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battery_simulator <command> [arguments...] Commands: start stop status print status info
The provided functionality includes:
- (ioctl 인터페이스로) ADC 드라이버의 출력을 읽고
It runs in its own thread and polls on the currently selected gyro topic.
battery_status <command> [arguments...] Commands: start stop status print status info
camera_feedback <command> [arguments...] Commands: start stop status print status info
The commander module contains the state machine for mode switching and failsafe behavior.
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
Module to provide persistent storage for the rest of the system in form of a simple database through a C API. Multiple backends are supported:
- 파일(예: SD 카드)
- 플래시(보드에 붙어있을 경우)
- RAM(분명히 영구 저장장치는 아님)
It is used to store structured data of different types: mission waypoints, mission state and geofence polygons. Each type has a specific type and a fixed maximum amount of storage items, so that fast random access is possible.
Reading and writing a single item is always atomic. If multiple items need to be read/modified atomically, there is an additional lock per item type via
DM_KEY_FENCE_POINTS and DM_KEY_SAFE_POINTS items: the first data element is a
mission_stats_entry_s struct, which stores the number of items for these types. These items are always updated atomically in one transaction (from the mavlink mission manager). During that time, navigator will try to acquire the geofence item lock, fail, and will not check for geofence violations.
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
Command-line tool to show bootup console messages. Note that output from NuttX's work queues and syslog are not captured.
Keep printing all messages in the background:
dmesg -f &
dmesg <command> [arguments...] Commands: [-f] Follow: wait for new messages
This implements using information from the ESC status and publish it as battery status.
esc_battery <command> [arguments...] Commands: start stop status print status info
gyro_fft <command> [arguments...] Commands: start stop status print status info
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
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
Background process running periodically on the low priority work queue to calculate the CPU load and RAM usage and publish the
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
System logger which logs a configurable set of uORB topics and system printf messages (
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 <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
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
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 and then publish as
To reduce control latency, the module is scheduled on input_rc publications.
rc_update <command> [arguments...] Commands: start stop status print status info
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=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
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
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 활용하는
- 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
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
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_correction 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_correction 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
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)
Command-line tool to show work queue status.
work_queue <command> [arguments...] Commands: start stop status print status info