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90 lines
1.6 KiB
Markdown
90 lines
1.6 KiB
Markdown
# 模块参考: 模板
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## mc_raptor
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Source: [modules/mc_raptor](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mc_raptor)
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### 描述
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RAPTOR Policy Flight Mode
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### Usage {#mc_raptor_usage}
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```
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mc_raptor <command> [arguments...]
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Commands:
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start
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intref Modify internal reference
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lissajous Set Lissajous trajectory parameters
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<A> Amplitude X [m]
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<B> Amplitude Y [m]
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<C> Amplitude Z [m]
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<fa> Frequency a
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<fb> Frequency b
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<fc> Frequency c
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<duration> Total duration [s]
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<ramp> Ramp duration [s]
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stop
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status print status info
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```
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## 模块
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Source: [templates/template_module](https://github.com/PX4/PX4-Autopilot/tree/main/src/templates/template_module)
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### 描述
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该部分描述所提供模块的功能。
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这是一个模块的模版，该模块在后台作为任务（task）运行并且有 start/stop/status 功能。
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### 实现
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该部分描述模块的高层次实现。
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### 示例
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CLI usage example:
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```
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module start -f -p 42
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```
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### Usage {#module_usage}
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```
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module <command> [arguments...]
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Commands:
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start
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[-f] Optional example flag
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[-p <val>] Optional example parameter
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default: 0
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stop
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status print status info
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```
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## work_item_example
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Source: [examples/work_item](https://github.com/PX4/PX4-Autopilot/tree/main/src/examples/work_item)
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### 描述
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Example of a simple module running out of a work queue.
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### Usage {#work_item_example_usage}
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```
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work_item_example <command> [arguments...]
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Commands:
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start
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stop
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status print status info
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```
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