用于从文件中刷新飞行控制器的 引导加载程序（bootloader ）
bl_update [arguments...] setopt 设置选项字节（option bits）以解锁 FLASH (仅当其处于锁定状态时) <file> Bootloader bin 文件
Dump file utility. Prints file size and contents in binary mode (don't replace LF with CR LF) to stdout.
dumpfile [arguments...] <file> File to dump
Load and run a dynamic PX4 module, which was not compiled into the PX4 binary.
dyn ./hello.px4mod start
dyn [arguments...] <file> File containing the module [arguments...] Arguments to the module
Tool for ESC calibration
Calibration procedure (running the command will guide you through it):
- 移除螺旋桨，将 ESC 断电
- Stop attitude and rate controllers: mc_rate_control stop, fw_att_control stop
- 确保安全设置断开（Make sure safety is off）
esc_calib [arguments...] [-d <val>] Select PWM output device values: <file:dev>, default: /dev/pwm_output0 [-l <val>] Low PWM value in us default: 1000 [-h <val>] High PWM value in us default: 2000 [-c <val>] select channels in the form: 1234 (1 digit per channel, 1=first) [-m <val>] Select channels via bitmask (eg. 0xF, 3) [-a] Select all channels
Inject failures into system.
This system command sends a vehicle command over uORB to trigger failure.
Test the GPS failsafe by stopping GPS:
failure gps off
failure [arguments...] help Show this help text gps|... Specify component ok|off|... Specify failure type [-i <val>] sensor instance (0=all) default: 0
This command is used to read and write GPIOs.
gpio [arguments...] read <PORT> <PIN> GPIO port and pin [PULLDOWN|PULLUP] Pulldown/Pullup [--force] Force (ignore board gpio list) write <PORT> <PIN> GPIO port and pin <VALUE> Value to write [PULLDOWN|PULLUP] Pulldown/Pullup [--force] Force (ignore board gpio list)
Used in startup scripts to handle hardfaults
hardfault_log <command> [arguments...] Commands: check Check if there's an uncommited hardfault rearm Drop an uncommited hardfault fault Generate a hardfault (this command crashes the system :) [0|1] Hardfault type: 0=divide by 0, 1=Assertion (default=0) commit Write uncommited 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 uncommited hardfault (returned as the exit code of the program) reset Reset the reboot counter
Utility to scan for I2C devices on a particular bus.
i2cdetect [arguments...] [-b <val>] I2C bus default: 1
Command-line tool to control & test the (external) LED's.
To use it make sure there's a driver running, which handles the led_control uorb topic.
There are different priorities, such that for example one module can set a color with low priority, and another module can blink N times with high priority, and the LED's automatically return to the lower priority state after the blinking. The
reset command can also be used to return to a lower priority.
Blink the first LED 5 times in blue:
led_control blink -c blue -l 0 -n 5
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: 2
Utility to listen on uORB topics and print the data to the console.
The listener can be exited any time by pressing Ctrl+C, Esc, or Q.
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: 0
Load or append mixer files to the ESC driver.
Note that the driver must support the used ioctl's, which is the case on NuttX, but for example not on RPi.
mixer <command> [arguments...] Commands: load <file:dev> <file> Output device (eg. /dev/pwm_output0) and mixer file append <file:dev> <file> Output device (eg. /dev/pwm_output0) and mixer file
Application to test motor ramp up.
Before starting, make sure to stop any running attitude controller:
mc_rate_control stop fw_att_control stop
When starting, a background task is started, runs for several seconds (as specified), then exits.
motor_ramp sine -a 1100 -r 0.5
motor_ramp [arguments...] ramp|sine|square mode [-d <val>] Pwm output device default: /dev/pwm_output0 -a <val> Select minimum pwm duty cycle in usec [-b <val>] Select maximum pwm duty cycle in usec default: 2000 [-r <val>] Select motor ramp duration in sec default: 1.0 WARNING: motors will ramp up to full speed!
Utility to test motors.
WARNING: remove all props before using this command.
motor_test <command> [arguments...] Commands: test Set motor(s) to a specific output value [-m <val>] Motor to test (1...8, all if not specified) [-p <val>] Power (0...100) default: 0 [-t <val>] Timeout in seconds (default=no timeout) default: 0 [-i <val>] driver instance default: 0 stop Stop all motors iterate Iterate all motors starting and stopping one after the other
Utility to mount and test partitions (based on FRAM/EEPROM storage as defined by the board)
mtd <command> [arguments...] Commands: status Print status information start Mount partitions readtest Perform read test rwtest Perform read-write test erase Erase partition(s) has-secondary Check if the board has configured a secondary device The commands 'start', 'readtest' and 'rwtest' have an optional instance index: [-i <val>] storage index (if the board has multiple storages) default: 0 The commands 'start', 'readtest', 'rwtest' and 'erase' have an optional parameter: [<partition_name1> [<partition_name2> ...]] Partition names (eg. /fs/mtd_params), use system default if not provided
Start an NSH shell on a given port.
