模块参考：驱动
子分类
MCP23009
Source: drivers/gpio/mcp23009
用法
MCP23009 <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: 37
[-D <val>] Direction
default: 0
[-O <val>] Output
default: 0
[-P <val>] Pullups
default: 0
[-U <val>] Update Interval [ms]
default: 0
stop
status print status infoadc
Source: drivers/adc/board_adc
描述
ADC 驱动。
用法
adc <command> [arguments...]
Commands:
start
test
[-n] Do not publish ADC report, only system power
stop
status print status infoads1115
Source: drivers/adc/ads1115
描述
Driver to enable an external ADS1115 ADC connected via I2C.
The driver is included by default in firmware for boards that do not have an internal analog to digital converter, such as PilotPi or CUAV Nora (search for CONFIG_DRIVERS_ADC_ADS1115 in board configuration files).
It is enabled/disabled using the ADC_ADS1115_EN parameter, and is disabled by default. If enabled, internal ADCs are not used.
用法
ads1115 <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: 72
stop
status print status infoatxxxx
Source: drivers/osd/atxxxx
描述
例如挂载在OmnibusF4SD板上的针对 ATXXXX 芯片的OSD驱动。
可以通过 OSD_ATXXXX_CFG 参数使能.
用法
atxxxx <command> [arguments...]
Commands:
start
[-s] Internal SPI bus(es)
[-S] External SPI bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
[-m <val>] SPI mode
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
stop
status print status infobatmon
Source: drivers/smart_battery/batmon
描述
用于智能电池的BQ40Z50电量统计芯片
示例
To start at address 0x0B, on bus 4
batt_smbus -X write_flash 19069 2 27 0用法
batmon <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: 11
man_info Prints manufacturer info.
suspend Suspends the driver from rescheduling the cycle.
resume Resumes the driver from suspension.
stop
status print status infobatt_smbus
Source: drivers/batt_smbus
描述
This will enable capturing on the 4th pin. Then do:
示例
To write to flash to set parameters. address, number_of_bytes, byte0, ... , byteN
batt_smbus -X write_flash 19069 2 27 0用法
batt_smbus <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: 11
man_info Prints manufacturer info.
unseal Unseals the devices flash memory to enable write_flash
commands.
seal Seals the devices flash memory to disable write_flash commands.
suspend Suspends the driver from rescheduling the cycle.
resume Resumes the driver from suspension.
write_flash Writes to flash. The device must first be unsealed with the
unseal command.
[address] The address to start writing.
[number of bytes] Number of bytes to send.
[data[0]...data[n]] One byte of data at a time separated by spaces.
stop
status print status infobst
Source: drivers/telemetry/bst
用法
bst <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: 118
stop
status print status infocrsf_rc
Source: drivers/rc/crsf_rc
描述
This module parses the CRSF RC uplink protocol and generates CRSF downlink telemetry data
用法
crsf_rc <command> [arguments...]
Commands:
start
[-d <val>] RC device
values: <file:dev>, default: /dev/ttyS3
stop
status print status infosf1xx
Source: drivers/dshot
描述
This is the DShot output driver. It is similar to the fmu driver, and can be used as drop-in replacement to use DShot as ESC communication protocol instead of PWM.
On startup, the module tries to occupy all available pins for DShot output. It skips all pins already in use (e.g. by a camera trigger module).
It supports:
- DShot150, DShot300, DShot600, DShot1200
- 通过独立的串口遥控，并且发布esc_status消息
- 通过命令行接口发送 DShot 命令
示例
Permanently reverse motor 1:
dshot reverse -m 1
dshot save -m 1After saving, the reversed direction will be regarded as the normal one. So to reverse again repeat the same commands.
用法
dshot <command> [arguments...]
Commands:
start
telemetry Enable Telemetry on a UART
<device> UART device
reverse Reverse motor direction
[-m <val>] Motor index (1-based, default=all)
normal Normal motor direction
[-m <val>] Motor index (1-based, default=all)
save Save current settings
[-m <val>] Motor index (1-based, default=all)
3d_on Enable 3D mode
[-m <val>] Motor index (1-based, default=all)
3d_off Disable 3D mode
[-m <val>] Motor index (1-based, default=all)
beep1 Send Beep pattern 1
[-m <val>] Motor index (1-based, default=all)
beep2 Send Beep pattern 2
[-m <val>] Motor index (1-based, default=all)
beep3 Send Beep pattern 3
[-m <val>] Motor index (1-based, default=all)
beep4 Send Beep pattern 4
[-m <val>] Motor index (1-based, default=all)
beep5 Send Beep pattern 5
[-m <val>] Motor index (1-based, default=all)
esc_info Request ESC information
-m <val> Motor index (1-based)
stop
status print status infodsm_rc
Source: drivers/rc/dsm_rc
描述
This module does Spektrum DSM RC input parsing.
