PX4 系统控制台

The PX4 System Console provides low-level access to the system, debug output and analysis of the system boot process.

TIP

The console should be used for debugging if the system won't boot. The MAVLink Shell may otherwise be more suitable, as it is much easier to set up and can be used for many of the same tasks.

System Console vs. Shells

The console is made available through a (board-specific) UART that can be connected to a computer USB port using a 3.3V FTDI cable. This allows the console to be accessed using a terminal application.

Pixhawk controller manufacturers are expected to expose the console UART and SWD (JTAG) debug interfaces through a dedicated debug port that complies with the Pixhawk Connector Standard. Unfortunately some boards predate this standard or a non-compliant.

Developers targeting a number of different boards may wish to use a debug adapter to simplify connecting boards to FTDI cables and debug probes.

Connect the 6-pos JST SH 1:1 cable to the Dronecode probe or connect the individual pins of the cable to a FTDI cable like this:

Connecting via Dronecode Probe

The system console can be accessed through the Dronecode probe or an FTDI cable. Both options are explained in the section below.

• 3DR Pixhawk v1 Flight Controller (also applies to mRo Pixhawk, Holybro pix32)
• Pixhawk 1/2
• Pixracer

Connecting via FTDI 3.3V Cable

Pixhawk flight controllers usually come with a Pixhawk Connector Standard Debug Port which will be either the 10 pin Pixhawk Debug Full or 6 pin Pixhawk Debug Mini port.

These ports have pins for console TX and RX which can connect to an FTDI cable. The mapping for the Pixhawk Debug Mini to FTDI is shown below.

Connecting via FTDI 3.3V Cable	-	FTDI	-
2	+ 5v (红色)		N/C
2	UART7 Tx	5	FTDI RX （黄色）
3	UART7 Rx	4	FTDI TX （橙色）
4（黑）	SWDIO		N/C
6	SWCLK		N/C
6	GND	1	FTDI GND (黑色)

The SWD Debug Port page and individual flight controller pages have more information about debug port pinouts.

打开控制台

After the console connection is wired up, use the default serial port tool of your choice or the defaults described below:

Linux / Mac OS: Screen

下载 PuTTY 并启动它。

sudo apt-get install screen

• 串口：pixhawk v1/pixracer 使用 57600 波特率

Connect screen at BAUDRATE baud, 8 data bits, 1 stop bit to the right serial port (use ls /dev/tty* and watch what changes when unplugging / replugging the USB device). Common names are /dev/ttyUSB0 and /dev/ttyACM0 for Linux and /dev/tty.usbserial-ABCBD for Mac OS.

screen /dev/ttyXXX BAUDRATE 8N1

Windows: PuTTY

Download PuTTY and start it.

Then select 'serial connection' and set the port parameters to:

• 57600 波特率
• 8 数据位
• 1 个停止位