @@ lsm303d <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## lsm9ds1
|
||||
|
||||
Source: [drivers/imu/st/lsm9ds1](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/st/lsm9ds1)
|
||||
|
||||
<a id="lsm9ds1_usage"></a>
|
||||
### Usage
|
||||
### Usage {#lsm9ds1_usage}
|
||||
|
||||
```
|
||||
lsm9ds1 <command> [arguments...]
|
||||
Commands:
|
||||
@@ -731,11 +789,13 @@ lsm9ds1 <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## mpu6000
|
||||
|
||||
Source: [drivers/imu/invensense/mpu6000](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/mpu6000)
|
||||
|
||||
<a id="mpu6000_usage"></a>
|
||||
### Usage
|
||||
### Usage {#mpu6000_usage}
|
||||
|
||||
```
|
||||
mpu6000 <command> [arguments...]
|
||||
Commands:
|
||||
@@ -755,11 +815,13 @@ mpu6000 <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## mpu9250
|
||||
|
||||
Source: [drivers/imu/invensense/mpu9250](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/mpu9250)
|
||||
|
||||
<a id="mpu9250_usage"></a>
|
||||
### Usage
|
||||
### Usage {#mpu9250_usage}
|
||||
|
||||
```
|
||||
mpu9250 <command> [arguments...]
|
||||
Commands:
|
||||
@@ -780,11 +842,13 @@ mpu9250 <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## mpu9250_i2c
|
||||
|
||||
Source: [drivers/imu/invensense/mpu9250](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/mpu9250)
|
||||
|
||||
<a id="mpu9250_i2c_usage"></a>
|
||||
### Usage
|
||||
### Usage {#mpu9250_i2c_usage}
|
||||
|
||||
```
|
||||
mpu9250_i2c <command> [arguments...]
|
||||
Commands:
|
||||
@@ -804,11 +868,13 @@ mpu9250_i2c <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## mpu9520
|
||||
|
||||
Source: [drivers/imu/invensense/mpu6500](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/mpu6500)
|
||||
|
||||
<a id="mpu9520_usage"></a>
|
||||
### Usage
|
||||
### Usage {#mpu9520_usage}
|
||||
|
||||
```
|
||||
mpu9520 <command> [arguments...]
|
||||
Commands:
|
||||
@@ -828,11 +894,13 @@ mpu9520 <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## sch16t
|
||||
|
||||
Source: [drivers/imu/murata/sch16t](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/murata/sch16t)
|
||||
|
||||
<a id="sch16t_usage"></a>
|
||||
### Usage
|
||||
### Usage {#sch16t_usage}
|
||||
|
||||
```
|
||||
sch16t <command> [arguments...]
|
||||
Commands:
|
||||
|
||||
@@ -1,5 +1,7 @@
|
||||
# Modules Reference: Ins (Driver)
|
||||
|
||||
## vectornav
|
||||
|
||||
Source: [drivers/ins/vectornav](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/ins/vectornav)
|
||||
|
||||
|
||||
@@ -22,8 +24,8 @@ Stop driver
|
||||
vectornav stop
|
||||
```
|
||||
|
||||
<a id="vectornav_usage"></a>
|
||||
### Usage
|
||||
### Usage {#vectornav_usage}
|
||||
|
||||
```
|
||||
vectornav <command> [arguments...]
|
||||
Commands:
|
||||
|
||||
@@ -1,9 +1,11 @@
|
||||
# Modules Reference: Magnetometer (Driver)
|
||||
|
||||
## ak09916
|
||||
|
||||
Source: [drivers/magnetometer/akm/ak09916](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/magnetometer/akm/ak09916)
|
||||
|
||||
<a id="ak09916_usage"></a>
|
||||
### Usage
|
||||
### Usage {#ak09916_usage}
|
||||
|
||||
```
|
||||
ak09916 <command> [arguments...]
|
||||
Commands:
|
||||
@@ -23,11 +25,13 @@ ak09916 <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## ak8963
|
||||
|
||||
Source: [drivers/magnetometer/akm/ak8963](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/magnetometer/akm/ak8963)
|
||||
|
||||
<a id="ak8963_usage"></a>
|
||||
### Usage
|
||||
### Usage {#ak8963_usage}
|
||||
|
||||
```
|
||||
ak8963 <command> [arguments...]
|
||||
Commands:
|
||||
@@ -47,11 +51,13 @@ ak8963 <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## bmm150
|
||||
|
||||
Source: [drivers/magnetometer/bosch/bmm150](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/magnetometer/bosch/bmm150)
|
||||
|
||||
<a id="bmm150_usage"></a>
|
||||
### Usage
|
||||
### Usage {#bmm150_usage}
|
||||
|
||||
```
|
||||
bmm150 <command> [arguments...]
|
||||
Commands:
|
||||
@@ -71,11 +77,13 @@ bmm150 <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## bmm350
|
||||
|
||||
Source: [drivers/magnetometer/bosch/bmm350](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/magnetometer/bosch/bmm350)
|
||||
|
||||
<a id="bmm350_usage"></a>
|
||||
### Usage
|
||||
### Usage {#bmm350_usage}
|
||||
|
||||
```
|
||||
bmm350 <command> [arguments...]
|
||||
Commands:
|
||||
@@ -95,11 +103,13 @@ bmm350 <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## hmc5883
|
||||
|
||||
Source: [drivers/magnetometer/hmc5883](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/magnetometer/hmc5883)
|
||||
|
||||
<a id="hmc5883_usage"></a>
|
||||
### Usage
|
||||
### Usage {#hmc5883_usage}
|
||||
|
||||
```
|
||||
hmc5883 <command> [arguments...]
|
||||
Commands:
|
||||
@@ -122,11 +132,13 @@ hmc5883 <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## iis2mdc
|
||||
|
||||
Source: [drivers/magnetometer/st/iis2mdc](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/magnetometer/st/iis2mdc)
|
||||
|
||||
<a id="iis2mdc_usage"></a>
|
||||
### Usage
|
||||
### Usage {#iis2mdc_usage}
|
||||
|
||||
```
|
||||
iis2mdc <command> [arguments...]
|
||||
Commands:
|
||||
@@ -144,11 +156,13 @@ iis2mdc <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## ist8308
|
||||
|
||||
Source: [drivers/magnetometer/isentek/ist8308](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/magnetometer/isentek/ist8308)
|
||||
|
||||
<a id="ist8308_usage"></a>
|
||||
### Usage
|
||||
### Usage {#ist8308_usage}
|
||||
|
||||
```
|
||||
ist8308 <command> [arguments...]
|
||||
Commands:
|
||||
@@ -168,11 +182,13 @@ ist8308 <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## ist8310
|
||||
|
||||
Source: [drivers/magnetometer/isentek/ist8310](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/magnetometer/isentek/ist8310)
|
||||
|
||||
<a id="ist8310_usage"></a>
|
||||
### Usage
|
||||
### Usage {#ist8310_usage}
|
||||
|
||||
```
|
||||
ist8310 <command> [arguments...]
|
||||
Commands:
|
||||
@@ -192,11 +208,13 @@ ist8310 <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## lis3mdl
|
||||
|
||||
Source: [drivers/magnetometer/lis3mdl](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/magnetometer/lis3mdl)
|
||||
|
||||
<a id="lis3mdl_usage"></a>
|
||||
### Usage
|
||||
### Usage {#lis3mdl_usage}
|
||||
|
||||
```
|
||||
lis3mdl <command> [arguments...]
|
||||
Commands:
|
||||
@@ -222,11 +240,13 @@ lis3mdl <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## lsm9ds1_mag
|
||||
|
||||
Source: [drivers/magnetometer/lsm9ds1_mag](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/magnetometer/lsm9ds1_mag)
|
||||
|
||||
<a id="lsm9ds1_mag_usage"></a>
|
||||
### Usage
|
||||
### Usage {#lsm9ds1_mag_usage}
|
||||
|
||||
```
|
||||
lsm9ds1_mag <command> [arguments...]
|
||||
Commands:
|
||||
@@ -246,11 +266,13 @@ lsm9ds1_mag <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## mmc5983ma
|
||||
|
||||
Source: [drivers/magnetometer/memsic/mmc5983ma](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/magnetometer/memsic/mmc5983ma)
|
||||
|
||||
<a id="mmc5983ma_usage"></a>
|
||||
### Usage
|
||||
### Usage {#mmc5983ma_usage}
|
||||
|
||||
```
|
||||
mmc5983ma <command> [arguments...]
|
||||
Commands:
|
||||
@@ -276,11 +298,13 @@ mmc5983ma <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## qmc5883l
|
||||
|
||||
Source: [drivers/magnetometer/qmc5883l](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/magnetometer/qmc5883l)
|
||||
|
||||
<a id="qmc5883l_usage"></a>
|
||||
### Usage
|
||||
### Usage {#qmc5883l_usage}
|
||||
|
||||
```
|
||||
qmc5883l <command> [arguments...]
|
||||
Commands:
|
||||
@@ -300,11 +324,13 @@ qmc5883l <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## rm3100
|
||||
|
||||
Source: [drivers/magnetometer/rm3100](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/magnetometer/rm3100)
|
||||
|
||||
<a id="rm3100_usage"></a>
|
||||
### Usage
|
||||
### Usage {#rm3100_usage}
|
||||
|
||||
```
|
||||
rm3100 <command> [arguments...]
|
||||
Commands:
|
||||
@@ -326,11 +352,13 @@ rm3100 <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## vcm1193l
|
||||
|
||||
Source: [drivers/magnetometer/vtrantech/vcm1193l](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/magnetometer/vtrantech/vcm1193l)
|
||||
|
||||
<a id="vcm1193l_usage"></a>
|
||||
### Usage
|
||||
### Usage {#vcm1193l_usage}
|
||||
|
||||
```
|
||||
vcm1193l <command> [arguments...]
|
||||
Commands:
|
||||
|
||||
@@ -1,5 +1,7 @@
|
||||
# Modules Reference: Optical Flow (Driver)
|
||||
|
||||
## thoneflow
|
||||
|
||||
Source: [drivers/optical_flow/thoneflow](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/optical_flow/thoneflow)
|
||||
|
||||
|
||||
@@ -22,8 +24,8 @@ Stop driver
|
||||
thoneflow stop
|
||||
```
|
||||
|
||||
<a id="thoneflow_usage"></a>
|
||||
### Usage
|
||||
### Usage {#thoneflow_usage}
|
||||
|
||||
```
|
||||
thoneflow <command> [arguments...]
|
||||
Commands:
|
||||
|
||||
@@ -0,0 +1,126 @@
|
||||
# Modules Reference: Radio Control (Driver)
|
||||
|
||||
## crsf_rc
|
||||
|
||||
Source: [drivers/rc/crsf_rc](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/rc/crsf_rc)
|
||||
|
||||
|
||||
### Description
|
||||
This module parses the CRSF RC uplink protocol and generates CRSF downlink telemetry data
|
||||
|
||||
|
||||
### Usage {#crsf_rc_usage}
|
||||
|
||||
```
|
||||
crsf_rc <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-d <val>] RC device
|
||||
values: <file:dev>, default: /dev/ttyS3
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## dsm_rc
|
||||
|
||||
Source: [drivers/rc/dsm_rc](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/rc/dsm_rc)
|
||||
|
||||
|
||||
### Description
|
||||
This module does Spektrum DSM RC input parsing.
|
||||
|
||||
|
||||
### Usage {#dsm_rc_usage}
|
||||
|
||||
```
|
||||
dsm_rc <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-d <val>] RC device
|
||||
values: <file:dev>, default: /dev/ttyS3
|
||||
|
||||
bind Send a DSM bind command (module must be running)
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## ghst_rc
|
||||
|
||||
Source: [drivers/rc/ghst_rc](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/rc/ghst_rc)
|
||||
|
||||
|
||||
### Description
|
||||
This module does Ghost (GHST) RC input parsing.
|
||||
|
||||
|
||||
### Usage {#ghst_rc_usage}
|
||||
|
||||
```
|
||||
ghst_rc <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-d <val>] RC device
|
||||
values: <file:dev>, default: /dev/ttyS3
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## rc_input
|
||||
|
||||
Source: [drivers/rc_input](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/rc_input)
|
||||
|
||||
|
||||
### Description
|
||||
This module does the RC input parsing and auto-selecting the method. Supported methods are:
|
||||
- PPM
|
||||
- SBUS
|
||||
- DSM
|
||||
- SUMD
|
||||
- ST24
|
||||
- TBS Crossfire (CRSF)
|
||||
|
||||
|
||||
### Usage {#rc_input_usage}
|
||||
|
||||
```
|
||||
rc_input <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-d <val>] RC device
|
||||
values: <file:dev>, default: /dev/ttyS3
|
||||
|
||||
bind Send a DSM bind command (module must be running)
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## sbus_rc
|
||||
|
||||
Source: [drivers/rc/sbus_rc](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/rc/sbus_rc)
|
||||
|
||||
|
||||
### Description
|
||||
This module does SBUS RC input parsing.
