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update modules ref

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Hamish Willee
2025-07-24 09:46:30 +10:00
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docs/en/modules/modules_system.md
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@@ -1,16 +1,11 @@
# Modules Reference: System
## battery_simulator
Source: [modules/simulation/battery_simulator](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/battery_simulator)
### Description
### Usage {#battery_simulator_usage}
```
@@ -27,16 +22,15 @@ battery_simulator <command> [arguments...]
Source: [modules/battery_status](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/battery_status)
### Description
The provided functionality includes:
- Read the output from the ADC driver (via ioctl interface) and publish `battery_status`.
### Implementation
It runs in its own thread and polls on the currently selected gyro topic.
It runs in its own thread and polls on the currently selected gyro topic.
### Usage {#battery_status_usage}
@@ -54,7 +48,6 @@ battery_status <command> [arguments...]
Source: [modules/camera_feedback](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/camera_feedback)
### Description
The camera_feedback module publishes `CameraCapture` UORB topics when image capture has been triggered.
@@ -69,7 +62,7 @@ The `CAMERA_IMAGE_CAPTURED` message is then emitted (by streaming code) followin
### Implementation
`CameraTrigger` topics are published by the `camera_trigger` module (`feedback` field set `false`)
when image capture is triggered, and may also be published by the `camera_capture` driver
when image capture is triggered, and may also be published by the `camera_capture` driver
(with `feedback` field set `true`) if the camera capture pin is activated.
The `camera_feedback` module subscribes to `CameraTrigger`.
@@ -77,7 +70,6 @@ It discards topics from the `camera_trigger` module if camera capture is enabled
For the topics that are not discarded it creates a `CameraCapture` topic with the timestamp information
from the `CameraTrigger` and position information from the vehicle.
### Usage {#camera_feedback_usage}
```
@@ -94,8 +86,8 @@ camera_feedback <command> [arguments...]
Source: [drivers/cdcacm_autostart](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/cdcacm_autostart)
### Description
This module listens on USB and auto-configures the protocol depending on the bytes received.
The supported protocols are: MAVLink, nsh, and ublox serial passthrough. If the parameter SYS_USB_AUTO=2
the module will only try to start mavlink as long as the USB VBUS is detected. Otherwise it will spin
@@ -117,8 +109,8 @@ cdcacm_autostart <command> [arguments...]
Source: [modules/commander](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/commander)
### Description
The commander module contains the state machine for mode switching and failsafe behavior.
### Usage {#commander_usage}
@@ -173,10 +165,11 @@ commander <command> [arguments...]
Source: [modules/dataman](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/dataman)
### Description
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 depending on the board:
- a file (eg. on the SD card)
- RAM (this is obviously not persistent)
@@ -184,8 +177,8 @@ It is used to store structured data of different types: mission waypoints, missi
Each type has a specific type and a fixed maximum amount of storage items, so that fast random access is possible.
### Implementation
Reading and writing a single item is always atomic.
Reading and writing a single item is always atomic.
### Usage {#dataman_usage}
@@ -209,7 +202,6 @@ dataman <command> [arguments...]
Source: [systemcmds/dmesg](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/dmesg)
### Description
Command-line tool to show bootup console messages.
@@ -218,6 +210,7 @@ Note that output from NuttX's work queues and syslog are not captured.
### Examples
Keep printing all messages in the background:
```
dmesg -f &
```
@@ -234,10 +227,9 @@ dmesg <command> [arguments...]
Source: [modules/esc_battery](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/esc_battery)
### Description
This implements using information from the ESC status and publish it as battery status.
This implements using information from the ESC status and publish it as battery status.
### Usage {#esc_battery_usage}
@@ -255,10 +247,9 @@ esc_battery <command> [arguments...]
Source: [modules/gyro_calibration](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/gyro_calibration)
### Description
Simple online gyroscope calibration.
Simple online gyroscope calibration.
### Usage {#gyro_calibration_usage}
@@ -276,10 +267,8 @@ gyro_calibration <command> [arguments...]
Source: [modules/gyro_fft](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/gyro_fft)
### Description
### Usage {#gyro_fft_usage}
```
@@ -292,12 +281,39 @@ gyro_fft <command> [arguments...]
status print status info
```
## hardfault_stream
Source: [modules/hardfault_stream](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/hardfault_stream)
### Description
Background process that streams the latest hardfault via MAVLink.
