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PX4-Autopilot/docs/uk/modules/modules_driver.md
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# Modules Reference: Driver
Підкатегорії:
- [Airspeed Sensor](modules_driver_airspeed_sensor.md)
- [Baro](modules_driver_baro.md)
- [Camera](modules_driver_camera.md)
- [Distance Sensor](modules_driver_distance_sensor.md)
- [Imu](modules_driver_imu.md)
- [Ins](modules_driver_ins.md)
- [Magnetometer](modules_driver_magnetometer.md)
- [Optical Flow](modules_driver_optical_flow.md)
- [Radio Control](modules_driver_radio_control.md)
- [Rpm Sensor](modules_driver_rpm_sensor.md)
- [Transponder](modules_driver_transponder.md)
## MCP23009
Source: [drivers/gpio/mcp23009](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/gpio/mcp23009)
### Usage {#MCP23009_usage}
```
MCP23009 <command> [arguments...]
Commands:
start
[-I] Internal I2C bus(es)
[-X] External I2C bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-a <val>] I2C address
default: 37
[-D <val>] Direction
default: 0
[-O <val>] Output
default: 0
[-P <val>] Pullups
default: 0
[-U <val>] Update Interval [ms]
default: 0
stop
status print status info
```
## adc
Source: [drivers/adc/board_adc](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/adc/board_adc)
### Опис
ADC driver.
### Usage {#adc_usage}
```
adc <command> [arguments...]
Commands:
start
test
[-n] Do not publish ADC report, only system power
stop
status print status info
```
## ads1115
Source: [drivers/adc/ads1115](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/adc/ads1115)
### Опис
Driver to enable an external [ADS1115](https://www.adafruit.com/product/1085) ADC connected via I2C.
The driver is included by default in firmware for boards that do not have an internal analog to digital converter,
such as [PilotPi](../flight_controller/raspberry_pi_pilotpi.md) or [CUAV Nora](../flight_controller/cuav_nora.md)
(search for `CONFIG_DRIVERS_ADC_ADS1115` in board configuration files).
It is enabled/disabled using the
[ADC_ADS1115_EN](../advanced_config/parameter_reference.md#ADC_ADS1115_EN)
parameter, and is disabled by default.
If enabled, internal ADCs are not used.
### Usage {#ads1115_usage}
```
ads1115 <command> [arguments...]
Commands:
start
[-I] Internal I2C bus(es)
[-X] External I2C bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-a <val>] I2C address
default: 72
stop
status print status info
```
## atxxxx
Source: [drivers/osd/atxxxx](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/osd/atxxxx)
### Опис
OSD driver for the ATXXXX chip that is mounted on the OmnibusF4SD board for example.
It can be enabled with the OSD_ATXXXX_CFG parameter.
### Usage {#atxxxx_usage}
```
atxxxx <command> [arguments...]
Commands:
start
[-s] Internal SPI bus(es)
[-S] External SPI bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
[-m <val>] SPI mode
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
stop
status print status info
```
## batmon
Source: [drivers/smart_battery/batmon](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/smart_battery/batmon)
### Опис
Driver for SMBUS Communication with BatMon enabled smart-battery
Setup/usage information: https://rotoye.com/batmon-tutorial/
### Приклади
To start at address 0x0B, on bus 4
```
batmon start -X -a 11 -b 4
```
### Usage {#batmon_usage}
```
batmon <command> [arguments...]
Commands:
start
[-I] Internal I2C bus(es)
[-X] External I2C bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-a <val>] I2C address
default: 11
man_info Prints manufacturer info.
suspend Suspends the driver from rescheduling the cycle.
resume Resumes the driver from suspension.
stop
status print status info
```
## batt_smbus
Source: [drivers/batt_smbus](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/batt_smbus)
### Опис
Smart battery driver for the BQ40Z50 fuel gauge IC.
### Приклади
To write to flash to set parameters. address, number_of_bytes, byte0, ... , byteN
```
batt_smbus -X write_flash 19069 2 27 0
```
### Usage {#batt_smbus_usage}
```
batt_smbus <command> [arguments...]
