MCP23009 <command> [arguments...]
Commands:
start
[-I] Internal I2C bus(es)
[-X] External I2C bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-a <val>] I2C address
default: 37
[-D <val>] Direction
default: 0
[-O <val>] Output
default: 0
[-P <val>] Pullups
default: 0
[-U <val>] Update Interval [ms]
default: 0
stop
status print status info
adc
Description
ADC driver.
Usage
adc <command> [arguments...]
Commands:
start
test
[-n] Do not publish ADC report, only system power
stop
status print status info
ads1115
Description
Usage
ads1115 <command> [arguments...]
Commands:
start
[-I] Internal I2C bus(es)
[-X] External I2C bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-a <val>] I2C address
default: 72
stop
status print status info
atxxxx
Description
OSD driver for the ATXXXX chip that is mounted on the OmnibusF4SD board for example.
It can be enabled with the OSD_ATXXXX_CFG parameter.
Usage
atxxxx <command> [arguments...]
Commands:
start
[-s] Internal SPI bus(es)
[-S] External SPI bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
[-m <val>] SPI mode
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
stop
status print status info
batmon
Description
Driver for SMBUS Communication with BatMon enabled smart-battery Setup/usage information: https://rotoye.com/batmon-tutorial/
Examples
To start at address 0x0B, on bus 4
batmon start -X -a 11 -b 4
Usage
batmon <command> [arguments...]
Commands:
start
[-I] Internal I2C bus(es)
[-X] External I2C bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-a <val>] I2C address
default: 11
man_info Prints manufacturer info.
suspend Suspends the driver from rescheduling the cycle.
resume Resumes the driver from suspension.
stop
status print status info
batt_smbus
Description
Smart battery driver for the BQ40Z50 fuel gauge IC.
Examples
To write to flash to set parameters. address, number_of_bytes, byte0, ... , byteN
batt_smbus -X write_flash 19069 2 27 0
Usage
batt_smbus <command> [arguments...]
Commands:
start
[-I] Internal I2C bus(es)
[-X] External I2C bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-a <val>] I2C address
default: 11
man_info Prints manufacturer info.
unseal Unseals the devices flash memory to enable write_flash
commands.
seal Seals the devices flash memory to disable write_flash commands.
suspend Suspends the driver from rescheduling the cycle.
resume Resumes the driver from suspension.
write_flash Writes to flash. The device must first be unsealed with the
unseal command.
[address] The address to start writing.
[number of bytes] Number of bytes to send.
[data[0]...data[n]] One byte of data at a time separated by spaces.
stop
status print status info
bst
Usage
bst <command> [arguments...]
Commands:
start
[-I] Internal I2C bus(es)
[-X] External I2C bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-a <val>] I2C address
default: 118
stop
status print status info
crsf_rc
Description
This module parses the CRSF RC uplink protocol and generates CRSF downlink telemetry data
Usage
crsf_rc <command> [arguments...]
Commands:
start
[-d <val>] RC device
values: <file:dev>, default: /dev/ttyS3
stop
status print status info
dshot
Description
This is the DShot output driver. It is similar to the fmu driver, and can be used as drop-in replacement to use DShot as ESC communication protocol instead of PWM.
On startup, the module tries to occupy all available pins for DShot output. It skips all pins already in use (e.g. by a camera trigger module).
It supports:
DShot150, DShot300, DShot600, DShot1200
telemetry via separate UART and publishing as esc_status message
sending DShot commands via CLI
Examples
Permanently reverse motor 1:
dshot reverse -m 1
dshot save -m 1
After saving, the reversed direction will be regarded as the normal one. So to reverse again repeat the same commands.
Usage
dshot <command> [arguments...]
Commands:
start
telemetry Enable Telemetry on a UART
<device> UART device
reverse Reverse motor direction
[-m <val>] Motor index (1-based, default=all)
normal Normal motor direction
[-m <val>] Motor index (1-based, default=all)
save Save current settings
[-m <val>] Motor index (1-based, default=all)
3d_on Enable 3D mode
[-m <val>] Motor index (1-based, default=all)
3d_off Disable 3D mode
[-m <val>] Motor index (1-based, default=all)
beep1 Send Beep pattern 1
[-m <val>] Motor index (1-based, default=all)
beep2 Send Beep pattern 2
[-m <val>] Motor index (1-based, default=all)
beep3 Send Beep pattern 3
[-m <val>] Motor index (1-based, default=all)
beep4 Send Beep pattern 4
[-m <val>] Motor index (1-based, default=all)
beep5 Send Beep pattern 5
[-m <val>] Motor index (1-based, default=all)
esc_info Request ESC information
-m <val> Motor index (1-based)
stop
status print status info
fake_gps
Description
Usage
fake_gps <command> [arguments...]
