模块参考：命令（Command）
bl_update
用于从文件中刷新飞行控制器的 引导加载程序（bootloader ）
用法
bl_update [arguments...]
setopt 设置选项字节（option bits）以解锁 FLASH (仅当其处于锁定状态时)
<file> Bootloader bin 文件
config
配置传感器的驱动（设定传感器采样 & 发布速率，量程等）
用法
config <command> [arguments...]
Commands:
<file:dev> 参数通常是 /dev/{gyro,accel,mag}i 中的一个
block 堵塞传感器话题的发布
<file:dev> 传感器设备文件
unblock 恢复传感器话题的发布
<file:dev> 传感器设备文件
sampling 设定传感器采样速率
<file:dev> <rate> 传感器设备文件，采样速率 Hz
rate 设定传感器数据发布速率
<file:dev> <rate> 传感器设备文件，发布速率 Hz
range 设定传感器测量量程
<file:dev> <rate> 传感器设备文件和量程
check 执行传感器自检（并打印自检信息）
<file:dev> 传感器设备文件
dumpfile
转储文件应用。 将文件大小及内容以二进制模式输出值标准输出设备（不使用 LF 替换 CR LF）。
用法
dumpfile [arguments...]
<file> 需要进行转储的文件
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...]
<file> 包含模块的文件
[arguments...] 传递给模块的参数
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 and rate controllers: mc_rate_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...]
[-d <val>] 选择 PWM 输出设备
取值 <file:dev>, 默认值： /dev/pwm_output0
[-l <val>] Low PWM 值，单位 us
默认值： 1000
[-h <val>] High PWM 值，单位 us
默认值：2000
[-c <val>] 使用如下形式选取通道：1234 (1 位数字表示一个通道，
1=第一个通道)
[-m <val>] 使用位掩码（bitmask）选取通道 0xF, 3)
[-a] Select all channels
hardfault_log
硬错误处理程序。
在启动脚本中用于处理硬错误。
用法
hardfault_log <command> [arguments...]
Commands:
check 检查是否存在未提交的硬错误（uncommited hardfault）
rearm 抛下一个未提交的硬错误
fault 生成一个硬错误 (该命令会导致系统崩溃:)
[0|1] 硬错误类型： 0=除 0 错误, 1=断言错误（Assertion） (默认值=0)
commit 讲一个未提交的硬错误写入 /fs/microsd/fault_%i.txt (然后
rearm但不 reset）
count 读取重启计数器，计算一个未提交的硬错误引起的重启次数
(该结果将作为程序的退出代码返回)
reset 重置重启计数器
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
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 (0...7, 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
start Mount partitions
readtest Perform read test
rwtest Perform read-write test
erase Erase partition(s)
The commands 'start', '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 and used params
[-q] quiet mode, print only param value (name needs to be exact)
[<filter>] Filter by param name (wildcard at end allowed, eg. sys_*)
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
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 params to default
[<exclude1> [<exclude2>]] Do not reset matching params (wildcard at end
allowed)
reset_nostart Reset params to default, but keep SYS_AUTOSTART and
SYS_AUTOCONFIG
[<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 info 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 info 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
info 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 info' 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
Reboot the system
Usage
reboot [arguments...]
[-b] Reboot into bootloader
[lock|unlock] Take/release the shutdown lock (for testing)
sd_bench
Source: systemcmds/sd_bench
Test the speed of an SD Card
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)
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