# Modules Reference: Driver
Subcategories:
# adc
Source: drivers/adc/board_adc (opens new window)
# Description
ADC driver.
# Usage
adc <command> [arguments...]
Commands:
start
test
[-n] Do not publish ADC report, only system power
stop
status print status info
# ads1115
Source: drivers/adc/ads1115 (opens new window)
# Usage
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 info
# atxxxx
Source: drivers/osd/atxxxx (opens new window)
# Description
OSD driver for the ATXXXX chip that is mounted on the OmnibusF4SD board for example.
It can be enabled with the OSD_ATXXXX_CFG parameter.
# Usage
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 info
# batmon
Source: drivers/smart_battery/batmon (opens new window)
# Description
Driver for SMBUS Communication with BatMon enabled smart-battery Setup/usage information: https://rotoye.com/batmon-tutorial/
# Examples
To start at address 0x0B, on bus 4
batmon start -X -a 11 -b 4
# Usage
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 info
# batt_smbus
Source: drivers/batt_smbus (opens new window)
# Description
Smart battery driver for the BQ40Z50 fuel gauge IC.
# Examples
To write to flash to set parameters. address, number_of_bytes, byte0, ... , byteN
batt_smbus -X write_flash 19069 2 27 0
# Usage
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 info
# bst
Source: drivers/telemetry/bst (opens new window)
# Usage
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 info
# crsf_rc
Source: drivers/rc/crsf_rc (opens new window)
# Description
This module parses the CRSF RC uplink protocol and generates CRSF downlink telemetry data
# Usage
crsf_rc <command> [arguments...]
Commands:
start
[-d <val>] RC device
values: <file:dev>, default: /dev/ttyS3
stop
status print status info
# dshot
Source: drivers/dshot (opens new window)
# Description
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
- telemetry via separate UART and publishing as esc_status message
- sending DShot commands via CLI
# Examples
Permanently reverse motor 1:
dshot reverse -m 1
dshot save -m 1
After saving, the reversed direction will be regarded as the normal one. So to reverse again repeat the same commands.
# Usage
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 info
# fake_gps
Source: examples/fake_gps (opens new window)
# Description
# Usage
fake_gps <command> [arguments...]
Commands:
start
stop
status print status info
# fake_imu
Source: examples/fake_imu (opens new window)
# Description
# Usage
fake_imu <command> [arguments...]
Commands:
start
stop
status print status info
# fake_magnetometer
Source: examples/fake_magnetometer (opens new window)
# Description
Publish the earth magnetic field as a fake magnetometer (sensor_mag). Requires vehicle_attitude and vehicle_gps_position.
# Usage
fake_magnetometer <command> [arguments...]
Commands:
start
stop
status print status info
# gimbal
Source: modules/gimbal (opens new window)
# Description
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 (opens new window) page.
# Examples
Test the output by setting a angles (all omitted axes are set to 0):
gimbal test pitch -45 yaw 30
# Usage
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
stop
status print status info
# gps
Source: drivers/gps (opens new window)
# Description
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).
# Implementation
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).
# Examples
Starting 2 GPS devices (the main GPS on /dev/ttyS3 and the secondary on /dev/ttyS4):
gps start -d /dev/ttyS3 -e /dev/ttyS4
Initiate warm restart of GPS device
gps reset warm
# Usage
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 type
# gz_bridge
Source: modules/simulation/gz_bridge (opens new window)
# Description
# Usage
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 info
# ina220
Source: drivers/power_monitor/ina220 (opens new window)
# Description
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.
# Usage
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 2)
default: 1
[-T <val>] Type
values: VBATT|VREG, default: VBATT
stop
status print status info
# ina226
Source: drivers/power_monitor/ina226 (opens new window)
# Description
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.
# Usage
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 2)
default: 1
stop
status print status info
# ina228
Source: drivers/power_monitor/ina228 (opens new window)
# Description
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.
# Usage
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 2)
default: 1
stop
status print status info
# ina238
Source: drivers/power_monitor/ina238 (opens new window)
# Description
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.
# Usage
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 2)
default: 1
stop
status print status info
# iridiumsbd
Source: drivers/telemetry/iridiumsbd (opens new window)
# Description
IridiumSBD driver.
Creates a virtual serial port that another module can use for communication (e.g. mavlink).
# Usage
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 info
# irlock
Source: drivers/irlock (opens new window)
# Usage
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 info
# linux_pwm_out
Source: drivers/linux_pwm_out (opens new window)
# Description
Linux PWM output driver with board-specific backend implementation.
# Usage
linux_pwm_out <command> [arguments...]
Commands:
start
stop
status print status info
# lsm303agr
Source: drivers/magnetometer/lsm303agr (opens new window)
# Usage
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 info
# modal_io
Source: drivers/actuators/modal_io (opens new window)
# Description
This module is responsible for...
