모듈 참조: 시스템

battery_simulator

Source: modules/simulation/battery_simulator

설명

사용법

battery_simulator <command> [arguments...]
 Commands:
   start

   stop

   status        print status info

battery_status

Source: modules/battery_status

설명

제공 기능은 다음과 같습니다:

• Read the output from the ADC driver (via ioctl interface) and publish battery_status.

구현

자체 스레드에서 실행되고, 현재 선택된 자이로 주제를 폴링합니다.

사용법

battery_status <command> [arguments...]
 Commands:
   start

   stop

   status        print status info

camera_feedback

Source: modules/camera_feedback

설명

The camera_feedback module publishes CameraCapture UORB topics when image capture has been triggered.

If camera capture is enabled, then trigger information from the camera capture pin is published; otherwise trigger information at the point the camera was commanded to trigger is published (from the camera_trigger module).

The CAMERA_IMAGE_CAPTURED message is then emitted (by streaming code) following CameraCapture updates. CameraCapture topics are also logged and can be used for geotagging.

구현

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 (with feedback field set true) if the camera capture pin is activated.

The camera_feedback module subscribes to CameraTrigger. 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.

사용법

camera_feedback <command> [arguments...]
 Commands:
   start

   stop

   status        print status info

cdcacm_autostart

Source: drivers/cdcacm_autostart

설명

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 and continue to check for VBUS and start mavlink once it is detected.

사용법

cdcacm_autostart <command> [arguments...]
 Commands:
   start

   stop

   status        print status info

commander

Source: modules/commander

설명

커맨더 모듈에는 모드 전환 및 안전 장치 동작을 위한 상태 머신이 포함되어 있습니다.

사용법

commander <command> [arguments...]
 Commands:
   start
     [-h]        Enable HIL mode

   calibrate     Run sensor calibration
     mag|baro|accel|gyro|level|esc|airspeed Calibration type
     quick       Quick calibration (accel only, not recommended)

   check         Run preflight checks

   arm
     [-f]        Force arming (do not run preflight checks)

   disarm
     [-f]        Force disarming (disarm in air)

   takeoff

   land

   transition    VTOL transition

   mode          Change 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

   lockdown
     on|off      Turn lockdown on or off

   set_ekf_origin
     lat, lon, alt Origin Latitude, Longitude, Altitude

   lat|lon|alt   Origin latitude longitude altitude

   poweroff      Power off board (if supported)

   stop

   status        print status info

dataman

Source: modules/dataman

설명

C API를 통해 간단한 데이터베이스 형태로 시스템에 영구 저장소를 제공하는 모듈입니다. 다중 백엔드가 지원됩니다.

• 파일(예: SD 카드)
• RAM (영구적이지 않음)

임무 웨이포인트, 임무 상태 및 지오펜스 다각형과 같은 다양한 유형의 구조화된 데이터를 저장합니다. 각 유형은 특정 유형과 고정된 최대 저장 항목 수를 가지고 있어, 빠른 랜덤 액세스가 가능합니다.

구현

단일 항목을 읽고 쓰는 것은 항상 원자적입니다.

사용법

dataman <command> [arguments...]
 Commands:
   start
     [-f <val>]  Storage file
                 values: <file>
     [-r]        Use RAM backend (NOT persistent)

 The options -f and -r are mutually exclusive. If nothing is specified, a file
 'dataman' is used

   stop

   status        print status info

dmesg

Source: systemcmds/dmesg

설명

부팅 콘솔 메시지를 출력합니다. NuttX의 작업 대기열 및 syslog의 출력은 캡처되지 않습니다.

예

백그라운드에서 모든 메시지를 출력합니다.

dmesg -f &

사용법

dmesg <command> [arguments...]
 Commands:
     [-f]        Follow: wait for new messages

esc_battery

Source: modules/esc_battery

설명

ESC 상태의 정보를 사용하여 구현하고, 배터리 상태를 게시합니다.

사용법

esc_battery <command> [arguments...]
 Commands:
   start

   stop

   status        print status info

gyro_calibration

Source: modules/gyro_calibration

설명

간단한 온라인 자이로스코프 교정.