用法
dsm_rc <command> [arguments...]
Commands:
start
[-d <val>] RC device
values: <file:dev>, default: /dev/ttyS3
bind Send a DSM bind command (module must be running)
stop
status print status infofmu mode_pwm
Source: examples/fake_gps
描述
用法
fake_gps <command> [arguments...]
Commands:
start
stop
status print status infofake_imu
Source: examples/fake_imu
描述
用法
fake_imu <command> [arguments...]
Commands:
start
stop
status print status infogps
Source: examples/fake_magnetometer
描述
Publish the earth magnetic field as a fake magnetometer (sensor_mag). Requires vehicle_attitude and vehicle_gps_position.
用法
fake_magnetometer <command> [arguments...]
Commands:
start
stop
status print status infoft_technologies_serial
Source: drivers/wind_sensor/ft_technologies
描述
Serial bus driver for the FT Technologies Digital Wind Sensor FT742. This driver is required to operate alongside a RS485 to UART signal transfer module.
Most boards are configured to enable/start the driver on a specified UART using the SENS_FTX_CFG parameter.
示例
Attempt to start driver on a specified serial device.
ft_technologies_serial start -d /dev/ttyS1设置/使用 信息： https://docs.px4.io/master/en/sensor/leddar_one.html
ft_technologies_serial stop用法
ft_technologies_serial <command> [arguments...]
Commands:
start Start driver
-d <val> Serial device
stop Stop driverghst_rc
Source: drivers/rc/ghst_rc
描述
This module does Ghost (GHST) RC input parsing.
用法
ghst_rc <command> [arguments...]
Commands:
start
[-d <val>] RC device
values: <file:dev>, default: /dev/ttyS3
stop
status print status infogimbal
Source: modules/gimbal
描述
Mount/gimbal Gimbal control driver. It maps several different input methods (eg. RC or MAVLink) to a configured output (eg. AUX channels or MAVLink).
Documentation how to use it is on the gimbal_control page.
示例
Test the output by setting a angles (all omitted axes are set to 0):
gimbal test pitch -45 yaw 30用法
gimbal <command> [arguments...]
Commands:
start
status
primary-control Set who is in control of gimbal
<sysid> <compid> MAVLink system ID and MAVLink component ID
test Test the output: set a fixed angle for one or multiple axes
(gimbal must be running)
roll|pitch|yaw <angle> Specify an axis and an angle in degrees
rollrate|pitchrate|yawrate <angle rate> Specify an axis and an angle rate
in degrees / second
stop
status print status infogps
Source: drivers/gps
描述
GPS driver module that handles the communication with the device and publishes the position via uORB. It supports multiple protocols (device vendors) and by default automatically selects the correct one.
The module supports a secondary GPS device, specified via -e parameter. The position will be published on the second uORB topic instance, but it's currently not used by the rest of the system (however the data will be logged, so that it can be used for comparisons).
实现
There is a thread for each device polling for data. The GPS protocol classes are implemented with callbacks so that they can be used in other projects as well (eg. QGroundControl uses them too).
示例
Starting 2 GPS devices (the main GPS on /dev/ttyS3 and the secondary on /dev/ttyS4):
gps start -d /dev/ttyS3 -e /dev/ttyS4Initiate warm restart of GPS device
gps reset warm用法
gps <command> [arguments...]
Commands:
start
[-d <val>] GPS device
values: <file:dev>, default: /dev/ttyS3
[-b <val>] Baudrate (can also be p:<param_name>)
default: 0
[-e <val>] Optional secondary GPS device
values: <file:dev>
[-g <val>] Baudrate (secondary GPS, can also be p:<param_name>)
default: 0
[-i <val>] GPS interface
values: spi|uart, default: uart
[-j <val>] secondary GPS interface
values: spi|uart, default: uart
[-p <val>] GPS Protocol (default=auto select)
values: ubx|mtk|ash|eml|fem|nmea
stop
status print status info
reset Reset GPS device
cold|warm|hot Specify reset typegz_bridge
Source: modules/simulation/gz_bridge
描述
用法
gz_bridge <command> [arguments...]