This was previously used to start a shell on the USB serial port. Now there runs mavlink, and it is possible to use a shell over mavlink.
nshterm [arguments...] <file:dev> Device on which to start the shell (eg. /dev/ttyACM0)
Command to access and manipulate parameters via shell or script.
This is used for example in the startup script to set airframe-specific parameters.
Parameters are automatically saved when changed, eg. with
param set. They are typically stored to FRAM or to the SD card.
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.
Each parameter has a 'used' flag, which is set when it's read during boot. It is used to only show relevant parameters to a ground control station.
Change the airframe and make sure the airframe's default parameters are loaded:
param set SYS_AUTOSTART 4001 param set SYS_AUTOCONFIG 1 reboot
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 (use <root>/eeprom/parameters if not given) 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 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 name
Tool to print performance counters
perf [arguments...] reset Reset all counters latency Print HRT timer latency histogram Prints all performance counters if no arguments given
This command is used to configure PWM outputs for servo and ESC control.
The default device
/dev/pwm_output0 are the Main channels, AUX channels are on
It is used in the startup script to make sure the PWM parameters (
PWM_*) are applied (or the ones provided by the airframe config if specified).
pwm info shows the current settings (the trim value is an offset and configured with
The disarmed value should be set such that the motors don't spin (it's also used for the kill switch), at the minimum value they should spin.
Channels are assigned to a group. Due to hardware limitations, the update rate can only be set per group. Use
pwm info to display the groups. If the
-c argument is used, all channels of any included group must be included.
-r can be set to a parameter instead of specifying an integer: use -p p:PWM_MIN for example.
Note that in OneShot mode, the PWM range [1000, 2000] is automatically mapped to [125, 250].
Set the PWM rate for all channels to 400 Hz:
pwm rate -a -r 400
Test the outputs of eg. channels 1 and 3, and set the PWM value to 1200 us:
pwm arm pwm test -c 13 -p 1200
pwm <command> [arguments...] Commands: arm Arm output disarm Disarm output info Print current configuration of all channels forcefail Force Failsafe mode. PWM outputs are set to failsafe values. on|off Turn on or off terminatefail Enable Termination Failsafe mode. While this is true, any failsafe that occurs will be unrecoverable (even if recovery conditions are met). on|off Turn on or off rate Configure PWM rates -r <val> PWM Rate in Hz (0 = Oneshot, otherwise 50 to 400Hz) oneshot Configure Oneshot125 (rate is set to 0) failsafe Set Failsafe PWM value disarmed Set Disarmed PWM value min Set Minimum PWM value max Set Maximum PWM value test Set Output to a specific value until 'q' or 'c' or 'ctrl-c' pressed steps Run 5 steps from 0 to 100% The commands 'failsafe', 'disarmed', 'min', 'max' and 'test' require a PWM value: -p <val> PWM value (eg. 1100) The commands 'rate', 'oneshot', 'failsafe', 'disarmed', 'min', 'max', 'test' and 'steps' additionally require to specify the channels with one of the following commands: [-c <val>] select channels in the form: 1234 (1 digit per channel, 1=first) [-m <val>] Select channels via bitmask (eg. 0xF, 3) [-g <val>] Select channels by group (eg. 0, 1, 2. use 'pwm info' to show groups) [-a] Select all channels These parameters apply to all commands: [-d <val>] Select PWM output device values: <file:dev>, default: /dev/pwm_output0 [-v] Verbose output [-e] Exit with 1 instead of 0 on error
Reboot the system
reboot [arguments...] [-b] Reboot into bootloader [lock|unlock] Take/release the shutdown lock (for testing)
Test the speed of an SD Card
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 [-s] Call fsync after each block (default=at end of each run)
Command-line tool to set and get system time.
Set the system time and read it back
system_time set 1600775044 system_time get
system_time <command> [arguments...] Commands: set Set the system time, provide time in unix epoch time format get Get the system time
Monitor running processes and their CPU, stack usage, priority and state
top [arguments...] once print load only once
Utility to check if USB is connected. Was previously used in startup scripts. A return value of 0 means USB is connected, 1 otherwise.
Tool to print various version information
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