From 3fdd3e3e4359083ae9c104f2ea675d573085525f Mon Sep 17 00:00:00 2001 From: Ramon Roche Date: Thu, 5 Jun 2025 07:52:24 -0700 Subject: [PATCH] docs: update module reference metadata --- docs/en/modules/modules_controller.md | 138 ++++++------ docs/en/modules/modules_driver.md | 4 - .../modules/modules_driver_distance_sensor.md | 2 +- docs/en/modules/modules_driver_transponder.md | 2 +- docs/en/modules/modules_system.md | 203 +++++++++--------- 5 files changed, 174 insertions(+), 175 deletions(-) diff --git a/docs/en/modules/modules_controller.md b/docs/en/modules/modules_controller.md index f2a6e3a484..da1a026825 100644 --- a/docs/en/modules/modules_controller.md +++ b/docs/en/modules/modules_controller.md @@ -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 [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 [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 [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 [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 [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 [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 [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 [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 [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 [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 [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 [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 [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 [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 [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 [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 [arguments...] Commands: start - status - stop status print status info @@ -381,29 +403,27 @@ spacecraft [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 [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 [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} diff --git a/docs/en/modules/modules_driver.md b/docs/en/modules/modules_driver.md index c747d6c7b0..22d1ba9a80 100644 --- a/docs/en/modules/modules_driver.md +++ b/docs/en/modules/modules_driver.md @@ -1108,12 +1108,8 @@ px4io [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} diff --git a/docs/en/modules/modules_driver_distance_sensor.md b/docs/en/modules/modules_driver_distance_sensor.md index f92f57c5aa..9e5268be96 100644 --- a/docs/en/modules/modules_driver_distance_sensor.md +++ b/docs/en/modules/modules_driver_distance_sensor.md @@ -200,7 +200,7 @@ lightware_sf45_serial [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 diff --git a/docs/en/modules/modules_driver_transponder.md b/docs/en/modules/modules_driver_transponder.md index 799f9a9179..5895eaca18 100644 --- a/docs/en/modules/modules_driver_transponder.md +++ b/docs/en/modules/modules_driver_transponder.md @@ -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} ``` diff --git a/docs/en/modules/modules_system.md b/docs/en/modules/modules_system.md index fe9b467cf6..6d03762b68 100644 --- a/docs/en/modules/modules_system.md +++ b/docs/en/modules/modules_system.md @@ -1,11 +1,16 @@ # Modules Reference: System + + ## battery_simulator Source: [modules/simulation/battery_simulator](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/battery_simulator) + ### Description + + ### Usage {#battery_simulator_usage} ``` @@ -22,16 +27,17 @@ battery_simulator [arguments...] Source: [modules/battery_status](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/battery_status) + ### Description The provided functionality includes: - - Read the output from the ADC driver (via ioctl interface) and publish `battery_status`. -### Implementation +### Implementation It runs in its own thread and polls on the currently selected gyro topic. + ### Usage {#battery_status_usage} ``` @@ -48,6 +54,7 @@ battery_status [arguments...] Source: [modules/camera_feedback](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/camera_feedback) + ### Description The camera_feedback module publishes `CameraCapture` UORB topics when image capture has been triggered. @@ -62,7 +69,7 @@ The `CAMERA_IMAGE_CAPTURED` message is then emitted (by streaming code) followin ### Implementation `CameraTrigger` topics are published by the `camera_trigger` module (`feedback` field set `false`) -when image capture is triggered, and may also be published by the `camera_capture` driver +when image capture is triggered, and may also be published by the `camera_capture` driver (with `feedback` field set `true`) if the camera capture pin is activated. The `camera_feedback` module subscribes to `CameraTrigger`. @@ -70,6 +77,7 @@ It discards topics from the `camera_trigger` module if camera capture is enabled For the topics that are not discarded it creates a `CameraCapture` topic with the timestamp information from the `CameraTrigger` and position information