模块参考：命令（Command）
actuator_test
Source: systemcmds/actuator_test
用于测试执行器的实用程序
警告：在使用此命令之前移除所有螺旋桨。
用法
actuator_test <command> [arguments...]
Commands:
set Set an actuator to a specific output value
The actuator can be specified by motor, servo or function directly:
[-m <val>] Motor to test (1...8)
[-s <val>] Servo to test (1...8)
[-f <val>] Specify function directly
-v <val> value (-1...1)
[-t <val>] Timeout in seconds (run interactive if not set)
default: 0
iterate-motors Iterate all motors starting and stopping one after the other
iterate-servos Iterate all servos deflecting one after the otherbl_update
Source: systemcmds/bl_update
Utility to flash the bootloader from a file
用法
bl_update [arguments...]
setopt Set option bits to unlock the FLASH (only needed if in locked
state)
<file> Bootloader bin filebsondump
Source: systemcmds/bsondump
Utility to read BSON from a file and print or output document size.
用法
bsondump [arguments...]
<file> The BSON file to decode and print.dumpfile
Source: systemcmds/dumpfile
转储文件实用程序。 以二进制模式（不要用 CR LF 替换 LF）将文件大小和内容打印到标准输出。
用法
dumpfile [arguments...]
<file> File to dumpdyn
Source: systemcmds/dyn
描述
加载并运行一个没有被编译进 PX4 的二进制文件的动态 PX4 模块
Example
dyn ./hello.px4mod start用法
dyn [arguments...]
<file> File containing the module
[arguments...] Arguments to the modulefailure
Source: systemcmds/failure
描述
向系统中注入故障。
实现
此系统命令通过 uORB 发送一个机体命令来出发故障。
示例
通过停止GPS来测试GPS故障保护:
failure gps off
用法
failure [arguments...]
help Show this help text
gps|... Specify component
ok|off|... Specify failure type
[-i <val>] sensor instance (0=all)
default: 0gpio
Source: systemcmds/gpio
描述
此命令用于读写GPIO
gpio read <PORT><PIN>/<DEVICE> [PULLDOWN|PULLUP] [--force]
gpio write <PORT><PIN>/<DEVICE> <VALUE> [PUSHPULL|OPENDRAIN] [--force]示例
读取配置为上拉的 PH4 引脚，它的值为高
gpio read H4 PULLUP1 OK
设置 PE7 的输出值为高
gpio write E7 1 --forceSet the output value on device /dev/gpio1 to high
gpio write /dev/gpio1 1用法
gpio [arguments...]
read
<PORT><PIN>/<DEVICE> GPIO port and pin or device
[PULLDOWN|PULLUP] Pulldown/Pullup
[--force] Force (ignore board gpio list)
write
<PORT> <PIN> GPIO port and pin
<VALUE> Value to write
[PUSHPULL|OPENDRAIN] Pushpull/Opendrain
[--force] Force (ignore board gpio list)hardfault_log
Source: systemcmds/hardfault_log
Hardfault 实用程序
在启动脚本中用于处理 hardfaults。
用法
hardfault_log <command> [arguments...]
Commands:
check Check if there's an uncommitted hardfault
rearm Drop an uncommitted hardfault
fault Generate a hardfault (this command crashes the system :)
[0|1|2|3] Hardfault type: 0=divide by 0, 1=Assertion, 2=jump to 0x0,
3=write to 0x0 (default=0)
commit Write uncommitted hardfault to /fs/microsd/fault_%i.txt (and
rearm, but don't reset)
count Read the reboot counter, counts the number of reboots of an
uncommitted hardfault (returned as the exit code of the
program)
reset Reset the reboot counterhist
Source: systemcmds/hist
Command-line tool to show the px4 message history. There are no arguments.
用法
hist [arguments...]i2cdetect
Source: systemcmds/i2cdetect
Utility to scan for I2C devices on a particular bus.
用法
i2cdetect [arguments...]
[-b <val>] I2C bus
default: 1led_control
Source: systemcmds/led_control
描述
Command-line tool to control & test the (external) LED's.
