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702 lines
18 KiB
Markdown
702 lines
18 KiB
Markdown
# Modules Reference: Command
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## actuator_test
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Source: [systemcmds/actuator_test](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/actuator_test)
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Утиліта для тестування актуаторів.
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ПОПЕРЕДЖЕННЯ: перед використанням цієї команди приберіть усі пропелери.
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### Usage {#actuator_test_usage}
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```
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actuator_test <command> [arguments...]
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Commands:
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set Set an actuator to a specific output value
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The actuator can be specified by motor, servo or function directly:
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[-m <val>] Motor to test (1...8)
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[-s <val>] Servo to test (1...8)
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[-f <val>] Specify function directly
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-v <val> value (-1...1)
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[-t <val>] Timeout in seconds (run interactive if not set)
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default: 0
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iterate-motors Iterate all motors starting and stopping one after the other
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iterate-servos Iterate all servos deflecting one after the other
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```
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## bl_update
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Source: [systemcmds/bl_update](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/bl_update)
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Utility to flash the bootloader from a file
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### Usage {#bl_update_usage}
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```
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bl_update [arguments...]
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setopt Set option bits to unlock the FLASH (only needed if in locked
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state)
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<file> Bootloader bin file
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```
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## bsondump
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Source: [systemcmds/bsondump](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/bsondump)
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Utility to read BSON from a file and print or output document size.
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### Usage {#bsondump_usage}
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```
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bsondump [arguments...]
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<file> The BSON file to decode and print.
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```
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## dumpfile
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Source: [systemcmds/dumpfile](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/dumpfile)
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Dump file utility. Prints file size and contents in binary mode (don't replace LF with CR LF) to stdout.
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### Usage {#dumpfile_usage}
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```
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dumpfile [arguments...]
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<file> File to dump
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```
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## dyn
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Source: [systemcmds/dyn](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/dyn)
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### Опис
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Load and run a dynamic PX4 module, which was not compiled into the PX4 binary.
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### Example
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```
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dyn ./hello.px4mod start
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```
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### Usage {#dyn_usage}
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```
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dyn [arguments...]
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<file> File containing the module
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[arguments...] Arguments to the module
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```
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## failure
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Source: [systemcmds/failure](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/failure)
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### Опис
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Inject failures into system.
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### Імплементація
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This system command sends a vehicle command over uORB to trigger failure.
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### Приклади
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Test the GPS failsafe by stopping GPS:
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failure gps off
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### Usage {#failure_usage}
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```
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failure [arguments...]
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help Show this help text
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gps|... Specify component
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ok|off|... Specify failure type
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[-i <val>] sensor instance (0=all)
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default: 0
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```
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## gpio
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Source: [systemcmds/gpio](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/gpio)
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### Опис
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This command is used to read and write GPIOs
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```
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gpio read <PORT><PIN>/<DEVICE> [PULLDOWN|PULLUP] [--force]
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gpio write <PORT><PIN>/<DEVICE> <VALUE> [PUSHPULL|OPENDRAIN] [--force]
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```
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### Приклади
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Read the value on port H pin 4 configured as pullup, and it is high
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```
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gpio read H4 PULLUP
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```
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1 OK
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Set the output value on Port E pin 7 to high
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```
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gpio write E7 1 --force
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```
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Set the output value on device /dev/gpio1 to high
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```
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gpio write /dev/gpio1 1
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```
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### Usage {#gpio_usage}
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```
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gpio [arguments...]
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read
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<PORT><PIN>/<DEVICE> GPIO port and pin or device
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[PULLDOWN|PULLUP] Pulldown/Pullup
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[--force] Force (ignore board gpio list)
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write
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<PORT> <PIN> GPIO port and pin
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<VALUE> Value to write
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[PUSHPULL|OPENDRAIN] Pushpull/Opendrain
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[--force] Force (ignore board gpio list)
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```
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## hardfault_log
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Source: [systemcmds/hardfault_log](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/hardfault_log)
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Hardfault utility
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Used in startup scripts to handle hardfaults
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### Usage {#hardfault_log_usage}
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```
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hardfault_log <command> [arguments...]