Commands:
start
-m <val> Fuel model name
-p <val> Model Pose
-n <val> Model name
-i <val> PX4 instance
[-w <val>] World name
stop
status print status infoina220
Source: drivers/power_monitor/ina220
描述
Driver for the INA220 power monitor.
Multiple instances of this driver can run simultaneously, if each instance has a separate bus OR I2C address.
For example, one instance can run on Bus 2, address 0x41, and one can run on Bus 2, address 0x43.
If the INA220 module is not powered, then by default, initialization of the driver will fail. To change this, use the -f flag. If this flag is set, then if initialization fails, the driver will keep trying to initialize again every 0.5 seconds. With this flag set, you can plug in a battery after the driver starts, and it will work. Without this flag set, the battery must be plugged in before starting the driver.
用法
ina220 <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: 65
[-k] if initialization (probing) fails, keep retrying periodically
[-t <val>] battery index for calibration values (1 or 3)
default: 1
[-T <val>] Type
values: VBATT|VREG, default: VBATT
stop
status print status infoina226
Source: drivers/power_monitor/ina226
描述
Driver for the INA226 power monitor.
Multiple instances of this driver can run simultaneously, if each instance has a separate bus OR I2C address.
For example, one instance can run on Bus 2, address 0x41, and one can run on Bus 2, address 0x43.
If the INA226 module is not powered, then by default, initialization of the driver will fail. To change this, use the -f flag. If this flag is set, then if initialization fails, the driver will keep trying to initialize again every 0.5 seconds. With this flag set, you can plug in a battery after the driver starts, and it will work. Without this flag set, the battery must be plugged in before starting the driver.
用法
ina226 <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: 65
[-k] if initialization (probing) fails, keep retrying periodically
[-t <val>] battery index for calibration values (1 or 3)
default: 1
stop
status print status infoina228
Source: drivers/power_monitor/ina228
描述
Driver for the INA228 power monitor.
Multiple instances of this driver can run simultaneously, if each instance has a separate bus OR I2C address.
For example, one instance can run on Bus 2, address 0x45, and one can run on Bus 2, address 0x45.
If the INA228 module is not powered, then by default, initialization of the driver will fail. To change this, use the -f flag. If this flag is set, then if initialization fails, the driver will keep trying to initialize again every 0.5 seconds. With this flag set, you can plug in a battery after the driver starts, and it will work. Without this flag set, the battery must be plugged in before starting the driver.
用法
ina228 <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: 69
[-k] if initialization (probing) fails, keep retrying periodically
[-t <val>] battery index for calibration values (1 or 3)
default: 1
stop
status print status infoina238
Source: drivers/power_monitor/ina238
描述
Driver for the INA238 power monitor.
Multiple instances of this driver can run simultaneously, if each instance has a separate bus OR I2C address.
For example, one instance can run on Bus 2, address 0x45, and one can run on Bus 2, address 0x45.
If the INA238 module is not powered, then by default, initialization of the driver will fail. To change this, use the -f flag. If this flag is set, then if initialization fails, the driver will keep trying to initialize again every 0.5 seconds. With this flag set, you can plug in a battery after the driver starts, and it will work. Without this flag set, the battery must be plugged in before starting the driver.
用法
ina238 <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: 69
[-k] if initialization (probing) fails, keep retrying periodically
[-t <val>] battery index for calibration values (1 or 3)
default: 1
stop
status print status infoiridiumsbd
Source: drivers/telemetry/iridiumsbd
描述
IridiumSBD driver.
Creates a virtual serial port that another module can use for communication (e.g. mavlink).
用法
iridiumsbd <command> [arguments...]
Commands:
start
-d <val> Serial device
values: <file:dev>
[-v] Enable verbose output
test
[s|read|AT <cmd>] Test command
stop
status print status infoirlock
Source: drivers/irlock
用法
irlock <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: 84
stop
status print status infolinux_pwm_out
Source: drivers/linux_pwm_out
描述
Linux PWM output driver with board-specific backend implementation.
