docs: auto-sync metadata [skip ci]

Co-Authored-By: PX4 BuildBot <bot@px4.io>
2026-07-27 00:48:23 +08:00 · 2026-02-11 22:43:01 +00:00
parent 01b348c86b
commit 36b5e1e1bb
374 changed files with 12147 additions and 1765 deletions
--- a/docs/en/modules/module_template.md
+++ b/docs/en/modules/module_template.md
@@ -1,6 +1,6 @@
 # Module Template for Full Applications

-An application can be written to run as either a *task* (a module with its own stack and process priority) or as a *work queue task* (a module that runs on a work queue thread, sharing the stack and thread priority with other tasks on the work queue).
+An application can be written to run as either a _task_ (a module with its own stack and process priority) or as a _work queue task_ (a module that runs on a work queue thread, sharing the stack and thread priority with other tasks on the work queue).
 In most cases a work queue task can be used, as this minimizes resource usage.

 ::: info
@@ -13,26 +13,28 @@ All the things learned in the [First Application Tutorial](../modules/hello_sky.

 ## Work Queue Task

-PX4-Autopilot contains a template for writing a new application (module) that runs as a *work queue task*:
+PX4-Autopilot contains a template for writing a new application (module) that runs as a _work queue task_:
 [src/examples/work_item](https://github.com/PX4/PX4-Autopilot/tree/main/src/examples/work_item).

 A work queue task application is just the same as an ordinary (task) application, except that it needs to specify that it is a work queue task, and schedule itself to run during initialisation.

 The example shows how.
 In summary:
+
 1. Specify the dependency on the work queue library in the cmake definition file ([CMakeLists.txt](https://github.com/PX4/PX4-Autopilot/blob/main/src/examples/work_item/CMakeLists.txt)):
   ```
   ...
   DEPENDS
      px4_work_queue
   ```
-1. In addition to `ModuleBase`, the task should also derive from `ScheduledWorkItem` (included from [ScheduledWorkItem.hpp]( https://github.com/PX4/PX4-Autopilot/blob/main/platforms/common/include/px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp))
+1. In addition to `ModuleBase`, the task should also derive from `ScheduledWorkItem` (included from [ScheduledWorkItem.hpp](https://github.com/PX4/PX4-Autopilot/blob/main/platforms/common/include/px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp))
 1. Specify the queue to add the task to in the constructor initialisation.
   The [work_item](https://github.com/PX4/PX4-Autopilot/blob/main/src/examples/work_item/WorkItemExample.cpp#L42) example adds itself to the `wq_configurations::test1` work queue as shown below:
+
   ```cpp
   WorkItemExample::WorkItemExample() :
-	   ModuleParams(nullptr),
-	   ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::test1)
+      ModuleParams(nullptr),
+      ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::test1)
   {
   }
   ```
@@ -45,8 +47,6 @@ In summary:
 1. Implement the `task_spawn` method, specifying that the task is a work queue (using the `task_id_is_work_queue` id.
 1. Schedule the work queue task using one of the scheduling methods (in the example we use `ScheduleOnInterval` from within the `init` method).

-
-
 ## Tasks

 PX4/PX4-Autopilot contains a template for writing a new application (module) that runs as a task on its own stack:
--- a/docs/en/modules/modules_autotune.md
+++ b/docs/en/modules/modules_autotune.md
@@ -1,15 +1,11 @@
 # Modules Reference: Autotune

-
-
 ## fw_autotune_attitude_control

 Source: [modules/fw_autotune_attitude_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/fw_autotune_attitude_control)

-
 ### Description

-
 ### Usage {#fw_autotune_attitude_control_usage}

 ```
@@ -27,10 +23,8 @@ fw_autotune_attitude_control <command> [arguments...]

 Source: [modules/mc_autotune_attitude_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mc_autotune_attitude_control)

-
 ### Description

-
 ### Usage {#mc_autotune_attitude_control_usage}

 ```
--- a/docs/en/modules/modules_command.md
+++ b/docs/en/modules/modules_command.md
@@ -1,12 +1,9 @@
 # Modules Reference: Command

-
-
 ## actuator_test

 Source: [systemcmds/actuator_test](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/actuator_test)

-
 Utility to test actuators.