|
||||
|
||||
|
||||
### Usage {#sbus_rc_usage}
|
||||
|
||||
```
|
||||
sbus_rc <command> [arguments...]
|
||||
Commands:
|
||||
start
|
||||
[-d <val>] RC device
|
||||
values: <file:dev>, default: /dev/ttyS3
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
@@ -1,9 +1,11 @@
|
||||
# Modules Reference: Rpm Sensor (Driver)
|
||||
|
||||
## pcf8583
|
||||
|
||||
Source: [drivers/rpm/pcf8583](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/rpm/pcf8583)
|
||||
|
||||
<a id="pcf8583_usage"></a>
|
||||
### Usage
|
||||
### Usage {#pcf8583_usage}
|
||||
|
||||
```
|
||||
pcf8583 <command> [arguments...]
|
||||
Commands:
|
||||
|
||||
@@ -1,5 +1,7 @@
|
||||
# Modules Reference: Transponder (Driver)
|
||||
|
||||
## sagetech_mxs
|
||||
|
||||
Source: [drivers/transponder/sagetech_mxs](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/transponder/sagetech_mxs)
|
||||
|
||||
|
||||
@@ -21,8 +23,8 @@ Source: [drivers/transponder/sagetech_mxs](https://github.com/PX4/PX4-Autopilot/
|
||||
Set the Squawk Code
|
||||
$ sagetech_mxs squawk 1200
|
||||
|
||||
<a id="sagetech_mxs_usage"></a>
|
||||
### Usage
|
||||
### Usage {#sagetech_mxs_usage}
|
||||
|
||||
```
|
||||
sagetech_mxs <command> [arguments...]
|
||||
Commands:
|
||||
|
||||
@@ -1,6 +1,9 @@
|
||||
# Modules Reference: Estimator
|
||||
|
||||
|
||||
|
||||
## AttitudeEstimatorQ
|
||||
|
||||
Source: [modules/attitude_estimator_q](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/attitude_estimator_q)
|
||||
|
||||
|
||||
@@ -8,8 +11,8 @@ Source: [modules/attitude_estimator_q](https://github.com/PX4/PX4-Autopilot/tree
|
||||
Attitude estimator q.
|
||||
|
||||
|
||||
<a id="AttitudeEstimatorQ_usage"></a>
|
||||
### Usage
|
||||
### Usage {#AttitudeEstimatorQ_usage}
|
||||
|
||||
```
|
||||
AttitudeEstimatorQ <command> [arguments...]
|
||||
Commands:
|
||||
@@ -19,7 +22,9 @@ AttitudeEstimatorQ <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## airspeed_estimator
|
||||
|
||||
Source: [modules/airspeed_selector](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/airspeed_selector)
|
||||
|
||||
|
||||
@@ -33,8 +38,8 @@ the estimation of a scale factor from IAS to CAS, it runs several wind estimator
|
||||
and also publishes those.
|
||||
|
||||
|
||||
<a id="airspeed_estimator_usage"></a>
|
||||
### Usage
|
||||
### Usage {#airspeed_estimator_usage}
|
||||
|
||||
```
|
||||
airspeed_estimator <command> [arguments...]
|
||||
Commands:
|
||||
@@ -44,7 +49,9 @@ airspeed_estimator <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## ekf2
|
||||
|
||||
Source: [modules/ekf2](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/ekf2)
|
||||
|
||||
|
||||
@@ -57,8 +64,8 @@ ekf2 can be started in replay mode (`-r`): in this mode, it does not access the
|
||||
timestamps from the sensor topics.
|
||||
|
||||
|
||||
<a id="ekf2_usage"></a>
|
||||
### Usage
|
||||
### Usage {#ekf2_usage}
|
||||
|
||||
```
|
||||
ekf2 <command> [arguments...]
|
||||
Commands:
|
||||
@@ -73,7 +80,9 @@ ekf2 <command> [arguments...]
|
||||
select_instance Request switch to new estimator instance
|
||||
<instance> Specify desired estimator instance
|
||||
```
|
||||
|
||||
## local_position_estimator
|
||||
|
||||
Source: [modules/local_position_estimator](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/local_position_estimator)
|
||||
|
||||
|
||||
@@ -81,8 +90,8 @@ Source: [modules/local_position_estimator](https://github.com/PX4/PX4-Autopilot/
|
||||
Attitude and position estimator using an Extended Kalman Filter.
|
||||
|
||||
|
||||
<a id="local_position_estimator_usage"></a>
|
||||
### Usage
|
||||
### Usage {#local_position_estimator_usage}
|
||||
|
||||
```
|
||||
local_position_estimator <command> [arguments...]
|
||||
Commands:
|
||||
@@ -92,15 +101,17 @@ local_position_estimator <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## mc_hover_thrust_estimator
|
||||
|
||||
Source: [modules/mc_hover_thrust_estimator](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mc_hover_thrust_estimator)
|
||||
|
||||
|
||||
### Description
|
||||
|
||||
|
||||
<a id="mc_hover_thrust_estimator_usage"></a>
|
||||
### Usage
|
||||
### Usage {#mc_hover_thrust_estimator_usage}
|
||||
|
||||
```
|
||||
mc_hover_thrust_estimator <command> [arguments...]
|
||||
Commands:
|
||||
|
||||
@@ -1,6 +1,9 @@
|
||||
# Modules Reference: Simulation
|
||||
|
||||
|
||||
|
||||
## simulator_sih
|
||||
|
||||
Source: [modules/simulation/simulator_sih](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/simulator_sih)
|
||||
|
||||
|
||||
@@ -22,8 +25,8 @@ Most of the variables are declared global in the .hpp file to avoid stack overfl
|
||||
|
||||
|
||||
|
||||
<a id="simulator_sih_usage"></a>
|
||||
### Usage
|
||||
### Usage {#simulator_sih_usage}
|
||||
|
||||
```
|
||||
simulator_sih <command> [arguments...]
|
||||
Commands:
|
||||
|
||||
@@ -1,6 +1,9 @@
|
||||
# Modules Reference: System
|
||||
|
||||
|
||||
|
||||
## battery_simulator
|
||||
|
||||
Source: [modules/simulation/battery_simulator](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/battery_simulator)
|
||||
|
||||
|
||||
@@ -8,8 +11,8 @@ Source: [modules/simulation/battery_simulator](https://github.com/PX4/PX4-Autopi
|
||||
|
||||
|
||||
|
||||
<a id="battery_simulator_usage"></a>
|
||||
### Usage
|
||||
### Usage {#battery_simulator_usage}
|
||||
|
||||
```
|
||||
battery_simulator <command> [arguments...]
|
||||
Commands:
|
||||
@@ -19,7 +22,9 @@ battery_simulator <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## battery_status
|
||||
|
||||
Source: [modules/battery_status](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/battery_status)
|
||||
|
||||
|
||||
@@ -33,8 +38,8 @@ The provided functionality includes:
|
||||
It runs in its own thread and polls on the currently selected gyro topic.
|
||||
|
||||
|
||||
<a id="battery_status_usage"></a>
|
||||
### Usage
|
||||
### Usage {#battery_status_usage}
|
||||
|
||||
```
|
||||
battery_status <command> [arguments...]
|
||||
Commands:
|
||||
@@ -44,7 +49,9 @@ battery_status <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## camera_feedback
|
||||
|
||||
Source: [modules/camera_feedback](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/camera_feedback)
|
||||
|
||||
|
||||
@@ -71,8 +78,8 @@ For the topics that are not discarded it creates a `CameraCapture` topic with th
|
||||
from the `CameraTrigger` and position information from the vehicle.
|
||||
|
||||
|
||||
<a id="camera_feedback_usage"></a>
|
||||
### Usage
|
||||
### Usage {#camera_feedback_usage}
|
||||
|
||||
```
|
||||
camera_feedback <command> [arguments...]
|
||||
Commands:
|
||||
@@ -82,7 +89,9 @@ camera_feedback <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## cdcacm_autostart
|
||||
|
||||
Source: [drivers/cdcacm_autostart](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/cdcacm_autostart)
|
||||
|
||||
|
||||
@@ -92,8 +101,8 @@ The supported protocols are: MAVLink, nsh, and ublox serial passthrough. If the
|
||||
the module will only try to start mavlink as long as the USB VBUS is detected. Otherwise it will spin
|
||||
and continue to check for VBUS and start mavlink once it is detected.
|
||||
|
||||
<a id="cdcacm_autostart_usage"></a>
|
||||
### Usage
|
||||
### Usage {#cdcacm_autostart_usage}
|
||||
|
||||
```
|
||||
cdcacm_autostart <command> [arguments...]
|
||||
Commands:
|
||||
@@ -103,15 +112,17 @@ cdcacm_autostart <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## commander
|
||||
|
||||
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.
|
||||
|
||||
<a id="commander_usage"></a>
|
||||
### Usage
|
||||
### Usage {#commander_usage}
|
||||
|
||||
```
|
||||
commander <command> [arguments...]
|
||||
Commands:
|
||||
@@ -157,7 +168,9 @@ commander <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## dataman
|
||||
|
||||
Source: [modules/dataman](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/dataman)
|
||||
|
||||
|
||||
@@ -174,8 +187,8 @@ Each type has a specific type and a fixed maximum amount of storage items, so th
|
||||
Reading and writing a single item is always atomic.
|
||||
|
||||
|
||||
<a id="dataman_usage"></a>
|
||||
### Usage
|
||||
### Usage {#dataman_usage}
|
||||
|
||||
```
|
||||
dataman <command> [arguments...]
|
||||
Commands:
|
||||
@@ -191,7 +204,9 @@ dataman <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## dmesg
|
||||
|
||||
Source: [systemcmds/dmesg](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/dmesg)
|
||||
|
||||
|
||||
@@ -207,14 +222,16 @@ Keep printing all messages in the background:
|
||||
dmesg -f &
|
||||
```
|
||||
|
||||
<a id="dmesg_usage"></a>
|
||||
### Usage
|
||||
### Usage {#dmesg_usage}
|
||||
|
||||
```
|
||||
dmesg <command> [arguments...]
|
||||
Commands:
|
||||
[-f] Follow: wait for new messages
|
||||
```
|
||||
|
||||
## esc_battery
|
||||
|
||||
Source: [modules/esc_battery](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/esc_battery)
|
||||
|
||||
|
||||
@@ -222,8 +239,8 @@ Source: [modules/esc_battery](https://github.com/PX4/PX4-Autopilot/tree/main/src
|
||||
This implements using information from the ESC status and publish it as battery status.
|
||||
|
||||
|
||||
<a id="esc_battery_usage"></a>
|
||||
### Usage
|
||||
### Usage {#esc_battery_usage}
|
||||
|
||||
```
|
||||
esc_battery <command> [arguments...]
|
||||
Commands:
|
||||
@@ -233,7 +250,9 @@ esc_battery <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## gyro_calibration
|
||||
|
||||
Source: [modules/gyro_calibration](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/gyro_calibration)
|
||||
|
||||
|
||||
@@ -241,8 +260,8 @@ Source: [modules/gyro_calibration](https://github.com/PX4/PX4-Autopilot/tree/mai
|
||||
Simple online gyroscope calibration.
|
||||
|
||||
|
||||
<a id="gyro_calibration_usage"></a>
|
||||
### Usage
|
||||
### Usage {#gyro_calibration_usage}
|
||||
|
||||
```
|
||||
gyro_calibration <command> [arguments...]
|
||||
Commands:
|
||||
@@ -252,15 +271,17 @@ gyro_calibration <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## gyro_fft
|
||||
|
||||
Source: [modules/gyro_fft](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/gyro_fft)
|
||||
|
||||
|
||||
### Description
|
||||
|
||||
|
||||
<a id="gyro_fft_usage"></a>
|
||||
### Usage
|
||||
### Usage {#gyro_fft_usage}
|
||||
|
||||
```
|
||||
gyro_fft <command> [arguments...]
|
||||
Commands:
|
||||
@@ -270,7 +291,9 @@ gyro_fft <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## heater
|
||||
|
||||
Source: [drivers/heater](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/heater)
|
||||
|
||||
|
||||
@@ -279,8 +302,8 @@ Background process running periodically on the LP work queue to regulate IMU tem
|
||||
|
||||
This task can be started at boot from the startup scripts by setting SENS_EN_THERMAL or via CLI.