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Commands:
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check Check if there's an uncommitted hardfault
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rearm Drop an uncommitted hardfault
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fault Generate a hardfault (this command crashes the system :)
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[0|1|2|3] Hardfault type: 0=divide by 0, 1=Assertion, 2=jump to 0x0,
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3=write to 0x0 (default=0)
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commit Write uncommitted hardfault to /fs/microsd/fault_%i.txt (and
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rearm, but don't reset)
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count Read the reboot counter, counts the number of reboots of an
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uncommitted hardfault (returned as the exit code of the
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program)
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reset Reset the reboot counter
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```
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## hist
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Source: [systemcmds/hist](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/hist)
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Command-line tool to show the px4 message history. There are no arguments.
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### Usage {#hist_usage}
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```
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hist [arguments...]
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```
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## i2cdetect
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Source: [systemcmds/i2cdetect](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/i2cdetect)
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Utility to scan for I2C devices on a particular bus.
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### Usage {#i2cdetect_usage}
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```
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i2cdetect [arguments...]
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[-b <val>] I2C bus
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default: 1
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```
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## led_control
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Source: [systemcmds/led_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/led_control)
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### Опис
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Command-line tool to control & test the (external) LED's.
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To use it make sure there's a driver running, which handles the led_control uorb topic.
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There are different priorities, such that for example one module can set a color with low priority, and another
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module can blink N times with high priority, and the LED's automatically return to the lower priority state
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after the blinking. The `reset` command can also be used to return to a lower priority.
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### Приклади
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Blink the first LED 5 times in blue:
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```
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led_control blink -c blue -l 0 -n 5
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```
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### Usage {#led_control_usage}
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```
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led_control <command> [arguments...]
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Commands:
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test Run a test pattern
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on Turn LED on
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off Turn LED off
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reset Reset LED priority
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blink Blink LED N times
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[-n <val>] Number of blinks
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default: 3
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[-s <val>] Set blinking speed
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values: fast|normal|slow, default: normal
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breathe Continuously fade LED in & out
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flash Two fast blinks and then off with frequency of 1Hz
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The following arguments apply to all of the above commands except for 'test':
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[-c <val>] color
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values: red|blue|green|yellow|purple|amber|cyan|white, default:
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white
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[-l <val>] Which LED to control: 0, 1, 2, ... (default=all)
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[-p <val>] Priority
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default: 2
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```
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## listener
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Source: [systemcmds/topic_listener](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/topic_listener)
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Utility to listen on uORB topics and print the data to the console.
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The listener can be exited any time by pressing Ctrl+C, Esc, or Q.
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### Usage {#listener_usage}
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```
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listener <command> [arguments...]
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Commands:
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<topic_name> uORB topic name
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[-i <val>] Topic instance
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default: 0
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[-n <val>] Number of messages
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default: 1
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[-r <val>] Subscription rate (unlimited if 0)
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default: 0
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```
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## mfd
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Source: [systemcmds/mft](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/mft)
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Utility interact with the manifest
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### Usage {#mfd_usage}
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```
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mfd <command> [arguments...]
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Commands:
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query Returns true if not existed
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```
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## mft_cfg
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Source: [systemcmds/mft_cfg](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/mft_cfg)
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Tool to set and get manifest configuration
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### Usage {#mft_cfg_usage}
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```
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mft_cfg <command> [arguments...]
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Commands:
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get get manifest configuration
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set set manifest configuration
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reset reset manifest configuration
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hwver|hwrev Select type: MTD_MTF_VER|MTD_MTF_REV
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-i <val> argument to set extended hardware id (id == version for
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<hwver>, id == revision for <hwrev> )
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```
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## mtd
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Source: [systemcmds/mtd](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/mtd)
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Utility to mount and test partitions (based on FRAM/EEPROM storage as defined by the board)
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### Usage {#mtd_usage}
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```
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mtd <command> [arguments...]
