mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-27 02:06:27 +08:00
update modules ref
This commit is contained in:
Hamish Willee
@@ -1,13 +1,11 @@
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# Modules Reference: Controller
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## airship_att_control
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Source: [modules/airship_att_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/airship_att_control)
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### Description
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This implements the airship attitude and rate controller. Ideally it would
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take attitude setpoints (`vehicle_attitude_setpoint`) or rate setpoints (in acro mode
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via `manual_control_setpoint` topic) as inputs and outputs actuator control messages.
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@@ -15,8 +13,8 @@ via `manual_control_setpoint` topic) as inputs and outputs actuator control mess
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Currently it is feeding the `manual_control_setpoint` topic directly to the actuators.
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### Implementation
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To reduce control latency, the module directly polls on the gyro topic published by the IMU driver.
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To reduce control latency, the module directly polls on the gyro topic published by the IMU driver.
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### Usage {#airship_att_control_usage}
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@@ -34,8 +32,8 @@ airship_att_control <command> [arguments...]
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Source: [modules/control_allocator](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/control_allocator)
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### Description
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This implements control allocation. It takes torque and thrust setpoints
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as inputs and outputs actuator setpoint messages.
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@@ -55,12 +53,11 @@ control_allocator <command> [arguments...]
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Source: [modules/flight_mode_manager](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/flight_mode_manager)
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### Description
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This implements the setpoint generation for all modes. It takes the current mode state of the vehicle as input
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and outputs setpoints for controllers.
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### Usage {#flight_mode_manager_usage}
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```
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@@ -77,10 +74,9 @@ flight_mode_manager <command> [arguments...]
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Source: [modules/fw_att_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/fw_att_control)
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### Description
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fw_att_control is the fixed wing attitude controller.
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fw_att_control is the fixed wing attitude controller.
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### Usage {#fw_att_control_usage}
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@@ -99,10 +95,9 @@ fw_att_control <command> [arguments...]
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Source: [modules/fw_lateral_longitudinal_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/fw_lateral_longitudinal_control)
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### Description
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fw_lat_lon_control computes attitude and throttle setpoints from lateral and longitudinal control setpoints.
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fw_lat_lon_control computes attitude and throttle setpoints from lateral and longitudinal control setpoints.
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### Usage {#fw_lat_lon_control_usage}
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@@ -121,13 +116,12 @@ fw_lat_lon_control <command> [arguments...]
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Source: [modules/fw_mode_manager](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/fw_mode_manager)
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### Description
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This implements the setpoint generation for all PX4-internal fixed-wing modes, height-rate control and higher.
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It takes the current mode state of the vehicle as input and outputs setpoints consumed by the fixed-wing
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lateral-longitudinal controller and and controllers below that (attitude, rate).
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### Usage {#fw_mode_manager_usage}
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```
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@@ -144,10 +138,9 @@ fw_mode_manager <command> [arguments...]
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Source: [modules/fw_rate_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/fw_rate_control)
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### Description
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fw_rate_control is the fixed-wing rate controller.
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fw_rate_control is the fixed-wing rate controller.
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### Usage {#fw_rate_control_usage}
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@@ -166,8 +159,8 @@ fw_rate_control <command> [arguments...]
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Source: [modules/mc_att_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mc_att_control)
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### Description
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This implements the multicopter attitude controller. It takes attitude
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setpoints (`vehicle_attitude_setpoint`) as inputs and outputs a rate setpoint.
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@@ -180,7 +173,6 @@ Institute for Dynamic Systems and Control (IDSC), ETH Zurich
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https://www.research-collection.ethz.ch/bitstream/handle/20.500.11850/154099/eth-7387-01.pdf
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### Usage {#mc_att_control_usage}
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```
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@@ -198,8 +190,8 @@ mc_att_control <command> [arguments...]
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Source: [modules/mc_pos_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mc_pos_control)
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### Description
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The controller has two loops: a P loop for position error and a PID loop for velocity error.
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Output of the velocity controller is thrust vector that is split to thrust direction
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(i.e. rotation matrix for multicopter orientation) and thrust scalar (i.e. multicopter thrust itself).
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@@ -224,14 +216,13 @@ mc_pos_control <command> [arguments...]
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Source: [modules/mc_rate_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mc_rate_control)
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### Description
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This implements the multicopter rate controller. It takes rate setpoints (in acro mode
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via `manual_control_setpoint` topic) as inputs and outputs actuator control messages.