|
||||
|
||||
<a id="heater_usage"></a>
|
||||
### Usage
|
||||
### Usage {#heater_usage}
|
||||
|
||||
```
|
||||
heater <command> [arguments...]
|
||||
Commands:
|
||||
@@ -290,7 +313,9 @@ heater <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## i2c_launcher
|
||||
|
||||
Source: [systemcmds/i2c_launcher](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/i2c_launcher)
|
||||
|
||||
|
||||
@@ -298,8 +323,8 @@ Source: [systemcmds/i2c_launcher](https://github.com/PX4/PX4-Autopilot/tree/main
|
||||
Daemon that starts drivers based on found I2C devices.
|
||||
|
||||
|
||||
<a id="i2c_launcher_usage"></a>
|
||||
### Usage
|
||||
### Usage {#i2c_launcher_usage}
|
||||
|
||||
```
|
||||
i2c_launcher <command> [arguments...]
|
||||
Commands:
|
||||
@@ -310,7 +335,9 @@ i2c_launcher <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## internal_combustion_engine_control
|
||||
|
||||
Source: [modules/internal_combustion_engine_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/internal_combustion_engine_control)
|
||||
|
||||
|
||||
@@ -363,8 +390,8 @@ The architecture is as shown below:
|
||||
|
||||
<a id="internal_combustion_engine_control_usage"></a>
|
||||
|
||||
<a id="internal_combustion_engine_control_usage"></a>
|
||||
### Usage
|
||||
### Usage {#internal_combustion_engine_control_usage}
|
||||
|
||||
```
|
||||
internal_combustion_engine_control <command> [arguments...]
|
||||
Commands:
|
||||
@@ -374,7 +401,9 @@ internal_combustion_engine_control <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## land_detector
|
||||
|
||||
Source: [modules/land_detector](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/land_detector)
|
||||
|
||||
|
||||
@@ -401,8 +430,8 @@ position controller sets the thrust setpoint to zero.
|
||||
|
||||
The module runs periodically on the HP work queue.
|
||||
|
||||
<a id="land_detector_usage"></a>
|
||||
### Usage
|
||||
### Usage {#land_detector_usage}
|
||||
|
||||
```
|
||||
land_detector <command> [arguments...]
|
||||
Commands:
|
||||
@@ -413,7 +442,9 @@ land_detector <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## load_mon
|
||||
|
||||
Source: [modules/load_mon](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/load_mon)
|
||||
|
||||
|
||||
@@ -424,8 +455,8 @@ usage and publish the `cpuload` topic.
|
||||
On NuttX it also checks the stack usage of each process and if it falls below 300 bytes, a warning is output,
|
||||
which will also appear in the log file.
|
||||
|
||||
<a id="load_mon_usage"></a>
|
||||
### Usage
|
||||
### Usage {#load_mon_usage}
|
||||
|
||||
```
|
||||
load_mon <command> [arguments...]
|
||||
Commands:
|
||||
@@ -435,7 +466,9 @@ load_mon <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## logger
|
||||
|
||||
Source: [modules/logger](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/logger)
|
||||
|
||||
|
||||
@@ -475,8 +508,8 @@ Or if already running:
|
||||
logger on
|
||||
```
|
||||
|
||||
<a id="logger_usage"></a>
|
||||
### Usage
|
||||
### Usage {#logger_usage}
|
||||
|
||||
```
|
||||
logger <command> [arguments...]
|
||||
Commands:
|
||||
@@ -509,15 +542,17 @@ logger <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## mag_bias_estimator
|
||||
|
||||
Source: [modules/mag_bias_estimator](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mag_bias_estimator)
|
||||
|
||||
|
||||
### Description
|
||||
Online magnetometer bias estimator.
|
||||
|
||||
<a id="mag_bias_estimator_usage"></a>
|
||||
### Usage
|
||||
### Usage {#mag_bias_estimator_usage}
|
||||
|
||||
```
|
||||
mag_bias_estimator <command> [arguments...]
|
||||
Commands:
|
||||
@@ -527,7 +562,9 @@ mag_bias_estimator <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## manual_control
|
||||
|
||||
Source: [modules/manual_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/manual_control)
|
||||
|
||||
|
||||
@@ -535,8 +572,8 @@ Source: [modules/manual_control](https://github.com/PX4/PX4-Autopilot/tree/main/
|
||||
Module consuming manual_control_inputs publishing one manual_control_setpoint.
|
||||
|
||||
|
||||
<a id="manual_control_usage"></a>
|
||||
### Usage
|
||||
### Usage {#manual_control_usage}
|
||||
|
||||
```
|
||||
manual_control <command> [arguments...]
|
||||
Commands:
|
||||
@@ -546,7 +583,9 @@ manual_control <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## netman
|
||||
|
||||
Source: [systemcmds/netman](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/netman)
|
||||
|
||||
|
||||
@@ -580,8 +619,8 @@ Source: [systemcmds/netman](https://github.com/PX4/PX4-Autopilot/tree/main/src/s
|
||||
$ netman show # display current settings.
|
||||
$ netman update -i eth0 # do an update
|
||||
|
||||
<a id="netman_usage"></a>
|
||||
### Usage
|
||||
### Usage {#netman_usage}
|
||||
|
||||
```
|
||||
netman <command> [arguments...]
|
||||
Commands:
|
||||
@@ -594,7 +633,9 @@ netman <command> [arguments...]
|
||||
[-i <val>] Set the interface name
|
||||
default: eth0
|
||||
```
|
||||
|
||||
## pwm_input
|
||||
|
||||
Source: [drivers/pwm_input](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/pwm_input)
|
||||
|
||||
|
||||
@@ -602,8 +643,8 @@ Source: [drivers/pwm_input](https://github.com/PX4/PX4-Autopilot/tree/main/src/d
|
||||
Measures the PWM input on AUX5 (or MAIN5) via a timer capture ISR and publishes via the uORB 'pwm_input` message.
|
||||
|
||||
|
||||
<a id="pwm_input_usage"></a>
|
||||
### Usage
|
||||
### Usage {#pwm_input_usage}
|
||||
|
||||
```
|
||||
pwm_input <command> [arguments...]
|
||||
Commands:
|
||||
@@ -613,7 +654,9 @@ pwm_input <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## rc_update
|
||||
|
||||
Source: [modules/rc_update](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/rc_update)
|
||||
|
||||
|
||||
@@ -626,8 +669,8 @@ and then publish as `rc_channels` and `manual_control_input`.
|
||||
To reduce control latency, the module is scheduled on input_rc publications.
|
||||
|
||||
|
||||
<a id="rc_update_usage"></a>
|
||||
### Usage
|
||||
### Usage {#rc_update_usage}
|
||||
|
||||
```
|
||||
rc_update <command> [arguments...]
|
||||
Commands:
|
||||
@@ -637,7 +680,9 @@ rc_update <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## replay
|
||||
|
||||
Source: [modules/replay](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/replay)
|
||||
|
||||
|
||||
@@ -658,8 +703,8 @@ the log.
|
||||
The replay procedure is documented on the [System-wide Replay](https://docs.px4.io/main/en/debug/system_wide_replay.html)
|
||||
page.
|
||||
|
||||
<a id="replay_usage"></a>
|
||||
### Usage
|
||||
### Usage {#replay_usage}
|
||||
|
||||
```
|
||||
replay <command> [arguments...]
|
||||
Commands:
|
||||
@@ -673,7 +718,9 @@ replay <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## send_event
|
||||
|
||||
Source: [modules/events](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/events)
|
||||
|
||||
|
||||
@@ -683,8 +730,8 @@ It is currently only responsible for tone alarm on RC Loss.
|
||||
|
||||
The tasks can be started via CLI or uORB topics (vehicle_command from MAVLink, etc.).
|
||||
|
||||
<a id="send_event_usage"></a>
|
||||
### Usage
|
||||
### Usage {#send_event_usage}
|
||||
|
||||
```
|
||||
send_event <command> [arguments...]
|
||||
Commands:
|
||||
@@ -694,7 +741,9 @@ send_event <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## sensor_agp_sim
|
||||
|
||||
Source: [modules/simulation/sensor_agp_sim](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/sensor_agp_sim)
|
||||
|
||||
|
||||
@@ -702,8 +751,8 @@ Source: [modules/simulation/sensor_agp_sim](https://github.com/PX4/PX4-Autopilot
|
||||
Module to simulate auxiliary global position measurements with optional failure modes for SIH simulation.
|
||||
|
||||
|
||||
<a id="sensor_agp_sim_usage"></a>
|
||||
### Usage
|
||||
### Usage {#sensor_agp_sim_usage}
|
||||
|
||||
```
|
||||
sensor_agp_sim <command> [arguments...]
|
||||
Commands:
|
||||
@@ -713,7 +762,9 @@ sensor_agp_sim <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## sensor_arispeed_sim
|
||||
|
||||
Source: [modules/simulation/sensor_airspeed_sim](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/sensor_airspeed_sim)
|
||||
|
||||
|
||||
@@ -721,8 +772,8 @@ Source: [modules/simulation/sensor_airspeed_sim](https://github.com/PX4/PX4-Auto
|
||||
|
||||
|
||||
|
||||
<a id="sensor_arispeed_sim_usage"></a>
|
||||
### Usage
|
||||
### Usage {#sensor_arispeed_sim_usage}
|
||||
|
||||
```
|
||||
sensor_arispeed_sim <command> [arguments...]
|
||||
Commands:
|
||||
@@ -732,7 +783,9 @@ sensor_arispeed_sim <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## sensor_baro_sim
|
||||
|
||||
Source: [modules/simulation/sensor_baro_sim](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/sensor_baro_sim)
|
||||
|
||||
|
||||
@@ -740,8 +793,8 @@ Source: [modules/simulation/sensor_baro_sim](https://github.com/PX4/PX4-Autopilo
|
||||
|
||||
|
||||
|
||||
<a id="sensor_baro_sim_usage"></a>
|
||||
### Usage
|
||||
### Usage {#sensor_baro_sim_usage}
|
||||
|
||||
```
|
||||
sensor_baro_sim <command> [arguments...]
|
||||
Commands:
|
||||
@@ -751,7 +804,9 @@ sensor_baro_sim <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## sensor_gps_sim
|
||||
|
||||
Source: [modules/simulation/sensor_gps_sim](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/sensor_gps_sim)
|
||||
|
||||
|
||||
@@ -759,8 +814,8 @@ Source: [modules/simulation/sensor_gps_sim](https://github.com/PX4/PX4-Autopilot
|
||||
|
||||
|
||||
|
||||
<a id="sensor_gps_sim_usage"></a>
|
||||
### Usage
|
||||
### Usage {#sensor_gps_sim_usage}
|
||||
|
||||
```
|
||||
sensor_gps_sim <command> [arguments...]
|
||||
Commands:
|
||||
@@ -770,7 +825,9 @@ sensor_gps_sim <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## sensor_mag_sim
|
||||
|
||||
Source: [modules/simulation/sensor_mag_sim](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/sensor_mag_sim)
|
||||
|
||||
|
||||
@@ -778,8 +835,8 @@ Source: [modules/simulation/sensor_mag_sim](https://github.com/PX4/PX4-Autopilot
|
||||
|
||||
|
||||
|
||||
<a id="sensor_mag_sim_usage"></a>
|
||||
### Usage
|
||||
### Usage {#sensor_mag_sim_usage}
|
||||
|
||||
```
|
||||
sensor_mag_sim <command> [arguments...]
|
||||
Commands:
|
||||
@@ -789,7 +846,9 @@ sensor_mag_sim <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## sensors
|
||||
|
||||
Source: [modules/sensors](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/sensors)
|
||||
|
||||
|
||||
@@ -811,8 +870,8 @@ The provided functionality includes:
|
||||
It runs in its own thread and polls on the currently selected gyro topic.
|
||||
|
||||
|
||||
<a id="sensors_usage"></a>
|
||||
### Usage
|
||||
### Usage {#sensors_usage}
|
||||
|
||||
```
|
||||
sensors <command> [arguments...]
|
||||
Commands:
|
||||
@@ -823,7 +882,9 @@ sensors <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## system_power_simulation
|
||||
|
||||
Source: [modules/simulation/system_power_simulator](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/system_power_simulator)
|
||||
|
||||
|
||||
@@ -831,8 +892,8 @@ Source: [modules/simulation/system_power_simulator](https://github.com/PX4/PX4-A
|
||||
|
||||
|
||||
|
||||
<a id="system_power_simulation_usage"></a>
|
||||
### Usage
|
||||
### Usage {#system_power_simulation_usage}
|
||||
|
||||
```
|
||||
system_power_simulation <command> [arguments...]
