소스 코드: modules/simulator/battery_simulator
battery_simulator <command> [arguments...]
Commands:
start
stop
status print status info
소스 코드: modules/battery_status
제공 기능은 다음과 같습니다:
- (ioctl 인터페이스로) ADC 드라이버의 출력을 읽고
battery_status로 내보냅니다.
현재 선택한 자이로 토픽에 대해 스레드와 폴링을 기반으로 실행합니다.
battery_status <command> [arguments...]
Commands:
start
stop
status print status info
소스 코드: modules/camera_feedback
camera_feedback <command> [arguments...]
Commands:
start
stop
status print status info
소스 코드: modules/commander
commander 모듈에는 모듈 스위칭 기능과 안전 조치 기능을 수반한 상태 머신이 들어있습니다.
commander <command> [arguments...]
Commands:
start
[-h] Enable HIL mode
calibrate Run sensor calibration
mag|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
takeoff
land
transition VTOL transition
mode Change flight mode
manual|acro|offboard|stabilized|rattitude|altctl|posctl|auto:mission|auto:l
oiter|auto:rtl|auto:takeoff|auto:land|auto:precland Flight mode
lockdown
[off] Turn lockdown off
stop
status print status info
소스 코드: modules/dataman
C API 형식의 간단한 데이터베이스형 영구 저장소를 시스템의 나머지 자원을 가용하여 제공합니다. 여러 백엔드를 지원합니다:
- 파일(예: SD 카드)
- 플래시(보드에 붙어있을 경우)
- FRAM
- RAM(분명히 영구 저장장치는 아님)
임부 경로 지점, 임무 상태, 다각형 비행 제한 구역 같은 여러가지 형식의 구조 데이터를 저장합니다. 각 데이터에 고유 형식을 할당하며, 항목당 저장소상 최대 고정 용량이 있기에, 고속의 임의 접근이 가능합니다.
단일 항목의 읽기/쓰기 동작은 원소 형태입니다. 여러 항목을 개별적으로 읽고 수정하려면, dm_lock으로 항목 형식별 추가 잠금을 걸어두어야 합니다.
DM_KEY_FENCE_POINTS와 DM_KEY_SAFE_POINTS 항목: 첫 데이타 요소는 이런 형식의 항목을 저장하는 mission_stats_entry_s 구조체입니다. 트랜잭션 1회당 이 항목은 (MAVLink 임무 관리자에서) 개별적으로 업데이트합니다. 이때 동안, 네비게이터에서는 비행 제한 구역(geofence) 항목의 잠금 획득을 시도하고, 비행 제한 구역 위반을 검사하지 않습니다.
dataman <command> [arguments...]
Commands:
start
[-f <val>] Storage file
values: <file>
[-r] Use RAM backend (NOT persistent)
[-i] Use FLASH backend
The options -f, -r and -i are mutually exclusive. If nothing is specified, a
file 'dataman' is used
poweronrestart Restart dataman (on power on)
inflightrestart Restart dataman (in flight)
stop
status print status info
소스 코드: systemcmds/dmesg
부팅 콘솔 메시지를 보여주는 명령행 도구입니다. NuttX의 작업 큐와 syslog의 출력은 잡아 보여주지 않습니다.
백그라운드의 모든 메시지 출력 유지:
dmesg -f &
dmesg <command> [arguments...]
Commands:
[-f] Follow: wait for new messages
소스 코드: modules/esc_battery
이 구현체에서는 전동 변속기 상태 정보를 활용하며, 배터리 상태를 내보냅니다.
esc_battery <command> [arguments...]
Commands:
start
stop
status print status info
Source: examples/gyro_fft
gyro_fft <command> [arguments...]
Commands:
start
stop
status print status info
Source: drivers/heater
Background process running periodically on the LP work queue to regulate IMU temperature at a setpoint.
This task can be started at boot from the startup scripts by setting SENS_EN_THERMAL or via CLI.
heater <command> [arguments...]
Commands:
start
stop
status print status info
Source: modules/land_detector
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.
Every type is implemented in its own class with a common base class. The base class maintains a state (landed, maybe_landed, ground_contact). Each possible state is implemented in the derived classes. A hysteresis and a fixed priority of each internal state determines the actual land_detector state.
ground_contact: thrust setpoint and velocity in z-direction must be below a defined threshold for time GROUND_CONTACT_TRIGGER_TIME_US. When ground_contact is detected, the position controller turns off the thrust setpoint in body x and y.
maybe_landed: it requires ground_contact together with a tighter thrust setpoint threshold and no velocity in the horizontal direction. The trigger time is defined by MAYBE_LAND_TRIGGER_TIME. When maybe_landed is detected, the position controller sets the thrust setpoint to zero.
landed: it requires maybe_landed to be true for time LAND_DETECTOR_TRIGGER_TIME_US.
The module runs periodically on the HP work queue.
land_detector <command> [arguments...]