 WARNING: remove all props before using this command.
@@ -36,6 +33,7 @@ actuator_test <command> [arguments...]
 Source: [systemcmds/bl_update](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/bl_update)

 Utility to flash the bootloader from a file
+
 ### Usage {#bl_update_usage}

 ```
@@ -51,6 +49,7 @@ bl_update [arguments...]
 Source: [systemcmds/bsondump](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/bsondump)

 Utility to read BSON from a file and print or output document size.
+
 ### Usage {#bsondump_usage}

 ```
@@ -63,6 +62,7 @@ bsondump [arguments...]
 Source: [systemcmds/dumpfile](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/dumpfile)

 Dump file utility. Prints file size and contents in binary mode (don't replace LF with CR LF) to stdout.
+
 ### Usage {#dumpfile_usage}

 ```
@@ -74,16 +74,16 @@ dumpfile [arguments...]

 Source: [systemcmds/dyn](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/dyn)

-
 ### Description
+
 Load and run a dynamic PX4 module, which was not compiled into the PX4 binary.

 ### Example
+
 ```
 dyn ./hello.px4mod start
 ```

-
 ### Usage {#dyn_usage}

 ```
@@ -96,14 +96,16 @@ dyn [arguments...]

 Source: [systemcmds/failure](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/failure)

-
 ### Description
+
 Inject failures into system.

 ### Implementation
+
 This system command sends a vehicle command over uORB to trigger failure.

 ### Examples
+
 Test the GPS failsafe by stopping GPS:

 failure gps off
@@ -125,32 +127,37 @@ failure [arguments...]

 Source: [systemcmds/gpio](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/gpio)

-
 ### Description
+
 This command is used to read and write GPIOs
+
 ```
 gpio read <PORT><PIN>/<DEVICE> [PULLDOWN|PULLUP] [--force]
 gpio write <PORT><PIN>/<DEVICE> <VALUE> [PUSHPULL|OPENDRAIN] [--force]
 ```

 ### Examples
+
 Read the value on port H pin 4 configured as pullup, and it is high
+
 ```
 gpio read H4 PULLUP
 ```
+
 1 OK

 Set the output value on Port E pin 7 to high
+
 ```
 gpio write E7 1 --force
 ```

 Set the output value on device /dev/gpio1 to high
+
 ```
 gpio write /dev/gpio1 1
 ```

-
 ### Usage {#gpio_usage}

 ```
@@ -203,6 +210,7 @@ hardfault_log <command> [arguments...]
 Source: [systemcmds/hist](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/hist)

 Command-line tool to show the px4 message history. There are no arguments.
+
 ### Usage {#hist_usage}

 ```
@@ -214,6 +222,7 @@ hist [arguments...]
 Source: [systemcmds/i2cdetect](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/i2cdetect)

 Utility to scan for I2C devices on a particular bus.
+
 ### Usage {#i2cdetect_usage}

 ```
@@ -226,8 +235,8 @@ i2cdetect [arguments...]

 Source: [systemcmds/led_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/led_control)

-
 ### Description
+
 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.
@@ -237,12 +246,13 @@ module can blink N times with high priority, and the LED's automatically return
 after the blinking. The `reset` command can also be used to return to a lower priority.

 ### Examples
+
 Blink the first LED 5 times in blue:
+
 ```
 led_control blink -c blue -l 0 -n 5
 ```

-
 ### Usage {#led_control_usage}

 ```
@@ -279,7 +289,6 @@ led_control <command> [arguments...]

 Source: [systemcmds/topic_listener](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/topic_listener)

-
 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.
@@ -303,6 +312,7 @@ listener <command> [arguments...]
 Source: [systemcmds/mft](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/mft)

 Utility interact with the manifest
+
 ### Usage {#mfd_usage}

 ```
@@ -316,6 +326,7 @@ mfd <command> [arguments...]
 Source: [systemcmds/mft_cfg](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/mft_cfg)

 Tool to set and get manifest configuration
+
 ### Usage {#mft_cfg_usage}

 ```
@@ -336,6 +347,7 @@ mft_cfg <command> [arguments...]
 Source: [systemcmds/mtd](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/mtd)

 Utility to mount and test partitions (based on FRAM/EEPROM storage as defined by the board)
+
 ### Usage {#mtd_usage}

 ```
@@ -378,8 +390,8 @@ nshterm [arguments...]

 Source: [systemcmds/param](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/param)

-
 ### Description
+
 Command to access and manipulate parameters via shell or script.

 This is used for example in the startup script to set airframe-specific parameters.
@@ -396,7 +408,9 @@ Each parameter has a 'used' flag, which is set when it's read during boot. It is
 parameters to a ground control station.

 ### Examples
+
 Change the airframe and make sure the airframe's default parameters are loaded:
+
 ```
 param set SYS_AUTOSTART 4001
 param set SYS_AUTOCONFIG 1
@@ -476,12 +490,11 @@ param <command> [arguments...]