|
||||
Commands:
|
||||
@@ -842,7 +903,9 @@ system_power_simulation <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## tattu_can
|
||||
|
||||
Source: [drivers/tattu_can](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/tattu_can)
|
||||
|
||||
|
||||
@@ -850,8 +913,8 @@ Source: [drivers/tattu_can](https://github.com/PX4/PX4-Autopilot/tree/main/src/d
|
||||
Driver for reading data from the Tattu 12S 16000mAh smart battery.
|
||||
|
||||
|
||||
<a id="tattu_can_usage"></a>
|
||||
### Usage
|
||||
### Usage {#tattu_can_usage}
|
||||
|
||||
```
|
||||
tattu_can <command> [arguments...]
|
||||
Commands:
|
||||
@@ -861,7 +924,9 @@ tattu_can <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## temperature_compensation
|
||||
|
||||
Source: [modules/temperature_compensation](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/temperature_compensation)
|
||||
|
||||
|
||||
@@ -873,8 +938,8 @@ routine at next boot, which allows the thermal calibration coeffecients to be ca
|
||||
a temperature cycle.
|
||||
|
||||
|
||||
<a id="temperature_compensation_usage"></a>
|
||||
### Usage
|
||||
### Usage {#temperature_compensation_usage}
|
||||
|
||||
```
|
||||
temperature_compensation <command> [arguments...]
|
||||
Commands:
|
||||
@@ -892,7 +957,9 @@ temperature_compensation <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## time_persistor
|
||||
|
||||
Source: [modules/time_persistor](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/time_persistor)
|
||||
|
||||
|
||||
@@ -902,8 +969,8 @@ This allows monotonic time on systems that only have a software RTC (that is not
|
||||
Explicitly setting the time backwards (e.g. via system_time) is still possible.
|
||||
|
||||
|
||||
<a id="time_persistor_usage"></a>
|
||||
### Usage
|
||||
### Usage {#time_persistor_usage}
|
||||
|
||||
```
|
||||
time_persistor <command> [arguments...]
|
||||
Commands:
|
||||
@@ -913,7 +980,9 @@ time_persistor <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## tune_control
|
||||
|
||||
Source: [systemcmds/tune_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/tune_control)
|
||||
|
||||
|
||||
@@ -934,8 +1003,8 @@ Play system tune #2:
|
||||
tune_control play -t 2
|
||||
```
|
||||
|
||||
<a id="tune_control_usage"></a>
|
||||
### Usage
|
||||
### Usage {#tune_control_usage}
|
||||
|
||||
```
|
||||
tune_control <command> [arguments...]
|
||||
Commands:
|
||||
@@ -954,7 +1023,9 @@ tune_control <command> [arguments...]
|
||||
|
||||
stop Stop playback (use for repeated tunes)
|
||||
```
|
||||
|
||||
## uxrce_dds_client
|
||||
|
||||
Source: [modules/uxrce_dds_client](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/uxrce_dds_client)
|
||||
|
||||
|
||||
@@ -967,8 +1038,8 @@ uxrce_dds_client start -t serial -d /dev/ttyS3 -b 921600
|
||||
uxrce_dds_client start -t udp -h 127.0.0.1 -p 15555
|
||||
```
|
||||
|
||||
<a id="uxrce_dds_client_usage"></a>
|
||||
### Usage
|
||||
### Usage {#uxrce_dds_client_usage}
|
||||
|
||||
```
|
||||
uxrce_dds_client <command> [arguments...]
|
||||
Commands:
|
||||
@@ -989,7 +1060,9 @@ uxrce_dds_client <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## work_queue
|
||||
|
||||
Source: [systemcmds/work_queue](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/work_queue)
|
||||
|
||||
|
||||
@@ -998,8 +1071,8 @@ Source: [systemcmds/work_queue](https://github.com/PX4/PX4-Autopilot/tree/main/s
|
||||
Command-line tool to show work queue status.
|
||||
|
||||
|
||||
<a id="work_queue_usage"></a>
|
||||
### Usage
|
||||
### Usage {#work_queue_usage}
|
||||
|
||||
```
|
||||
work_queue <command> [arguments...]
|
||||
Commands:
|
||||
|
||||
@@ -1,6 +1,9 @@
|
||||
# Modules Reference: Template
|
||||
|
||||
|
||||
|
||||
## module
|
||||
|
||||
Source: [templates/template_module](https://github.com/PX4/PX4-Autopilot/tree/main/src/templates/template_module)
|
||||
|
||||
|
||||
@@ -19,8 +22,8 @@ module start -f -p 42
|
||||
```
|
||||
|
||||
|
||||
<a id="module_usage"></a>
|
||||
### Usage
|
||||
### Usage {#module_usage}
|
||||
|
||||
```
|
||||
module <command> [arguments...]
|
||||
Commands:
|
||||
@@ -33,7 +36,9 @@ module <command> [arguments...]
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## work_item_example
|
||||
|
||||
Source: [examples/work_item](https://github.com/PX4/PX4-Autopilot/tree/main/src/examples/work_item)
|
||||
|
||||
|
||||
@@ -41,8 +46,8 @@ Source: [examples/work_item](https://github.com/PX4/PX4-Autopilot/tree/main/src/
|
||||
Example of a simple module running out of a work queue.
|
||||
|
||||
|
||||
<a id="work_item_example_usage"></a>
|
||||
### Usage
|
||||
### Usage {#work_item_example_usage}
|
||||
|
||||
```
|
||||
work_item_example <command> [arguments...]
|
||||
Commands:
|
||||
|
||||
@@ -58,6 +58,7 @@ To set up/start SIH:
|
||||
1. Open QGroundControl and wait for the flight controller too boot and connect.
|
||||
1. Open [Vehicle Setup > Airframe](../config/airframe.md) then select the desired frame:
|
||||
- [SIH Quadcopter X](../airframes/airframe_reference.md#copter_simulation_sih_quadcopter_x)
|
||||
- SIH Hexacopter X currently only has an airframe for SITL to safe flash so on flight control hardware it has to be manually configured equivalently.
|
||||
- [SIH plane AERT](../airframes/airframe_reference.md#plane_simulation_sih_plane_aert)
|
||||
- [SIH Tailsitter Duo](../airframes/airframe_reference.md#vtol_simulation_sih_tailsitter_duo)
|
||||
- [SIH Standard VTOL QuadPlane](../airframes/airframe_reference.md#vtol_simulation_sih_standard_vtol_quadplane)
|
||||
@@ -114,25 +115,31 @@ To run SIH as SITL:
|
||||
1. Install the [PX4 Development toolchain](../dev_setup/dev_env.md).
|
||||
1. Run the appropriate make command for each vehicle type (at the root of the PX4-Autopilot repository):
|
||||
|
||||
- quadrotor:
|
||||
- Quadcopter
|
||||
|
||||
```sh
|
||||
make px4_sitl sihsim_quadx
|
||||
```
|
||||
|
||||
- Fixed-wing (plane):
|
||||
- Hexacopter
|
||||
|
||||
```sh
|
||||
make px4_sitl sihsim_hex
|
||||
```
|
||||
|
||||
- Fixed-wing (plane)
|
||||
|
||||
```sh
|
||||
make px4_sitl sihsim_airplane
|
||||
```
|
||||
|
||||
- XVert VTOL tailsitter:
|
||||
- XVert VTOL tailsitter
|
||||
|
||||
```sh
|
||||
make px4_sitl sihsim_xvert
|
||||
```
|
||||
|
||||
- Standard VTOL:
|
||||
- Standard VTOL
|
||||
|
||||
```sh
|
||||
make px4_sitl sihsim_standard_vtol
|
||||
@@ -231,7 +238,8 @@ For specific examples see the `_sihsim_` airframes in [ROMFS/px4fmu_common/init.
|
||||
|
||||
The dynamic models for the various vehicles are:
|
||||
|
||||
- Quadrotor: [pdf report](https://github.com/PX4/PX4-user_guide/raw/main/assets/simulation/SIH_dynamic_model.pdf).
|
||||
- Quadcopter: [pdf report](https://github.com/PX4/PX4-user_guide/raw/main/assets/simulation/SIH_dynamic_model.pdf).
|
||||
- Hexacopter: Equivalent to the Quadcopter but with a symmetric hexacopter x actuation setup.
|
||||
- Fixed-wing: Inspired by the PhD thesis: "Dynamics modeling of agile fixed-wing unmanned aerial vehicles." Khan, Waqas, supervised by Nahon, Meyer, McGill University, PhD thesis, 2016.
|
||||
- Tailsitter: Inspired by the master's thesis: "Modeling and control of a flying wing tailsitter unmanned aerial vehicle." Chiappinelli, Romain, supervised by Nahon, Meyer, McGill University, Masters thesis, 2018.
