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docs: update module reference metadata

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Ramon Roche
2025-06-05 07:52:24 -07:00
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138
docs/en/modules/modules_controller.md
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@@ -1,11 +1,13 @@
# Modules Reference: Controller
## airship_att_control
Source: [modules/airship_att_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/airship_att_control)
### Description
### Description
This implements the airship attitude and rate controller. Ideally it would
take attitude setpoints (`vehicle_attitude_setpoint`) or rate setpoints (in acro mode
via `manual_control_setpoint` topic) as inputs and outputs actuator control messages.
@@ -13,9 +15,9 @@ via `manual_control_setpoint` topic) as inputs and outputs actuator control mess
Currently it is feeding the `manual_control_setpoint` topic directly to the actuators.
### Implementation
To reduce control latency, the module directly polls on the gyro topic published by the IMU driver.
### Usage {#airship_att_control_usage}
```
@@ -32,8 +34,8 @@ airship_att_control <command> [arguments...]
Source: [modules/control_allocator](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/control_allocator)
### Description
### Description
This implements control allocation. It takes torque and thrust setpoints
as inputs and outputs actuator setpoint messages.
@@ -53,11 +55,12 @@ control_allocator <command> [arguments...]
Source: [modules/flight_mode_manager](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/flight_mode_manager)
### Description
### Description
This implements the setpoint generation for all modes. It takes the current mode state of the vehicle as input
and outputs setpoints for controllers.
### Usage {#flight_mode_manager_usage}
```
@@ -74,10 +77,11 @@ flight_mode_manager <command> [arguments...]
Source: [modules/fw_att_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/fw_att_control)
### Description
### Description
fw_att_control is the fixed wing attitude controller.
### Usage {#fw_att_control_usage}
```
@@ -95,10 +99,11 @@ fw_att_control <command> [arguments...]
Source: [modules/fw_lateral_longitudinal_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/fw_lateral_longitudinal_control)
### Description
### Description
fw_lat_lon_control computes attitude and throttle setpoints from lateral and longitudinal control setpoints.
### Usage {#fw_lat_lon_control_usage}
```
@@ -116,12 +121,13 @@ fw_lat_lon_control <command> [arguments...]
Source: [modules/fw_mode_manager](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/fw_mode_manager)
### Description
### Description
This implements the setpoint generation for all PX4-internal fixed-wing modes, height-rate control and higher.
It takes the current mode state of the vehicle as input and outputs setpoints consumed by the fixed-wing
lateral-longitudinal controller and and controllers below that (attitude, rate).
### Usage {#fw_mode_manager_usage}
```
@@ -138,10 +144,11 @@ fw_mode_manager <command> [arguments...]
Source: [modules/fw_rate_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/fw_rate_control)
### Description
### Description
fw_rate_control is the fixed-wing rate controller.
### Usage {#fw_rate_control_usage}
```
@@ -159,8 +166,8 @@ fw_rate_control <command> [arguments...]
Source: [modules/mc_att_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mc_att_control)
### Description
### Description
This implements the multicopter attitude controller. It takes attitude
setpoints (`vehicle_attitude_setpoint`) as inputs and outputs a rate setpoint.
@@ -173,6 +180,7 @@ 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
### Usage {#mc_att_control_usage}
```
@@ -186,36 +194,12 @@ mc_att_control <command> [arguments...]
status print status info
```
## mc_nn_control
Source: [modules/mc_nn_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mc_nn_control)
### Description
Multicopter Neural Network Control module.
This module is an end-to-end neural network control system for multicopters.
It takes in 15 input values and outputs 4 control actions.
Inputs: [pos_err(3), att(6), vel(3), ang_vel(3)]
Outputs: [Actuator motors(4)]
### Usage {#mc_nn_control_usage}
```
mc_nn_control <command> [arguments...]
Commands:
start
stop
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)
### Description
### Description
The controller has two loops: a P loop for position error and a PID loop for velocity error.
Output of the velocity controller is thrust vector that is split to thrust direction
(i.e. rotation matrix for multicopter orientation) and thrust scalar (i.e. multicopter thrust itself).
@@ -240,13 +224,14 @@ mc_pos_control <command> [arguments...]
Source: [modules/mc_rate_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mc_rate_control)
### Description
### Description
This implements the multicopter rate controller. It takes rate setpoints (in acro mode
via `manual_control_setpoint` topic) as inputs and outputs actuator control messages.
The controller has a PID loop for angular rate error.
### Usage {#mc_rate_control_usage}
```
@@ -264,20 +249,20 @@ mc_rate_control <command> [arguments...]
Source: [modules/navigator](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/navigator)
### Description
### Description
Module that is responsible for autonomous flight modes. This includes missions (read from dataman),
takeoff and RTL.
It is also responsible for geofence violation checking.
### Implementation
The different internal modes are implemented as separate classes that inherit from a common base class `NavigatorMode`.
