PX4 User Guide
  • Introduction
  • Getting Started
    • Basic Concepts
    • Vehicles/Frames
    • Flight Controllers
    • Sensors
    • Radio Systems
    • Flight Modes
    • Vehicle Status Notifications
      • LED Meanings
      • Tune/Sound Meanings
      • Preflight Checks
    • Payloads & Cameras
    • Flight Reporting
  • Basic Assembly
    • Mounting the Flight Controller
    • Mounting the GPS/Compass
    • Vibration Isolation
    • Cable Wiring
    • CUAV Pixhawk V6X Wiring QuickStart
    • CUAV V5+ Wiring Quickstart
    • CUAV V5 nano Wiring Quickstart
    • Holybro Pixhawk 6C Wiring Quickstart
    • Holybro Pixhawk 6X Wiring Quickstart
    • Holybro Pixhawk 5X Wiring Quickstart
    • Holybro Pixhawk 4 Wiring Quickstart - Discontinued
    • Holybro Pixhawk 4 Mini Wiring Quickstart - Discontinued
    • Holybro Durandal Wiring Quickstart
    • Holybro Pix32 v5 Wiring Quickstart
    • Cube Wiring Quickstart
    • Pixracer Wiring Quickstart
    • mRo (3DR) Pixhawk Wiring Quickstart
  • Standard Configuration
    • Firmware
    • Airframe
    • Sensor Orientation
    • Compass
    • Gyroscope
    • Accelerometer
    • Airspeed
    • Level Horizon Calibration
    • Radio Setup
    • Joystick Setup
    • Flight Modes
    • Battery
    • Safety
      • Failsafe Simulation
    • ESC Calibration
    • Actuators
    • Autotune
  • Vehicle Types & Setup
    • Multicopters
      • Multicopter Config/Tuning
        • MC Filter/Control Latency Tuning
        • MC PID Tuning (Manual/Basic)
        • MC PID Tuning Guide (Manual/Advanced)
        • MC Setpoint Tuning (Trajectory Generator)
          • MC Jerk-limited Type Trajectory
        • Multicopter Racer Setup
      • X500 v2 (Pixhawk 6C)
      • X500 v2 (Pixhawk 5X)
      • X500 (Pixhawk 4)
      • S500 V2 (Pixhawk 4)
      • DJI F450 (CUAV v5+)
      • DJI F450 (CUAV v5 nano)
      • QAV250 (Pixhawk4 Mini) - Discontinued
      • DJI F450 + RTK (Pixhawk 3 Pro)
      • QAV250 (Pixhawk Mini)
      • QAV-R 5" Racer (Pixracer)
      • Omnicopter
    • Planes
      • Fixed Wing Config/Tuning
        • Fixedwing PID Tuning Guide
        • Fixedwing Advanced Tuning Guide
        • Fixedwing Trimming Guide
      • Reptile Dragon 2 (ARK6X)
      • Turbo Timber Evolution (Pixhawk 4 Mini)
      • Wing Wing Z84 (Pixracer)
    • VTOL
      • VTOL Config/Tuning
        • QuadPlane Configuration
        • Back-transition Tuning
        • VTOL w/o Airspeed Sensor
        • VTOL Weather Vane
      • Standard VTOL
        • FunCub QuadPlane (Pixhawk)
        • Ranger QuadPlane (Pixhawk)
        • Falcon Vertigo QuadPlane (Dropix)
      • Tailsitter VTOL
        • Build: TBS Caipiroshka Tailsitter Build (Pixracer)
      • Tiltrotor VTOL
        • Build: Convergence Tiltrotor (Pixfalcon)
    • Airships (experimental)
    • Autogyros (experimental)
      • ThunderFly Auto-G2 (Holybro pix32)
    • Balloons (experimental)
    • Helicopter (experimental)
      • Helicopter Config/Tuning
    • Rovers (experimental)
      • Traxxas Stampede
    • Submarines (experimental)
      • BlueROV2
    • Airframes Reference
  • Flying
    • First Flight Guidelines
    • Flying 101
    • Missions
      • Package Delivery Mission
    • GeoFence
    • Safety Point Planning
    • Flight Modes
      • Position Mode (MC)
      • Altitude Mode (MC)
      • Manual/Stabilized Mode (MC)
      • Acro Mode (MC)
      • Orbit Mode (MC)
      • Position Mode (FW)