Commands:
start
stop
status print status info
fake_imu
Description
Usage
fake_imu <command> [arguments...]
Commands:
start
stop
status print status info
fake_magnetometer
Description
Publish the earth magnetic field as a fake magnetometer (sensor_mag). Requires vehicle_attitude and vehicle_gps_position.
Usage
fake_magnetometer <command> [arguments...]
Commands:
start
stop
status print status info
gimbal
Description
Mount/gimbal Gimbal control driver. It maps several different input methods (eg. RC or MAVLink) to a configured output (eg. AUX channels or MAVLink).
Examples
Test the output by setting a angles (all omitted axes are set to 0):
gimbal test pitch -45 yaw 30
Usage
gimbal <command> [arguments...]
Commands:
start
status
primary-control Set who is in control of gimbal
<sysid> <compid> MAVLink system ID and MAVLink component ID
test Test the output: set a fixed angle for one or multiple axes
(gimbal must be running)
roll|pitch|yaw <angle> Specify an axis and an angle in degrees
stop
status print status info
gps
Description
GPS driver module that handles the communication with the device and publishes the position via uORB. It supports multiple protocols (device vendors) and by default automatically selects the correct one.
The module supports a secondary GPS device, specified via -e parameter. The position will be published on the second uORB topic instance, but it's currently not used by the rest of the system (however the data will be logged, so that it can be used for comparisons).
Implementation
There is a thread for each device polling for data. The GPS protocol classes are implemented with callbacks so that they can be used in other projects as well (eg. QGroundControl uses them too).
Examples
Starting 2 GPS devices (the main GPS on /dev/ttyS3 and the secondary on /dev/ttyS4):
gps start -d /dev/ttyS3 -e /dev/ttyS4
Initiate warm restart of GPS device
gps reset warm
Usage
gps <command> [arguments...]
Commands:
start
[-d <val>] GPS device
values: <file:dev>, default: /dev/ttyS3
[-b <val>] Baudrate (can also be p:<param_name>)
default: 0
[-e <val>] Optional secondary GPS device
values: <file:dev>
[-g <val>] Baudrate (secondary GPS, can also be p:<param_name>)
default: 0
[-i <val>] GPS interface
values: spi|uart, default: uart
[-j <val>] secondary GPS interface
values: spi|uart, default: uart
[-p <val>] GPS Protocol (default=auto select)
values: ubx|mtk|ash|eml|fem|nmea
stop
status print status info
reset Reset GPS device
cold|warm|hot Specify reset type
gz_bridge
Description
Usage
gz_bridge <command> [arguments...]
Commands:
start
-m <val> Fuel model name
-p <val> Model Pose
-n <val> Model name
-i <val> PX4 instance
[-w <val>] World name
stop
status print status info
ina220
Description
Driver for the INA220 power monitor.
Multiple instances of this driver can run simultaneously, if each instance has a separate bus OR I2C address.
For example, one instance can run on Bus 2, address 0x41, and one can run on Bus 2, address 0x43.
If the INA220 module is not powered, then by default, initialization of the driver will fail. To change this, use the -f flag. If this flag is set, then if initialization fails, the driver will keep trying to initialize again every 0.5 seconds. With this flag set, you can plug in a battery after the driver starts, and it will work. Without this flag set, the battery must be plugged in before starting the driver.
Usage
ina220 <command> [arguments...]
Commands:
start
[-I] Internal I2C bus(es)
[-X] External I2C bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-a <val>] I2C address
default: 65
[-k] if initialization (probing) fails, keep retrying periodically
[-t <val>] battery index for calibration values (1 or 2)
default: 1
[-T <val>] Type
values: VBATT|VREG, default: VBATT
stop
status print status info
ina226
Description
Driver for the INA226 power monitor.