from the vehicle. + ### Usage {#camera_feedback_usage} ``` @@ -86,8 +94,8 @@ camera_feedback [arguments...] Source: [drivers/cdcacm_autostart](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/cdcacm_autostart) -### Description +### Description This module listens on USB and auto-configures the protocol depending on the bytes received. The supported protocols are: MAVLink, nsh, and ublox serial passthrough. If the parameter SYS_USB_AUTO=2 the module will only try to start mavlink as long as the USB VBUS is detected. Otherwise it will spin @@ -109,8 +117,8 @@ cdcacm_autostart [arguments...] Source: [modules/commander](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/commander) -### Description +### Description The commander module contains the state machine for mode switching and failsafe behavior. ### Usage {#commander_usage} @@ -127,10 +135,6 @@ commander [arguments...] check Run preflight checks - safety Change prearm safety state - on|off [on] to activate safety, [off] to deactivate safety and allow - control surface movements - arm [-f] Force arming (do not run preflight checks) @@ -144,13 +148,13 @@ commander [arguments...] transition VTOL transition mode Change flight mode - manual|acro|offboard|stabilized|altctl|posctl|altitude_cruise|position:slow - |auto:mission|auto:loiter|auto:rtl|auto:takeoff|auto:land|auto: - precland|ext1 Flight mode + manual|acro|offboard|stabilized|altctl|posctl|position:slow|auto:mission|au + to:loiter|auto:rtl|auto:takeoff|auto:land|auto:precland|ext1 + Flight mode pair - termination + lockdown on|off Turn lockdown on or off set_ekf_origin @@ -158,9 +162,6 @@ commander [arguments...] lat|lon|alt Origin latitude longitude altitude - set_heading Set current heading - heading degrees from True North [0 360] - poweroff Power off board (if supported) stop @@ -172,11 +173,10 @@ commander [arguments...] Source: [modules/dataman](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/dataman) -### Description +### Description Module to provide persistent storage for the rest of the system in form of a simple database through a C API. Multiple backends are supported depending on the board: - - a file (eg. on the SD card) - RAM (this is obviously not persistent) @@ -184,9 +184,9 @@ It is used to store structured data of different types: mission waypoints, missi Each type has a specific type and a fixed maximum amount of storage items, so that fast random access is possible. ### Implementation - Reading and writing a single item is always atomic. + ### Usage {#dataman_usage} ``` @@ -209,6 +209,7 @@ dataman [arguments...] Source: [systemcmds/dmesg](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/dmesg) + ### Description Command-line tool to show bootup console messages. @@ -217,7 +218,6 @@ Note that output from NuttX's work queues and syslog are not captured. ### Examples Keep printing all messages in the background: - ``` dmesg -f & ``` @@ -234,10 +234,11 @@ dmesg [arguments...] Source: [modules/esc_battery](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/esc_battery) -### Description +### Description This implements using information from the ESC status and publish it as battery status. + ### Usage {#esc_battery_usage} ``` @@ -254,10 +255,11 @@ esc_battery [arguments...] Source: [modules/gyro_calibration](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/gyro_calibration) -### Description +### Description Simple online gyroscope calibration. + ### Usage {#gyro_calibration_usage} ``` @@ -274,8 +276,10 @@ gyro_calibration [arguments...] Source: [modules/gyro_fft](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/gyro_fft) + ### Description + ### Usage {#gyro_fft_usage} ``` @@ -288,39 +292,12 @@ gyro_fft [arguments...] status print status info ``` -## hardfault_stream - -Source: [modules/hardfault_stream](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/hardfault_stream) - -### Description - -Background process that streams the latest hardfault via MAVLink. - -The module is especially useful when it is necessary to quickly push a hard fault to the ground station. -This is useful in cases where the drone experiences a hard fault during flight. -It ensures that some data is retained in case the permanent storage is destroyed during a crash. - -To reliably stream, it is necessary to send the STATUSTEXT message via MAVLink at a -high enough frequency. The recommended frequency is 10 Hz or higher. - -### Usage {#hardfault_stream_usage} - -``` -hardfault_stream [arguments...] - Commands: - start Start the background task - - stop - - status print status info -``` - ## heater Source: [drivers/heater](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/heater) -### Description +### Description Background process running periodically on the LP work queue to regulate IMU temperature at a setpoint. This task can be