      • Altitude Mode (FW)
      • Stabilized Mode (FW)
      • Acro Mode (FW)
      • Manual Mode (FW)
      • Takeoff Mode
      • Land Mode
      • Return Mode
      • Hold Mode
      • Mission Mode
      • Follow Me Mode
      • Offboard Mode
    • Terrain Following/Holding
  • Flight Log Analysis
    • Log Analysis using Flight Review
    • Log Analysis using PlotJuggler
  • Advanced Configuration
    • Finding/Updating Parameters
    • Full Parameter Reference
    • ECL/EKF Overview & Tuning
    • Flight Termination Configuration
    • Bootloader Flashing onto Betaflight Systems
    • Land Detector Configuration
    • Prearm/Arm/Disarm Configuration
    • IMU Factory Calibration
    • Sensor Thermal Compensation
    • Compass Power Compensation
    • Advanced Controller Orientation
    • Static Pressure Buildup
    • Serial Port Configuration
    • MAVLink Telemetry (OSD/GCS)
    • PX4 Ethernet Setup
    • Bootloader Update
  • Hardware (Drones&Parts)
    • Complete Vehicles
      • ModalAI Starling
      • PX4 Vision Kit
      • MindRacer BNF & RTF
        • MindRacer 210
        • NanoMind 110
      • Holybro Kopis 2
      • Bitcraze Crazyflie 2.1
    • Flight Controllers (Autopilots)
      • Pixhawk Series
        • Silicon Errata
      • Pixhawk Standard Autopilots
        • CUAV Pixhawk V6X (FMUv6X)
        • Holybro Pixhawk 6X (FMUv6X)
        • Holybro Pixhawk 6C (FMUv6C)
        • Holybro Pixhawk 6C Mini(FMUv6C)
        • Holybro Pix32 v6 (FMUv6C)
        • Holybro Pixhawk 5X (FMUv5X)
        • Holybro Pixhawk 4 (FMUv5) - Discontinued
        • Holybro Pixhawk 4 Mini (FMUv5) - Discontinued
        • Drotek Pixhawk 3 Pro (FMUv4pro)
        • mRo Pixracer (FMUv4)
        • Hex Cube Black (FMUv3)
        • mRo Pixhawk (FMUv3)
        • Holybro Pixhawk Mini (FMUv3) - Discontinued
      • Manufacturer-Supported Autopilots
        • AirMind MindPX
        • AirMind MindRacer
        • ARK Electronics ARKV6X
        • CUAV X7
        • CUAV Nora
        • CUAV V5+ (FMUv5)
        • CUAV V5 nano (FMUv5)
        • CUAV Pixhack v3 (FMUv3)
        • CubePilot Cube Orange+ (CubePilot)
        • CubePilot Cube Orange (CubePilot)
        • CubePilot Cube Yellow (CubePilot)
        • Holybro Kakute H7v2
        • Holybro Kakute H7mini
        • Holybro Kakute H7
        • Holybro Durandal
        • Holybro Pix32 v5
        • ModalAI Flight Core v1
        • ModalAI VOXL Flight
        • ModalAI VOXL 2
        • mRobotics-X2.1 (FMUv2)
        • mRo Control Zero F7)
        • NXP RDDRONE-FMUK66 FMU
        • Sky-Drones AIRLink
        • SPRacing SPRacingH7EXTREME
        • ThePeach FCC-K1
        • ThePeach FCC-R1
      • Experimental Autopilots
        • BeagleBone Blue
        • Raspberry Pi 2/3 Navio2
        • Raspberry Pi 2/3/4 PilotPi
          • PilotPi with Raspberry Pi OS
          • PilotPi with Ubuntu Server
      • Discontinued Autopilots/Vehicles
        • Drotek Dropix (FMUv2)
        • Omnibus F4 SD
        • BetaFPV Beta75X 2S Brushless Whoop
        • Bitcraze Crazyflie 2.0
        • Aerotenna OcPoC-Zynq Mini
        • CUAV v5
        • Holybro Kakute F7 (Discontinued)
        • Holybro Pixfalcon
        • Holybro pix32 (FMUv2)
        • mRo AUAV-X2
        • 3DR Pixhawk 1
        • Snapdragon Flight
        • Intel® Aero RTF Drone (Discontinued)
      • Pixhawk Autopilot Bus (PAB) & Carriers
        • ARK Electronics Pixhawk Autopilot Bus Carrier