Multiple instances of this driver can run simultaneously, if each instance has a separate bus OR I2C address.
For example, one instance can run on Bus 2, address 0x41, and one can run on Bus 2, address 0x43.
If the INA226 module is not powered, then by default, initialization of the driver will fail. To change this, use the -f flag. If this flag is set, then if initialization fails, the driver will keep trying to initialize again every 0.5 seconds. With this flag set, you can plug in a battery after the driver starts, and it will work. Without this flag set, the battery must be plugged in before starting the driver.
Usage
ina226 <command> [arguments...]
Commands:
start
[-I] Internal I2C bus(es)
[-X] External I2C bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-a <val>] I2C address
default: 65
[-k] if initialization (probing) fails, keep retrying periodically
[-t <val>] battery index for calibration values (1 or 2)
default: 1
stop
status print status info
ina228
Description
Driver for the INA228 power monitor.
Multiple instances of this driver can run simultaneously, if each instance has a separate bus OR I2C address.
For example, one instance can run on Bus 2, address 0x45, and one can run on Bus 2, address 0x45.
If the INA228 module is not powered, then by default, initialization of the driver will fail. To change this, use the -f flag. If this flag is set, then if initialization fails, the driver will keep trying to initialize again every 0.5 seconds. With this flag set, you can plug in a battery after the driver starts, and it will work. Without this flag set, the battery must be plugged in before starting the driver.
Usage
ina228 <command> [arguments...]
Commands:
start
[-I] Internal I2C bus(es)
[-X] External I2C bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-a <val>] I2C address
default: 69
[-k] if initialization (probing) fails, keep retrying periodically
[-t <val>] battery index for calibration values (1 or 2)
default: 1
stop
status print status info
ina238
Description
Driver for the INA238 power monitor.
Multiple instances of this driver can run simultaneously, if each instance has a separate bus OR I2C address.
For example, one instance can run on Bus 2, address 0x45, and one can run on Bus 2, address 0x45.
If the INA238 module is not powered, then by default, initialization of the driver will fail. To change this, use the -f flag. If this flag is set, then if initialization fails, the driver will keep trying to initialize again every 0.5 seconds. With this flag set, you can plug in a battery after the driver starts, and it will work. Without this flag set, the battery must be plugged in before starting the driver.
Usage
ina238 <command> [arguments...]
Commands:
start
[-I] Internal I2C bus(es)
[-X] External I2C bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-a <val>] I2C address
default: 69
[-k] if initialization (probing) fails, keep retrying periodically
[-t <val>] battery index for calibration values (1 or 2)
default: 1
stop
status print status info
iridiumsbd
Description
IridiumSBD driver.
Creates a virtual serial port that another module can use for communication (e.g. mavlink).
Usage
iridiumsbd <command> [arguments...]
Commands:
start
-d <val> Serial device
values: <file:dev>
[-v] Enable verbose output
test
[s|read|AT <cmd>] Test command
stop
status print status info
irlock
Usage
irlock <command> [arguments...]
Commands:
start
[-I] Internal I2C bus(es)
[-X] External I2C bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-a <val>] I2C address
default: 84
stop
status print status info
linux_pwm_out
Description
Linux PWM output driver with board-specific backend implementation.
Usage
linux_pwm_out <command> [arguments...]
Commands:
start
stop
status print status info
lsm303agr
Usage
lsm303agr <command> [arguments...]
Commands:
start
[-s] Internal SPI bus(es)
[-S] External SPI bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
[-m <val>] SPI mode
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-R <val>] Rotation
default: 0
stop
status print status info
modal_io
Description
This module is responsible for...
Implementation
By default the module runs on a work queue with a callback on the uORB actuator_controls topic.
Examples
It is typically started with:
todo
Usage
modal_io <command> [arguments...]