The module is especially useful when it is necessary to quickly push a hard fault to the ground station.
This is useful in cases where the drone experiences a hard fault during flight.
It ensures that some data is retained in case the permanent storage is destroyed during a crash.
To reliably stream, it is necessary to send the STATUSTEXT message via MAVLink at a
high enough frequency. The recommended frequency is 10 Hz or higher.
### Usage {#hardfault_stream_usage}
```
hardfault_stream <command> [arguments...]
Commands:
start Start the background task
stop
status print status info
```
## heater
Source: [drivers/heater](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/heater)
### Description
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.
@@ -318,10 +334,9 @@ heater <command> [arguments...]
Source: [systemcmds/i2c_launcher](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/i2c_launcher)
### Description
Daemon that starts drivers based on found I2C devices.
Daemon that starts drivers based on found I2C devices.
### Usage {#i2c_launcher_usage}
@@ -341,9 +356,8 @@ i2c_launcher <command> [arguments...]
Source: [modules/internal_combustion_engine_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/internal_combustion_engine_control)
### Description
The module controls internal combustion engine (ICE) features including:
ignition (on/off), throttle and choke level, starter engine delay, and user request.
@@ -360,7 +374,7 @@ CONFIG_DRIVERS_RPM_CAPTURE=y
Additionally, to enable the module:
- Set [ICE_EN](../advanced_config/parameter_reference.md#ICE_EN)
to true and adjust the other `ICE_` module parameters according to your needs.
to true and adjust the other `ICE_` module parameters according to your needs.
- Set [RPM_CAP_ENABLE](../advanced_config/parameter_reference.md#RPM_CAP_ENABLE) to true.
The module outputs control signals for ignition, throttle, and choke,
@@ -377,18 +391,20 @@ The ICE is implemented with a (4) state machine:
![Architecture](../../assets/hardware/ice/ice_control_state_machine.png)
The state machine:
- Checks if [Rpm.msg](../msg_docs/Rpm.md) is updated to know if the engine is running
- Allows for user inputs from:
- AUX{N}
- Manual control AUX
- Arming state in [VehicleStatus.msg](../msg_docs/VehicleStatus.md)
- In the state "Stopped" the throttle is set to NAN, which by definition will set the
throttle output to the disarmed value configured for the specific output.
The module publishes [InternalCombustionEngineControl.msg](../msg_docs/InternalCombustionEngineControl.md).
The architecture is as shown below:
![Architecture](../../assets/hardware/ice/ice_control_diagram.png)
<a id="internal_combustion_engine_control_usage"></a>
### Usage {#internal_combustion_engine_control_usage}
@@ -407,18 +423,20 @@ internal_combustion_engine_control <command> [arguments...]
Source: [modules/land_detector](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/land_detector)
### Description
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.
### Implementation
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.
#### Multicopter Land Detector
**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.
@@ -448,8 +466,8 @@ land_detector <command> [arguments...]
Source: [modules/load_mon](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/load_mon)
### Description
Background process running periodically on the low priority work queue to calculate the CPU load and RAM
usage and publish the `cpuload` topic.
@@ -472,13 +490,14 @@ load_mon <command> [arguments...]
Source: [modules/logger](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/logger)
### Description
System logger which logs a configurable set of uORB topics and system printf messages
(`PX4_WARN` and `PX4_ERR`) to ULog files. These can be used for system and flight performance evaluation,
tuning, replay and crash analysis.
It supports 2 backends:
- Files: write ULog files to the file system (SD card)
- MAVLink: stream ULog data via MAVLink to a client (the client must support this)
@@ -490,7 +509,9 @@ vehicle management. It can be enabled and configured via SDLOG_MISSION parameter
The normal log is always a superset of the mission log.
### Implementation
The implementation uses two threads:
- The main thread, running at a fixed rate (or polling on a topic if started with -p) and checking for
data updates
- The writer thread, writing data to the file
@@ -499,12 +520,15 @@ In between there is a write buffer with configurable size (and another fixed-siz
the mission log). It should be large to avoid dropouts.