    • Flight Controller Peripherals
      • ADSB/FLARM (Traffic Avoidance)
      • Air Traffic Avoidance: ADSB/FLARM
      • Air Traffic Avoidance: UTM
      • Airspeed Sensors
        • TFSlot Airspeed Sensor
      • Barometers
      • Camera
      • Distance Sensors (Rangefinders)
        • Lightware SFxx Lidar
        • Ainstein US-D1 Standard Radar Altimeter
        • LeddarOne Lidar
        • Benewake TFmini Lidar
        • Lidar-Lite
        • TeraRanger
        • Lanbao PSK-CM8JL65-CC5
        • Avionics Anonymous Laser Altimeter UAVCAN Interface
      • ESCs & Motors
        • PWM ESCs and Servos
        • DShot ESCs
        • OneShot ESCs and Servos
        • DroneCAN ESCs
          • Zubax Telega
          • PX4 Sapog ESC Firmware
            • Holybro Kotleta
            • Zubax Orel
        • VESC
      • TBS Crossfire (CRSF) Telemetry
      • FrSky Telemetry
      • Gimbal (Mount) Configuration
      • GPS/Compass
        • ARK GPS
        • Holybro DroneCAN M8N GPS
        • LOCOSYS Hawk A1 GNSS
        • Hex Here2
        • Holybro M8N & M9N GPS
        • Sky-Drones SmartAP GPS
      • Grippers
        • Servo Gripper
      • Optical Flow
        • ARK Flow
        • PMW3901
        • PX4FLOW (Deprecated)
      • Precision Landing
      • Parachute
      • Power Modules/PDB
        • CUAV HV pm
        • CUAV CAN PMU
        • Holybro PM02
        • Holybro PM07
        • Holybro PM06 V2
        • Holybro PM02D (digital)
        • Holybro PM03D (digital)
        • Pomegranate Systems Power Module
        • Sky-Drones SmartAP PDB
      • Satellite Coms (Iridium/RockBlock)
      • Telemetry Radios
        • SiK Radio
          • RFD900 (SiK) Telemetry Radio
          • HolyBro (SIK) Telemetry Radio
        • Telemetry Wifi
          • ESP8266 WiFi Module
          • ESP32 WiFi Module
          • 3DR Telemetry Wifi (Discontinued)
        • Microhard Serial Telemetry Radio
          • ARK Electron Microhard Serial Telemetry Radio
          • Holybro Microhard P900 Telemetry Radio
        • CUAV P8 Telemetry Radio
        • HolyBro XBP9X - Discontinued
      • RTK GPS
        • ARK RTK GPS
        • RTK GPS Heading with Dual u-blox F9P
        • CUAV C-RTK
        • CUAV C-RTK2 PPK/RTK GNSS
        • CUAV C-RTK 9Ps
        • Femtones MINI2 Receiver
        • Freefly RTK GPS
        • Holybro H-RTK-F9P
        • Holybro H-RTK-M8P
        • Holybro H-RTK Unicore UM982 GPS
        • Locosys Hawk R1
        • Locosys Hawk R2
        • Septentrio AsteRx-RIB
        • Septentrio mosaic-go
        • Trimble MB-Two
        • CubePilot Here+ (Discontined)
      • Remote ID
      • Smart Batteries
        • Rotoye Batmon Battery Smartification Kit
      • Tachometers (Revolution Counters)
        • ThunderFly TFRPM01 Tachometer Sensor
      • I2C Peripherals
        • I2C bus accelerators
        • TFI2CADT01 I2C address translator
      • CAN Peripherals
      • DroneCAN Peripherals
        • PX4 DroneCAN Firmware
        • ARK CANnode
    • Companion Computers
      • Pixhawk + Companion Setup
        • RasPi Pixhawk Companion
      • Companion Computer Peripherals
      • Holybro Pixhawk RPI CM4 Baseboard
      • Auterion Skynode
      • Computer Vision
        • Obstacle Avoidance
        • Safe Landing
        • Collision Prevention
        • Path Planning Interface
        • Motion Capture (MoCap)
        • Visual Inertial Odometry (VIO)
          • Realsense T265 Tracking Camera (VIO)