要使用它，请确保有一个处理 led_control 的 uorb 主题的设备正在运行。
有不同的优先级，例如一个模块可以设置低优先级的颜色，另一个模块可以高优先级闪烁 N 次，闪烁后 LED 自动返回低优先级状态。 The reset command can also be used to return to a lower priority.
示例
第一个 LED 闪烁蓝光 5 次：
led_control blink -c blue -l 0 -n 5用法
led_control <command> [arguments...]
Commands:
test Run a test pattern
on Turn LED on
off Turn LED off
reset Reset LED priority
blink Blink LED N times
[-n <val>] Number of blinks
default: 3
[-s <val>] Set blinking speed
values: fast|normal|slow, default: normal
breathe Continuously fade LED in & out
flash Two fast blinks and then off with frequency of 1Hz
The following arguments apply to all of the above commands except for 'test':
[-c <val>] color
values: red|blue|green|yellow|purple|amber|cyan|white, default:
white
[-l <val>] Which LED to control: 0, 1, 2, ... (default=all)
[-p <val>] Priority
default: 2listener
Source: systemcmds/topic_listener
监听 uORB 主题并将数据打印到控制台的实用程序。
可以通过按 Ctrl+C、Esc 或 Q 随时退出侦听器。
用法
listener <command> [arguments...]
Commands:
<topic_name> uORB topic name
[-i <val>] Topic instance
default: 0
[-n <val>] Number of messages
default: 1
[-r <val>] Subscription rate (unlimited if 0)
default: 0mfd
Source: systemcmds/mft
Utility interact with the manifest
用法
mfd <command> [arguments...]
Commands:
query Returns true if not existedmtd
Source: systemcmds/mtd
Utility to mount and test partitions (based on FRAM/EEPROM storage as defined by the board)
用法
mtd <command> [arguments...]
Commands:
status Print status information
readtest Perform read test
rwtest Perform read-write test
erase Erase partition(s)
The commands 'readtest' and 'rwtest' have an optional instance index:
[-i <val>] storage index (if the board has multiple storages)
default: 0
The commands 'readtest', 'rwtest' and 'erase' have an optional parameter:
[<partition_name1> [<partition_name2> ...]] Partition names (eg.
/fs/mtd_params), use system default if not providednshterm
Source: systemcmds/nshterm
在指定端口启动一个 NSH shell。
该命令此前被用于在 USB 串口端口开启一个 shell。 现在运行mavlink，并且可以在mavlink 上使用shell。
用法
nshterm [arguments...]
<file:dev> Device on which to start the shell (eg. /dev/ttyACM0)param
Source: systemcmds/param
描述
通过 shell 或脚本访问和操作参数的命令。
例如，这在启动脚本中用于设置特定于机身的参数。
Parameters are automatically saved when changed, eg. with param set. 它们通常存储在 FRAM 或 SD 卡中。 param select can be used to change the storage location for subsequent saves (this will need to be (re-)configured on every boot).
If the FLASH-based backend is enabled (which is done at compile time, e.g. for the Intel Aero or Omnibus), param select has no effect and the default is always the FLASH backend. However param save/load <file> can still be used to write to/read from files.
每个参数有一个“已使用”的标志，此标志在启动过程参数被读取后被置位。 它只是用于向地面控制站显示相关参数。
示例
更改机身并确保已加载机身的默认参数：
param set SYS_AUTOSTART 4001
param set SYS_AUTOCONFIG 1
reboot用法
param <command> [arguments...]