사용법

gyro_calibration <command> [arguments...]
 Commands:
   start

   stop

   status        print status info

gyro_fft

Source: modules/gyro_fft

설명

사용법

gyro_fft <command> [arguments...]
 Commands:
   start

   stop

   status        print status info

heater

Source: drivers/heater

설명

설정점에서 IMU 온도를 조절하기 위하여 LP 작업 대기열에서 주기적으로 실행되는 백그라운드 프로세스입니다.

이 작업은 부팅 시 SENS_EN_THERMAL을 설정하거나, CLI를 통하여 시작 스크립트에서 시작할 수 있습니다.

사용법

heater <command> [arguments...]
 Commands:
   start

   stop

   status        print status info

i2c_launcher

Source: systemcmds/i2c_launcher

설명

Daemon that starts drivers based on found I2C devices.

사용법

i2c_launcher <command> [arguments...]
 Commands:
   start
     -b <val>    Bus number

   stop

   status        print status info

land_detector

Source: modules/land_detector

설명

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.

구현

모든 유형은 공통 기본 클래스를 사용하여 자체 클래스에서 구현됩니다. 기본 클래스는 상태를 유지합니다(착륙, 아마도_착륙, 지상_접촉). 가능한 각 상태는 파생 클래스에서 구현됩니다. 각 내부 상태의 히스테리시스 및 고정된 우선 순위에 따라 실제 land_detector 상태가 결정됩니다.

멀티콥터 착륙 감지기

ground_contact: thrust setpoint and velocity in z-direction must be below a defined threshold for time GROUND_CONTACT_TRIGGER_TIME_US. ground_contact가 감지되면, 위치 컨트롤러는 본체 x 및 y의 추력 설정값을 끕니다.

maybe_landed: it requires ground_contact together with a tighter thrust setpoint threshold and no velocity in the horizontal direction. 트리거 시간은 MAYBE_LAND_TRIGGER_TIME에 의해 정의됩니다. Maybe_landed가 감지되면 위치 컨트롤러는 추력 설정값을 0으로 설정합니다.

landed: it requires maybe_landed to be true for time LAND_DETECTOR_TRIGGER_TIME_US.

모듈은 HP 작업 대기열에서 주기적으로 실행됩니다.

사용법

land_detector <command> [arguments...]
 Commands:
   start         Start the background task
     fixedwing|multicopter|vtol|rover|airship Select vehicle type

   stop

   status        print status info

load_mon

Source: modules/load_mon

설명

Background process running periodically on the low priority work queue to calculate the CPU load and RAM usage and publish the cpuload topic.

NuttX에서는 각 프로세스의 스택 사용량도 확인하고, 300바이트 미만으로 떨어지면 경고가 출력되고 로그 파일에도 기록됩니다.

사용법

load_mon <command> [arguments...]
 Commands:
   start         Start the background task

   stop

   status        print status info

logger

Source: modules/logger

설명

System logger which logs a configurable set of uORB topics and system printf messages (PX4_WARN and PX4_ERR) to ULog files. 시스템 및 비행 성능 평가, 튜닝, 재생 및 충돌 분석에 사용할 수 있습니다.

2개의 백엔드를 지원합니다.

• 파일: ULog 파일을 파일 시스템(SD 카드)에 기록합니다.
• MAVLink: MAVLink를 통해 ULog 데이터를 클라이언트로 스트리밍합니다(클라이언트가 이를 지원해야 함).

두 백엔드를 동시에 활성화하고 사용할 수 있습니다.

파일 백엔드는 전체(일반 로그)와 미션 로그의 두 가지 유형의 로그 파일을 지원합니다. 임무 로그는 축소된 ulog 파일이며, 지오태깅 또는 차량 관리 등에 사용할 수 있습니다. SDLOG_MISSION 매개변수를 통하여 활성화 및 설정할 수 있습니다. 일반 로그는 항상 미션 로그의 상위 집합입니다.

구현

구현은 두 개의 스레드를 사용합니다.

• The main thread, running at a fixed rate (or polling on a topic if started with -p) and checking for data updates
• 작성자 스레드, 파일에 데이터 쓰기

그 사이에는 구성 가능한 크기의 쓰기 버퍼가 있습니다(및 미션 로그를 위한 또 다른 고정 크기 버퍼). 드롭아웃을 방지하려면 크기가 커야 합니다.