### Examples
Typical usage to start logging immediately:
```
logger start -e -t
```
Or if already running:
```
logger on
```
@@ -548,8 +572,8 @@ logger <command> [arguments...]
Source: [modules/mag_bias_estimator](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mag_bias_estimator)
### Description
Online magnetometer bias estimator.
### Usage {#mag_bias_estimator_usage}
@@ -568,10 +592,9 @@ mag_bias_estimator <command> [arguments...]
Source: [modules/manual_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/manual_control)
### Description
Module consuming manual_control_inputs publishing one manual_control_setpoint.
Module consuming manual_control_inputs publishing one manual_control_setpoint.
### Usage {#manual_control_usage}
@@ -589,36 +612,37 @@ manual_control <command> [arguments...]
Source: [systemcmds/netman](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/netman)
### Description
### Description
Network configuration manager saves the network settings in non-volatile
memory. On boot the `update` option will be run. If a network configuration
does not exist. The default setting will be saved in non-volatile and the
system rebooted.
Network configuration manager saves the network settings in non-volatile
memory. On boot the `update` option will be run. If a network configuration
does not exist. The default setting will be saved in non-volatile and the
system rebooted.
#### update
#### update
`netman update` is run automatically by [a startup script](../concept/system_startup.md#system-startup).
When run, the `update` option will check for the existence of `net.cfg` in the root of the SD Card.
It then saves the network settings from `net.cfg` in non-volatile memory,
deletes the file and reboots the system.
`netman update` is run automatically by [a startup script](../concept/system_startup.md#system-startup).
When run, the `update` option will check for the existence of `net.cfg` in the root of the SD Card.
It then saves the network settings from `net.cfg` in non-volatile memory,
deletes the file and reboots the system.
#### save
#### save
The `save` option will save settings from non-volatile memory to a file named
`net.cfg` on the SD Card filesystem for editing. Use this to edit the settings.
Save does not immediately apply the network settings; the user must reboot the flight stack.
By contrast, the `update` command is run by the start-up script, commits the settings to non-volatile memory,
and reboots the flight controller (which will then use the new settings).
The `save` option will save settings from non-volatile memory to a file named
`net.cfg` on the SD Card filesystem for editing. Use this to edit the settings.
Save does not immediately apply the network settings; the user must reboot the flight stack.
By contrast, the `update` command is run by the start-up script, commits the settings to non-volatile memory,
and reboots the flight controller (which will then use the new settings).
#### show
#### show
The `show` option will display the network settings in `net.cfg` to the console.
The `show` option will display the network settings in `net.cfg` to the console.
### Examples
$ netman save # Save the parameters to the SD card.
$ netman show # display current settings.
$ netman update -i eth0 # do an update
### Examples
$ netman save # Save the parameters to the SD card.
$ netman show # display current settings.
$ netman update -i eth0 # do an update
### Usage {#netman_usage}
@@ -639,10 +663,9 @@ netman <command> [arguments...]
Source: [drivers/pwm_input](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/pwm_input)
### Description
Measures the PWM input on AUX5 (or MAIN5) via a timer capture ISR and publishes via the uORB 'pwm_input` message.
Measures the PWM input on AUX5 (or MAIN5) via a timer capture ISR and publishes via the uORB 'pwm_input` message.
### Usage {#pwm_input_usage}
@@ -660,15 +683,15 @@ pwm_input <command> [arguments...]
Source: [modules/rc_update](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/rc_update)
### Description
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 `rc_channels` and `manual_control_input`.
### Implementation
To reduce control latency, the module is scheduled on input_rc publications.
To reduce control latency, the module is scheduled on input_rc publications.
### Usage {#rc_update_usage}
@@ -686,12 +709,13 @@ rc_update <command> [arguments...]
Source: [modules/replay](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/replay)
### Description
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`:
- `replay_mode=ekf2`: specific EKF2 replay mode. It can only be used with the ekf2 module, but allows the replay
to run as fast as possible.
- Generic otherwise: this can be used to replay any module(s), but the replay will be done with the same speed as the
@@ -724,8 +748,8 @@ replay <command> [arguments...]
Source: [modules/events](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/events)
### Description
Background process running periodically on the LP work queue to perform housekeeping tasks.
It is currently only responsible for tone alarm on RC Loss.