# Implementation
By default the module runs on a work queue with a callback on the uORB actuator_controls topic.
# Examples
It is typically started with:
todo
# Usage
modal_io <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 info
# msp_osd
Source: drivers/osd/msp_osd (opens new window)
# Description
MSP telemetry streamer
# Implementation
Converts uORB messages to MSP telemetry packets
# Examples
CLI usage example:
msp_osd
# Usage
msp_osd <command> [arguments...]
Commands:
stop
status print status info
# newpixel
Source: drivers/lights/neopixel (opens new window)
# Description
This module is responsible for driving interfasing to the Neopixel Serial LED
# Examples
It is typically started with:
neopixel -n 8
To drive all available leds.
# Usage
newpixel <command> [arguments...]
Commands:
stop
status print status info
# paa3905
Source: drivers/optical_flow/paa3905 (opens new window)
# Usage
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 info
# paw3902
Source: drivers/optical_flow/paw3902 (opens new window)
# Usage
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 info
# pca9685_pwm_out
Source: drivers/pca9685_pwm_out (opens new window)
# Description
This module is responsible for generate pwm pulse with PCA9685 chip.
It listens on the actuator_controls topics, does the mixing and writes the PWM outputs.
# Implementation
This module depends on ModuleBase and OutputModuleInterface. IIC communication is based on CDev::I2C
# Examples
It is typically started with:
pca9685_pwm_out start -a 64 -b 1
The number X can be acquired by executing
pca9685_pwm_out status when this driver is running.
# Usage
pca9685_pwm_out <command> [arguments...]
Commands:
start Start the task
[-a <val>] device address on this bus
default: 64
[-b <val>] bus that pca9685 is connected to
default: 1
[-r <val>] schedule rate limit
default: 400
stop
status print status info
# pmw3901
Source: drivers/optical_flow/pmw3901 (opens new window)
# Usage
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 info
# pps_capture
Source: drivers/pps_capture (opens new window)
# Description
This implements capturing PPS information from the GNSS module and calculates the drift between PPS and Real-time clock.
# Usage
pps_capture <command> [arguments...]
Commands:
start
stop
status print status info
# pwm_out
Source: drivers/pwm_out (opens new window)
# Description
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.
# Usage
pwm_out <command> [arguments...]
Commands:
start
stop
status print status info
# pwm_out_sim
Source: modules/simulation/pwm_out_sim (opens new window)
# Description
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.
# Usage
pwm_out_sim <command> [arguments...]
Commands:
start Start the module
[-m <val>] Mode
values: hil|sim, default: sim
stop
status print status info
# px4flow
Source: drivers/optical_flow/px4flow (opens new window)
# Usage
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 info
# px4io
Source: drivers/px4io (opens new window)
# Description
Output driver communicating with the IO co-processor.
# Usage
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
test_fmu_fail test: turn off IO updates
test_fmu_ok re-enable IO updates
stop
status print status info
# rc_input
Source: drivers/rc_input (opens new window)
# Description
This module does the RC input parsing and auto-selecting the method. Supported methods are:
- PPM
- SBUS
- DSM
- SUMD
- ST24
- TBS Crossfire (CRSF)
# Usage
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 info
# rgbled
Source: drivers/lights/rgbled (opens new window)
# Usage
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: 85
stop
status print status info
# rgbled_is31fl3195
Source: drivers/lights/rgbled_is31fl3195 (opens new window)
# Usage
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 info
# rgbled_lp5562
Source: drivers/lights/rgbled_lp5562 (opens new window)
# Description
Driver for LP5562 (opens new window) 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.
# Usage
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 info
# safety_button
Source: drivers/safety_button (opens new window)
# Description
This module is responsible for the safety button. Pressing the safety button 3 times quickly will trigger a GCS pairing request.
# Usage
safety_button <command> [arguments...]
Commands:
start
stop
status print status info
# sht3x
Source: drivers/hygrometer/sht3x (opens new window)
# Description
SHT3x Temperature and Humidity Sensor Driver by Senserion.
# Examples
CLI usage example:
sht3x start -X
Start the sensor driver on the external bus
sht3x status
Print driver status
sht3x values
Print last measured values
sht3x reset
Reinitialize senzor, reset flags
# Usage
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 sensor
# tap_esc
Source: drivers/tap_esc (opens new window)
# Description
This module controls the TAP_ESC hardware via UART. It listens on the actuator_controls topics, does the mixing and writes the PWM outputs.
# Implementation
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>
# Usage
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: 4
# tone_alarm
Source: drivers/tone_alarm (opens new window)
# Description
This module is responsible for the tone alarm.
# Usage
tone_alarm <command> [arguments...]
Commands:
start
stop
status print status info
# uwb
Source: drivers/uwb/uwb_sr150 (opens new window)
# Description
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
# Usage
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
status
# voxlpm
Source: drivers/power_monitor/voxlpm (opens new window)
# Usage
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 info