예

즉시 로깅을 시작하는 일반적인 사용법입니다.

logger start -e -t

또는, 이미 동작중일 경우

logger on

사용법

logger <command> [arguments...]
 Commands:
   start
     [-m <val>]  Backend mode
                 values: file|mavlink|all, default: all
     [-x]        Enable/disable logging via Aux1 RC channel
     [-a]        Log 1st armed until shutdown
     [-e]        Enable logging right after start until disarm (otherwise only
                 when armed)
     [-f]        Log until shutdown (implies -e)
     [-t]        Use date/time for naming log directories and files
     [-r <val>]  Log rate in Hz, 0 means unlimited rate
                 default: 280
     [-b <val>]  Log buffer size in KiB
                 default: 12
     [-p <val>]  Poll on a topic instead of running with fixed rate (Log rate
                 and topic intervals are ignored if this is set)
                 values: <topic_name>
     [-c <val>]  Log rate factor (higher is faster)
                 default: 1.0

   on            start logging now, override arming (logger must be running)

   off           stop logging now, override arming (logger must be running)

   trigger_watchdog manually trigger the watchdog now

   stop

   status        print status info

netman

Source: modules/mag_bias_estimator

설명

Online magnetometer bias estimator.

사용법

mag_bias_estimator <command> [arguments...]
 Commands:
   start         Start the background task

   stop

   status        print status info

pwm_input

Source: modules/manual_control

설명

Module consuming manual_control_inputs publishing one manual_control_setpoint.

사용법

manual_control <command> [arguments...]
 Commands:
   start

   stop

   status        print status info

netman

Source: systemcmds/netman

설명

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

netman update is run automatically by a startup script. 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

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

The show option will display the network settings in net.cfg to the console.

예

$ netman save # Save the parameters to the SD card. $ netman show # display current settings. $ netman update -i eth0 # do an update

사용법

netman <command> [arguments...]
 Commands:
   show          Display the current persistent network settings to the console.

   update        Check SD card for net.cfg and update network persistent network
                 settings.

   save          Save the current network parameters to the SD card.
     [-i <val>]  Set the interface name
                 default: eth0

pwm_input

Source: drivers/pwm_input

설명

Measures the PWM input on AUX5 (or MAIN5) via a timer capture ISR and publishes via the uORB 'pwm_input` message.

사용법

pwm_input <command> [arguments...]
 Commands:
   start

   stop

   status        print status info

rc_update

Source: modules/rc_update

설명

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.

구현

To reduce control latency, the module is scheduled on input_rc publications.

사용법

rc_update <command> [arguments...]
 Commands:
   start

   stop

   status        print status info

replay

Source: modules/replay

설명

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 log was recorded.

The module is typically used together with uORB publisher rules, to specify which messages should be replayed. The replay module will just publish all messages that are found in the log. It also applies the parameters from the log.

The replay procedure is documented on the System-wide Replay page.

사용법

replay <command> [arguments...]
 Commands:
   start         Start replay, using log file from ENV variable 'replay'

   trystart      Same as 'start', but silently exit if no log file given

   tryapplyparams Try to apply the parameters from the log file

   stop

   status        print status info

send_event

Source: modules/events

설명

Background process running periodically on the LP work queue to perform housekeeping tasks. It is currently only responsible for tone alarm on RC Loss.

The tasks can be started via CLI or uORB topics (vehicle_command from MAVLink, etc.).

사용법

send_event <command> [arguments...]
 Commands:
   start         Start the background task

   stop

   status        print status info

sensor_agp_sim

Source: modules/simulation/sensor_agp_sim

설명

Module to simulate auxiliary global position measurements with optional failure modes for SIH simulation.

사용법

sensor_agp_sim <command> [arguments...]
 Commands:
   start

   stop

   status        print status info

sensor_arispeed_sim

Source: modules/simulation/sensor_airspeed_sim

설명

사용법

sensor_arispeed_sim <command> [arguments...]
 Commands:
   start

   stop

   status        print status info

sensor_baro_sim

Source: modules/simulation/sensor_baro_sim

설명

사용법

sensor_baro_sim <command> [arguments...]
 Commands:
   start

   stop

   status        print status info

sensor_gps_sim

Source: modules/simulation/sensor_gps_sim

설명

사용법

sensor_gps_sim <command> [arguments...]
 Commands:
   start

   stop

   status        print status info

sensor_mag_sim

Source: modules/simulation/sensor_mag_sim

설명

사용법

sensor_mag_sim <command> [arguments...]
 Commands:
   start

   stop

   status        print status info

sensors

Source: modules/sensors

설명

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.