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The controller has a PID loop for angular rate error.
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### Usage {#mc_rate_control_usage}
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```
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@@ -249,20 +240,20 @@ mc_rate_control <command> [arguments...]
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Source: [modules/navigator](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/navigator)
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### Description
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Module that is responsible for autonomous flight modes. This includes missions (read from dataman),
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takeoff and RTL.
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It is also responsible for geofence violation checking.
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### Implementation
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The different internal modes are implemented as separate classes that inherit from a common base class `NavigatorMode`.
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The member `_navigation_mode` contains the current active mode.
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Navigator publishes position setpoint triplets (`position_setpoint_triplet_s`), which are then used by the position
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controller.
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### Usage {#navigator_usage}
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```
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@@ -283,8 +274,8 @@ navigator <command> [arguments...]
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Source: [modules/rover_ackermann](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/rover_ackermann)
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### Description
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Rover ackermann module.
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### Usage {#rover_ackermann_usage}
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@@ -303,8 +294,8 @@ rover_ackermann <command> [arguments...]
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Source: [modules/rover_differential](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/rover_differential)
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### Description
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Rover differential module.
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### Usage {#rover_differential_usage}
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@@ -323,8 +314,8 @@ rover_differential <command> [arguments...]
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Source: [modules/rover_mecanum](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/rover_mecanum)
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### Description
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Rover mecanum module.
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### Usage {#rover_mecanum_usage}
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@@ -339,54 +330,15 @@ rover_mecanum <command> [arguments...]
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status print status info
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```
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## rover_pos_control
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Source: [modules/rover_pos_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/rover_pos_control)
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### Description
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Controls the position of a ground rover using an L1 controller.
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Publishes `vehicle_thrust_setpoint (only in x) and vehicle_torque_setpoint (only yaw)` messages at IMU_GYRO_RATEMAX.
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### Implementation
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Currently, this implementation supports only a few modes:
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* Full manual: Throttle and yaw controls are passed directly through to the actuators
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* Auto mission: The rover runs missions
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* Loiter: The rover will navigate to within the loiter radius, then stop the motors
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### Examples
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CLI usage example:
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```
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rover_pos_control start
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rover_pos_control status
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rover_pos_control stop
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```
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### Usage {#rover_pos_control_usage}
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```
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rover_pos_control <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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## spacecraft
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Source: [modules/spacecraft](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/spacecraft)
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### Description
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This implements control allocation for spacecraft vehicles.
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It takes torque and thrust setpoints as inputs and outputs
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actuator setpoint messages.
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### Description
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This implements control allocation for spacecraft vehicles.
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It takes torque and thrust setpoints as inputs and outputs
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actuator setpoint messages.
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### Usage {#spacecraft_usage}
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```
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@@ -394,6 +346,8 @@ spacecraft <command> [arguments...]
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Commands:
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start
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status
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stop
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status print status info
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@@ -403,27 +357,29 @@ spacecraft <command> [arguments...]
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Source: [modules/uuv_att_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/uuv_att_control)
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### Description
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Controls the attitude of an unmanned underwater vehicle (UUV).
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Publishes `vehicle_thrust_setpont` and `vehicle_torque_setpoint` messages at a constant 250Hz.
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### Implementation
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Currently, this implementation supports only a few modes:
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* Full manual: Roll, pitch, yaw, and throttle controls are passed directly through to the actuators
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* Auto mission: The uuv runs missions
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- Full manual: Roll, pitch, yaw, and throttle controls are passed directly through to the actuators
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- Auto mission: The uuv runs missions
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### Examples
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CLI usage example:
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```
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uuv_att_control start
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uuv_att_control status
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uuv_att_control stop
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```
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### Usage {#uuv_att_control_usage}
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```
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@@ -440,16 +396,22 @@ uuv_att_control <command> [arguments...]
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Source: [modules/uuv_pos_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/uuv_pos_control)
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### Description
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Controls the attitude of an unmanned underwater vehicle (UUV).
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Publishes `attitude_setpoint` messages.
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### Implementation
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Currently, this implementation supports only a few modes:
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* Full manual: Roll, pitch, yaw, and throttle controls are passed directly through to the actuators
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* Auto mission: The uuv runs missions
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- Full manual: Roll, pitch, yaw, and throttle controls are passed directly through to the actuators
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- Auto mission: The uuv runs missions
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### Examples
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CLI usage example:
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```
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uuv_pos_control start
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uuv_pos_control status
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@@ -472,8 +434,8 @@ uuv_pos_control <command> [arguments...]