|
||||
|
||||
|
||||
@@ -14,8 +14,8 @@ Questions about these tools should be raised on the [discussion forums](../contr
|
||||
|
||||
| Simulator | Description |
|
||||
| ---------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
|
||||
| [Simulation-In-Hardware](../sim_sih/index.md) (SIH) | <p>A simulator implemented in C++ as a PX4 module directly in the Firmware [code](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/simulator_sih). It can be ran in SITL directly on the computer or as an alternative to HITL offering a hard real-time simulation directly on the hardware autopilot. </p><p><strong>Supported Vehicles:</strong> Quad, Hexa, Plane, Tailsitter, Standard VTOL</p> |
|
||||
| [FlightGear](../sim_flightgear/index.md) | <p>A simulator that provides physically and visually realistic simulations. In particular it can simulate many weather conditions, including thunderstorms, snow, rain and hail, and can also simulate thermals and different types of atmospheric flows. [Multi-vehicle simulation](../sim_flightgear/multi_vehicle.md) is also supported.</p> <p><strong>Supported Vehicles:</strong> Plane, Autogyro, Rover</p> |
|
||||
| [JMAVSim](../sim_jmavsim/index.md) | <p>A simple multirotor/quad simulator. This was previously part of the PX4 development toolchain but was removed in favour of [Gazebo](../sim_gazebo_gz/index.md).</p> <p><strong>Supported Vehicles:</strong> Quad</p> |
|
||||
| [JSBSim](../sim_jsbsim/index.md) | <p>A simulator that provides advanced flight dynamics models. This can be used to model realistic flight dynamics based on wind tunnel data.</p> <p><strong>Supported Vehicles:</strong> Plane, Quad, Hex</p> |
|
||||
| [AirSim](../sim_airsim/index.md) | <p>A cross platform simulator that provides physically and visually realistic simulations. This simulator is resource intensive, and requires a very significantly more powerful computer than the other simulators described here.</p><p><strong>Supported Vehicles:</strong> Iris (MultiRotor model and a configuration for PX4 QuadRotor in the X configuration).</p> |
|
||||
| [Simulation-In-Hardware](../sim_sih/index.md) (SIH) | <p>An alternative to HITL that offers a hard real-time simulation directly on the hardware autopilot. This simulator is implemented in C++ as a PX4 module directly in the Firmware [code](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/simulator_sih). </p><p><strong>Supported Vehicles:</strong> Plane, Quad, Tailsitter, Standard VTOL</p> |
|
||||
|
||||
+19
-4
@@ -42,8 +42,9 @@
|
||||
- [마인드레이서 BNF & RTF](/complete_vehicles_mc/mindracer_BNF_RTF.md)
|
||||
- [마인드레이서 210](/complete_vehicles_mc/mindracer210.md)
|
||||
- [나노마인드 110](/complete_vehicles_mc/nanomind110.md)
|
||||
- [홀리브로 코피스 2](/complete_vehicles_mc/holybro_kopis2.md)
|
||||
- [Bitcraze Crazyflie 2.1](/complete_vehicles_mc/crazyflie21.md)
|
||||
- [홀리브로 코피스 2](/complete_vehicles_mc/holybro_kopis2.md)
|
||||
- [Amov F410 Drone](/complete_vehicles_mc/amov_F410_drone.md)
|
||||
- [Kits](/frames_multicopter/kits.md)
|
||||
- [X500 v2 (Pixhawk 6C)](/frames_multicopter/holybro_x500v2_pixhawk6c.md)
|
||||
- [X500 v2 (Pixhawk 5X)](/frames_multicopter/holybro_x500V2_pixhawk5x.md)
|
||||
@@ -182,6 +183,7 @@
|
||||
- [Holybro Kakute H7v2](/flight_controller/kakuteh7v2.md)
|
||||
- [Holybro Kakute H7mini](/flight_controller/kakuteh7mini.md)
|
||||
- [Holybro Kakute H7](/flight_controller/kakuteh7.md)
|
||||
- [Holybro Kakute H7 Wing](/flight_controller/kakuteh7-wing.md)
|
||||
- [Holybro Durandal](/flight_controller/durandal.md)
|
||||
- [Wiring Quickstart](/assembly/quick_start_durandal.md)
|
||||
- [Holybro Pix32 v5](/flight_controller/holybro_pix32_v5.md)
|
||||
@@ -253,6 +255,7 @@
|
||||
- [Avionics Anonymous Laser Altimeter UAVCAN Interface (CAN)](/dronecan/avanon_laser_interface.md)
|
||||
- [GNSS (GPS)](/gps_compass/index.md)
|
||||
- [ARK GPS (CAN)](/dronecan/ark_gps.md)
|
||||
- [ARK SAM GPS](/gps_compass/ark_sam_gps.md)
|
||||
- [ARK TESEO GPS](/dronecan/ark_teseo_gps.md)
|
||||
- [CUAV NEO 3 GPS](/gps_compass/gps_cuav_neo_3.md)
|
||||
- [CUAV NEO 3 Pro GPS (CAN)](/gps_compass/gps_cuav_neo_3pro.md)
|
||||
@@ -314,6 +317,7 @@
|
||||
- [Joysticks](/config/joystick.md)
|
||||
- [Data Links](/data_links/index.md)
|
||||
- [MAVLink 텔레메트리(OSD/GCS) ](/peripherals/mavlink_peripherals.md)
|
||||
|
||||
- [텔레메트리 무선통신](/telemetry/index.md)
|
||||
- [SiK 무선통신](/telemetry/sik_radio.md)
|
||||
- [RFD900 (SiK) 텔레메트리](/telemetry/rfd900_telemetry.md)
|
||||
@@ -326,9 +330,13 @@
|
||||
- [ARK Electron Microhard Serial Telemetry Radio](/telemetry/ark_microhard_serial.md)
|
||||
- [Holybro Microhard P900 Telemetry Radio](/telemetry/holybro_microhard_p900_radio.md)
|
||||
- [CUAV P8 Telemetry Radio](/telemetry/cuav_p8_radio.md)
|
||||
- [J.Fi Wireless Telemetry Module](/telemetry/jfi_telemetry.md)
|
||||
- [HolyBro XBP9X - Discontinued](/telemetry/holybro_xbp9x_radio.md)
|
||||
|
||||
- [FrSky 텔레메트리](/peripherals/frsky_telemetry.md)
|
||||
|
||||
- [TBS Crossfire (CRSF) Telemetry](/telemetry/crsf_telemetry.md)
|
||||
|
||||
- [Satellite Comms (Iridium/RockBlock)](/advanced_features/satcom_roadblock.md)
|
||||
- [Power Systems](/power_systems/index.md)
|
||||
- [Battery Estimation Tuning](/config/battery.md)
|
||||
@@ -637,6 +645,7 @@
|
||||
- [PowerButtonState](/msg_docs/PowerButtonState.md)
|
||||
- [PowerMonitor](/msg_docs/PowerMonitor.md)
|
||||
- [PpsCapture](/msg_docs/PpsCapture.md)
|
||||
- [PurePursuitStatus](/msg_docs/PurePursuitStatus.md)
|
||||
- [PwmInput](/msg_docs/PwmInput.md)
|
||||
- [Px4ioStatus](/msg_docs/Px4ioStatus.md)
|
||||
- [QshellReq](/msg_docs/QshellReq.md)
|
||||
@@ -710,6 +719,10 @@
|
||||
- [YawEstimatorStatus](/msg_docs/YawEstimatorStatus.md)
|
||||
- [VehicleStatusV0](/msg_docs/VehicleStatusV0.md)
|
||||
- [MAVLink Messaging](/middleware/mavlink.md)
|
||||
- [Adding Messages](/mavlink/adding_messages.md)
|
||||
- [Streaming Messages](/mavlink/streaming_messages.md)
|
||||
- [Receiving Messages](/mavlink/receiving_messages.md)
|
||||
- [Custom MAVLink Messages](/mavlink/custom_messages.md)
|
||||
- [Standard Modes Protocol](/mavlink/standard_modes.md)
|
||||
- [uXRCE-DDS (PX4-ROS 2/DDS Bridge)](/middleware/uxrce_dds.md)
|
||||
- [모듈과 명령어](/modules/modules_main.md)
|
||||
@@ -798,8 +811,10 @@
|
||||
- [시험 MC_05 - 실내 비행 (수동 모드)](/test_cards/mc_05_indoor_flight_manual_modes.md)
|
||||
- [단위 테스트](/test_and_ci/unit_tests.md)
|
||||
- [지속 통합](/test_and_ci/continous_integration.md)
|
||||
- [MAVSDK 통합 테스트](/test_and_ci/integration_testing_mavsdk.md)
|
||||
- [ROS 통합 테스트](/test_and_ci/integration_testing.md)
|
||||
- [Integration Testing](/test_and_ci/integration_testing.md)
|
||||
- [MAVSDK 통합 테스트](/test_and_ci/integration_testing_mavsdk.md)
|
||||
- [PX4 ROS2 Interface Library Integration Testing](/test_and_ci/integration_testing_px4_ros2_interface.md)
|
||||
- [ROS 1 Integration Testing](/test_and_ci/integration_testing_ros1_mavros.md)
|
||||
- [도커 컨테이너](/test_and_ci/docker.md)
|
||||
- [유지보수](/test_and_ci/maintenance.md)
|
||||
|
||||
@@ -840,4 +855,4 @@
|
||||
- [1.15 (stable)](/releases/1.15.md)
|
||||
- [1.14](/releases/1.14.md)
|
||||
- [1.13](/releases/1.13.md)
|
||||
- [1.12](/releases/1.12.md)
|
||||
- [1.12](/releases/1.12.md)
|
||||
|
||||
File diff suppressed because one or more lines are too long
Binary file not shown.
File diff suppressed because one or more lines are too long
File diff suppressed because one or more lines are too long
File diff suppressed because one or more lines are too long
File diff suppressed because one or more lines are too long
File diff suppressed because one or more lines are too long
File diff suppressed because one or more lines are too long
File diff suppressed because one or more lines are too long
File diff suppressed because one or more lines are too long
File diff suppressed because one or more lines are too long
+19
-4
@@ -42,8 +42,9 @@
|
||||
- [MindRacer BNF & RTF](/complete_vehicles_mc/mindracer_BNF_RTF.md)
|
||||
- [MindRacer 210](/complete_vehicles_mc/mindracer210.md)
|
||||
- [NanoMind 110](/complete_vehicles_mc/nanomind110.md)
|
||||
- [Holybro Kopis 2](/complete_vehicles_mc/holybro_kopis2.md)
|
||||
- [Bitcraze Crazyflie 2.1](/complete_vehicles_mc/crazyflie21.md)
|
||||
- [Holybro Kopis 2](/complete_vehicles_mc/holybro_kopis2.md)
|
||||
- [Amov F410 Drone](/complete_vehicles_mc/amov_F410_drone.md)
|
||||
- [Набори](/frames_multicopter/kits.md)
|
||||
- [X500 v2 (Pixhawk 6C)](/frames_multicopter/holybro_x500v2_pixhawk6c.md)
|
||||
- [X500 v2 (Pixhawk 5X)](/frames_multicopter/holybro_x500V2_pixhawk5x.md)
|
||||
@@ -182,6 +183,7 @@
|
||||
- [Holybro Kakute H7v2](/flight_controller/kakuteh7v2.md)
|
||||
- [Holybro Kakute H7mini](/flight_controller/kakuteh7mini.md)
|
||||
- [Holybro Kakute H7](/flight_controller/kakuteh7.md)
|
||||
- [Holybro Kakute H7 Wing](/flight_controller/kakuteh7-wing.md)
|
||||
- [Holybro Durandal](/flight_controller/durandal.md)
|
||||
- [Wiring Quickstart](/assembly/quick_start_durandal.md)
|
||||
- [Holybro Pix32 v5](/flight_controller/holybro_pix32_v5.md)
|
||||
@@ -253,6 +255,7 @@
|
||||
- [Avionics Anonymous Laser Altimeter UAVCAN Interface (CAN)](/dronecan/avanon_laser_interface.md)
|
||||
- [GNSS (GPS)](/gps_compass/index.md)
|
||||
- [ARK GPS (CAN)](/dronecan/ark_gps.md)
|
||||
- [ARK SAM GPS](/gps_compass/ark_sam_gps.md)
|
||||
- [ARK TESEO GPS](/dronecan/ark_teseo_gps.md)
|
||||
- [CUAV NEO 3 GPS](/gps_compass/gps_cuav_neo_3.md)
|
||||
- [CUAV NEO 3 Pro GPS (CAN)](/gps_compass/gps_cuav_neo_3pro.md)
|
||||
@@ -314,6 +317,7 @@
|
||||
- [Джойстики](/config/joystick.md)
|
||||
- [Посилання даних](/data_links/index.md)
|
||||
- [MAVLink Telemetry (OSD/GCS)](/peripherals/mavlink_peripherals.md)
|
||||
|
||||
- [Телеметричні радіостанції](/telemetry/index.md)
|
||||
- [SiK Radio](/telemetry/sik_radio.md)
|
||||
- [Телеметричне радіо RFD900 (SiK)](/telemetry/rfd900_telemetry.md)
|
||||
@@ -326,9 +330,13 @@
|
||||
- [ARK Electron Microhard Серійне Телеметрійне Радіо](/telemetry/ark_microhard_serial.md)
|
||||
- [Holybro Microhard P900 Телеметрійне Радіо](/telemetry/holybro_microhard_p900_radio.md)
|
||||
- [CUAV P8 Телеметрійне радіо](/telemetry/cuav_p8_radio.md)
|
||||
- [J.Fi Wireless Telemetry Module](/telemetry/jfi_telemetry.md)
|
||||
- [Holybro XBP9X - Припинено](/telemetry/holybro_xbp9x_radio.md)
|
||||
|
||||
- [FrSky телеметрія](/peripherals/frsky_telemetry.md)
|
||||
|
||||
- [TBS Crossfire (CRSF) телеметрія](/telemetry/crsf_telemetry.md)
