PX4用户指南给的一些终端命令，包括reboot，一个电机转等等，gps stop应该都来自于此，这样我们可以系统地掌握这些命令而不是只零散知道几个了。就像mavros话题，直接把所有的mavros话题弄清楚，而不是再零散知道其中几个。
摘自：http://docs.px4.io/master/zh/modules/modules_command.html
http://docs.px4.io/master/zh/modules/modules_communication.html
http://docs.px4.io/master/zh/modules/modules_controller.html
http://docs.px4.io/master/zh/modules/modules_driver.html
红框里这一块都是的，它分了好几个部分来说这些终端命令，不是全都放在一页。
或者看这个，这里有中文
https://dev.px4.cc/master/zh/middleware/modules_main.html
因为太多，下面我只复制粘贴了一部分。
模块参考：命令（Command）
# bl_update
Utility to flash the bootloader from a file
# 用法
bl_update [arguments...]
bl_update [arguments...]
setopt Set option bits to unlock the FLASH (only needed if in locked
state)
<file> Bootloader bin file
# dumpfile
转储文件应用。 Dump file utility. Prints file size and contents in binary mode (don't replace LF with CR LF) to stdout.
# 用法
dumpfile [arguments...]
dumpfile [arguments...]
<file> File to dump
# dyn
# 描述
载入并运行一个未被编译至 PX4 二进制文件内的动态 PX4 模块。
# 示例
dyn ./hello.px4mod start
# 用法
dyn [arguments...]
dyn [arguments...]
<file> File containing the module
[arguments...] Arguments to the module Arguments to the module
# esc_calib
ESC 校准工具。
校准流程（运行命令将会引导你完成此流程）：
- 移除螺旋桨，将 ESC 断电
- Stop attitude controllers: mc_att_control stop, fw_att_control stop
- 确保安全设置断开（Make sure safety is off）
- 运行这个命令
# 用法
esc_calib [arguments...]
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)
default: 0
[-a] Select all channels
# failure
Source: systemcmds/config
# 描述
Inject failures into system.
# 用法
This system command sends a vehicle command over uORB to trigger failure.
# 示例
Test the GPS failsafe by stopping GPS:
failure gps off
# 用法
failure [arguments...]
help Show this help text
gps|... Specify component
ok|off|... Specify failure type
[-i <val>] sensor instance (0=all)
default: 0
# gpio
Source: systemcmds/gpio
# 用法
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/gpin1 to high
gpio write /dev/gpin1 1
# Usage
gpio [arguments...]
read
<PORT><PIN>/<DEVICE> GPIO port and pin or device
[PULLDOWN|PULLUP] Pulldown/Pullup
[--force] Force (ignore board gpio list)
write
<PORT> <PIN> GPIO port and pin
<VALUE> Value to write
[PUSHPULL|OPENDRAIN] Pushpull/Opendrain
[--force] Force (ignore board gpio list)
# hardfault_log
Source: systemcmds/hardfault_log
Hardfault utility
Used in startup scripts to handle hardfaults
# Usage
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
# i2cdetect
Source: systemcmds/i2cdetect
Utility to scan for I2C devices on a particular bus.
# Usage
i2cdetect [arguments...]
[-b <val>] I2C bus
default: 1
# led_control
Source: 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.
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.
# Examples
Blink the first LED 5 times in blue:
led_control blink -c blue -l 0 -n 5
# Usage
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
# listener
Source: 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.
# Usage
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
# mfd
Source: systemcmds/mft
Utility interact with the manifest
# Usage
mfd <command> [arguments...]
Commands:
query Returns true if not existed
# mixer
Source: systemcmds/mixer
# Description
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.
# Usage
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
# motor_ramp
Source: systemcmds/motor_ramp
# Description
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.
# Example
motor_ramp sine -a 1100 -r 0.5
# Usage
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!
# motor_test
Source: systemcmds/motor_test
Utility to test motors.
WARNING: remove all props before using this command.
# Usage
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
# mtd
Source: systemcmds/mtd
Utility to mount and test partitions (based on FRAM/EEPROM storage as defined by the board)
# Usage
mtd <command> [arguments...]
Commands:
status Print status information
readtest Perform read test
rwtest Perform read-write test
erase Erase partition(s)
The commands 'readtest' and 'rwtest' have an optional instance index:
[-i <val>] storage index (if the board has multiple storages)
default: 0
The commands 'readtest', 'rwtest' and 'erase' have an optional parameter:
[<partition_name1> [<partition_name2> ...]] Partition names (eg.
/fs/mtd_params), use system default if not provided
# nshterm
Source: systemcmds/nshterm
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.
# Usage
nshterm [arguments...]
<file:dev> Device on which to start the shell (eg. /dev/ttyACM0)
# param
Source: 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.
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.
# Examples
Change the airframe and make sure the airframe's default parameters are loaded:
param set SYS_AUTOSTART 4001
param set SYS_AUTOCONFIG 1
reboot
# Usage
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
set-default Set parameter default 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
# perf
Source: systemcmds/perf
Tool to print performance counters
# Usage
perf [arguments...]
reset Reset all counters
latency Print HRT timer latency histogram
Prints all performance counters if no arguments given
# pwm
Source: systemcmds/pwm
# Description
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 /dev/pwm_output1 (-d parameter).
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 status shows the current settings (the trim value is an offset and configured with PWM_MAIN_TRIMx and PWM_AUX_TRIMx).
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 status to display the groups. If the -c argument is used, all channels of any included group must be included.
The parameters -p and -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].
# Examples
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
# Usage
pwm <command> [arguments...]
Commands:
arm Arm output
disarm Disarm output
status 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 status' 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
Source: systemcmds/reboot
# Usage
reboot [arguments...]
[-b] Reboot into bootloader
[lock|unlock] Take/release the shutdown lock (for testing)
# sd_bench
Source: systemcmds/sd_bench
# Usage
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)
[-u] Test performance with unaligned data)
# system_time
Source: systemcmds/system_time
# Description
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
# Usage
system_time <command> [arguments...]
Commands:
set Set the system time, provide time in unix epoch time format
get Get the system time
# top
Source: systemcmds/top
Monitor running processes and their CPU, stack usage, priority and state
# Usage
top [arguments...]
once print load only once
# usb_connected
Source: systemcmds/usb_connected
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 [arguments...]
# ver
Source: systemcmds/ver
Tool to print various version information
# Usage
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
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