      • Video Streaming
  • Development
    • Getting Started
      • Recommended Hardware/Setup
      • Toolchain Installation
        • MacOS Setup
        • Ubuntu Setup
        • Windows Setup
        • Visual Studio Code IDE
        • Other/Generic Tools
      • Building the Code
      • Writing your First Application
      • Application/Module Template
    • Concepts
      • PX4 Architecture
      • PX4 Flight Stack Architecture
        • Controller Diagrams
      • Events Interface
      • Flight Modes
      • Flight Tasks
      • Control Allocation
      • PWM limit state machine
      • System Startup
      • SD Card Layout
    • Simulation
      • jMAVSim Simulation
        • Multi-Vehicle Sim with JMAVSim
      • Gazebo Simulation
        • Vehicles
        • Multi-Vehicle Sim
      • Gazebo Classic Simulation
        • Vehicles
        • Worlds
        • Multi-Vehicle Sim
      • FlightGear Simulation
        • FlightGear Vehicles
        • Multi-Vehicle Sim with FlightGear
      • JSBSim Simulation
      • AirSim Simulation
      • Multi-Vehicle Simulation
      • Simulate Failsafes
      • HITL Simulation
      • Simulation-In-Hardware
    • Hardware
      • Flight Controller Reference Design
      • Manufacturer’s Board Support Guide
      • Flight Controller Porting Guide
        • PX4 Board Configuration (kconfig)
        • NuttX Board Porting Guide
      • Serial Port Mapping
      • Airframes
        • Adding a New Airframe
      • Device Drivers
      • Telemetry Radio
        • SiK Radio
      • Sensor and Actuator I/O
        • DroneCAN
        • I2C Bus
        • UART/Serial Ports
          • Port-Configurable Serial Drivers
      • RTK GPS (Integration)
    • Middleware
      • uORB Messaging
      • uORB Graph
      • uORB Message Reference
        • ActionRequest
        • ActuatorArmed
        • ActuatorControlsStatus
        • ActuatorMotors
        • ActuatorOutputs
        • ActuatorServos
        • ActuatorServosTrim
        • ActuatorTest
        • AdcReport
        • Airspeed
        • AirspeedValidated
        • AirspeedWind
        • AutotuneAttitudeControlStatus
        • BatteryStatus
        • ButtonEvent
        • CameraCapture
        • CameraStatus
        • CameraTrigger
        • CellularStatus
        • CollisionConstraints
        • CollisionReport
        • ControlAllocatorStatus
        • Cpuload
        • DebugArray
        • DebugKeyValue
        • DebugValue
        • DebugVect
        • DifferentialPressure
        • DistanceSensor
        • Ekf2Timestamps
        • EscReport
        • EscStatus
        • EstimatorAidSource1d
        • EstimatorAidSource2d
        • EstimatorAidSource3d
        • EstimatorBias
        • EstimatorBias3d
        • EstimatorEventFlags
        • EstimatorGpsStatus
        • EstimatorInnovations
        • EstimatorSelectorStatus
        • EstimatorSensorBias
        • EstimatorStates
        • EstimatorStatus
        • EstimatorStatusFlags
        • Event
        • FailsafeFlags
        • FailureDetectorStatus
        • FollowTarget
        • FollowTargetEstimator
        • FollowTargetStatus
        • GeneratorStatus
        • GeofenceResult
        • GimbalControls
        • GimbalDeviceAttitudeStatus
        • GimbalDeviceInformation
        • GimbalDeviceSetAttitude
        • GimbalManagerInformation
        • GimbalManagerSetAttitude
        • GimbalManagerSetManualControl
