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 <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 index (for external SPI)
default: 1
[-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 지원 스마트 배터리와 SMBUS 통신용 드라이버 설정/사용 정보: https://rotoye.com/batmon-tutorial/
예
주소 0x0B에서 시작하려면 버스 4에서
batmon start -X -a 11 -b 4
사용법
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
매개변수를 설정하기 위해 플래시에 쓰기. 주소, number_of_bytes, byte0, ..., byteN
batt_smbus -X write_flash 19069 2 27 0
사용법
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 disbale 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 <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
이것은 DShot 출력 드라이버입니다. fmu 드라이버와 유사하며, PWM 대신 ESC 통신 프로토콜로 DShot을 사용하기 위하여 사용할 수 있습니다.
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).
모터 1 영구 역회전 :
DShot150, DShot300, DShot600, DShot1200
별도의 UART를 통한 텔레메트리와 esc_status 메시지로 게시
CLI를 통해 DShot 명령 보내기
예
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.
사용법
dshot <command> [arguments...]
Commands:
start Start the task (without any mode set, use any of the mode_*
cmds)
All of the mode_* commands will start the module if not running already
mode_gpio
mode_pwm Select all available pins as PWM
mode_pwm14
mode_pwm12
mode_pwm8
mode_pwm6
mode_pwm5
mode_pwm5cap1
mode_pwm4
mode_pwm4cap1
mode_pwm4cap2
mode_pwm3
mode_pwm3cap1
mode_pwm2
mode_pwm2cap2
mode_pwm1
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
모듈은 -e 매개변수를 통하여 지정된 보조 GPS 장치를 지원합니다. 위치는 두 번째 uORB 주제 인스턴스에 게시되지만, 현재 시스템의 나머지 부분에서는 사용되지 않습니다(그러나 데이터는 비교용으로 사용할 수 있도록 기록됩니다).
데이터를 폴링하는 각 장치에 대한 스레드가 존재합니다. GPS 프로토콜 클래스는 다른 프로젝트에서도 사용할 수 있도록 콜백으로 구현됩니다(예: QGroundControl에서도 사용).
구현
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).
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
[-s] Enable publication of satellite info
[-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
stop
status print status info
reset Reset GPS device
cold|warm|hot Specify reset type
ina226
INA226 전력 모니터용 드라이버.
설명
각 인스턴스에 별도의 버스 또는 I2C 주소가 있는 경우에는 이 드라이버의 여러 인스턴스를 동시에 실행할 수 있습니다.
예를 들어, 하나의 인스턴스는 버스 2의 주소 0x41에서 실행될 수 있고, 다른 인스턴스는 버스 2의 주소 0x43에서 실행할 수 있습니다.
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.
사용법
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
iridiumsbd
IridiumSBD 드라이버.
설명
다른 모듈에서 통신용으로 사용할 수 있는 가상 직렬 포트를 생성합니다(예: mavlink).
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.
사용법
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
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.
설명
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
pca9685 <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: 64
reset
test enter test mode
stop
status print status info
pca9685 <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: 64
reset
test enter test mode
stop
status print status info
기본적으로 모듈은 uORB actuator_controls 주제에 대한 콜백을 사용하여 작업 대기열에서 실행됩니다.
보통 다음 명령으로 시작합니다.
사용법
This module depends on ModuleBase and OutputModuleInterface. IIC communication is based on CDev::I2C
설명
It is typically started with:
pca9685_pwm_out start -a 64 -b 1
Use the mixer command to load mixer files. mixer load /dev/pwm_outputX etc/mixers/quad_x.main.mix The number X can be acquired by executing pca9685_pwm_out status when this driver is running.
구현
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 index (for external SPI)
default: 1
[-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
pcf8583 <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: 80
stop
status print status info
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 index (for external SPI)
default: 1
[-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
px4flow
시뮬레이션된 PWM 출력용 드라이버입니다.
설명
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.
It listens on the actuator_controls topics, does the mixing and writes the PWM outputs.
On startup, the module tries to occupy all available pins for PWM/Oneshot output. It skips all pins already in use (e.g. by a camera trigger module).
pwm_out <command> [arguments...]
Commands:
start
sensor_reset Do a sensor reset (SPI bus)
[<ms>] Delay time in ms between reset and re-enabling
peripheral_reset Reset board peripherals
[<ms>] Delay time in ms between reset and re-enabling
i2c Configure I2C clock rate
<bus_id> <rate> Specify the bus id (>=0) and rate in Hz
test Test outputs
stop
status print status info
Output driver communicating with the IO co-processor.
구현
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
[-R <val>] Rotation (default=downwards)
default: 25
stop
status print status info
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
This driver communicates over UART with the Roboclaw motor driver. It performs two tasks:
actuator_controls_0 UOrb 주제를 기반으로 모터를 제어합니다.
휠 인코더를 읽고 wheel_encoders UOrb 주제에 원시 데이터를 게시합니다.
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. For Pixhawk 4, use the UART & I2C B port, which corresponds to /dev/ttyS3.
Implementation
The main loop of this module (Located in RoboClaw.cpp::task_main()) performs 2 tasks:
Roboclaw가 사용 가능해지면, actuator_controls_0 메시지를 Roboclaw에 작성하십시오.
일정한 속도로 Roboclaw에서 인코더 데이터를 읽습니다.
Because of the latency of UART, this driver does not write every single actuator_controls_0 message to the Roboclaw immediately. Instead, it is rate limited based on the parameter RBCLW_WRITE_PER.
On startup, this driver will attempt to read the status of the Roboclaw to verify that it is connected. If this fails, the driver terminates immediately.
Examples
The command to start this driver is:
$ roboclaw start
<device> is the name of the UART port. On the Pixhawk 4, this is /dev/ttyS3. <baud> is te baud rate.
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 implementd 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
Mount (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.
Implementation
Each method is implemented in its own class, and there is a common base class for inputs and outputs. They are connected via an API, defined by the ControlData data structure. This makes sure that each input method can be used with each output method and new inputs/outputs can be added with minimal effort.
Examples
Test the output by setting a fixed yaw angle (and the other axes to 0):
vmount stop
vmount test yaw 30
Usage
vmount <command> [arguments...]
Commands:
start
test Test the output: set a fixed angle for one axis (vmount must
not be running)
roll|pitch|yaw <angle> Specify an axis and an angle in degrees
stop
status print status info
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