Commands:
start
[-I] Internal I2C bus(es)
[-X] External I2C bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-a <val>] I2C address
default: 11
man_info Prints manufacturer info.
unseal Unseals the devices flash memory to enable write_flash
commands.
seal Seals the devices flash memory to disable write_flash commands.
suspend Suspends the driver from rescheduling the cycle.
resume Resumes the driver from suspension.
write_flash Writes to flash. The device must first be unsealed with the
unseal command.
[address] The address to start writing.
[number of bytes] Number of bytes to send.
[data[0]...data[n]] One byte of data at a time separated by spaces.
stop
status print status info
```
## bst
Source: [drivers/telemetry/bst](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/telemetry/bst)
### Usage {#bst_usage}
```
bst <command> [arguments...]
Commands:
start
[-I] Internal I2C bus(es)
[-X] External I2C bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-a <val>] I2C address
default: 118
stop
status print status info
```
## dshot
Source: [drivers/dshot](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/dshot)
### Опис
This is the DShot output driver. It is similar to the fmu driver, and can be used as drop-in replacement
to use DShot as ESC communication protocol instead of PWM.
On startup, the module tries to occupy all available pins for DShot output.
It skips all pins already in use (e.g. by a camera trigger module).
It supports:
- DShot150, DShot300, DShot600
- telemetry via separate UART and publishing as esc_status message
- sending DShot commands via CLI
### Приклади
Permanently reverse motor 1:
```
dshot reverse -m 1
dshot save -m 1
```
After saving, the reversed direction will be regarded as the normal one. So to reverse again repeat the same commands.
### Usage {#dshot_usage}
```
dshot <command> [arguments...]
Commands:
start
telemetry Enable Telemetry on a UART
-d <val> UART device
values: <device>
[-x] Swap RX/TX pins
reverse Reverse motor direction
[-m <val>] Motor index (1-based, default=all)
normal Normal motor direction
[-m <val>] Motor index (1-based, default=all)
save Save current settings
[-m <val>] Motor index (1-based, default=all)
3d_on Enable 3D mode
[-m <val>] Motor index (1-based, default=all)
3d_off Disable 3D mode
[-m <val>] Motor index (1-based, default=all)
beep1 Send Beep pattern 1
[-m <val>] Motor index (1-based, default=all)
beep2 Send Beep pattern 2
[-m <val>] Motor index (1-based, default=all)
beep3 Send Beep pattern 3
[-m <val>] Motor index (1-based, default=all)
beep4 Send Beep pattern 4
[-m <val>] Motor index (1-based, default=all)
beep5 Send Beep pattern 5
[-m <val>] Motor index (1-based, default=all)
esc_info Request ESC information
-m <val> Motor index (1-based)
stop
status print status info
```
## fake_gps
Source: [examples/fake_gps](https://github.com/PX4/PX4-Autopilot/tree/main/src/examples/fake_gps)
### Опис
### Usage {#fake_gps_usage}
```
fake_gps <command> [arguments...]
Commands:
start
stop
status print status info
```
## fake_imu
Source: [examples/fake_imu](https://github.com/PX4/PX4-Autopilot/tree/main/src/examples/fake_imu)
### Опис
### Usage {#fake_imu_usage}
```
fake_imu <command> [arguments...]
Commands:
start
stop
status print status info
```
## fake_magnetometer
Source: [examples/fake_magnetometer](https://github.com/PX4/PX4-Autopilot/tree/main/src/examples/fake_magnetometer)
### Опис
Publish the earth magnetic field as a fake magnetometer (sensor_mag).
Requires vehicle_attitude and vehicle_gps_position.
### Usage {#fake_magnetometer_usage}
```
fake_magnetometer <command> [arguments...]
Commands:
start
stop
status print status info
```
## ft_technologies_serial
Source: [drivers/wind_sensor/ft_technologies](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/wind_sensor/ft_technologies)
### Опис
Serial bus driver for the FT Technologies Digital Wind Sensor FT742. This driver is required to operate alongside
a RS485 to UART signal transfer module.