The member `_navigation_mode` contains the current active mode.
Navigator publishes position setpoint triplets (`position_setpoint_triplet_s`), which are then used by the position
controller.
### Usage {#navigator_usage}
```
@@ -298,8 +283,8 @@ navigator <command> [arguments...]
Source: [modules/rover_ackermann](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/rover_ackermann)
### Description
### Description
Rover ackermann module.
### Usage {#rover_ackermann_usage}
@@ -318,8 +303,8 @@ rover_ackermann <command> [arguments...]
Source: [modules/rover_differential](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/rover_differential)
### Description
### Description
Rover differential module.
### Usage {#rover_differential_usage}
@@ -338,8 +323,8 @@ rover_differential <command> [arguments...]
Source: [modules/rover_mecanum](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/rover_mecanum)
### Description
### Description
Rover mecanum module.
### Usage {#rover_mecanum_usage}
@@ -354,14 +339,53 @@ 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)
### Description
Controls the position of a ground rover using an L1 controller.
Publishes `vehicle_thrust_setpoint (only in x) and vehicle_torque_setpoint (only yaw)` messages at IMU_GYRO_RATEMAX.
### Implementation
Currently, this implementation supports only a few modes:
* Full manual: Throttle and yaw controls are passed directly through to the actuators
* Auto mission: The rover runs missions
* Loiter: The rover will navigate to within the loiter radius, then stop the motors
### Examples
CLI usage example:
```
rover_pos_control start
rover_pos_control status
rover_pos_control stop
```
### Usage {#rover_pos_control_usage}
```
rover_pos_control <command> [arguments...]
Commands:
start
stop
status print status info
```
## spacecraft
Source: [modules/spacecraft](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/spacecraft)
### Description
This implements control allocation for spacecraft vehicles.
It takes torque and thrust setpoints as inputs and outputs
actuator setpoint messages.
### Description
This implements control allocation for spacecraft vehicles.
It takes torque and thrust setpoints as inputs and outputs
actuator setpoint messages.
### Usage {#spacecraft_usage}
@@ -370,8 +394,6 @@ spacecraft <command> [arguments...]
Commands:
start
status
stop
status print status info
@@ -381,29 +403,27 @@ spacecraft <command> [arguments...]
Source: [modules/uuv_att_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/uuv_att_control)
### Description
### Description
Controls the attitude of an unmanned underwater vehicle (UUV).
Publishes `vehicle_thrust_setpont` and `vehicle_torque_setpoint` messages at a constant 250Hz.
### Implementation
Currently, this implementation supports only a few modes:
- Full manual: Roll, pitch, yaw, and throttle controls are passed directly through to the actuators
- Auto mission: The uuv runs missions
* Full manual: Roll, pitch, yaw, and throttle controls are passed directly through to the actuators
* Auto mission: The uuv runs missions
### Examples
CLI usage example:
```
uuv_att_control start
uuv_att_control status
uuv_att_control stop
```
### Usage {#uuv_att_control_usage}
```
@@ -420,22 +440,16 @@ uuv_att_control <command> [arguments...]
Source: [modules/uuv_pos_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/uuv_pos_control)
### Description
### Description
Controls the attitude of an unmanned underwater vehicle (UUV).
Publishes `attitude_setpoint` messages.
### Implementation
Currently, this implementation supports only a few modes:
- Full manual: Roll, pitch, yaw, and throttle controls are passed directly through to the actuators
- Auto mission: The uuv runs missions
* Full manual: Roll, pitch, yaw, and throttle controls are passed directly through to the actuators
* Auto mission: The uuv runs missions
### Examples
CLI usage example:
```
uuv_pos_control start
uuv_pos_control status
@@ -458,8 +472,8 @@ uuv_pos_control <command> [arguments...]
Source: [modules/vtol_att_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/vtol_att_control)
### Description
### Description
fw_att_control is the fixed wing attitude controller.
### Usage {#vtol_att_control_usage}

4
docs/en/modules/modules_driver.md
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@@ -1108,12 +1108,8 @@ px4io <command> [arguments...]
```
## rgbled
<<<<<<< HEAD
Source: [drivers/lights/rgbled_ncp5623c](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/lights/rgbled_ncp5623c)
=======
Source: [drivers/lights/rgbled](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/lights/rgbled)
>>>>>>> 5b409a45c1 (docs: update module reference metadata)
### Usage {#rgbled_usage}

2
docs/en/modules/modules_driver_distance_sensor.md
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@@ -200,7 +200,7 @@ lightware_sf45_serial <command> [arguments...]
## ll40ls
Source: [drivers/distance_sensor/ll40ls_pwm](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/ll40ls_pwm)
Source: [drivers/distance_sensor/ll40ls](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/ll40ls)
### Description

2
docs/en/modules/modules_driver_transponder.md
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@@ -22,7 +22,7 @@ Source: [drivers/transponder/sagetech_mxs](https://github.com/PX4/PX4-Autopilot/
$ sagetech_mxs opmode 0/1/2/3
Set the Squawk Code
$ sagetech_mxs squawk 1200
### Usage {#sagetech_mxs_usage}
```

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docs/en/modules/modules_system.md
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