started at boot from the startup scripts by setting SENS_EN_THERMAL or via CLI. @@ -341,10 +318,11 @@ heater [arguments...] Source: [systemcmds/i2c_launcher](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/i2c_launcher) -### Description +### Description Daemon that starts drivers based on found I2C devices. + ### Usage {#i2c_launcher_usage} ``` @@ -363,6 +341,7 @@ i2c_launcher [arguments...] Source: [modules/internal_combustion_engine_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/internal_combustion_engine_control) + ### Description The module controls internal combustion engine (ICE) features including: @@ -381,7 +360,7 @@ CONFIG_DRIVERS_RPM_CAPTURE=y Additionally, to enable the module: - Set [ICE_EN](../advanced_config/parameter_reference.md#ICE_EN) - to true and adjust the other `ICE_` module parameters according to your needs. +to true and adjust the other `ICE_` module parameters according to your needs. - Set [RPM_CAP_ENABLE](../advanced_config/parameter_reference.md#RPM_CAP_ENABLE) to true. The module outputs control signals for ignition, throttle, and choke, @@ -406,6 +385,7 @@ The state machine: - In the state "Stopped" the throttle is set to NAN, which by definition will set the throttle output to the disarmed value configured for the specific output. + The module publishes [InternalCombustionEngineControl.msg](../msg_docs/InternalCombustionEngineControl.md). The architecture is as shown below: @@ -430,20 +410,18 @@ internal_combustion_engine_control [arguments...] Source: [modules/land_detector](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/land_detector) -### Description +### Description Module to detect the freefall and landed state of the vehicle, and publishing the `vehicle_land_detected` topic. Each vehicle type (multirotor, fixedwing, vtol, ...) provides its own algorithm, taking into account various states, such as commanded thrust, arming state and vehicle motion. ### Implementation - Every type is implemented in its own class with a common base class. The base class maintains a state (landed, maybe_landed, ground_contact). Each possible state is implemented in the derived classes. A hysteresis and a fixed priority of each internal state determines the actual land_detector state. #### Multicopter Land Detector - **ground_contact**: thrust setpoint and velocity in z-direction must be below a defined threshold for time GROUND_CONTACT_TRIGGER_TIME_US. When ground_contact is detected, the position controller turns off the thrust setpoint in body x and y. @@ -473,8 +451,8 @@ land_detector [arguments...] Source: [modules/load_mon](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/load_mon) -### Description +### Description Background process running periodically on the low priority work queue to calculate the CPU load and RAM usage and publish the `cpuload` topic. @@ -497,14 +475,13 @@ load_mon [arguments...] Source: [modules/logger](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/logger) -### Description +### Description System logger which logs a configurable set of uORB topics and system printf messages (`PX4_WARN` and `PX4_ERR`) to ULog files. These can be used for system and flight performance evaluation, tuning, replay and crash analysis. It supports 2 backends: - - Files: write ULog files to the file system (SD card) - MAVLink: stream ULog data via MAVLink to a client (the client must support this) @@ -516,9 +493,7 @@ vehicle management. It can be enabled and configured via SDLOG_MISSION parameter The normal log is always a superset of the mission log. ### Implementation - The implementation uses two threads: - - The main thread, running at a fixed rate (or polling on a topic if started with -p) and checking for data updates - The writer thread, writing data to the file @@ -527,15 +502,12 @@ In between there is a write buffer with configurable size (and another fixed-siz the mission log). It should be large to avoid dropouts. ### Examples - Typical usage to start logging immediately: - ``` logger start -e -t ``` Or if already running: - ``` logger on ``` @@ -579,8 +551,8 @@ logger [arguments...] Source: [modules/mag_bias_estimator](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mag_bias_estimator) -### Description +### Description Online magnetometer bias estimator. ### Usage {#mag_bias_estimator_usage} @@ -599,10 +571,11 @@ mag_bias_estimator [arguments...] Source: [modules/manual_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/manual_control) -### Description +### Description Module consuming manual_control_inputs publishing one manual_control_setpoint. + ### Usage {#manual_control_usage} ``` @@ -619,37 +592,36 @@ manual_control [arguments...] Source: [systemcmds/netman](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/netman) -### Description -Network configuration manager saves the network