Most boards are configured to enable/start the driver on a specified UART using the SENS_FTX_CFG parameter.
### Приклади
Attempt to start driver on a specified serial device.
```
ft_technologies_serial start -d /dev/ttyS1
```
Stop driver
```
ft_technologies_serial stop
```
### Usage {#ft_technologies_serial_usage}
```
ft_technologies_serial <command> [arguments...]
Commands:
start Start driver
-d <val> Serial device
stop Stop driver
```
## gimbal
Source: [modules/gimbal](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/gimbal)
### Опис
Mount/gimbal Gimbal control driver. It maps several different input methods (eg. RC or MAVLink) to a configured
output (eg. AUX channels or MAVLink).
Documentation how to use it is on the [gimbal_control](https://docs.px4.io/main/en/advanced/gimbal_control.html) page.
### Приклади
Test the output by setting a angles (all omitted axes are set to 0):
```
gimbal test pitch -45 yaw 30
```
### Usage {#gimbal_usage}
```
gimbal <command> [arguments...]
Commands:
start
status
primary-control Set who is in control of gimbal
<sysid> <compid> MAVLink system ID and MAVLink component ID
test Test the output: set a fixed angle for one or multiple axes
(gimbal must be running)
roll|pitch|yaw <angle> Specify an axis and an angle in degrees
rollrate|pitchrate|yawrate <angle rate> Specify an axis and an angle rate
in degrees / second
stop
status print status info
```
## gps
Source: [drivers/gps](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/gps)
### Опис
GPS driver module that handles the communication with the device and publishes the position via uORB.
It supports multiple protocols (device vendors) and by default automatically selects the correct one.
The module supports a secondary GPS device, specified via `-e` parameter. The position will be published
on the second uORB topic instance, but it's currently not used by the rest of the system (however the
data will be logged, so that it can be used for comparisons).
### Імплементація
There is a thread for each device polling for data. The GPS protocol classes are implemented with callbacks
so that they can be used in other projects as well (eg. QGroundControl uses them too).
### Приклади
Starting 2 GPS devices (the main GPS on /dev/ttyS3 and the secondary on /dev/ttyS4):
```
gps start -d /dev/ttyS3 -e /dev/ttyS4
```
Initiate warm restart of GPS device
```
gps reset warm
```
### Usage {#gps_usage}
```
gps <command> [arguments...]
Commands:
start
[-d <val>] GPS device
values: <file:dev>, default: /dev/ttyS3
[-b <val>] Baudrate (can also be p:<param_name>)
default: 0
[-e <val>] Optional secondary GPS device
values: <file:dev>
[-g <val>] Baudrate (secondary GPS, can also be p:<param_name>)
default: 0
[-i <val>] GPS interface
values: spi|uart, default: uart
[-j <val>] secondary GPS interface
values: spi|uart, default: uart
[-p <val>] GPS Protocol (default=auto select)
values: ubx|mtk|ash|eml|fem|nmea
stop
status print status info
reset Reset GPS device
cold|warm|hot Specify reset type
```
## gz_bridge
Source: [modules/simulation/gz_bridge](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/gz_bridge)
### Опис
### Usage {#gz_bridge_usage}
```
gz_bridge <command> [arguments...]
Commands:
start
[-w <val>] World name
-n <val> Model name
stop
status print status info
```
## ina220
Source: [drivers/power_monitor/ina220](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/power_monitor/ina220)
### Опис
Driver for the INA220 power monitor.
Multiple instances of this driver can run simultaneously, if each instance has a separate bus OR I2C address.
For example, one instance can run on Bus 2, address 0x41, and one can run on Bus 2, address 0x43.
If the INA220 module is not powered, then by default, initialization of the driver will fail. To change this, use
the -f flag. If this flag is set, then if initialization fails, the driver will keep trying to initialize again
every 0.5 seconds. With this flag set, you can plug in a battery after the driver starts, and it will work. Without
this flag set, the battery must be plugged in before starting the driver.
### Usage {#ina220_usage}
```
ina220 <command> [arguments...]