|
||||
|
||||
- [Супутниковий зв'язок (Iridium/RockBlock)](/advanced_features/satcom_roadblock.md)
|
||||
- [Енергетичні системи](/power_systems/index.md)
|
||||
- [Налаштування оцінки батареї](/config/battery.md)
|
||||
@@ -637,6 +645,7 @@
|
||||
- [PowerButtonState](/msg_docs/PowerButtonState.md)
|
||||
- [PowerMonitor](/msg_docs/PowerMonitor.md)
|
||||
- [PpsCapture](/msg_docs/PpsCapture.md)
|
||||
- [PurePursuitStatus](/msg_docs/PurePursuitStatus.md)
|
||||
- [PwmInput](/msg_docs/PwmInput.md)
|
||||
- [Px4ioStatus](/msg_docs/Px4ioStatus.md)
|
||||
- [QshellReq](/msg_docs/QshellReq.md)
|
||||
@@ -710,6 +719,10 @@
|
||||
- [YawEstimatorStatus](/msg_docs/YawEstimatorStatus.md)
|
||||
- [VehicleStatusV0](/msg_docs/VehicleStatusV0.md)
|
||||
- [Повідомлення MAVLink](/middleware/mavlink.md)
|
||||
- [Adding Messages](/mavlink/adding_messages.md)
|
||||
- [Streaming Messages](/mavlink/streaming_messages.md)
|
||||
- [Receiving Messages](/mavlink/receiving_messages.md)
|
||||
- [Custom MAVLink Messages](/mavlink/custom_messages.md)
|
||||
- [Standard Modes Protocol](/mavlink/standard_modes.md)
|
||||
- [uXRCE-DDS (PX4-ROS 2/DDS Bridge)](/middleware/uxrce_dds.md)
|
||||
- [Модулі & Команди](/modules/modules_main.md)
|
||||
@@ -798,8 +811,10 @@
|
||||
- [Тест MC_05 - Політ у приміщенні (ручні режими)](/test_cards/mc_05_indoor_flight_manual_modes.md)
|
||||
- [Модульні Тести](/test_and_ci/unit_tests.md)
|
||||
- [Безперервна інтеграція](/test_and_ci/continous_integration.md)
|
||||
- [MAVSDK Тестування інтеграції ](/test_and_ci/integration_testing_mavsdk.md)
|
||||
- [ROS Тестування інтеграції ](/test_and_ci/integration_testing.md)
|
||||
- [Integration Testing](/test_and_ci/integration_testing.md)
|
||||
- [MAVSDK Тестування інтеграції ](/test_and_ci/integration_testing_mavsdk.md)
|
||||
- [PX4 ROS2 Interface Library Integration Testing](/test_and_ci/integration_testing_px4_ros2_interface.md)
|
||||
- [ROS 1 Integration Testing](/test_and_ci/integration_testing_ros1_mavros.md)
|
||||
- [Докер-контейнер](/test_and_ci/docker.md)
|
||||
- [Підтримка](/test_and_ci/maintenance.md)
|
||||
|
||||
@@ -840,4 +855,4 @@
|
||||
- [1.15 (stable)](/releases/1.15.md)
|
||||
- [1.14](/releases/1.14.md)
|
||||
- [1.13](/releases/1.13.md)
|
||||
- [1.12](/releases/1.12.md)
|
||||
- [1.12](/releases/1.12.md)
|
||||
|
||||
+19
-4
@@ -42,8 +42,9 @@
|
||||
- [MindRacer BNF & RTF](/complete_vehicles_mc/mindracer_BNF_RTF.md)
|
||||
- [MindRacer 210](/complete_vehicles_mc/mindracer210.md)
|
||||
- [NanoMind 110](/complete_vehicles_mc/nanomind110.md)
|
||||
- [Holybro Kopis 2](/complete_vehicles_mc/holybro_kopis2.md)
|
||||
- [Bitcraze Crazyflie 2.1](/complete_vehicles_mc/crazyflie21.md)
|
||||
- [Holybro Kopis 2](/complete_vehicles_mc/holybro_kopis2.md)
|
||||
- [Amov F410 Drone](/complete_vehicles_mc/amov_F410_drone.md)
|
||||
- [套装](/frames_multicopter/kits.md)
|
||||
- [X500 v2 (Pixhawk 6C)](/frames_multicopter/holybro_x500v2_pixhawk6c.md)
|
||||
- [X500 v2 (Pixhawk 5X)](/frames_multicopter/holybro_x500V2_pixhawk5x.md)
|
||||
@@ -182,6 +183,7 @@
|
||||
- [Holybro Kakute H7v2](/flight_controller/kakuteh7v2.md)
|
||||
- [Holybro Kakute H7mini](/flight_controller/kakuteh7mini.md)
|
||||
- [Holybro Kakute H7](/flight_controller/kakuteh7.md)
|
||||
- [Holybro Kakute H7 Wing](/flight_controller/kakuteh7-wing.md)
|
||||
- [Holybro Durandal](/flight_controller/durandal.md)
|
||||
- [Wiring Quickstart](/assembly/quick_start_durandal.md)
|
||||
- [Holybro Pix32 v5](/flight_controller/holybro_pix32_v5.md)
|
||||
@@ -253,6 +255,7 @@
|
||||
- [Avionics Anonymous Laser Altimeter UAVCAN Interface (CAN)](/dronecan/avanon_laser_interface.md)
|
||||
- [GNSS (GPS)](/gps_compass/index.md)
|
||||
- [ARK GPS (CAN)](/dronecan/ark_gps.md)
|
||||
- [ARK SAM GPS](/gps_compass/ark_sam_gps.md)
|
||||
- [ARK TESEO GPS](/dronecan/ark_teseo_gps.md)
|
||||
- [CUAV NEO 3 GPS](/gps_compass/gps_cuav_neo_3.md)
|
||||
- [CUAV NEO 3 Pro GPS (CAN)](/gps_compass/gps_cuav_neo_3pro.md)
|
||||
@@ -314,6 +317,7 @@
|
||||
- [Joysticks](/config/joystick.md)
|
||||
- [Data Links](/data_links/index.md)
|
||||
- [MAVLink 回传（OSD/GCS）](/peripherals/mavlink_peripherals.md)
|
||||
|
||||
- [数传电台](/telemetry/index.md)
|
||||
- [SiK 电台](/telemetry/sik_radio.md)
|
||||
- [RFD900 (SiK) 数传电台](/telemetry/rfd900_telemetry.md)
|
||||
@@ -326,9 +330,13 @@
|
||||
- [ARK Electron Microhard Serial Telemetry Radio](/telemetry/ark_microhard_serial.md)
|
||||
- [Holybro Microhard P900 Telemetry Radio](/telemetry/holybro_microhard_p900_radio.md)
|
||||
- [CUAV P8 Telemetry Radio](/telemetry/cuav_p8_radio.md)
|
||||
- [J.Fi Wireless Telemetry Module](/telemetry/jfi_telemetry.md)
|
||||
- [HolyBro XBP9X - Discontinued](/telemetry/holybro_xbp9x_radio.md)
|
||||
|
||||
- [睿思凯数传](/peripherals/frsky_telemetry.md)
|
||||
|
||||
- [TBS Crossfire (CRSF) Telemetry](/telemetry/crsf_telemetry.md)
|
||||
|
||||
- [Satellite Comms (Iridium/RockBlock)](/advanced_features/satcom_roadblock.md)
|
||||
- [Power Systems](/power_systems/index.md)
|
||||
- [Battery Estimation Tuning](/config/battery.md)
|
||||
@@ -637,6 +645,7 @@
|
||||
- [PowerButtonState](/msg_docs/PowerButtonState.md)
|
||||
- [PowerMonitor](/msg_docs/PowerMonitor.md)
|
||||
- [PpsCapture](/msg_docs/PpsCapture.md)
|
||||
- [PurePursuitStatus](/msg_docs/PurePursuitStatus.md)
|
||||
- [PwmInput](/msg_docs/PwmInput.md)
|
||||
- [Px4ioStatus](/msg_docs/Px4ioStatus.md)
|
||||
- [QshellReq](/msg_docs/QshellReq.md)
|
||||
@@ -710,6 +719,10 @@
|
||||
- [YawEstimatorStatus](/msg_docs/YawEstimatorStatus.md)
|
||||
- [VehicleStatusV0](/msg_docs/VehicleStatusV0.md)
|
||||
- [MAVLink通讯](/middleware/mavlink.md)
|
||||
- [Adding Messages](/mavlink/adding_messages.md)
|
||||
- [Streaming Messages](/mavlink/streaming_messages.md)
|
||||
- [Receiving Messages](/mavlink/receiving_messages.md)
|
||||
- [Custom MAVLink Messages](/mavlink/custom_messages.md)
|
||||
- [Standard Modes Protocol](/mavlink/standard_modes.md)
|
||||
- [uXRCE-DDS (PX4-ROS 2/DDS Bridge)](/middleware/uxrce_dds.md)
|
||||
- [模块 & 命令](/modules/modules_main.md)
|
||||
@@ -798,8 +811,10 @@
|
||||
- [测试 MC_05-室内飞行（手动模式）](/test_cards/mc_05_indoor_flight_manual_modes.md)
|
||||
- [单元测试](/test_and_ci/unit_tests.md)
|
||||
- [持续集成](/test_and_ci/continous_integration.md)
|
||||
- [MAVSDK集成测试](/test_and_ci/integration_testing_mavsdk.md)
|
||||
- [ROS集成测试](/test_and_ci/integration_testing.md)
|
||||
- [Integration Testing](/test_and_ci/integration_testing.md)
|
||||
- [MAVSDK集成测试](/test_and_ci/integration_testing_mavsdk.md)
|
||||
- [PX4 ROS2 Interface Library Integration Testing](/test_and_ci/integration_testing_px4_ros2_interface.md)
|
||||
- [ROS 1 Integration Testing](/test_and_ci/integration_testing_ros1_mavros.md)
|
||||
- [Docker 容器](/test_and_ci/docker.md)
|
||||
- [维护](/test_and_ci/maintenance.md)
|
||||
|
||||
@@ -840,4 +855,4 @@
|
||||
- [1.15 (stable)](/releases/1.15.md)
|
||||
- [1.14](/releases/1.14.md)
|
||||
- [1.13](/releases/1.13.md)
|
||||
- [1.12](/releases/1.12.md)
|
||||
- [1.12](/releases/1.12.md)
|
||||
|
||||
@@ -341,6 +341,9 @@ void MspOsd::Run()
|
||||
battery_status_s battery_status{};
|
||||
_battery_status_sub.copy(&battery_status);
|
||||
|
||||
const auto msg_original = msp_osd::construct_BATTERY_STATE(battery_status);
|
||||
this->Send(MSP_BATTERY_STATE, &msg_original);
|
||||
|
||||
const auto msg = msp_osd::construct_rendor_BATTERY_STATE(battery_status);
|
||||
this->Send(MSP_CMD_DISPLAYPORT, &msg, sizeof(msp_rendor_battery_state_t));
|
||||
|
||||
|
||||
@@ -526,6 +526,7 @@ This module parses the CRSF RC uplink protocol and generates CRSF downlink telem
|
||||
)DESCR_STR");
|
||||
|
||||
PRINT_MODULE_USAGE_NAME("crsf_rc", "driver");
|
||||
PRINT_MODULE_USAGE_SUBCATEGORY("radio_control");
|
||||
PRINT_MODULE_USAGE_COMMAND("start");
|
||||
PRINT_MODULE_USAGE_PARAM_STRING('d', "/dev/ttyS3", "<file:dev>", "RC device", true);
|
||||
|
||||
|
||||
@@ -399,6 +399,7 @@ This module does Spektrum DSM RC input parsing.
|
||||
)DESCR_STR");
|
||||
|
||||
PRINT_MODULE_USAGE_NAME("dsm_rc", "driver");
|
||||
PRINT_MODULE_USAGE_SUBCATEGORY("radio_control");
|
||||
PRINT_MODULE_USAGE_COMMAND("start");
|
||||
PRINT_MODULE_USAGE_PARAM_STRING('d', "/dev/ttyS3", "<file:dev>", "RC device", true);
|
||||
|
||||
|
||||
@@ -292,6 +292,7 @@ This module does Ghost (GHST) RC input parsing.
|
||||
)DESCR_STR");
|
||||
|
||||
PRINT_MODULE_USAGE_NAME("ghst_rc", "driver");
|
||||
PRINT_MODULE_USAGE_SUBCATEGORY("radio_control");
|
||||
PRINT_MODULE_USAGE_COMMAND("start");
|
||||
PRINT_MODULE_USAGE_PARAM_STRING('d', "/dev/ttyS3", "<file:dev>", "RC device", true);
|
||||
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
|
||||
|
||||
@@ -302,6 +302,7 @@ This module does SBUS RC input parsing.
|
||||
)DESCR_STR");
|
||||
|
||||
PRINT_MODULE_USAGE_NAME("sbus_rc", "driver");
|
||||
PRINT_MODULE_USAGE_SUBCATEGORY("radio_control");
|
||||
PRINT_MODULE_USAGE_COMMAND("start");
|
||||
PRINT_MODULE_USAGE_PARAM_STRING('d', "/dev/ttyS3", "<file:dev>", "RC device", true);
|
||||
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
|
||||
|
||||
@@ -1018,6 +1018,7 @@ This module does the RC input parsing and auto-selecting the method. Supported m
|
||||
)DESCR_STR");
|
||||
|
||||
PRINT_MODULE_USAGE_NAME("rc_input", "driver");
|
||||
PRINT_MODULE_USAGE_SUBCATEGORY("radio_control");
|
||||
PRINT_MODULE_USAGE_COMMAND("start");
|
||||
PRINT_MODULE_USAGE_PARAM_STRING('d', "/dev/ttyS3", "<file:dev>", "RC device", true);
|
||||
|
||||
|
||||
@@ -204,12 +204,12 @@ void BatteryChecks::checkAndReport(const Context &context, Report &reporter)
|
||||
const bool critical_or_higher = reporter.failsafeFlags().battery_warning >= battery_status_s::WARNING_CRITICAL;
|
||||
NavModes affected_modes = (!configured_arm_threshold_in_use && critical_or_higher)
|
||||
|| (configured_arm_threshold_in_use && below_configured_arm_threshold) ? NavModes::All : NavModes::None;
|
||||
events::LogLevel log_level = critical_or_higher || below_configured_arm_threshold
|
||||
? events::Log::Critical : events::Log::Warning;
|
||||
|
||||
switch (reporter.failsafeFlags().battery_warning) {
|
||||
default:
|
||||
case battery_status_s::WARNING_LOW:
|
||||
// This is declared critical so QGC displays a yellow box and reads "low battery" out loud making the user aware
|
||||
|
||||
/* EVENT
|
||||
* @description
|
||||
* The lowest battery state of charge is below the low threshold.