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Source: [modules/vtol_att_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/vtol_att_control)
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### Description
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fw_att_control is the fixed wing attitude controller.
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### Usage {#vtol_att_control_usage}
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File diff suppressed because it is too large
Load Diff
@@ -4,7 +4,6 @@
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Source: [drivers/distance_sensor/broadcom/afbrs50](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/broadcom/afbrs50)
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### Description
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Driver for the Broadcom AFBRS50.
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@@ -12,10 +11,13 @@ Driver for the Broadcom AFBRS50.
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### Examples
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Attempt to start driver on a specified serial device.
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```
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afbrs50 start
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```
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Stop driver
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```
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afbrs50 stop
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```
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@@ -30,8 +32,6 @@ afbrs50 <command> [arguments...]
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[-r <val>] Sensor rotation - downward facing by default
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default: 25
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test Test driver
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stop Stop driver
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```
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@@ -63,7 +63,6 @@ gy_us42 <command> [arguments...]
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Source: [drivers/distance_sensor/leddar_one](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/leddar_one)
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### Description
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Serial bus driver for the LeddarOne LiDAR.
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@@ -75,10 +74,13 @@ Setup/usage information: https://docs.px4.io/main/en/sensor/leddar_one.html
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### Examples
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Attempt to start driver on a specified serial device.
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```
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leddar_one start -d /dev/ttyS1
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```
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Stop driver
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```
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leddar_one stop
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```
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@@ -100,7 +102,6 @@ leddar_one <command> [arguments...]
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Source: [drivers/distance_sensor/lightware_laser_i2c](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/lightware_laser_i2c)
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### Description
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I2C bus driver for Lightware SFxx series LIDAR rangefinders: SF10/a, SF10/b, SF10/c, SF11/c, SF/LW20.
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@@ -133,7 +134,6 @@ lightware_laser_i2c <command> [arguments...]
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Source: [drivers/distance_sensor/lightware_laser_serial](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/lightware_laser_serial)
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### Description
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Serial bus driver for the LightWare SF02/F, SF10/a, SF10/b, SF10/c, SF11/c Laser rangefinders.
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@@ -145,10 +145,13 @@ Setup/usage information: https://docs.px4.io/main/en/sensor/sfxx_lidar.html
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### Examples
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Attempt to start driver on a specified serial device.
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```
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lightware_laser_serial start -d /dev/ttyS1
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```
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Stop driver
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```
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lightware_laser_serial stop
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```
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@@ -170,19 +173,20 @@ lightware_laser_serial <command> [arguments...]
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Source: [drivers/distance_sensor/lightware_sf45_serial](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/lightware_sf45_serial)
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### Description
|
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Serial bus driver for the Lightware SF45/b Laser rangefinder.
|
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### Examples
|
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|
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Attempt to start driver on a specified serial device.
|
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|
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```
|
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lightware_sf45_serial start -d /dev/ttyS1
|
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```
|
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Stop driver
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```
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lightware_sf45_serial stop
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```
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@@ -200,12 +204,11 @@ lightware_sf45_serial <command> [arguments...]
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## ll40ls
|
||||
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Source: [drivers/distance_sensor/ll40ls_pwm](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/ll40ls_pwm)
|
||||
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Source: [drivers/distance_sensor/ll40ls](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/ll40ls)
|
||||
|
||||
### Description
|
||||
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||||
PWM driver for LidarLite rangefinders.
|
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I2C bus driver for LidarLite rangefinders.
|
||||
|
||||
The sensor/driver must be enabled using the parameter SENS_EN_LL40LS.
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||||
@@ -215,6 +218,42 @@ Setup/usage information: https://docs.px4.io/main/en/sensor/lidar_lite.html
|
||||
|
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```
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ll40ls <command> [arguments...]
|
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Commands:
|
||||
start
|
||||
[-I] Internal I2C bus(es)
|
||||
[-X] External I2C bus(es)
|
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[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
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(default=1))
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[-f <val>] bus frequency in kHz
|
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[-q] quiet startup (no message if no device found)
|
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[-a <val>] I2C address
|
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default: 98
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[-R <val>] Sensor rotation - downward facing by default
|
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default: 25
|
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|
||||
regdump
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## ll40ls_pwm
|
||||
|
||||
Source: [drivers/distance_sensor/ll40ls_pwm](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/ll40ls_pwm)
|
||||
|
||||
### Description
|
||||
|
||||
PWM driver for LidarLite rangefinders.