제공 기능은 다음과 같습니다:

• Read the output from the sensor drivers (SensorGyro, etc.). 동일한 유형이 여러 개 있는 경우 투표 및 장애 조치 처리를 수행합니다. 그런 다음, 보드 회전 및 온도 보정을 적용합니다(활성화된 경우). And finally publish the data; one of the topics is SensorCombined, used by many parts of the system.
• Make sure the sensor drivers get the updated calibration parameters (scale & offset) when the parameters change or on startup. 센서 드라이버는 매개변수 업데이트를 위하여 ioctl 인터페이스를 사용합니다. For this to work properly, the sensor drivers must already be running when sensors is started.
• Do sensor consistency checks and publish the SensorsStatusImu topic.

구현

자체 스레드에서 실행되고, 현재 선택된 자이로 주제를 폴링합니다.

사용법

sensors <command> [arguments...]
 Commands:
   start
     [-h]        Start in HIL mode

   stop

   status        print status info

tattu_can

Source: drivers/tattu_can

설명

Driver for reading data from the Tattu 12S 16000mAh smart battery.

사용법

tattu_can <command> [arguments...]
 Commands:
   start

   stop

   status        print status info

temperature_compensation

Source: modules/temperature_compensation

설명

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.

사용법

temperature_compensation <command> [arguments...]
 Commands:
   start         Start the module, which monitors the sensors and updates the
                 sensor_correction topic

   calibrate     Run temperature calibration process
     [-a]        calibrate the accel
     [-g]        calibrate the gyro
     [-m]        calibrate the mag
     [-b]        calibrate the baro (if none of these is given, all will be
                 calibrated)

   stop

   status        print status info

time_persistor

Source: modules/time_persistor

설명

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.

사용법

time_persistor <command> [arguments...]
 Commands:
   start

   stop

   status        print status info

tune_control

Source: systemcmds/tune_control

설명

Command-line tool to control & test the (external) tunes.

Tunes are used to provide audible notification and warnings (e.g. when the system arms, gets position lock, etc.). The tool requires that a driver is running that can handle the tune_control uorb topic.

Information about the tune format and predefined system tunes can be found here: https://github.com/PX4/PX4-Autopilot/blob/main/src/lib/tunes/tune_definition.desc

예

Play system tune #2:

tune_control play -t 2

사용법

tune_control <command> [arguments...]
 Commands:
   play          Play system tune or single note.
     error       Play error tune
     [-t <val>]  Play predefined system tune
                 default: 1
     [-f <val>]  Frequency of note in Hz (0-22kHz)
     [-d <val>]  Duration of note in us
     [-s <val>]  Volume level (loudness) of the note (0-100)
                 default: 40
     [-m <val>]  Melody in string form
                 values: <string> - e.g. "MFT200e8a8a"

   libtest       Test library

   stop          Stop playback (use for repeated tunes)

uxrce_dds_client

Source: modules/uxrce_dds_client

설명

UXRCE-DDS Client used to communicate uORB topics with an Agent over serial or UDP.

예

uxrce_dds_client start -t serial -d /dev/ttyS3 -b 921600
uxrce_dds_client start -t udp -h 127.0.0.1 -p 15555

사용법

uxrce_dds_client <command> [arguments...]
 Commands:
   start
     [-t <val>]  Transport protocol
                 values: serial|udp, default: udp
     [-d <val>]  serial device
                 values: <file:dev>
     [-b <val>]  Baudrate (can also be p:<param_name>)
                 default: 0
     [-h <val>]  Agent IP. If not provided, defaults to UXRCE_DDS_AG_IP
                 values: <IP>
     [-p <val>]  Agent listening port. If not provided, defaults to
                 UXRCE_DDS_PRT
     [-n <val>]  Client DDS namespace

   stop

   status        print status info

work_queue

Source: systemcmds/work_queue

설명

Command-line tool to show work queue status.

사용법

work_queue <command> [arguments...]
 Commands:
   start

   stop

   status        print status info