Commands:
start
[-I] Internal I2C bus(es)
[-X] External I2C bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-a <val>] I2C address
default: 65
[-k] if initialization (probing) fails, keep retrying periodically
[-t <val>] battery index for calibration values (1 or 3)
default: 1
[-T <val>] Type
values: VBATT|VREG, default: VBATT
stop
status print status info
```
## ina226
Source: [drivers/power_monitor/ina226](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/power_monitor/ina226)
### Опис
Driver for the INA226 power monitor.
Multiple instances of this driver can run simultaneously, if each instance has a separate bus OR I2C address.
For example, one instance can run on Bus 2, address 0x41, and one can run on Bus 2, address 0x43.
If the INA226 module is not powered, then by default, initialization of the driver will fail. To change this, use
the -f flag. If this flag is set, then if initialization fails, the driver will keep trying to initialize again
every 0.5 seconds. With this flag set, you can plug in a battery after the driver starts, and it will work. Without
this flag set, the battery must be plugged in before starting the driver.
### Usage {#ina226_usage}
```
ina226 <command> [arguments...]
Commands:
start
[-I] Internal I2C bus(es)
[-X] External I2C bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-a <val>] I2C address
default: 65
[-k] if initialization (probing) fails, keep retrying periodically
[-t <val>] battery index for calibration values (1 or 3)
default: 1
stop
status print status info
```
## ina228
Source: [drivers/power_monitor/ina228](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/power_monitor/ina228)
### Опис
Driver for the INA228 power monitor.
Multiple instances of this driver can run simultaneously, if each instance has a separate bus OR I2C address.
For example, one instance can run on Bus 2, address 0x45, and one can run on Bus 2, address 0x45.
If the INA228 module is not powered, then by default, initialization of the driver will fail. To change this, use
the -f flag. If this flag is set, then if initialization fails, the driver will keep trying to initialize again
every 0.5 seconds. With this flag set, you can plug in a battery after the driver starts, and it will work. Without
this flag set, the battery must be plugged in before starting the driver.
### Usage {#ina228_usage}
```
ina228 <command> [arguments...]
Commands:
start
[-I] Internal I2C bus(es)
[-X] External I2C bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-a <val>] I2C address
default: 69
[-k] if initialization (probing) fails, keep retrying periodically
[-t <val>] battery index for calibration values (1 or 3)
default: 1
stop
status print status info
```
## ina238
Source: [drivers/power_monitor/ina238](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/power_monitor/ina238)
### Опис
Driver for the INA238 power monitor.
Multiple instances of this driver can run simultaneously, if each instance has a separate bus OR I2C address.
For example, one instance can run on Bus 2, address 0x45, and one can run on Bus 2, address 0x45.
If the INA238 module is not powered, then by default, initialization of the driver will fail. To change this, use
the -f flag. If this flag is set, then if initialization fails, the driver will keep trying to initialize again
every 0.5 seconds. With this flag set, you can plug in a battery after the driver starts, and it will work. Without
this flag set, the battery must be plugged in before starting the driver.
### Usage {#ina238_usage}
```
ina238 <command> [arguments...]
Commands:
start
[-I] Internal I2C bus(es)
[-X] External I2C bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-a <val>] I2C address
default: 69
[-k] if initialization (probing) fails, keep retrying periodically
[-t <val>] battery index for calibration values (1 or 3)
default: 1
stop
status print status info
```
## iridiumsbd
Source: [drivers/telemetry/iridiumsbd](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/telemetry/iridiumsbd)
### Опис
IridiumSBD driver.
Creates a virtual serial port that another module can use for communication (e.g. mavlink).
### Usage {#iridiumsbd_usage}
```
iridiumsbd <command> [arguments...]
Commands:
start
-d <val> Serial device
values: <file:dev>
[-v] Enable verbose output
test
[s|read|AT <cmd>] Test command
stop
status print status info
```
## irlock
Source: [drivers/irlock](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/irlock)
### Usage {#irlock_usage}
```
irlock <command> [arguments...]