|
||||
|
||||
The sensor/driver must be enabled using the parameter SENS_EN_LL40LS.
|
||||
|
||||
Setup/usage information: https://docs.px4.io/main/en/sensor/lidar_lite.html
|
||||
|
||||
### Usage {#ll40ls_pwm_usage}
|
||||
|
||||
```
|
||||
ll40ls_pwm <command> [arguments...]
|
||||
Commands:
|
||||
start Start driver
|
||||
[-R <val>] Sensor rotation - downward facing by default
|
||||
@@ -277,7 +316,6 @@ mb12xx <command> [arguments...]
|
||||
|
||||
Source: [drivers/distance_sensor/pga460](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/pga460)
|
||||
|
||||
|
||||
### Description
|
||||
|
||||
Ultrasonic range finder driver that handles the communication with the device and publishes the distance via uORB.
|
||||
@@ -335,14 +373,12 @@ srf02 <command> [arguments...]
|
||||
|
||||
Source: [drivers/distance_sensor/srf05](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/srf05)
|
||||
|
||||
### Description
|
||||
|
||||
### Description
|
||||
Driver for HY-SRF05 / HC-SR05 and HC-SR04 rangefinders.
|
||||
|
||||
Driver for HY-SRF05 / HC-SR05 and HC-SR04 rangefinders.
|
||||
The sensor/driver must be enabled using the parameter SENS_EN_HXSRX0X.
|
||||
|
||||
The sensor/driver must be enabled using the parameter SENS_EN_HXSRX0X.
|
||||
|
||||
|
||||
### Usage {#srf05_usage}
|
||||
|
||||
```
|
||||
@@ -365,7 +401,6 @@ srf05 <command> [arguments...]
|
||||
|
||||
Source: [drivers/distance_sensor/teraranger](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/teraranger)
|
||||
|
||||
|
||||
### Description
|
||||
|
||||
I2C bus driver for TeraRanger rangefinders.
|
||||
@@ -426,7 +461,6 @@ tf02pro <command> [arguments...]
|
||||
|
||||
Source: [drivers/distance_sensor/tfmini](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/tfmini)
|
||||
|
||||
|
||||
### Description
|
||||
|
||||
Serial bus driver for the Benewake TFmini LiDAR.
|
||||
@@ -438,10 +472,13 @@ Setup/usage information: https://docs.px4.io/main/en/sensor/tfmini.html
|
||||
### Examples
|
||||
|
||||
Attempt to start driver on a specified serial device.
|
||||
|
||||
```
|
||||
tfmini start -d /dev/ttyS1
|
||||
```
|
||||
|
||||
Stop driver
|
||||
|
||||
```
|
||||
tfmini stop
|
||||
```
|
||||
@@ -467,7 +504,6 @@ tfmini <command> [arguments...]
|
||||
|
||||
Source: [drivers/distance_sensor/ulanding_radar](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/ulanding_radar)
|
||||
|
||||
|
||||
### Description
|
||||
|
||||
Serial bus driver for the Aerotenna uLanding radar.
|
||||
@@ -477,10 +513,13 @@ Setup/usage information: https://docs.px4.io/main/en/sensor/ulanding_radar.html
|
||||
### Examples
|
||||
|
||||
Attempt to start driver on a specified serial device.
|
||||
|
||||
```
|
||||
ulanding_radar start -d /dev/ttyS1
|
||||
```
|
||||
|
||||
Stop driver
|
||||
|
||||
```
|
||||
ulanding_radar stop
|
||||
```
|
||||
|
||||
@@ -325,6 +325,32 @@ qmc5883l <command> [arguments...]
|
||||
status print status info
|
||||
```
|
||||
|
||||
## qmc5883p
|
||||
|
||||
Source: [drivers/magnetometer/qmc5883p](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/magnetometer/qmc5883p)
|
||||
|
||||
### Usage {#qmc5883p_usage}
|
||||
|
||||
```
|
||||
qmc5883p <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: 44
|
||||
[-R <val>] Rotation
|
||||
default: 0
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## rm3100
|
||||
|
||||
Source: [drivers/magnetometer/rm3100](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/magnetometer/rm3100)
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
Reference in New Issue
Block a user