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Commands:
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status Print status information
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readtest Perform read test
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rwtest Perform read-write test
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erase Erase partition(s)
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The commands 'readtest' and 'rwtest' have an optional instance index:
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[-i <val>] storage index (if the board has multiple storages)
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default: 0
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The commands 'readtest', 'rwtest' and 'erase' have an optional parameter:
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[<partition_name1> [<partition_name2> ...]] Partition names (eg.
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/fs/mtd_params), use system default if not provided
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```
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## nshterm
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Source: [systemcmds/nshterm](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/nshterm)
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Start an NSH shell on a given port.
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This was previously used to start a shell on the USB serial port.
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Now there runs mavlink, and it is possible to use a shell over mavlink.
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### Usage {#nshterm_usage}
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```
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nshterm [arguments...]
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<file:dev> Device on which to start the shell (eg. /dev/ttyACM0)
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```
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## param
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Source: [systemcmds/param](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/param)
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### Опис
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Command to access and manipulate parameters via shell or script.
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This is used for example in the startup script to set airframe-specific parameters.
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Parameters are automatically saved when changed, eg. with `param set`. They are typically stored to FRAM
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or to the SD card. `param select` can be used to change the storage location for subsequent saves (this will
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need to be (re-)configured on every boot).
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If the FLASH-based backend is enabled (which is done at compile time, e.g. for the Intel Aero or Omnibus),
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`param select` has no effect and the default is always the FLASH backend. However `param save/load <file>`
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can still be used to write to/read from files.
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Each parameter has a 'used' flag, which is set when it's read during boot. It is used to only show relevant
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parameters to a ground control station.
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### Приклади
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Change the airframe and make sure the airframe's default parameters are loaded:
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```
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param set SYS_AUTOSTART 4001
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param set SYS_AUTOCONFIG 1
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reboot
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```
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### Usage {#param_usage}
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```
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param <command> [arguments...]
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Commands:
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load Load params from a file (overwrite all)
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[<file>] File name (use default if not given)
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import Import params from a file
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[<file>] File name (use default if not given)
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save Save params to a file
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[<file>] File name (use default if not given)
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select Select default file
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[<file>] File name
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select-backup Select default file
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[<file>] File name
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show Show parameter values
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[-a] Show all parameters (not just used)
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[-c] Show only changed params (unused too)
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[-q] quiet mode, print only param value (name needs to be exact)
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[<filter>] Filter by param name (wildcard at end allowed, eg. sys_*)
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show-for-airframe Show changed params for airframe config
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status Print status of parameter system
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set Set parameter to a value
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<param_name> <value> Parameter name and value to set
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[fail] If provided, let the command fail if param is not found
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set-default Set parameter default to a value
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[-s] If provided, silent errors if parameter doesn't exists
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<param_name> <value> Parameter name and value to set
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[fail] If provided, let the command fail if param is not found
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compare Compare a param with a value. Command will succeed if equal
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[-s] If provided, silent errors if parameter doesn't exists
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<param_name> <value> Parameter name and value to compare
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greater Compare a param with a value. Command will succeed if param is
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greater than the value
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[-s] If provided, silent errors if parameter doesn't exists
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<param_name> <value> Parameter name and value to compare
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<param_name> <value> Parameter name and value to compare
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touch Mark a parameter as used
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[<param_name1> [<param_name2>]] Parameter name (one or more)
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reset Reset only specified params to default
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[<param1> [<param2>]] Parameter names to reset (wildcard at end allowed)
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reset_all Reset all params to default
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[<exclude1> [<exclude2>]] Do not reset matching params (wildcard at end
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allowed)
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index Show param for a given index
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<index> Index: an integer >= 0
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index_used Show used param for a given index
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<index> Index: an integer >= 0
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find Show index of a param
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<param> param name
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```
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## payload_deliverer
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Source: [modules/payload_deliverer](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/payload_deliverer)
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### Опис
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Handles payload delivery with either Gripper or a Winch with an appropriate timeout / feedback sensor setting,
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and communicates back the delivery result as an acknowledgement internally
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### Usage {#payload_deliverer_usage}
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```
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payload_deliverer <command> [arguments...]