Commands:
start
[-I] Internal I2C bus(es)
[-X] External I2C bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-a <val>] I2C address
default: 84
stop
status print status info
```
## linux_pwm_out
Source: [drivers/linux_pwm_out](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/linux_pwm_out)
### Опис
Linux PWM output driver with board-specific backend implementation.
### Usage {#linux_pwm_out_usage}
```
linux_pwm_out <command> [arguments...]
Commands:
start
stop
status print status info
```
## lsm303agr
Source: [drivers/magnetometer/lsm303agr](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/magnetometer/lsm303agr)
### Usage {#lsm303agr_usage}
```
lsm303agr <command> [arguments...]
Commands:
start
[-s] Internal SPI bus(es)
[-S] External SPI bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
[-m <val>] SPI mode
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-R <val>] Rotation
default: 0
stop
status print status info
```
## msp_osd
Source: [drivers/osd/msp_osd](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/osd/msp_osd)
### Опис
MSP telemetry streamer
### Імплементація
Converts uORB messages to MSP telemetry packets
### Приклади
CLI usage example:
```
msp_osd
```
### Usage {#msp_osd_usage}
```
msp_osd <command> [arguments...]
Commands:
stop
status print status info
```
## newpixel
Source: [drivers/lights/neopixel](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/lights/neopixel)
### Опис
This module is responsible for driving interfasing to the Neopixel Serial LED
### Приклади
It is typically started with:
```
neopixel -n 8
```
To drive all available leds.
### Usage {#newpixel_usage}
```
newpixel <command> [arguments...]
Commands:
stop
status print status info
```
## paa3905
Source: [drivers/optical_flow/paa3905](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/optical_flow/paa3905)
### Usage {#paa3905_usage}
```
paa3905 <command> [arguments...]
Commands:
start
[-s] Internal SPI bus(es)
[-S] External SPI bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
[-m <val>] SPI mode
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-Y <val>] custom yaw rotation (degrees)
default: 0
stop
status print status info
```
## paw3902
Source: [drivers/optical_flow/paw3902](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/optical_flow/paw3902)
### Usage {#paw3902_usage}
```
paw3902 <command> [arguments...]
Commands:
start
[-s] Internal SPI bus(es)
[-S] External SPI bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
[-m <val>] SPI mode
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-Y <val>] custom yaw rotation (degrees)
default: 0
stop
status print status info
```
## pca9685_pwm_out
Source: [drivers/pca9685_pwm_out](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/pca9685_pwm_out)
### Опис
This is a PCA9685 PWM output driver.
It runs on I2C workqueue which is asynchronous with FC control loop,
fetching the latest mixing result and write them to PCA9685 at its scheduling ticks.
It can do full 12bits output as duty-cycle mode, while also able to output precious pulse width
that can be accepted by most ESCs and servos.
### Приклади
It is typically started with:
```
pca9685_pwm_out start -a 0x40 -b 1
```
### Usage {#pca9685_pwm_out_usage}
```
pca9685_pwm_out <command> [arguments...]
Commands:
start Start the task
[-a <val>] 7-bits I2C address of PCA9685
values: <addr>, default: 0x40
[-b <val>] bus that pca9685 is connected to
default: 1
stop
status print status info
```
## pm_selector_auterion
Source: [drivers/power_monitor/pm_selector_auterion](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/power_monitor/pm_selector_auterion)
### Опис
Driver for starting and auto-detecting different power monitors.
### Usage {#pm_selector_auterion_usage}
```
pm_selector_auterion <command> [arguments...]
Commands:
start
stop
status print status info
```
## pmw3901
Source: [drivers/optical_flow/pmw3901](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/optical_flow/pmw3901)
### Usage {#pmw3901_usage}
```
pmw3901 <command> [arguments...]
Commands:
start
[-s] Internal SPI bus(es)
[-S] External SPI bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
[-m <val>] SPI mode
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-R <val>] Rotation
default: 0
stop
status print status info
```
## pps_capture
Source: [drivers/pps_capture](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/pps_capture)
### Опис
This implements capturing PPS information from the GNSS module and calculates the drift between PPS and Real-time clock.