用法
linux_pwm_out <command> [arguments...]
Commands:
start
stop
status print status infolsm303agr
Source: drivers/magnetometer/lsm303agr
用法
lsm303agr <command> [arguments...]
Commands:
start
[-s] Internal SPI bus(es)
[-S] External SPI bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
[-m <val>] SPI mode
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-R <val>] Rotation
default: 0
stop
status print status infomsp_osd
Source: drivers/osd/msp_osd
描述
MSP telemetry streamer
实现
Converts uORB messages to MSP telemetry packets
示例
CLI usage example:
msp_osd用法
msp_osd <command> [arguments...]
Commands:
stop
status print status infonewpixel
Source: drivers/lights/neopixel
描述
This module is responsible for driving interfasing to the Neopixel Serial LED
示例
It is typically started with:
neopixel -n 8To drive all available leds.
用法
newpixel <command> [arguments...]
Commands:
stop
status print status infopaa3905
Source: drivers/optical_flow/paa3905
用法
paa3905 <command> [arguments...]
Commands:
start
[-s] Internal SPI bus(es)
[-S] External SPI bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
[-m <val>] SPI mode
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-Y <val>] custom yaw rotation (degrees)
default: 0
stop
status print status infopaw3902
Source: drivers/optical_flow/paw3902
用法
paw3902 <command> [arguments...]
Commands:
start
[-s] Internal SPI bus(es)
[-S] External SPI bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
[-m <val>] SPI mode
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-Y <val>] custom yaw rotation (degrees)
default: 0
stop
status print status infopca9685_pwm_out
Source: drivers/pca9685_pwm_out
描述
This is a PCA9685 PWM output driver.
It runs on I2C workqueue which is asynchronous with FC control loop, fetching the latest mixing result and write them to PCA9685 at its scheduling ticks.
It can do full 12bits output as duty-cycle mode, while also able to output precious pulse width that can be accepted by most ESCs and servos.
示例
It is typically started with:
pca9685_pwm_out start -a 0x40 -b 1用法
pca9685_pwm_out <command> [arguments...]
Commands:
start Start the task
[-a <val>] 7-bits I2C address of PCA9685
values: <addr>, default: 0x40
[-b <val>] bus that pca9685 is connected to
default: 1
stop
status print status infopm_selector_auterion
Source: drivers/power_monitor/pm_selector_auterion
描述
Driver for starting and auto-detecting different power monitors.
用法
pm_selector_auterion <command> [arguments...]
Commands:
start
stop
status print status infopmw3901
Source: drivers/optical_flow/pmw3901
用法
pmw3901 <command> [arguments...]
Commands:
start
[-s] Internal SPI bus(es)
[-S] External SPI bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
[-m <val>] SPI mode
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-R <val>] Rotation
default: 0
stop
status print status infopps_capture
Source: drivers/pps_capture
描述
This implements capturing PPS information from the GNSS module and calculates the drift between PPS and Real-time clock.
用法
pps_capture <command> [arguments...]
Commands:
start
stop
status print status infopwm_out
Source: drivers/pwm_out
描述
This module is responsible for driving the output pins. For boards without a separate IO chip (eg. Pixracer), it uses the main channels. On boards with an IO chip (eg. Pixhawk), it uses the AUX channels, and the px4io driver is used for main ones.
用法
pwm_out <command> [arguments...]
Commands:
start
stop
status print status infopwm_out_sim
Source: modules/simulation/pwm_out_sim
描述
Driver for simulated PWM outputs.
Its only function is to take actuator_control uORB messages, mix them with any loaded mixer and output the result to the actuator_output uORB topic.
It is used in SITL and HITL.
用法
pwm_out_sim <command> [arguments...]
Commands:
start Start the module
[-m <val>] Mode
values: hil|sim, default: sim
stop
status print status infopx4flow
Source: drivers/optical_flow/px4flow
用法
px4flow <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: 66
stop
status print status infopx4io
Source: drivers/px4io
描述
Output driver communicating with the IO co-processor.
用法
px4io <command> [arguments...]