|
||||
@@ -219,10 +219,10 @@ void BatteryChecks::checkAndReport(const Context &context, Report &reporter)
|
||||
* </profile>
|
||||
*/
|
||||
reporter.armingCheckFailure(affected_modes, health_component_t::battery, events::ID("check_battery_low"),
|
||||
log_level, "Low battery");
|
||||
events::Log::Critical, "Low battery");
|
||||
|
||||
if (reporter.mavlink_log_pub()) {
|
||||
mavlink_log_emergency(reporter.mavlink_log_pub(), "Low battery\t");
|
||||
mavlink_log_critical(reporter.mavlink_log_pub(), "Low battery\t");
|
||||
}
|
||||
|
||||
break;
|
||||
@@ -237,10 +237,10 @@ void BatteryChecks::checkAndReport(const Context &context, Report &reporter)
|
||||
* </profile>
|
||||
*/
|
||||
reporter.armingCheckFailure(affected_modes, health_component_t::battery, events::ID("check_battery_critical"),
|
||||
log_level, "Critical battery");
|
||||
events::Log::Critical, "Critical battery");
|
||||
|
||||
if (reporter.mavlink_log_pub()) {
|
||||
mavlink_log_emergency(reporter.mavlink_log_pub(), "Critical battery\t");
|
||||
mavlink_log_critical(reporter.mavlink_log_pub(), "Critical battery\t");
|
||||
}
|
||||
|
||||
break;
|
||||
@@ -255,7 +255,7 @@ void BatteryChecks::checkAndReport(const Context &context, Report &reporter)
|
||||
* </profile>
|
||||
*/
|
||||
reporter.armingCheckFailure(affected_modes, health_component_t::battery, events::ID("check_battery_emergency"),
|
||||
log_level, "Emergency battery level");
|
||||
events::Log::Emergency, "Emergency battery level");
|
||||
|
||||
if (reporter.mavlink_log_pub()) {
|
||||
mavlink_log_emergency(reporter.mavlink_log_pub(), "Emergency battery level\t");
|
||||
|
||||
@@ -290,7 +290,9 @@ void FailsafeBase::notifyUser(uint8_t user_intended_mode, Action action, Action
|
||||
}
|
||||
}
|
||||
|
||||
mavlink_log_critical(&_mavlink_log_pub, "Failsafe activated\t");
|
||||
if (action != Action::Warn) {
|
||||
mavlink_log_critical(&_mavlink_log_pub, "Failsafe activated\t");
|
||||
}
|
||||
}
|
||||
|
||||
#endif /* EMSCRIPTEN_BUILD */
|
||||
|
||||
@@ -70,7 +70,10 @@ bool FlightTaskAuto::activate(const trajectory_setpoint_s &last_setpoint)
|
||||
|
||||
_position_smoothing.reset(accel_prev, vel_prev, pos_prev);
|
||||
|
||||
_yaw_sp_prev = PX4_ISFINITE(last_setpoint.yaw) ? last_setpoint.yaw : _yaw;
|
||||
_yaw_setpoint_previous = last_setpoint.yaw;
|
||||
_heading_smoothing.reset(PX4_ISFINITE(last_setpoint.yaw) ? last_setpoint.yaw : _yaw,
|
||||
PX4_ISFINITE(last_setpoint.yawspeed) ? last_setpoint.yawspeed : 0.f);
|
||||
|
||||
_updateTrajConstraints();
|
||||
_is_emergency_braking_active = false;
|
||||
_time_last_cruise_speed_override = 0;
|
||||
@@ -190,16 +193,14 @@ bool FlightTaskAuto::update()
|
||||
// no valid heading -> generate heading in this flight task
|
||||
// Generate heading along trajectory if possible, otherwise hold the previous yaw setpoint
|
||||
if (!_generateHeadingAlongTraj()) {
|
||||
_yaw_setpoint = PX4_ISFINITE(_yaw_sp_prev) ? _yaw_sp_prev : _yaw;
|
||||
_yaw_setpoint = _yaw_setpoint_previous;
|
||||
}
|
||||
}
|
||||
|
||||
// update previous type
|
||||
_type_previous = _type;
|
||||
|
||||
// If the FlightTask generates a yaw or a yawrate setpoint that exceeds this value
|
||||
// it will see its setpoint constrained here
|
||||
_limitYawRate();
|
||||
_smoothYaw();
|
||||
|
||||
_constraints.want_takeoff = _checkTakeoff();
|
||||
|
||||
@@ -257,7 +258,7 @@ void FlightTaskAuto::_prepareLandSetpoints()
|
||||
|
||||
if (sticks_xy.longerThan(FLT_EPSILON)) {
|
||||
// Ensure no unintended yawing when nudging horizontally during initial heading alignment
|
||||
_land_heading = _yaw_sp_prev;
|
||||
_land_heading = _yaw_setpoint_previous;
|
||||
}
|
||||
|
||||
rcHelpModifyYaw(_land_heading);
|
||||
@@ -300,39 +301,32 @@ void FlightTaskAuto::_prepareLandSetpoints()
|
||||
_gear.landing_gear = landing_gear_s::GEAR_DOWN;
|
||||
}
|
||||
|
||||
void FlightTaskAuto::_limitYawRate()
|
||||
void FlightTaskAuto::_smoothYaw()
|
||||
{
|
||||
const float yawrate_max = math::radians(_param_mpc_yawrauto_max.get());
|
||||
_heading_smoothing.setMaxHeadingRate(yawrate_max);
|
||||
_heading_smoothing.setMaxHeadingAccel(math::radians(_param_mpc_yawrauto_acc.get()));
|
||||
|
||||
_yaw_sp_aligned = true;
|
||||
|
||||
if (PX4_ISFINITE(_yaw_setpoint) && PX4_ISFINITE(_yaw_sp_prev)) {
|
||||
// Limit the rate of change of the yaw setpoint
|
||||
const float dyaw_desired = matrix::wrap_pi(_yaw_setpoint - _yaw_sp_prev);
|
||||
const float dyaw_max = yawrate_max * _deltatime;
|
||||
const float dyaw = math::constrain(dyaw_desired, -dyaw_max, dyaw_max);
|
||||
const float yaw_setpoint_sat = matrix::wrap_pi(_yaw_sp_prev + dyaw);
|
||||
if (PX4_ISFINITE(_yaw_setpoint)) {
|
||||
const float yaw_sp_unsmoothed = _yaw_setpoint;
|
||||
_heading_smoothing.update(_yaw_setpoint, _deltatime);
|
||||
_yaw_setpoint = _heading_smoothing.getSmoothedHeading();
|
||||
_yawspeed_setpoint = _heading_smoothing.getSmoothedHeadingRate();
|
||||
|
||||
// The yaw setpoint is aligned when it is within tolerance
|
||||
_yaw_sp_aligned = fabsf(matrix::wrap_pi(_yaw_setpoint - yaw_setpoint_sat)) < math::radians(_param_mis_yaw_err.get());
|
||||
_yaw_sp_aligned = fabsf(matrix::wrap_pi(yaw_sp_unsmoothed - _yaw_setpoint)) < math::radians(_param_mis_yaw_err.get());
|
||||
|
||||
_yaw_setpoint = yaw_setpoint_sat;
|
||||
|
||||
if (!PX4_ISFINITE(_yawspeed_setpoint) && (_deltatime > FLT_EPSILON)) {
|
||||
// Create a feedforward using the filtered derivative
|
||||
_yawspeed_filter.setParameters(_deltatime, .2f);
|
||||
_yawspeed_filter.update(dyaw / _deltatime);
|
||||
_yawspeed_setpoint = _yawspeed_filter.getState();
|
||||
}
|
||||
} else {
|
||||
_heading_smoothing.reset(_yaw, 0.f);
|
||||
}
|
||||
|
||||
_yaw_sp_prev = PX4_ISFINITE(_yaw_setpoint) ? _yaw_setpoint : _yaw;
|
||||
_yaw_setpoint_previous = _yaw_setpoint;
|
||||
|
||||
if (PX4_ISFINITE(_yawspeed_setpoint)) {
|
||||
// The yaw setpoint is aligned when its rate is not saturated
|
||||
_yaw_sp_aligned = _yaw_sp_aligned && (fabsf(_yawspeed_setpoint) < yawrate_max);
|
||||
|
||||
_yawspeed_setpoint = math::constrain(_yawspeed_setpoint, -yawrate_max, yawrate_max);
|
||||
}
|
||||
}
|
||||
|
||||
@@ -725,7 +719,7 @@ void FlightTaskAuto::_ekfResetHandlerVelocityZ(float delta_vz)
|
||||
|
||||
void FlightTaskAuto::_ekfResetHandlerHeading(float delta_psi)
|
||||
{
|
||||
_yaw_sp_prev += delta_psi;
|
||||
_yaw_setpoint_previous += delta_psi;
|
||||
}
|
||||
|
||||
void FlightTaskAuto::_checkEmergencyBraking()
|
||||
|
||||
@@ -47,6 +47,7 @@
|
||||
#include <uORB/topics/vehicle_status.h>
|
||||
#include <lib/geo/geo.h>
|
||||
#include <lib/mathlib/math/filter/AlphaFilter.hpp>
|
||||
#include <lib/motion_planning/HeadingSmoothing.hpp>
|
||||
#include <lib/motion_planning/PositionSmoothing.hpp>
|
||||
#include <lib/stick_yaw/StickYaw.hpp>
|
||||
#include <lib/weather_vane/WeatherVane.hpp>
|
||||
@@ -136,8 +137,8 @@ protected:
|
||||
State _current_state{State::none};
|
||||
float _target_acceptance_radius{0.0f}; /**< Acceptances radius of the target */
|
||||
|
||||
float _yaw_sp_prev{NAN};
|
||||
AlphaFilter<float> _yawspeed_filter;
|
||||
float _yaw_setpoint_previous{NAN}; /**< Used because _yaw_setpoint is overwritten in multiple places */
|
||||
HeadingSmoothing _heading_smoothing;
|
||||
bool _yaw_sp_aligned{false};
|
||||
|
||||
PositionSmoothing _position_smoothing;
|
||||
@@ -156,6 +157,7 @@ protected:
|
||||
(ParamFloat<px4::params::NAV_MC_ALT_RAD>)
|
||||
_param_nav_mc_alt_rad, //vertical acceptance radius at which waypoints are updated
|
||||
(ParamInt<px4::params::MPC_YAW_MODE>) _param_mpc_yaw_mode, // defines how heading is executed,
|
||||
(ParamFloat<px4::params::MPC_YAWRAUTO_ACC>) _param_mpc_yawrauto_acc,
|
||||
(ParamFloat<px4::params::MPC_YAWRAUTO_MAX>) _param_mpc_yawrauto_max,
|
||||
(ParamFloat<px4::params::MIS_YAW_ERR>) _param_mis_yaw_err, // yaw-error threshold
|
||||
(ParamFloat<px4::params::MPC_ACC_HOR>) _param_mpc_acc_hor, // acceleration in flight
|
||||
@@ -201,7 +203,7 @@ private:
|
||||
|
||||
matrix::Vector3f _initial_land_position;
|
||||
|
||||
void _limitYawRate(); /**< Limits the rate of change of the yaw setpoint. */
|
||||
void _smoothYaw(); /**< Smoothen the yaw setpoint. */
|
||||
bool _evaluateTriplets(); /**< Checks and sets triplets. */
|
||||
bool _isFinite(const position_setpoint_s &sp); /**< Checks if all waypoint triplets are finite. */
|
||||
bool _evaluateGlobalReference(); /**< Check is global reference is available. */
|
||||
|
||||
@@ -179,8 +179,8 @@ bool FlightTaskOrbit::activate(const trajectory_setpoint_s &last_setpoint)
|
||||
_orbit_velocity = 1.f;
|
||||
_center = _position;
|
||||
_initial_heading = _yaw;
|
||||
_slew_rate_yaw.setForcedValue(_yaw);
|
||||
_slew_rate_yaw.setSlewRate(math::radians(_param_mpc_yawrauto_max.get()));
|
||||
_heading_smoothing.reset(PX4_ISFINITE(last_setpoint.yaw) ? last_setpoint.yaw : _yaw,
|
||||
PX4_ISFINITE(last_setpoint.yawspeed) ? last_setpoint.yawspeed : 0.f);
|
||||
_slew_rate_velocity.setSlewRate(_param_mpc_acc_hor.get());
|
||||
|
||||