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Commands:
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start
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gripper_test Tests the Gripper's release & grabbing sequence
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gripper_open Opens the gripper
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gripper_close Closes the gripper
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stop
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status print status info
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```
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## perf
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Source: [systemcmds/perf](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/perf)
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Tool to print performance counters
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### Usage {#perf_usage}
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```
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perf [arguments...]
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reset Reset all counters
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latency Print HRT timer latency histogram
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Prints all performance counters if no arguments given
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```
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## reboot
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Source: [systemcmds/reboot](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/reboot)
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Reboot the system
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### Usage {#reboot_usage}
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```
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reboot [arguments...]
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[-b] Reboot into bootloader
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[-i] Reboot into ISP (1st stage bootloader)
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[lock|unlock] Take/release the shutdown lock (for testing)
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```
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## sd_bench
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Source: [systemcmds/sd_bench](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/sd_bench)
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Test the speed of an SD Card
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### Usage {#sd_bench_usage}
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```
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sd_bench [arguments...]
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[-b <val>] Block size for each read/write
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default: 4096
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[-r <val>] Number of runs
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default: 5
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[-d <val>] Duration of a run in ms
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default: 2000
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[-k] Keep the test file
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[-s] Call fsync after each block (default=at end of each run)
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[-u] Test performance with unaligned data
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[-U] Test performance with forced byte unaligned data
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[-v] Verify data and block number
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```
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## sd_stress
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Source: [systemcmds/sd_stress](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/sd_stress)
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Test operations on an SD Card
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### Usage {#sd_stress_usage}
|
||
|
||
```
|
||
sd_stress [arguments...]
|
||
[-r <val>] Number of runs
|
||
default: 5
|
||
[-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.
|
||
|
||
### Usage {#serial_passthru_usage}
|
||
|
||
```
|
||
serial_passthru [arguments...]
|
||
-e <val> External device path
|
||
values: <file:dev>
|
||
-d <val> Internal device path
|
||
values: <file:dev>
|
||
[-b <val>] Baudrate
|
||
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)
|
||
|
||
### Опис
|
||
|
||
Command-line tool to set and get system time.
|
||
|
||
### Приклади
|
||
|
||
Set the system time and read it back
|
||
|
||
```
|
||
system_time set 1600775044
|
||
system_time get
|
||
```
|
||
|
||
### Usage {#system_time_usage}
|
||
|
||
```
|
||
system_time <command> [arguments...]
|
||
Commands:
|
||
set Set the system time, provide time in unix epoch time format
|
||
|
||
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
|
||
|
||
### 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.
|
||
|
||
### 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
|
||
|
||
### Usage {#ver_usage}
|
||
|
||
```
|
||
ver <command> [arguments...]
|
||
Commands:
|
||
hw Hardware architecture
|
||
|
||
mcu MCU info
|
||
|
||
git git version information
|
||
|
||
bdate Build date and time
|
||
|
||
gcc Compiler info
|
||
|
||
bdate Build date and time
|
||
|
||
px4guid PX4 GUID
|
||
|
||
uri Build URI
|
||
|
||
all Print all versions
|
||
|
||
hwcmp Compare hardware version (returns 0 on match)
|
||
<hw> [<hw2>] Hardware to compare against (eg. PX4_FMU_V4). An OR comparison
|
||
is used if multiple are specified
|
||
|
||
hwtypecmp Compare hardware type (returns 0 on match)
|
||
<hwtype> [<hwtype2>] Hardware type to compare against (eg. V2). An OR
|
||
comparison is used if multiple are specified
|
||
|
||
hwbasecmp Compare hardware base (returns 0 on match)
|
||
<hwbase> [<hwbase2>] Hardware type to compare against (eg. V2). An OR
|
||
comparison is used if multiple are specified
|
||
```
|