        • GimbalManagerStatus
        • GpioConfig
        • GpioIn
        • GpioOut
        • GpioRequest
        • GpsDump
        • GpsInjectData
        • Gripper
        • HealthReport
        • HeaterStatus
        • HomePosition
        • HoverThrustEstimate
        • InputRc
        • InternalCombustionEngineStatus
        • IridiumsbdStatus
        • IrlockReport
        • LandingGear
        • LandingGearWheel
        • LandingTargetInnovations
        • LandingTargetPose
        • LaunchDetectionStatus
        • LedControl
        • LogMessage
        • LoggerStatus
        • MagWorkerData
        • MagnetometerBiasEstimate
        • ManualControlSetpoint
        • ManualControlSwitches
        • MavlinkLog
        • MavlinkTunnel
        • Mission
        • MissionResult
        • ModeCompleted
        • MountOrientation
        • NavigatorMissionItem
        • NormalizedUnsignedSetpoint
        • NpfgStatus
        • ObstacleDistance
        • OffboardControlMode
        • OnboardComputerStatus
        • OrbTest
        • OrbTestLarge
        • OrbTestMedium
        • OrbitStatus
        • ParameterUpdate
        • Ping
        • PositionControllerLandingStatus
        • PositionControllerStatus
        • PositionSetpoint
        • PositionSetpointTriplet
        • PowerButtonState
        • PowerMonitor
        • PpsCapture
        • PwmInput
        • Px4ioStatus
        • QshellReq
        • QshellRetval
        • RadioStatus
        • RateCtrlStatus
        • RcChannels
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        • Rpm
        • RtlTimeEstimate
        • SatelliteInfo
        • SensorAccel
        • SensorAccelFifo
        • SensorBaro
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        • SensorGyroFft
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        • SensorsStatusImu
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        • TaskStackInfo
        • TecsStatus
        • TelemetryStatus
        • TiltrotorExtraControls
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        • TrajectoryBezier
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        • TuneControl
        • UavcanParameterRequest
        • UavcanParameterValue
        • UlogStream
        • UlogStreamAck
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        • UwbGrid
        • VehicleAcceleration
        • VehicleAirData
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        • VehicleAttitudeSetpoint
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On this page
  • actuator_test
  • Usage
  • bl_update
  • Usage
  • bsondump
  • Usage
  • dumpfile
  • Usage
  • dyn
  • Description
  • Example
  • Usage
  • failure
  • Description
  • Implementation
  • Examples
  • Usage
  • gpio
  • Description
  • Examples
  • Usage
  • hardfault_log
  • Usage
  • hist
  • Usage
  • i2cdetect
  • Usage
  • led_control
  • Description
  • Examples
  • Usage
  • listener
  • Usage
  • mfd
  • Usage
  • mtd
  • Usage
  • nshterm
  • Usage
  • param
  • Description
  • Examples
  • Usage
  • payload_deliverer
  • Description
  • Usage
  • perf
  • Usage
  • reboot
  • Usage
  • sd_bench
  • Usage
  • sd_stress
  • Usage
  • serial_passthru
  • Usage
  • system_time
  • Description
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  • Usage
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  • Usage
  1. Development
  2. Modules & Commands