### Usage {#pps_capture_usage}
```
pps_capture <command> [arguments...]
Commands:
start
stop
status print status info
```
## pwm_out
Source: [drivers/pwm_out](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/pwm_out)
### Опис
This module is responsible for driving the output pins. For boards without a separate IO chip
(eg. Pixracer), it uses the main channels. On boards with an IO chip (eg. Pixhawk), it uses the AUX channels, and the
px4io driver is used for main ones.
### Usage {#pwm_out_usage}
```
pwm_out <command> [arguments...]
Commands:
start
stop
status print status info
```
## pwm_out_sim
Source: [modules/simulation/pwm_out_sim](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/pwm_out_sim)
### Опис
Driver for simulated PWM outputs.
Its only function is to take `actuator_control` uORB messages,
mix them with any loaded mixer and output the result to the
`actuator_output` uORB topic.
It is used in SITL and HITL.
### Usage {#pwm_out_sim_usage}
```
pwm_out_sim <command> [arguments...]
Commands:
start Start the module
[-m <val>] Mode
values: hil|sim, default: sim
stop
status print status info
```
## px4flow
Source: [drivers/optical_flow/px4flow](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/optical_flow/px4flow)
### Usage {#px4flow_usage}
```
px4flow <command> [arguments...]
Commands:
start
[-I] Internal I2C bus(es)
[-X] External I2C bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-a <val>] I2C address
default: 66
stop
status print status info
```
## px4io
Source: [drivers/px4io](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/px4io)
### Опис
Output driver communicating with the IO co-processor.
### Usage {#px4io_usage}
```
px4io <command> [arguments...]
Commands:
start
checkcrc Check CRC for a firmware file against current code on IO
<filename> Firmware file
update Update IO firmware
[<filename>] Firmware file
debug set IO debug level
<debug_level> 0=disabled, 9=max verbosity
bind DSM bind
dsm2|dsmx|dsmx8 protocol
sbus1_out enable sbus1 out
sbus2_out enable sbus2 out
supported Returns 0 if px4io is supported
test_fmu_fail test: turn off IO updates
test_fmu_ok re-enable IO updates
stop
status print status info
```
## rgbled
Source: [drivers/lights/rgbled_ncp5623c](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/lights/rgbled_ncp5623c)
### Usage {#rgbled_usage}
```
rgbled <command> [arguments...]
Commands:
start
[-I] Internal I2C bus(es)
[-X] External I2C bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-a <val>] I2C address
default: 57
[-o <val>] RGB PWM Assignment
default: 123
stop
status print status info
```
## rgbled_is31fl3195
Source: [drivers/lights/rgbled_is31fl3195](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/lights/rgbled_is31fl3195)
### Usage {#rgbled_is31fl3195_usage}
```
rgbled_is31fl3195 <command> [arguments...]
Commands:
start
[-I] Internal I2C bus(es)
[-X] External I2C bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-a <val>] I2C address
default: 84
[-o <val>] RGB PWM Assignment
default: 123
[-i <val>] Current Band
default: 0.5
stop
status print status info
```
## rgbled_lp5562
Source: [drivers/lights/rgbled_lp5562](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/lights/rgbled_lp5562)
### Опис
Driver for [LP5562](https://www.ti.com/product/LP5562) LED driver connected via I2C.
This used in some GPS modules by Holybro for [PX4 status notification](../getting_started/led_meanings.md)
The driver is included by default in firmware (KConfig key DRIVERS_LIGHTS_RGBLED_LP5562) and is always enabled.
### Usage {#rgbled_lp5562_usage}
```
rgbled_lp5562 <command> [arguments...]
Commands:
start
[-I] Internal I2C bus(es)
[-X] External I2C bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-a <val>] I2C address
default: 48
[-u <val>] Current in mA
default: 17.5
stop
status print status info
```
## roboclaw
Source: [drivers/roboclaw](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/roboclaw)
### Опис
This driver communicates over UART with the [Roboclaw motor driver](https://www.basicmicro.com/motor-controller).