Commands:
load Load params from a file (overwrite all)
[<file>] File name (use default if not given)
import Import params from a file
[<file>] File name (use default if not given)
save Save params to a file
[<file>] File name (use default if not given)
select Select default file
[<file>] File name
select-backup Select default file
[<file>] File name
show Show parameter values
[-a] Show all parameters (not just used)
[-c] Show only changed params (unused too)
[-q] quiet mode, print only param value (name needs to be exact)
[<filter>] Filter by param name (wildcard at end allowed, eg. sys_*)
show-for-airframe Show changed params for airframe config
status Print status of parameter system
set Set parameter to a value
<param_name> <value> Parameter name and value to set
[fail] If provided, let the command fail if param is not found
set-default Set parameter default to a value
[-s] If provided, silent errors if parameter doesn't exists
<param_name> <value> Parameter name and value to set
[fail] If provided, let the command fail if param is not found
compare Compare a param with a value. Command will succeed if equal
[-s] If provided, silent errors if parameter doesn't exists
<param_name> <value> Parameter name and value to compare
greater Compare a param with a value. Command will succeed if param is
greater than the value
[-s] If provided, silent errors if parameter doesn't exists
<param_name> <value> Parameter name and value to compare
<param_name> <value> Parameter name and value to compare
touch Mark a parameter as used
[<param_name1> [<param_name2>]] Parameter name (one or more)
reset Reset only specified params to default
[<param1> [<param2>]] Parameter names to reset (wildcard at end allowed)
reset_all Reset all params to default
[<exclude1> [<exclude2>]] Do not reset matching params (wildcard at end
allowed)
index Show param for a given index
<index> Index: an integer >= 0
index_used Show used param for a given index
<index> Index: an integer >= 0
find Show index of a param
<param> param namepayload_deliverer
Source: modules/payload_deliverer
描述
Handles payload delivery with either Gripper or a Winch with an appropriate timeout / feedback sensor setting, and communicates back the delivery result as an acknowledgement internally
用法
payload_deliverer <command> [arguments...]
Commands:
start
gripper_test Tests the Gripper's release & grabbing sequence
gripper_open Opens the gripper
gripper_close Closes the gripper
stop
status print status infoperf
Source: systemcmds/perf
Tool to print performance counters
用法
perf [arguments...]
reset Reset all counters
latency Print HRT timer latency histogram
Prints all performance counters if no arguments givenreboot
Source: systemcmds/reboot
用法
reboot [arguments...]
[-b] Reboot into bootloader
[-i] Reboot into ISP (1st stage bootloader)
[lock|unlock] Take/release the shutdown lock (for testing)sd_bench
Source: systemcmds/sd_bench
用法
sd_bench [arguments...]
[-b <val>] Block size for each read/write
default: 4096
[-r <val>] Number of runs
default: 5
[-d <val>] Duration of a run in ms
default: 2000
[-k] Keep the test file
[-s] Call fsync after each block (default=at end of each run)
[-u] Test performance with unaligned data
[-U] Test performance with forced byte unaligned data
[-v] Verify data and block numbersd_stress
Source: systemcmds/sd_stress
用法
sd_stress [arguments...]
[-r <val>] Number of runs
default: 5
[-b <val>] Number of bytes
default: 100serial_passthru
Source: systemcmds/serial_passthru
把数据从一个设备传输到另一个设备。
This can be used to use u-center connected to USB with a GPS on a serial port.
用法
serial_passthru [arguments...]
-e <val> External device path
values: <file:dev>
-d <val> Internal device path
values: <file:dev>
[-b <val>] Baudrate
default: 115200
[-t] Track the External devices baudrate on internal device系统时间
Source: systemcmds/system_time
描述
Command-line tool to set and get system time.
示例
Set the system time and read it back
system_time set 1600775044
system_time get用法
system_time <command> [arguments...]
Commands:
set Set the system time, provide time in unix epoch time format
get Get the system timetop
Source: systemcmds/top
Monitor running processes and their CPU, stack usage, priority and state
用法
top [arguments...]
once print load only onceusb_connected
Source: systemcmds/usb_connected
Utility to check if USB is connected. Was previously used in startup scripts. A return value of 0 means USB is connected, 1 otherwise.
用法
usb_connected [arguments...]ver
Source: systemcmds/ver
Tool to print various version information
用法
ver <command> [arguments...]
Commands:
hw Hardware architecture
mcu MCU info
git git version information
bdate Build date and time
gcc Compiler info
bdate Build date and time
px4guid PX4 GUID
uri Build URI
all Print all versions
hwcmp Compare hardware version (returns 0 on match)
<hw> [<hw2>] Hardware to compare against (eg. PX4_FMU_V4). An OR comparison
is used if multiple are specified
hwtypecmp Compare hardware type (returns 0 on match)
<hwtype> [<hwtype2>] Hardware type to compare against (eg. V2). An OR
comparison is used if multiple are specified
hwbasecmp Compare hardware base (returns 0 on match)
<hwbase> [<hwbase2>] Hardware type to compare against (eg. V2). An OR
comparison is used if multiple are specified