// need a valid position and velocity
|
||||
@@ -238,7 +238,14 @@ bool FlightTaskOrbit::update()
|
||||
}
|
||||
|
||||
// Apply yaw smoothing
|
||||
_yaw_setpoint = _slew_rate_yaw.update(_yaw_setpoint, _deltatime);
|
||||
_heading_smoothing.setMaxHeadingRate(math::radians(_param_mpc_yawrauto_max.get()));
|
||||
_heading_smoothing.setMaxHeadingAccel(math::radians(_param_mpc_yawrauto_acc.get()));
|
||||
_heading_smoothing.update(_yaw_setpoint, _deltatime);
|
||||
_yaw_setpoint = _heading_smoothing.getSmoothedHeading();
|
||||
|
||||
if (_in_circle_approach) { // don't override feed-forward which is already calculated for circling
|
||||
_yawspeed_setpoint = _heading_smoothing.getSmoothedHeadingRate();
|
||||
}
|
||||
|
||||
// publish information to UI
|
||||
sendTelemetry();
|
||||
@@ -362,7 +369,7 @@ void FlightTaskOrbit::_generate_circle_yaw_setpoints()
|
||||
case orbit_status_s::ORBIT_YAW_BEHAVIOUR_UNCONTROLLED:
|
||||
// no yaw setpoint
|
||||
_yaw_setpoint = NAN;
|
||||
_yawspeed_setpoint = NAN;
|
||||
_yawspeed_setpoint = 0.f; // No yaw setpoint is invalid -> just brake to 0°/s
|
||||
break;
|
||||
|
||||
case orbit_status_s::ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TANGENT_TO_CIRCLE:
|
||||
|
||||
@@ -45,6 +45,7 @@
|
||||
#include <uORB/PublicationMulti.hpp>
|
||||
#include <uORB/topics/orbit_status.h>
|
||||
#include <lib/slew_rate/SlewRateYaw.hpp>
|
||||
#include <lib/motion_planning/HeadingSmoothing.hpp>
|
||||
#include <lib/motion_planning/PositionSmoothing.hpp>
|
||||
#include <lib/motion_planning/VelocitySmoothing.hpp>
|
||||
#include <lib/slew_rate/SlewRate.hpp>
|
||||
@@ -127,7 +128,7 @@ private:
|
||||
bool _started_clockwise{true};
|
||||
bool _currently_orbiting{false};
|
||||
float _initial_heading = 0.f; /**< the heading of the drone when the orbit command was issued */
|
||||
SlewRateYaw<float> _slew_rate_yaw;
|
||||
HeadingSmoothing _heading_smoothing;
|
||||
SlewRate<float> _slew_rate_velocity;
|
||||
|
||||
orb_advert_t _mavlink_log_pub{nullptr};
|
||||
@@ -138,6 +139,7 @@ private:
|
||||
(ParamInt<px4::params::MC_ORBIT_YAW_MOD>) _param_mc_orbit_yaw_mod,
|
||||
(ParamFloat<px4::params::MPC_XY_CRUISE>) _param_mpc_xy_cruise, /**< cruise speed for circle approach */
|
||||
(ParamFloat<px4::params::MPC_YAWRAUTO_MAX>) _param_mpc_yawrauto_max,
|
||||
(ParamFloat<px4::params::MPC_YAWRAUTO_ACC>) _param_mpc_yawrauto_acc,
|
||||
(ParamFloat<px4::params::MPC_XY_TRAJ_P>) _param_mpc_xy_traj_p,
|
||||
(ParamFloat<px4::params::NAV_MC_ALT_RAD>)
|
||||
_param_nav_mc_alt_rad, //vertical acceptance radius at which waypoints are updated
|
||||
|
||||
@@ -145,7 +145,7 @@ PARAM_DEFINE_FLOAT(MPC_XY_ERR_MAX, 2.f);
|
||||
* @increment 5
|
||||
* @group Multicopter Attitude Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_YAWRAUTO_MAX, 45.f);
|
||||
PARAM_DEFINE_FLOAT(MPC_YAWRAUTO_MAX, 60.f);
|
||||
|
||||
/**
|
||||
* Maximum yaw acceleration in autonomous modes
|
||||
@@ -160,7 +160,7 @@ PARAM_DEFINE_FLOAT(MPC_YAWRAUTO_MAX, 45.f);
|
||||
* @increment 5
|
||||
* @group Multicopter Attitude Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(MPC_YAWRAUTO_ACC, 60.f);
|
||||
PARAM_DEFINE_FLOAT(MPC_YAWRAUTO_ACC, 20.f);
|
||||
|
||||
/**
|
||||
* Heading behavior in autonomous modes
|
||||
|
||||
@@ -54,6 +54,7 @@ if(PX4_PLATFORM MATCHES "posix")
|
||||
quadx
|
||||
xvert
|
||||
standard_vtol
|
||||
hex
|
||||
)
|
||||
|
||||
# find corresponding airframes
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2019-2022 PX4 Development Team. All rights reserved.
|
||||
* Copyright (c) 2019-2025 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
@@ -75,8 +75,9 @@ void Sih::run()
|
||||
_last_run = task_start;
|
||||
_airspeed_time = task_start;
|
||||
_dist_snsr_time = task_start;
|
||||
_vehicle = (VehicleType)constrain(_sih_vtype.get(), static_cast<typeof _sih_vtype.get()>(0),
|
||||
static_cast<typeof _sih_vtype.get()>(3));
|
||||
_vehicle = static_cast<VehicleType>(constrain(_sih_vtype.get(),
|
||||
static_cast<int32_t>(VehicleType::First),
|
||||
static_cast<int32_t>(VehicleType::Last)));
|
||||
|
||||
_actuator_out_sub = uORB::Subscription{ORB_ID(actuator_outputs_sim)};
|
||||
|
||||
@@ -319,7 +320,7 @@ void Sih::read_motors(const float dt)
|
||||
|
||||
void Sih::generate_force_and_torques()
|
||||
{
|
||||
if (_vehicle == VehicleType::Multicopter) {
|
||||
if (_vehicle == VehicleType::Quadcopter) {
|
||||
_T_B = Vector3f(0.0f, 0.0f, -_T_MAX * (+_u[0] + _u[1] + _u[2] + _u[3]));
|
||||
_Mt_B = Vector3f(_L_ROLL * _T_MAX * (-_u[0] + _u[1] + _u[2] - _u[3]),
|
||||
_L_PITCH * _T_MAX * (+_u[0] - _u[1] + _u[2] - _u[3]),
|
||||
@@ -327,6 +328,21 @@ void Sih::generate_force_and_torques()
|
||||
_Fa_E = -_KDV * _v_E; // first order drag to slow down the aircraft
|
||||
_Ma_B = -_KDW * _w_B; // first order angular damper
|
||||
|
||||
} else if (_vehicle == VehicleType::Hexacopter) {
|
||||
/* m5 m0 ┬
|
||||
\ / √3/2
|
||||
m4 -- + -- m1 ┴
|
||||
/ \
|
||||
m3 m2
|
||||
├1/2┤
|
||||
├ 1 ┤ */
|
||||
_T_B = Vector3f(0.0f, 0.0f, -_T_MAX * (+_u[0] + _u[1] + _u[2] + _u[3] + _u[4] + _u[5]));
|
||||
_Mt_B = Vector3f(_L_ROLL * _T_MAX * (-.5f * _u[0] - _u[1] - .5f * _u[2] + .5f * _u[3] + _u[4] + .5f * _u[5]),
|
||||
_L_PITCH * _T_MAX * (M_SQRT3_F / 2.f) * (+_u[0] - _u[2] - _u[3] + _u[5]),
|
||||
_Q_MAX * (+_u[0] - _u[1] + _u[2] - _u[3] + _u[4] - _u[5]));
|
||||
_Fa_E = -_KDV * _v_E; // first order drag to slow down the aircraft
|
||||
_Ma_B = -_KDW * _w_B; // first order angular damper
|
||||
|
||||
} else if (_vehicle == VehicleType::FixedWing) {
|
||||
_T_B = Vector3f(_T_MAX * _u[3], 0.0f, 0.0f); // forward thruster
|
||||
// _Mt_B = Vector3f(_Q_MAX*_u[3], 0.0f,0.0f); // thruster torque
|
||||
@@ -429,7 +445,8 @@ void Sih::equations_of_motion(const float dt)
|
||||
Vector3f ground_force_E;
|
||||
|
||||
if ((_lla.altitude() - _lpos_ref_alt) < 0.f && force_down > 0.f) {
|
||||
if (_vehicle == VehicleType::Multicopter
|
||||
if (_vehicle == VehicleType::Quadcopter
|
||||
|| _vehicle == VehicleType::Hexacopter
|
||||
|| _vehicle == VehicleType::TailsitterVTOL
|
||||
|| _vehicle == VehicleType::StandardVTOL) {
|
||||
ground_force_E = -sum_of_forces_E;
|
||||
@@ -715,20 +732,23 @@ int Sih::print_status()
|
||||
PX4_INFO("Achieved speedup: %.2fX", (double)_achieved_speedup);
|
||||
#endif
|
||||
|
||||
if (_vehicle == VehicleType::Multicopter) {
|
||||
PX4_INFO("Running MultiCopter");
|
||||
if (_vehicle == VehicleType::Quadcopter) {
|
||||
PX4_INFO("Quadcopter");
|
||||
|
||||
} else if (_vehicle == VehicleType::Hexacopter) {
|
||||
PX4_INFO("Hexacopter");
|
||||
|
||||
} else if (_vehicle == VehicleType::FixedWing) {
|
||||
PX4_INFO("Running Fixed-Wing");
|
||||
PX4_INFO("Fixed-Wing");
|
||||
|
||||
} else if (_vehicle == VehicleType::TailsitterVTOL) {
|
||||
PX4_INFO("Running TailSitter");
|
||||
PX4_INFO("TailSitter");
|
||||
PX4_INFO("aoa [deg]: %d", (int)(degrees(_ts[4].get_aoa())));
|
||||
PX4_INFO("v segment (m/s)");
|
||||
_ts[4].get_vS().print();
|
||||
|
||||
} else if (_vehicle == VehicleType::StandardVTOL) {
|
||||
PX4_INFO("Running Standard VTOL");
|
||||
PX4_INFO("Standard VTOL");
|
||||
}
|
||||
|
||||
PX4_INFO("vehicle landed: %d", _grounded);
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2019-2022 PX4 Development Team. All rights reserved.
|
||||
* Copyright (c) 2019-2025 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
@@ -218,11 +218,10 @@ private:
|
||||
matrix::Vector3f _v_E_dot{};
|
||||
matrix::Dcmf _R_N2E; // local navigation to ECEF frame rotation matrix
|
||||
|
||||
float _u[NUM_ACTUATORS_MAX] {}; // thruster signals
|
||||
float _u[NUM_ACTUATORS_MAX] {}; // thruster signals
|
||||
|
||||
enum class VehicleType {Multicopter, FixedWing, TailsitterVTOL, StandardVTOL};
|
||||
|
||||
VehicleType _vehicle = VehicleType::Multicopter;
|
||||
enum class VehicleType {Quadcopter, FixedWing, TailsitterVTOL, StandardVTOL, Hexacopter, First = Quadcopter, Last = Hexacopter}; // numbering dependent on parameter SIH_VEHICLE_TYPE
|
||||
VehicleType _vehicle = VehicleType::Quadcopter;
|
||||
|
||||
// aerodynamic segments for the fixedwing
|
||||
AeroSeg _wing_l = AeroSeg(SPAN / 2.0f, MAC, -4.0f, matrix::Vector3f(0.0f, -SPAN / 4.0f, 0.0f), 3.0f,
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2013-2022 PX4 Development Team. All rights reserved.
|
||||
* Copyright (c) 2013-2025 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
@@ -33,7 +33,7 @@
|
||||
|
||||
/**
|
||||
* @file sih_params.c
|
||||
* Parameters for quadcopter X simulator in hardware.
|
||||
* Parameters for simulator in hardware.
|
||||
*
|
||||
* @author Romain Chiappinelli <romain.chiap@gmail.com>
|
||||
* February 2019
|
||||
@@ -329,10 +329,11 @@ PARAM_DEFINE_FLOAT(SIH_T_TAU, 0.05f);
|
||||
/**
|
||||
* Vehicle type
|
||||
*
|
||||
* @value 0 Multicopter
|
||||
* @value 0 Quadcopter
|
||||
* @value 1 Fixed-Wing
|
||||
* @value 2 Tailsitter
|
||||
* @value 3 Standard VTOL
|
||||
* @value 4 Hexacopter
|
||||
* @reboot_required true
|
||||
* @group Simulation In Hardware
|
||||
*/
|
||||
|
||||
Reference in New Issue
Block a user