 Source: [modules/payload_deliverer](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/payload_deliverer)

-
 ### Description
+
 Handles payload delivery with either Gripper or a Winch with an appropriate timeout / feedback sensor setting,
 and communicates back the delivery result as an acknowledgement internally

-
 ### Usage {#payload_deliverer_usage}

 ```
@@ -505,6 +518,7 @@ payload_deliverer <command> [arguments...]
 Source: [systemcmds/perf](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/perf)

 Tool to print performance counters
+
 ### Usage {#perf_usage}

 ```
@@ -521,6 +535,7 @@ perf [arguments...]
 Source: [systemcmds/reboot](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/reboot)

 Reboot the system
+
 ### Usage {#reboot_usage}

 ```
@@ -535,6 +550,7 @@ reboot [arguments...]
 Source: [systemcmds/sd_bench](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/sd_bench)

 Test the speed of an SD Card
+
 ### Usage {#sd_bench_usage}

 ```
@@ -557,6 +573,7 @@ sd_bench [arguments...]
 Source: [systemcmds/sd_stress](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/sd_stress)

 Test operations on an SD Card
+
 ### Usage {#sd_stress_usage}

 ```
@@ -592,7 +609,6 @@ serial_passthru [arguments...]

 Source: [systemcmds/system_time](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/system_time)

-
 ### Description

 Command-line tool to set and get system time.
@@ -600,6 +616,7 @@ Command-line tool to set and get system time.
 ### Examples

 Set the system time and read it back
+
 ```
 system_time set 1600775044
 system_time get
@@ -620,6 +637,7 @@ system_time <command> [arguments...]
 Source: [systemcmds/top](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/top)

 Monitor running processes and their CPU, stack usage, priority and state
+
 ### Usage {#top_usage}

 ```
@@ -633,6 +651,7 @@ Source: [systemcmds/usb_connected](https://github.com/PX4/PX4-Autopilot/tree/mai

 Utility to check if USB is connected. Was previously used in startup scripts.
 A return value of 0 means USB is connected, 1 otherwise.
+
 ### Usage {#usb_connected_usage}

 ```
@@ -644,6 +663,7 @@ usb_connected [arguments...]
 Source: [systemcmds/ver](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/ver)

 Tool to print various version information
+
 ### Usage {#ver_usage}

 ```
--- a/docs/en/modules/modules_driver.md
+++ b/docs/en/modules/modules_driver.md
@@ -45,6 +45,26 @@ atxxxx <command> [arguments...]
   status        print status info
 ```

+## auterion_autostarter
+
+Source: [drivers/auterion_autostarter](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/auterion_autostarter)
+
+### Description
+
+Driver for starting and auto-detecting different power monitors.
+
+### Usage {#auterion_autostarter_usage}
+
+```
+auterion_autostarter <command> [arguments...]
+ Commands:
+   start
+
+   stop
+
+   status        print status info
+```
+
 ## batmon

 Source: [drivers/smart_battery/batmon](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/smart_battery/batmon)
@@ -925,26 +945,6 @@ pca9685_pwm_out <command> [arguments...]
   status        print status info
 ```

-## pm_selector_auterion
-
-Source: [drivers/power_monitor/pm_selector_auterion](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/power_monitor/pm_selector_auterion)
-
-### Description
-
-Driver for starting and auto-detecting different power monitors.
-
-### Usage {#pm_selector_auterion_usage}
-
-```
-pm_selector_auterion <command> [arguments...]
- Commands:
-   start
-
-   stop
-
-   status        print status info
-```
-
 ## pmw3901

 Source: [drivers/optical_flow/pmw3901](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/optical_flow/pmw3901)
@@ -1109,7 +1109,7 @@ px4io <command> [arguments...]

 ## rgbled

-Source: [drivers/lights/rgbled_ncp5623c](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/lights/rgbled_ncp5623c)
+Source: [drivers/lights/rgbled](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/lights/rgbled)

 ### Usage {#rgbled_usage}

@@ -1124,9 +1124,7 @@ rgbled <command> [arguments...]
     [-f <val>]  bus frequency in kHz
     [-q]        quiet startup (no message if no device found)
     [-a <val>]  I2C address
-                 default: 57
-     [-o <val>]  RGB PWM Assignment
-                 default: 123
+                 default: 85

   stop

@@ -1438,6 +1436,30 @@ tap_esc <command> [arguments...]
                 default: 4
 ```

+## tmp102
+
+Source: [drivers/temperature_sensor/tmp102](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/temperature_sensor/tmp102)
+
+### Usage {#tmp102_usage}
+
+```
+tmp102 <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
+```
+
 ## tone_alarm