Commands

PreviousAutotuneNextCommunication

Last updated 1 year ago

actuator_test

Source:

Utility to test actuators.

WARNING: remove all props before using this command.

Usage

actuator_test <command> [arguments...]
 Commands:
   set           Set an actuator to a specific output value

 The actuator can be specified by motor, servo or function directly:
     [-m <val>]  Motor to test (1...8)
     [-s <val>]  Servo to test (1...8)
     [-f <val>]  Specify function directly
     -v <val>    value (-1...1)
     [-t <val>]  Timeout in seconds (run interactive if not set)
                 default: 0

   iterate-motors Iterate all motors starting and stopping one after the other

   iterate-servos Iterate all servos deflecting one after the other

bl_update

Utility to flash the bootloader from a file

Usage

bl_update [arguments...]
   setopt        Set option bits to unlock the FLASH (only needed if in locked
                 state)

   <file>        Bootloader bin file

bsondump

read BSON from a file and print in human form

Usage

bsondump [arguments...]
     <file>      File name

dumpfile

Dump file utility. Prints file size and contents in binary mode (don't replace LF with CR LF) to stdout.

Usage

dumpfile [arguments...]
     <file>      File to dump

dyn

Description

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

Example

dyn ./hello.px4mod start

Usage

dyn [arguments...]
     <file>      File containing the module
     [arguments...] Arguments to the module

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

Usage

failure [arguments...]
   help          Show this help text

   gps|...       Specify component

   ok|off|...    Specify failure type
     [-i <val>]  sensor instance (0=all)
                 default: 0

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 [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

Hardfault utility

Used in startup scripts to handle hardfaults

Usage

hardfault_log <command> [arguments...]
 Commands:
   check         Check if there's an uncommitted hardfault

   rearm         Drop an uncommitted hardfault

   fault         Generate a hardfault (this command crashes the system :)
     [0|1]       Hardfault type: 0=divide by 0, 1=Assertion (default=0)

   commit        Write uncommitted 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
                 uncommitted hardfault (returned as the exit code of the
                 program)

   reset         Reset the reboot counter

hist

Command-line tool to show the px4 message history. There are no arguments.

Usage

hist [arguments...]

i2cdetect

Utility to scan for I2C devices on a particular bus.

Usage

i2cdetect [arguments...]
     [-b <val>]  I2C bus
                 default: 1

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

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

Utility interact with the manifest

Usage

mfd <command> [arguments...]
 Commands:
   query         Returns true if not existed

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

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

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

   select-backup Select default file
     [<file>]    File name

   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
     [-s]        If provided, silent errors if parameter doesn't exists
     <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

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 <command> [arguments...]
 Commands:
   start

   gripper_test  Tests the Gripper's release & grabbing sequence

   gripper_open  Opens the gripper

   gripper_close Closes the gripper

   stop

   status        print status info

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

reboot

Reboot the system

Usage

reboot [arguments...]
     [-b]        Reboot into bootloader
     [lock|unlock] Take/release the shutdown lock (for testing)

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
     [-k]        Keep the test file
     [-s]        Call fsync after each block (default=at end of each run)
     [-u]        Test performance with unaligned data
     [-v]        Verify data and block number

sd_stress

Test operations on an SD Card

Usage

sd_stress [arguments...]
     [-r <val>]  Number of runs
                 default: 5
     [-b <val>]  Number of bytes
                 default: 100

serial_passthru

Pass data from one device to another.

This can be used to use u-center connected to USB with a GPS on a serial port.

Usage

serial_passthru [arguments...]
     -e <val>    External device path
                 values: <file:dev>
     -d <val>    Internal device path
                 values: <file:dev>
     [-b <val>]  Baudrate
                 default: 115200
     [-t]        Track the External devices baudrate on internal device

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

Monitor running processes and their CPU, stack usage, priority and state

Usage

top [arguments...]
   once          print load only once

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

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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systemcmds/actuator_test
systemcmds/bl_update
systemcmds/bsondump
systemcmds/dumpfile
systemcmds/dyn
systemcmds/failure
systemcmds/gpio
systemcmds/hardfault_log
systemcmds/hist
systemcmds/i2cdetect
systemcmds/led_control
systemcmds/topic_listener
systemcmds/mft
systemcmds/mtd
systemcmds/nshterm
systemcmds/param
modules/payload_deliverer
systemcmds/perf
systemcmds/reboot
systemcmds/sd_bench
systemcmds/sd_stress
systemcmds/serial_passthru
systemcmds/system_time
systemcmds/top
systemcmds/usb_connected
systemcmds/ver