settings in non-volatile -memory. On boot the `update` option will be run. If a network configuration -does not exist. The default setting will be saved in non-volatile and the -system rebooted. + ### Description + Network configuration manager saves the network settings in non-volatile + memory. On boot the `update` option will be run. If a network configuration + does not exist. The default setting will be saved in non-volatile and the + system rebooted. -#### update + #### update -`netman update` is run automatically by [a startup script](../concept/system_startup.md#system-startup). -When run, the `update` option will check for the existence of `net.cfg` in the root of the SD Card. -It then saves the network settings from `net.cfg` in non-volatile memory, -deletes the file and reboots the system. + `netman update` is run automatically by [a startup script](../concept/system_startup.md#system-startup). + When run, the `update` option will check for the existence of `net.cfg` in the root of the SD Card. + It then saves the network settings from `net.cfg` in non-volatile memory, + deletes the file and reboots the system. -#### save + #### save -The `save` option will save settings from non-volatile memory to a file named -`net.cfg` on the SD Card filesystem for editing. Use this to edit the settings. -Save does not immediately apply the network settings; the user must reboot the flight stack. -By contrast, the `update` command is run by the start-up script, commits the settings to non-volatile memory, -and reboots the flight controller (which will then use the new settings). + The `save` option will save settings from non-volatile memory to a file named + `net.cfg` on the SD Card filesystem for editing. Use this to edit the settings. + Save does not immediately apply the network settings; the user must reboot the flight stack. + By contrast, the `update` command is run by the start-up script, commits the settings to non-volatile memory, + and reboots the flight controller (which will then use the new settings). -#### show + #### show -The `show` option will display the network settings in `net.cfg` to the console. + The `show` option will display the network settings in `net.cfg` to the console. -### Examples - -$ netman save # Save the parameters to the SD card. -$ netman show # display current settings. -$ netman update -i eth0 # do an update + ### Examples + $ netman save # Save the parameters to the SD card. + $ netman show # display current settings. + $ netman update -i eth0 # do an update ### Usage {#netman_usage} @@ -670,10 +642,11 @@ netman [arguments...] Source: [drivers/pwm_input](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/pwm_input) -### Description +### Description Measures the PWM input on AUX5 (or MAIN5) via a timer capture ISR and publishes via the uORB 'pwm_input` message. + ### Usage {#pwm_input_usage} ``` @@ -690,16 +663,16 @@ pwm_input [arguments...] Source: [modules/rc_update](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/rc_update) -### Description +### Description The rc_update module handles RC channel mapping: read the raw input channels (`input_rc`), then apply the calibration, map the RC channels to the configured channels & mode switches and then publish as `rc_channels` and `manual_control_input`. ### Implementation - To reduce control latency, the module is scheduled on input_rc publications. + ### Usage {#rc_update_usage} ``` @@ -716,13 +689,12 @@ rc_update [arguments...] Source: [modules/replay](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/replay) -### Description +### Description This module is used to replay ULog files. There are 2 environment variables used for configuration: `replay`, which must be set to an ULog file name - it's the log file to be replayed. The second is the mode, specified via `replay_mode`: - - `replay_mode=ekf2`: specific EKF2 replay mode. It can only be used with the ekf2 module, but allows the replay to run as fast as possible. - Generic otherwise: this can be used to replay any module(s), but the replay will be done with the same speed as the @@ -755,8 +727,8 @@ replay [arguments...] Source: [modules/events](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/events) -### Description +### Description Background process running periodically on the LP work queue to perform housekeeping tasks. It is currently only responsible for tone alarm on RC Loss. @@ -778,10 +750,11 @@ send_event [arguments...] Source: [modules/simulation/sensor_agp_sim](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/sensor_agp_sim) -### Description +### Description Module to simulate auxiliary global position measurements with optional failure modes for SIH simulation. + ### Usage {#sensor_agp_sim_usage} ``` @@ -798,8 +771,11 @@ sensor_agp_sim [arguments...] Source: [modules/simulation/sensor_airspeed_sim](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/sensor_airspeed_sim) + ### Description + + ### Usage {#sensor_arispeed_sim_usage} ``` @@ -816,8 +792,11 @@ sensor_arispeed_sim [arguments...] Source: [modules/simulation/sensor_baro_sim](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/sensor_baro_sim) + ### Description + + ### Usage {#sensor_baro_sim_usage} ``` @@ -834,8 +813,11 @@ sensor_baro_sim [arguments...] Source: [modules/simulation/sensor_gps_sim](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/sensor_gps_sim) + ### Description + + ### Usage {#sensor_gps_sim_usage} ``` @@ -852,8 +834,11 @@ sensor_gps_sim [arguments...] Source: [modules/simulation/sensor_mag_sim](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/sensor_mag_sim) + ### Description + + ### Usage {#sensor_mag_sim_usage} ``` @@ -870,13 +855,12 @@ sensor_mag_sim [arguments...] Source: [modules/sensors](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/sensors) -### Description +### Description The sensors module is central to the whole system. It takes low-level output from drivers, turns it into a more usable form, and publishes it for the rest of the system. The provided functionality includes: - - Read the output from the sensor drivers (`SensorGyro`, etc.). If there are multiple of the same type, do voting and failover handling. Then apply the board rotation and temperature calibration (if enabled). And finally publish the data; one of the @@ -887,9 +871,9 @@ The provided functionality includes: - Do sensor consistency checks and publish the `SensorsStatusImu` topic. ### Implementation - It runs in its own thread and polls on the currently selected gyro topic. + ### Usage {#sensors_usage} ``` @@ -907,8 +891,11 @@ sensors [arguments...] Source: [modules/simulation/system_power_simulator](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/system_power_simulator) + ### Description + + ### Usage {#system_power_simulation_usage} ``` @@ -925,10 +912,11 @@ system_power_simulation [arguments...] Source: [drivers/tattu_can](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/tattu_can) -### Description +### Description Driver for reading data from the Tattu 12S 16000mAh smart battery. + ### Usage {#tattu_can_usage} ``` @@ -945,14 +933,15 @@ tattu_can [arguments...] Source: [modules/temperature_compensation](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/temperature_compensation) -### Description +### Description The temperature compensation module allows all of the gyro(s), accel(s), and baro(s) in the system to be temperature compensated. The module monitors the data coming from the sensors and updates the associated sensor_correction topic whenever a change in temperature is detected. The module can also be configured to perform the coeffecient calculation routine at next boot, which allows the thermal calibration coeffecients to be calculated while the vehicle undergoes a temperature cycle. + ### Usage {#temperature_compensation_usage} ``` @@ -977,12 +966,13 @@ temperature_compensation [arguments...] Source: [modules/time_persistor](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/time_persistor) -### Description +### Description Writes the RTC time cyclically to a file and reloads this value on startup. This allows monotonic time on systems that only have a software RTC (that is not battery powered). Explicitly setting the time backwards (e.g. via system_time) is still possible. + ### Usage {#time_persistor_usage} ``` @@ -999,6 +989,7 @@ time_persistor [arguments...] Source: [systemcmds/tune_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/tune_control) + ### Description Command-line tool to control & test the (external) tunes. @@ -1012,7 +1003,6 @@ https://github.com/PX4/PX4-Autopilot/blob/main/src/lib/tunes/tune_definition.des ### Examples Play system tune #2: - ``` tune_control play -t 2 ``` @@ -1042,12 +1032,11 @@ tune_control [arguments...] Source: [modules/uxrce_dds_client](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/uxrce_dds_client) -### Description +### Description UXRCE-DDS Client used to communicate uORB topics with an Agent over serial or UDP. ### Examples - ``` uxrce_dds_client start -t serial -d /dev/ttyS3 -b 921600 uxrce_dds_client start -t udp -h 127.0.0.1 -p 15555 @@ -1069,9 +1058,7 @@ uxrce_dds_client [arguments...] values: [-p ] Agent listening port. If not provided, defaults to UXRCE_DDS_PRT - [-n ] Client DDS namespace. If not provided but UXRCE_DDS_NS_IDX is - between 0 and 9999 inclusive, then uav_ + UXRCE_DDS_NS_IDX will - be used + [-n ] Client DDS namespace stop @@ -1082,10 +1069,12 @@ uxrce_dds_client [arguments...] Source: [systemcmds/work_queue](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/work_queue) + ### Description Command-line tool to show work queue status. + ### Usage {#work_queue_usage} ```