 Source: [drivers/tone_alarm](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/tone_alarm)
@@ -1627,6 +1649,76 @@ voxlpm [arguments...]
   status        print status info
 ```

+## vtx
+
+Source: [drivers/vtx](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/vtx)
+
+### Description
+
+This module communicates with a VTX camera via serial port. It can be used to
+configure the camera settings and to control the camera's video transmission.
+Supported protocols are:
+
+- SmartAudio v1, v2.0, v2.1
+- Tramp
+
+### Usage {#vtx_usage}
+
+```
+vtx <command> [arguments...]
+ Commands:
+   start
+     -d <val>    VTX device
+                 values: <file:dev>
+
+   <int>         Sets an entry in the mapping table: <index> <aux channel>
+                 <band> <channel> <power level> <start range> <end range>
+
+   stop
+
+   status        print status info
+```
+
+## vtxtable
+
+Source: [drivers/vtxtable](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/vtxtable)
+
+### Description
+
+Manages the VTX frequency, power level and RC mapping table for VTX configuration.
+
+### Usage {#vtxtable_usage}
+
+```
+vtxtable <command> [arguments...]
+ Commands:
+   status        Shows the current VTX table configuration.
+
+   name          Sets the VTX table name: <string>
+
+   bands         Sets the number of bands: <int>
+
+   band          Sets the band frequencies: <1-index> <name> <letter>
+                 <attribute> <frequencies...>
+
+   channels      Sets the number of channels: <int>
+
+   powerlevels   Sets number of power levels: <int>
+
+   powervalues   Sets the power level values: <int...>
+
+   powerlabels   Sets the power level labels: <3 chars...>
+
+   <int>         Sets an entry in the mapping table: <0-index> <aux channel>
+                 <band> <channel> <power level> <start range> <end range>
+
+   clear         Clears the VTX table configuration.
+
+   save          Saves the VTX config to a file: <file>
+
+   load          Loads the VTX config from a file: <file>
+```
+
 ## zenoh

 Source: [modules/zenoh](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/zenoh)
--- a/docs/en/modules/modules_driver_airspeed_sensor.md
+++ b/docs/en/modules/modules_driver_airspeed_sensor.md
@@ -4,8 +4,8 @@

 Source: [drivers/differential_pressure/asp5033](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/differential_pressure/asp5033)

-
 ### Description
+
 Driver to enable an external [ASP5033]
 (https://www.qio-tek.com/index.php/product/qiotek-asp5033-dronecan-airspeed-and-compass-module/)
 TE connected via I2C.
--- a/docs/en/modules/modules_driver_camera.md
+++ b/docs/en/modules/modules_driver_camera.md
@@ -4,7 +4,6 @@

 Source: [drivers/camera_trigger](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/camera_trigger)

-
 ### Description

 Camera trigger driver.
--- a/docs/en/modules/modules_driver_optical_flow.md
+++ b/docs/en/modules/modules_driver_optical_flow.md
@@ -4,7 +4,6 @@

 Source: [drivers/optical_flow/thoneflow](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/optical_flow/thoneflow)

-
 ### Description

 Serial bus driver for the ThoneFlow-3901U optical flow sensor.
@@ -16,10 +15,13 @@ Setup/usage information: https://docs.px4.io/main/en/sensor/pmw3901.html#thone-t
 ### Examples

 Attempt to start driver on a specified serial device.
+
 ```
 thoneflow start -d /dev/ttyS1
 ```
+
 Stop driver
+
 ```
 thoneflow stop
 ```
--- a/docs/en/modules/modules_estimator.md
+++ b/docs/en/modules/modules_estimator.md
@@ -1,15 +1,12 @@
 # Modules Reference: Estimator

-
-
 ## AttitudeEstimatorQ

 Source: [modules/attitude_estimator_q](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/attitude_estimator_q)

-
 ### Description
-Attitude estimator q.

+Attitude estimator q.

 ### Usage {#AttitudeEstimatorQ_usage}

@@ -27,8 +24,8 @@ AttitudeEstimatorQ <command> [arguments...]

 Source: [modules/airspeed_selector](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/airspeed_selector)

-
 ### Description
+
 This module provides a single airspeed_validated topic, containing indicated (IAS),
 calibrated (CAS), true airspeed (TAS) and the information if the estimation currently
 is invalid and if based sensor readings or on groundspeed minus windspeed.
@@ -37,7 +34,6 @@ to a valid sensor in case of failure detection. For failure detection as well as
 the estimation of a scale factor from IAS to CAS, it runs several wind estimators
 and also publishes those.

-
 ### Usage {#airspeed_estimator_usage}

 ```
@@ -54,8 +50,8 @@ airspeed_estimator <command> [arguments...]