It performs two tasks:
- Control the motors based on the OutputModuleInterface.
- Read the wheel encoders and publish the raw data in the `wheel_encoders` uORB topic
In order to use this driver, the Roboclaw should be put into Packet Serial mode (see the linked documentation), and
your flight controller's UART port should be connected to the Roboclaw as shown in the documentation.
The driver needs to be enabled using the parameter `RBCLW_SER_CFG`, the baudrate needs to be set correctly and
the address `RBCLW_ADDRESS` needs to match the ESC configuration.
The command to start this driver is: `$ roboclaw start <UART device> <baud rate>`
### Usage {#roboclaw_usage}
```
roboclaw <command> [arguments...]
Commands:
start
stop
status print status info
```
## rpm_capture
Source: [drivers/rpm_capture](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/rpm_capture)
### Usage {#rpm_capture_usage}
```
rpm_capture <command> [arguments...]
Commands:
start
stop
status print status info
```
## safety_button
Source: [drivers/safety_button](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/safety_button)
### Опис
This module is responsible for the safety button.
Pressing the safety button 3 times quickly will trigger a GCS pairing request.
### Usage {#safety_button_usage}
```
safety_button <command> [arguments...]
Commands:
start
stop
status print status info
```
## septentrio
Source: [drivers/gnss/septentrio](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/gnss/septentrio)
### Опис
Driver for Septentrio GNSS receivers.
It can automatically configure them and make their output available for the rest of the system.
A secondary receiver is supported for redundancy, logging and dual-receiver heading.
Septentrio receiver baud rates from 57600 to 1500000 are supported.
If others are used, the driver will use 230400 and give a warning.
### Приклади
Use one receiver on port `/dev/ttyS0` and automatically configure it to use baud rate 230400:
```
septentrio start -d /dev/ttyS0 -b 230400
```
Use two receivers, the primary on port `/dev/ttyS3` and the secondary on `/dev/ttyS4`,
detect baud rate automatically and preserve them:
```
septentrio start -d /dev/ttyS3 -e /dev/ttyS4
```
Perform warm reset of the receivers:
```
gps reset warm
```
### Usage {#septentrio_usage}
```
septentrio <command> [arguments...]
Commands:
start
-d <val> Primary receiver port
values: <file:dev>
[-b <val>] Primary receiver baud rate
default: 0
[-e <val>] Secondary receiver port
values: <file:dev>
[-g <val>] Secondary receiver baud rate
default: 0
stop
status print status info
reset Reset connected receiver
cold|warm|hot Specify reset type
```
## sht3x
Source: [drivers/hygrometer/sht3x](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/hygrometer/sht3x)
### Опис
SHT3x Temperature and Humidity Sensor Driver by Senserion.
### Приклади
CLI usage example:
```
sht3x start -X
```
Start the sensor driver on the external bus
```
sht3x status
```
Print driver status
```
sht3x values
```
Print last measured values
```
sht3x reset
```
Reinitialize senzor, reset flags
### Usage {#sht3x_usage}
```
sht3x <command> [arguments...]
Commands:
start
[-I] Internal I2C bus(es)
[-X] External I2C bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-a <val>] I2C address
default: 68
[-k] if initialization (probing) fails, keep retrying periodically
stop
status print status info
values Print actual data
reset Reinitialize sensor
```
## tap_esc
Source: [drivers/tap_esc](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/tap_esc)
### Опис
This module controls the TAP_ESC hardware via UART. It listens on the
actuator_controls topics, does the mixing and writes the PWM outputs.
### Імплементація
Currently the module is implemented as a threaded version only, meaning that it
runs in its own thread instead of on the work queue.
### Example
The module is typically started with:
```
tap_esc start -d /dev/ttyS2 -n <1-8>
```
### Usage {#tap_esc_usage}
```
tap_esc <command> [arguments...]
Commands:
start Start the task
[-d <val>] Device used to talk to ESCs
values: <device>
[-n <val>] Number of ESCs
default: 4
```
## tone_alarm
Source: [drivers/tone_alarm](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/tone_alarm)
### Опис
This module is responsible for the tone alarm.