Commands:
start
checkcrc Check CRC for a firmware file against current code on IO
<filename> Firmware file
update Update IO firmware
[<filename>] Firmware file
debug set IO debug level
<debug_level> 0=disabled, 9=max verbosity
bind DSM bind
dsm2|dsmx|dsmx8 protocol
sbus1_out enable sbus1 out
sbus2_out enable sbus2 out
supported Returns 0 if px4io is supported
test_fmu_fail test: turn off IO updates
test_fmu_ok re-enable IO updates
stop
status print status inforc_input
Source: drivers/rc_input
描述
This module does the RC input parsing and auto-selecting the method. Supported methods are:
- PPM
- SBUS
- DSM
- SUMD
- ST24
- TBS Crossfire (CRSF)
用法
rc_input <command> [arguments...]
Commands:
start
[-d <val>] RC device
values: <file:dev>, default: /dev/ttyS3
bind Send a DSM bind command (module must be running)
stop
status print status inforgbled
Source: drivers/lights/rgbled_ncp5623c
用法
rgbled <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: 57
[-o <val>] RGB PWM Assignment
default: 123
stop
status print status inforgbled_is31fl3195
Source: drivers/lights/rgbled_is31fl3195
用法
rgbled_is31fl3195 <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: 84
[-o <val>] RGB PWM Assignment
default: 123
[-i <val>] Current Band
default: 0.5
stop
status print status inforgbled_lp5562
Source: drivers/lights/rgbled_lp5562
描述
Driver for LP5562 LED driver connected via I2C.
This used in some GPS modules by Holybro for PX4 status notification
The driver is included by default in firmware (KConfig key DRIVERS_LIGHTS_RGBLED_LP5562) and is always enabled.
用法
rgbled_lp5562 <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: 48
[-u <val>] Current in mA
default: 17.5
stop
status print status inforoboclaw
Source: drivers/roboclaw
描述
This driver communicates over UART with the Roboclaw motor driver. It performs two tasks:
- Control the motors based on the OutputModuleInterface.
- Read the wheel encoders and publish the raw data in the
wheel_encodersuORB topic
In order to use this driver, the Roboclaw should be put into Packet Serial mode (see the linked documentation), and your flight controller's UART port should be connected to the Roboclaw as shown in the documentation. The driver needs to be enabled using the parameter RBCLW_SER_CFG, the baudrate needs to be set correctly and the address RBCLW_ADDRESS needs to match the ESC configuration.
The command to start this driver is: $ roboclaw start <UART device> <baud rate>
用法
roboclaw <command> [arguments...]
Commands:
start
stop
status print status infosafety_button
Source: drivers/safety_button
描述
This module is responsible for the safety button. Pressing the safety button 3 times quickly will trigger a GCS pairing request.
用法
safety_button <command> [arguments...]
Commands:
start
stop
status print status infosbus_rc
Source: drivers/rc/sbus_rc
描述
This module does SBUS RC input parsing.
用法
sbus_rc <command> [arguments...]
Commands:
start
[-d <val>] RC device
values: <file:dev>, default: /dev/ttyS3
stop
status print status infoseptentrio
Source: drivers/gnss/septentrio
描述
Driver for Septentrio GNSS receivers. It can automatically configure them and make their output available for the rest of the system. A secondary receiver is supported for redundancy, logging and dual-receiver heading. Septentrio receiver baud rates from 57600 to 1500000 are supported. If others are used, the driver will use 230400 and give a warning.
示例
Use one receiver on port /dev/ttyS0 and automatically configure it to use baud rate 230400:
septentrio start -d /dev/ttyS0 -b 230400Use two receivers, the primary on port /dev/ttyS3 and the secondary on /dev/ttyS4, detect baud rate automatically and preserve them:
septentrio start -d /dev/ttyS3 -e /dev/ttyS4Perform warm reset of the receivers:
gps reset warm用法
septentrio <command> [arguments...]
Commands:
start
-d <val> Primary receiver port
values: <file:dev>
[-b <val>] Primary receiver baud rate
default: 0
[-e <val>] Secondary receiver port
values: <file:dev>
[-g <val>] Secondary receiver baud rate
default: 0
stop
status print status info
reset Reset connected receiver
cold|warm|hot Specify reset typesht3x
Source: drivers/hygrometer/sht3x
描述
SHT3x Temperature and Humidity Sensor Driver by Senserion.
