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docs: Numerous spelling and grammer fixes in flight controller section (#26582)

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Hamish Willee
2026-02-26 11:53:44 +11:00
committed by GitHub
parent 3c961de3fe
commit 539b1def78
85 changed files with 391 additions and 396 deletions
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6
docs/en/concept/system_startup.md
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@@ -21,7 +21,7 @@ For that to work, a few things are required:
- PX4 modules need to look like individual executables to the system.
This is done via symbolic links.
For each module a symbolic link `px4-<module> -> px4` is created in the `bin` directory of the build folder.
When executed, the binary path is checked (`argv[0]`), and if it is a module (starts with `px4-`), it sends the command to the main px4 instance (see below).
When executed, the binary path is checked (`argv[0]`), and if it is a module (starts with `px4-`), it sends the command to the main PX4 instance (see below).
:::tip
The `px4-` prefix is used to avoid conflicts with system commands (e.g. `shutdown`), and it also allows for simple tab completion by typing `px4-<TAB>`.
@@ -30,13 +30,13 @@ For that to work, a few things are required:
- The shell needs to know where to find the symbolic links.
For that the `bin` directory with the symbolic links is added to the `PATH` variable right before executing the startup scripts.
- The shell starts each module as a new (client) process.
Each client process needs to communicate with the main instance of px4 (the server), where the actual modules are running as threads.
Each client process needs to communicate with the main instance of PX4 (the server), where the actual modules are running as threads.
This is done through a [UNIX socket](https://man7.org/linux/man-pages/man7/unix.7.html).
The server listens on a socket, to which clients can connect and send a command.
The server then sends the output and return code back to the client.
- The startup scripts call the module directly, e.g. `commander start`, rather than using the `px4-` prefix.
This works via aliases: for each module an alias in the form of `alias <module>=px4-<module>` is created in the file `bin/px4-alias.sh`.
- The `rcS` script is executed from the main px4 instance.
- The `rcS` script is executed from the main PX4 instance.
It does not start any modules, but first updates the `PATH` variable and then simply runs a shell with the `rcS` file as argument.
- In addition to that, multiple server instances can be started for multi-vehicle simulations.
A client selects the instance via `--instance`.