 Source: [modules/ekf2](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/ekf2)

-
 ### Description
+
 Attitude and position estimator using an Extended Kalman Filter. It is used for Multirotors and Fixed-Wing.

 The documentation can be found on the [ECL/EKF Overview & Tuning](https://docs.px4.io/main/en/advanced_config/tuning_the_ecl_ekf.html) page.
@@ -63,7 +59,6 @@ The documentation can be found on the [ECL/EKF Overview & Tuning](https://docs.p
 ekf2 can be started in replay mode (`-r`): in this mode, it does not access the system time, but only uses the
 timestamps from the sensor topics.

-
 ### Usage {#ekf2_usage}

 ```
@@ -85,10 +80,9 @@ ekf2 <command> [arguments...]

 Source: [modules/local_position_estimator](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/local_position_estimator)

-
 ### Description
-Attitude and position estimator using an Extended Kalman Filter.

+Attitude and position estimator using an Extended Kalman Filter.

 ### Usage {#local_position_estimator_usage}

@@ -106,10 +100,8 @@ local_position_estimator <command> [arguments...]

 Source: [modules/mc_hover_thrust_estimator](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mc_hover_thrust_estimator)

-
 ### Description

-
 ### Usage {#mc_hover_thrust_estimator_usage}

 ```
--- a/docs/en/modules/modules_main.md
+++ b/docs/en/modules/modules_main.md
@@ -1,4 +1,3 @@
-
 # Modules & Commands Reference

 The following pages document the PX4 modules, drivers and commands.
@@ -21,9 +20,11 @@ the root of the PX4-Autopilot directory:
 ```
 make module_documentation
 ```
+
 The generated files will be written to the `modules` directory.

 ## Categories
+
 - [Autotune](modules_autotune.md)
 - [Command](modules_command.md)
 - [Communication](modules_communication.md)
--- a/docs/en/modules/modules_simulation.md
+++ b/docs/en/modules/modules_simulation.md
@@ -1,13 +1,11 @@
 # Modules Reference: Simulation

-
-
 ## simulator_sih

 Source: [modules/simulation/simulator_sih](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/simulator_sih)

-
 ### Description
+
 This module provides a simulator for quadrotors and fixed-wings running fully
 inside the hardware autopilot.

@@ -18,13 +16,12 @@ This simulator publishes the sensors signals corrupted with realistic noise
 in order to incorporate the state estimator in the loop.

 ### Implementation
+
 The simulator implements the equations of motion using matrix algebra.
 Quaternion representation is used for the attitude.
 Forward Euler is used for integration.
 Most of the variables are declared global in the .hpp file to avoid stack overflow.

-
-
 ### Usage {#simulator_sih_usage}

 ```
--- a/docs/en/modules/modules_template.md
+++ b/docs/en/modules/modules_template.md
@@ -1,27 +1,58 @@
 # Modules Reference: Template

+## mc_raptor

+Source: [modules/mc_raptor](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mc_raptor)
+
+### Description
+
+RAPTOR Policy Flight Mode
+
+### Usage {#mc_raptor_usage}
+
+```
+mc_raptor <command> [arguments...]
+ Commands:
+   start
+
+   intref        Modify internal reference
+     lissajous   Set Lissajous trajectory parameters
+     <A>         Amplitude X [m]
+     <B>         Amplitude Y [m]
+     <C>         Amplitude Z [m]
+     <fa>        Frequency a
+     <fb>        Frequency b
+     <fc>        Frequency c
+     <duration>  Total duration [s]
+     <ramp>      Ramp duration [s]
+
+   stop
+
+   status        print status info
+```

 ## module

 Source: [templates/template_module](https://github.com/PX4/PX4-Autopilot/tree/main/src/templates/template_module)

-
 ### Description
+
 Section that describes the provided module functionality.

 This is a template for a module running as a task in the background with start/stop/status functionality.

 ### Implementation
+
 Section describing the high-level implementation of this module.

 ### Examples
+
 CLI usage example:
+
 ```
 module start -f -p 42
 ```

-
 ### Usage {#module_usage}

 ```
@@ -41,10 +72,9 @@ module <command> [arguments...]

 Source: [examples/work_item](https://github.com/PX4/PX4-Autopilot/tree/main/src/examples/work_item)

-
 ### Description
-Example of a simple module running out of a work queue.

+Example of a simple module running out of a work queue.

 ### Usage {#work_item_example_usage}