Commands:
start Start the background task
fixedwing|multicopter|vtol|rover|airship Select vehicle type
stop
status print status info
Source: modules/load_mon
Background process running periodically on the low priority work queue to calculate the CPU load and RAM usage and publish the cpuload topic.
On NuttX it also checks the stack usage of each process and if it falls below 300 bytes, a warning is output, which will also appear in the log file.
load_mon <command> [arguments...]
Commands:
start Start the background task
stop
status print status info
Source: modules/logger
System logger which logs a configurable set of uORB topics and system printf messages (PX4_WARN and PX4_ERR) to ULog files. These can be used for system and flight performance evaluation, tuning, replay and crash analysis.
It supports 2 backends:
- 파일: ULog 파일을 시스템에 기록합니다(SD 카드)
- MAVLink: 이 프로토콜에 ULog 데이터를 실어 클라이언트에 지속적으로 보냅니다(클라이언트에서 MAVLink 프로토콜을 지원해야함).
Both backends can be enabled and used at the same time.
The file backend supports 2 types of log files: full (the normal log) and a mission log. The mission log is a reduced ulog file and can be used for example for geotagging or vehicle management. It can be enabled and configured via SDLOG_MISSION parameter. The normal log is always a superset of the mission log.
The implementation uses two threads:
- 메인 스레드해서는, 고정 주기(또는 -p 로 시작했을 경우 토픽을 폴링 처리)로 실행하며, 데이터 업데이트를 확인합니다.
- 기록 스레드는 데이터를 파일에 기록합니다
In between there is a write buffer with configurable size (and another fixed-size buffer for the mission log). It should be large to avoid dropouts.
Typical usage to start logging immediately:
logger start -e -t
Or if already running:
logger on
logger <command> [arguments...]
Commands:
start
[-m <val>] Backend mode
values: file|mavlink|all, default: all
[-x] Enable/disable logging via Aux1 RC channel
[-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>
on start logging now, override arming (logger must be running)
off stop logging now, override arming (logger must be running)
stop
status print status info
Source: drivers/pwm_input
Measures the PWM input on AUX5 (or MAIN5) via a timer capture ISR and publishes via the uORB 'pwm_input` message.
pwm_input <command> [arguments...]
Commands:
start
test prints PWM capture info.
stop
status print status info
Source: modules/rc_update
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, low-pass filter, and then publish as rc_channels and manual_control_setpoint.
To reduce control latency, the module is scheduled on input_rc publications.
rc_update <command> [arguments...]
Commands:
start
stop
status print status info
Source: modules/replay
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: EKF2 재현 모드로 설정합니다. ekf2 모듈하고만 값을 사용할 수 있으나, 가능한 한 빠른 재현이 가능합니다.- 기타 일반: 다른 모듈 재현에 활용할 수 있습니다만, 기록한 로그 속도대로만 재현할 수 있습니다.
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.
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
Source: modules/events
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.).
send_event <command> [arguments...]
Commands:
start Start the background task
stop
status print status info
Source: modules/sensors
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.
The provided functionality includes:
- 센서 드라이버(
sensor_gyro등)의 출력을 읽습니다. 다중 동일 형식 출력이 있을 경우, 출력 데이터 중 하나를 뽑아 안전 조치를 수행합니다. 그 후 보드 회전과 온도 보정 값(기능을 켰을 경우)을 적용합니다. 마지막으로 데이터를 내보냅니다. 내보내는 여러 토픽 중 하나는 시스템의 여러 부분에서 활용하는sensor_combined입니다. - 매개변수 값이 바뀌었거나 비행체 가동 시작시, 센서 드라이버에서 최신 보정 매개변수 값(계수와 오프셋)을 받았는지 확인합니다. 센서 드라이버는 매개변수 값 업데이트시 ioctl 인터페이스를 활용합니다. 이 동작을 제대로 수행하기 위해 센서 드라이버는 반드시
센서를 시작할 때 먼저 동작해야 합니다. - 센서 무결성을 점검하고
sensors_status_imu토픽을 내보냅니다.
It runs in its own thread and polls on the currently selected gyro topic.
sensors <command> [arguments...]
Commands:
start
[-h] Start in HIL mode
stop
status print status info
Source: modules/temperature_compensation
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_thermal_cal 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.
temperature_compensation <command> [arguments...]
Commands:
start Start the module, which monitors the sensors and updates the
sensor_thermal_cal topic
calibrate Run temperature calibration process
[-g] calibrate the gyro
[-a] calibrate the accel
[-b] calibrate the baro (if none of these is given, all will be
calibrated)
stop
status print status info
Source: systemcmds/tune_control
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/Firmware/blob/master/src/lib/tunes/tune_definition.desc
Play system tune #2:
tune_control play -t 2
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)
Source: systemcmds/work_queue
Command-line tool to show work queue status.
work_queue <command> [arguments...]
Commands:
start
stop
status print status info