Commands:
start Start the task
reset Send reset request to ESC
-i <val> ESC ID, 0-3
version Send version request to ESC
-i <val> ESC ID, 0-3
version-ext Send extended version request to ESC
-i <val> ESC ID, 0-3
rpm Closed-Loop RPM test control request
-i <val> ESC ID, 0-3
-r <val> RPM, -32,768 to 32,768
-n <val> Command repeat count, 0 to INT_MAX
-t <val> Delay between repeated commands (microseconds), 0 to INT_MAX
pwm Open-Loop PWM test control request
-i <val> ESC ID, 0-3
-r <val> Duty Cycle value, 0 to 800
-n <val> Command repeat count, 0 to INT_MAX
-t <val> Delay between repeated commands (microseconds), 0 to INT_MAX
tone Send tone generation request to ESC
-i <val> ESC ID, 0-3
-p <val> Period of sound, inverse frequency, 0-255
-d <val> Duration of the sound, 0-255, 1LSB = 13ms
-v <val> Power (volume) of sound, 0-100
led Send LED control request
-l <val> Bitmask 0x0FFF (12 bits) - ESC0 (RGB) ESC1 (RGB) ESC2 (RGB)
ESC3 (RGB)
stop
status print status info
msp_osd
Description
MSP telemetry streamer
Implementation
Converts uORB messages to MSP telemetry packets
Examples
CLI usage example:
msp_osd
Usage
msp_osd <command> [arguments...]
Commands:
stop
status print status info
newpixel
Description
This module is responsible for driving interfasing to the Neopixel Serial LED
Examples
It is typically started with:
neopixel -n 8
To drive all available leds.
Usage
newpixel <command> [arguments...]
Commands:
stop
status print status info
paa3905
Usage
paa3905 <command> [arguments...]
Commands:
start
[-s] Internal SPI bus(es)
[-S] External SPI bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
[-m <val>] SPI mode
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-Y <val>] custom yaw rotation (degrees)
default: 0
stop
status print status info
paw3902
Usage
paw3902 <command> [arguments...]
Commands:
start
[-s] Internal SPI bus(es)
[-S] External SPI bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
[-m <val>] SPI mode
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-Y <val>] custom yaw rotation (degrees)
default: 0
stop
status print status info
pca9685_pwm_out
Description
This module is responsible for generate pwm pulse with PCA9685 chip.
It listens on the actuator_controls topics, does the mixing and writes the PWM outputs.
Implementation
This module depends on ModuleBase and OutputModuleInterface. IIC communication is based on CDev::I2C
Examples
It is typically started with:
pca9685_pwm_out start -a 64 -b 1
The number X can be acquired by executing pca9685_pwm_out status when this driver is running.
Usage
pca9685_pwm_out <command> [arguments...]
Commands:
start Start the task
[-a <val>] device address on this bus
default: 64
[-b <val>] bus that pca9685 is connected to
default: 1
[-r <val>] schedule rate limit
default: 400
stop
status print status info
pmw3901
Usage
pmw3901 <command> [arguments...]
Commands:
start
[-s] Internal SPI bus(es)
[-S] External SPI bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
[-m <val>] SPI mode
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-R <val>] Rotation
default: 0
stop
status print status info
pps_capture
Description
This implements capturing PPS information from the GNSS module and calculates the drift between PPS and Real-time clock.
Usage
pps_capture <command> [arguments...]
Commands:
start
stop
status print status info
pwm_out
Description
This module is responsible for driving the output pins. For boards without a separate IO chip (eg. Pixracer), it uses the main channels. On boards with an IO chip (eg. Pixhawk), it uses the AUX channels, and the px4io driver is used for main ones.
Usage
pwm_out <command> [arguments...]
Commands:
start
stop
status print status info
pwm_out_sim
Description
Driver for simulated PWM outputs.
Its only function is to take actuator_control uORB messages, mix them with any loaded mixer and output the result to the actuator_output uORB topic.
It is used in SITL and HITL.
Usage
pwm_out_sim <command> [arguments...]
Commands:
start Start the module
[-m <val>] Mode
values: hil|sim, default: sim
stop
status print status info
px4flow
Usage
px4flow <command> [arguments...]
Commands:
start
[-I] Internal I2C bus(es)
[-X] External I2C bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-a <val>] I2C address
default: 66
stop
status print status info
px4io
Description
Output driver communicating with the IO co-processor.
Usage
px4io <command> [arguments...]