@@ -747,10 +771,9 @@ send_event <command> [arguments...]
Source: [modules/simulation/sensor_agp_sim](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/sensor_agp_sim)
### Description
Module to simulate auxiliary global position measurements with optional failure modes for SIH simulation.
Module to simulate auxiliary global position measurements with optional failure modes for SIH simulation.
### Usage {#sensor_agp_sim_usage}
@@ -768,11 +791,8 @@ sensor_agp_sim <command> [arguments...]
Source: [modules/simulation/sensor_airspeed_sim](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/sensor_airspeed_sim)
### Description
### Usage {#sensor_arispeed_sim_usage}
```
@@ -789,11 +809,8 @@ sensor_arispeed_sim <command> [arguments...]
Source: [modules/simulation/sensor_baro_sim](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/sensor_baro_sim)
### Description
### Usage {#sensor_baro_sim_usage}
```
@@ -810,11 +827,8 @@ sensor_baro_sim <command> [arguments...]
Source: [modules/simulation/sensor_gps_sim](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/sensor_gps_sim)
### Description
### Usage {#sensor_gps_sim_usage}
```
@@ -831,11 +845,8 @@ sensor_gps_sim <command> [arguments...]
Source: [modules/simulation/sensor_mag_sim](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/sensor_mag_sim)
### Description
### Usage {#sensor_mag_sim_usage}
```
@@ -852,12 +863,13 @@ sensor_mag_sim <command> [arguments...]
Source: [modules/sensors](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/sensors)
### Description
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:
- Read the output from the sensor drivers (`SensorGyro`, etc.).
If there are multiple of the same type, do voting and failover handling.
Then apply the board rotation and temperature calibration (if enabled). And finally publish the data; one of the
@@ -868,8 +880,8 @@ The provided functionality includes:
- Do sensor consistency checks and publish the `SensorsStatusImu` topic.
### Implementation
It runs in its own thread and polls on the currently selected gyro topic.
It runs in its own thread and polls on the currently selected gyro topic.
### Usage {#sensors_usage}
@@ -888,11 +900,8 @@ sensors <command> [arguments...]
Source: [modules/simulation/system_power_simulator](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/system_power_simulator)
### Description
### Usage {#system_power_simulation_usage}
```
@@ -909,10 +918,9 @@ system_power_simulation <command> [arguments...]
Source: [drivers/tattu_can](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/tattu_can)
### Description
Driver for reading data from the Tattu 12S 16000mAh smart battery.
Driver for reading data from the Tattu 12S 16000mAh smart battery.
### Usage {#tattu_can_usage}
@@ -930,15 +938,14 @@ tattu_can <command> [arguments...]
Source: [modules/temperature_compensation](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/temperature_compensation)
### Description
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.
### Usage {#temperature_compensation_usage}
```
@@ -963,13 +970,12 @@ temperature_compensation <command> [arguments...]
Source: [modules/time_persistor](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/time_persistor)
### Description
Writes the RTC time cyclically to a file and reloads this value on startup.
This allows monotonic time on systems that only have a software RTC (that is not battery powered).
Explicitly setting the time backwards (e.g. via system_time) is still possible.
### Usage {#time_persistor_usage}
```
@@ -986,7 +992,6 @@ time_persistor <command> [arguments...]
Source: [systemcmds/tune_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/tune_control)
### Description
Command-line tool to control & test the (external) tunes.
@@ -1000,6 +1005,7 @@ https://github.com/PX4/PX4-Autopilot/blob/main/src/lib/tunes/tune_definition.des
### Examples
Play system tune #2:
```
tune_control play -t 2
```
@@ -1029,11 +1035,12 @@ tune_control <command> [arguments...]
Source: [modules/uxrce_dds_client](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/uxrce_dds_client)
### Description
UXRCE-DDS Client used to communicate uORB topics with an Agent over serial or UDP.
### Examples
```
uxrce_dds_client start -t serial -d /dev/ttyS3 -b 921600
uxrce_dds_client start -t udp -h 127.0.0.1 -p 15555
@@ -1066,12 +1073,10 @@ uxrce_dds_client <command> [arguments...]
Source: [systemcmds/work_queue](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/work_queue)
### Description
Command-line tool to show work queue status.
### Usage {#work_queue_usage}
```