### Usage {#tone_alarm_usage}
```
tone_alarm <command> [arguments...]
Commands:
start
stop
status print status info
```
## uwb
Source: [drivers/uwb/uwb_sr150](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/uwb/uwb_sr150)
### Опис
Driver for NXP UWB_SR150 UWB positioning system. This driver publishes a `uwb_distance` message
whenever the UWB_SR150 has a position measurement available.
### Example
Start the driver with a given device:
```
uwb start -d /dev/ttyS2
```
### Usage {#uwb_usage}
```
uwb <command> [arguments...]
Commands:
start
-d <val> Name of device for serial communication with UWB
values: <file:dev>
-b <val> Baudrate for serial communication
values: <int>
stop
status
```
## vertiq_io
Source: [drivers/actuators/vertiq_io](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/actuators/vertiq_io)
### Usage {#vertiq_io_usage}
```
vertiq_io <command> [arguments...]
Commands:
start
<device> UART device
stop
status print status info
```
## voxl2_io
Source: [drivers/voxl2_io](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/voxl2_io)
### Опис
This module is responsible for driving the output pins. For boards without a separate IO chip
(eg. Pixracer), it uses the main channels. On boards with an IO chip (eg. Pixhawk), it uses the AUX channels, and the
px4io driver is used for main ones.
### Usage {#voxl2_io_usage}
```
voxl2_io <command> [arguments...]
Commands:
start Start the task
-v Verbose messages
-d Disable PWM
-e Disable RC
-p <val> UART port
calibrate_escs Calibrate ESCs min/max range
enable_debug Enables driver debugging
stop
status print status info
```
## voxl_esc
Source: [drivers/actuators/voxl_esc](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/actuators/voxl_esc)
### Опис
This module is responsible for...
### Імплементація
By default the module runs on a work queue with a callback on the uORB actuator_controls topic.
### Приклади
It is typically started with:
```
todo
```
### Usage {#voxl_esc_usage}
```
voxl_esc <command> [arguments...]
Commands:
start Start the task
reset Send reset request to ESC
-i <val> ESC ID, 0-3
version Send version request to ESC
-i <val> ESC ID, 0-3
version-ext Send extended version request to ESC
-i <val> ESC ID, 0-3
rpm Closed-Loop RPM test control request
-i <val> ESC ID, 0-3
-r <val> RPM, -32,768 to 32,768
-n <val> Command repeat count, 0 to INT_MAX
-t <val> Delay between repeated commands (microseconds), 0 to INT_MAX
pwm Open-Loop PWM test control request
-i <val> ESC ID, 0-3
-r <val> Duty Cycle value, 0 to 800
-n <val> Command repeat count, 0 to INT_MAX
-t <val> Delay between repeated commands (microseconds), 0 to INT_MAX
tone Send tone generation request to ESC
-i <val> ESC ID, 0-3
-p <val> Period of sound, inverse frequency, 0-255
-d <val> Duration of the sound, 0-255, 1LSB = 13ms
-v <val> Power (volume) of sound, 0-100
led Send LED control request
-l <val> Bitmask 0x0FFF (12 bits) - ESC0 (RGB) ESC1 (RGB) ESC2 (RGB)
ESC3 (RGB)
stop
status print status info
```
## voxlpm
Source: [drivers/power_monitor/voxlpm](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/power_monitor/voxlpm)
### Usage {#voxlpm_usage}
```
voxlpm [arguments...]
start
[-I] Internal I2C bus(es)
[-X] External I2C bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-a <val>] I2C address
default: 68
[-T <val>] Type
values: VBATT|P5VDC|P12VDC, default: VBATT
[-k] if initialization (probing) fails, keep retrying periodically
stop
status print status info
```
## zenoh
Source: [modules/zenoh](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/zenoh)
### Опис
Zenoh demo bridge
### Usage {#zenoh_usage}
```
zenoh <command> [arguments...]
Commands:
start
stop
status
config
```
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