示例
CLI usage example:
sht3x start -XStart the sensor driver on the external bus
sht3x statusPrint driver status
sht3x valuesPrint last measured values
sht3x resetReinitialize senzor, reset flags
用法
sht3x <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: 68
[-k] if initialization (probing) fails, keep retrying periodically
stop
status print status info
values Print actual data
reset Reinitialize sensortap_esc
Source: drivers/tap_esc
描述
This module controls the TAP_ESC hardware via UART. It listens on the actuator_controls topics, does the mixing and writes the PWM outputs.
实现
Currently the module is implemented as a threaded version only, meaning that it runs in its own thread instead of on the work queue.
Example
The module is typically started with:
tap_esc start -d /dev/ttyS2 -n <1-8>用法
tap_esc <command> [arguments...]
Commands:
start Start the task
[-d <val>] Device used to talk to ESCs
values: <device>
[-n <val>] Number of ESCs
default: 4tone_alarm
Source: drivers/tone_alarm
描述
This module is responsible for the tone alarm.
用法
tone_alarm <command> [arguments...]
Commands:
start
stop
status print status infouwb
Source: drivers/uwb/uwb_sr150
描述
Driver for NXP UWB_SR150 UWB positioning system. This driver publishes a uwb_distance message whenever the UWB_SR150 has a position measurement available.
Example
Start the driver with a given device:
uwb start -d /dev/ttyS2用法
uwb <command> [arguments...]
Commands:
start
-d <val> Name of device for serial communication with UWB
values: <file:dev>
-b <val> Baudrate for serial communication
values: <int>
stop
statusvertiq_io
Source: drivers/actuators/vertiq_io
用法
vertiq_io <command> [arguments...]
Commands:
start
<device> UART device
stop
status print status infovoxl2_io
Source: drivers/voxl2_io
描述
This module is responsible for driving the output pins. For boards without a separate IO chip (eg. Pixracer), it uses the main channels. On boards with an IO chip (eg. Pixhawk), it uses the AUX channels, and the px4io driver is used for main ones.
用法
voxl2_io <command> [arguments...]
Commands:
start Start the task
-v Verbose messages
-d Disable PWM
-e Disable RC
-p <val> UART port
calibrate_escs Calibrate ESCs min/max range
calibrate_escs Calibrate ESCs min/max range
pwm Open-Loop PWM test control request
-c <val> PWM OUTPUT Channel, 0-3
-r <val> Duty Cycle value, 0 to 800
-n <val> Command repeat count, 0 to INT_MAX
-t <val> Delay between repeated commands (microseconds), 0 to INT_MAX
stop
status print status infovoxl_esc
Source: drivers/actuators/voxl_esc
描述
This module is responsible for...
实现
By default the module runs on a work queue with a callback on the uORB actuator_controls topic.
示例
It is typically started with:
todo用法
voxl_esc <command> [arguments...]
Commands:
start Start the task
reset Send reset request to ESC
-i <val> ESC ID, 0-3
version Send version request to ESC
-i <val> ESC ID, 0-3
version-ext Send extended version request to ESC
-i <val> ESC ID, 0-3
rpm Closed-Loop RPM test control request
-i <val> ESC ID, 0-3
-r <val> RPM, -32,768 to 32,768
-n <val> Command repeat count, 0 to INT_MAX
-t <val> Delay between repeated commands (microseconds), 0 to INT_MAX
pwm Open-Loop PWM test control request
-i <val> ESC ID, 0-3
-r <val> Duty Cycle value, 0 to 800
-n <val> Command repeat count, 0 to INT_MAX
-t <val> Delay between repeated commands (microseconds), 0 to INT_MAX
tone Send tone generation request to ESC
-i <val> ESC ID, 0-3
-p <val> Period of sound, inverse frequency, 0-255
-d <val> Duration of the sound, 0-255, 1LSB = 13ms
-v <val> Power (volume) of sound, 0-100
led Send LED control request
-l <val> Bitmask 0x0FFF (12 bits) - ESC0 (RGB) ESC1 (RGB) ESC2 (RGB)
ESC3 (RGB)
stop
status print status infovoxlpm
Source: drivers/power_monitor/voxlpm
用法
voxlpm [arguments...]
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: 68
[-T <val>] Type
values: VBATT|P5VDC|P12VDC, default: VBATT
[-k] if initialization (probing) fails, keep retrying periodically
stop
status print status infozenoh
Source: modules/zenoh
描述
Zenoh demo bridge
用法
zenoh <command> [arguments...]
Commands:
start
stop
status
config