Commands:
start
checkcrc Check CRC for a firmware file against current code on IO
<filename> Firmware file
update Update IO firmware
[<filename>] Firmware file
debug set IO debug level
<debug_level> 0=disabled, 9=max verbosity
bind DSM bind
dsm2|dsmx|dsmx8 protocol
sbus1_out enable sbus1 out
sbus2_out enable sbus2 out
test_fmu_fail test: turn off IO updates
test_fmu_ok re-enable IO updates
stop
status print status info
rc_input
Description
This module does the RC input parsing and auto-selecting the method. Supported methods are:
PPM
SBUS
DSM
SUMD
ST24
TBS Crossfire (CRSF)
Usage
rc_input <command> [arguments...]
Commands:
start
[-d <val>] RC device
values: <file:dev>, default: /dev/ttyS3
bind Send a DSM bind command (module must be running)
stop
status print status info
rgbled
Usage
rgbled <command> [arguments...]
Commands:
start
[-I] Internal I2C bus(es)
[-X] External I2C bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-a <val>] I2C address
default: 57
[-o <val>] RGB PWM Assignment
default: 123
stop
status print status info
rgbled_is31fl3195
Usage
rgbled_is31fl3195 <command> [arguments...]
Commands:
start
[-I] Internal I2C bus(es)
[-X] External I2C bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-a <val>] I2C address
default: 84
[-o <val>] RGB PWM Assignment
default: 123
[-i <val>] Current Band
default: 0.5
stop
status print status info
rgbled_lp5562
Description
The driver is included by default in firmware (KConfig key DRIVERS_LIGHTS_RGBLED_LP5562) and is always enabled.
Usage
rgbled_lp5562 <command> [arguments...]
Commands:
start
[-I] Internal I2C bus(es)
[-X] External I2C bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-a <val>] I2C address
default: 48
[-u <val>] Current in mA
default: 17.5
stop
status print status info
safety_button
Description
This module is responsible for the safety button. Pressing the safety button 3 times quickly will trigger a GCS pairing request.
Usage
safety_button <command> [arguments...]
Commands:
start
stop
status print status info
sht3x
Description
SHT3x Temperature and Humidity Sensor Driver by Senserion.
Examples
CLI usage example:
sht3x start -X
Start the sensor driver on the external bus
sht3x status
Print driver status
sht3x values
Print last measured values
sht3x reset
Reinitialize senzor, reset flags
Usage
sht3x <command> [arguments...]
Commands:
start
[-I] Internal I2C bus(es)
[-X] External I2C bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-a <val>] I2C address
default: 68
[-k] if initialization (probing) fails, keep retrying periodically
stop
status print status info
values Print actual data
reset Reinitialize sensor
tap_esc
Description
This module controls the TAP_ESC hardware via UART. It listens on the actuator_controls topics, does the mixing and writes the PWM outputs.
Implementation
Currently the module is implemented as a threaded version only, meaning that it runs in its own thread instead of on the work queue.
Example
The module is typically started with:
tap_esc start -d /dev/ttyS2 -n <1-8>
Usage
tap_esc <command> [arguments...]
Commands:
start Start the task
[-d <val>] Device used to talk to ESCs
values: <device>
[-n <val>] Number of ESCs
default: 4
tone_alarm
Description
This module is responsible for the tone alarm.
Usage
tone_alarm <command> [arguments...]
Commands:
start
stop
status print status info
uwb
Description
Driver for NXP UWB_SR150 UWB positioning system. This driver publishes a uwb_distance message whenever the UWB_SR150 has a position measurement available.
Example
Start the driver with a given device:
uwb start -d /dev/ttyS2
Usage
uwb <command> [arguments...]
Commands:
start
-d <val> Name of device for serial communication with UWB
values: <file:dev>
-b <val> Baudrate for serial communication
values: <int>
stop
status
voxlpm
Usage
voxlpm [arguments...]
start
[-I] Internal I2C bus(es)
[-X] External I2C bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-a <val>] I2C address
default: 68
[-T <val>] Type
values: VBATT|P5VDC|P12VDC, default: VBATT
[-k] if initialization (probing) fails, keep retrying periodically
stop
status print status info
Source:
Source:
Driver to enable an external ADC connected via I2C.
The driver is included by default in firmware for boards that do not have an internal analog to digital converter, such as or (search for CONFIG_DRIVERS_ADC_ADS1115 in board configuration files).
It is enabled/disabled using the parameter, and is disabled by default. If enabled, internal ADCs are not used.
