System
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The provided functionality includes:
Read the output from the ADC driver (via ioctl interface) and publish battery_status.
It runs in its own thread and polls on the currently selected gyro topic.
The commander module contains the state machine for mode switching and failsafe behavior.
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:
a file (eg. on the SD card)
RAM (this is obviously not persistent)
It is used to store structured data of different types: mission waypoints, mission state and geofence polygons. Each type has a specific type and a fixed maximum amount of storage items, so that fast random access is possible.
Reading and writing a single item is always atomic.
DM_KEY_FENCE_POINTS and DM_KEY_SAFE_POINTS items: the first data element is a mission_stats_entry_s struct, which stores the number of items for these types. These items are always updated atomically in one transaction (from the mavlink mission manager).
Command-line tool to show bootup console messages. Note that output from NuttX's work queues and syslog are not captured.
Keep printing all messages in the background:
This implements using information from the ESC status and publish it as battery status.
Simple online gyroscope calibration.
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.
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.
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.
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.
maybe_landed: it requires ground_contact together with a tighter thrust setpoint threshold and no velocity in the horizontal direction. The trigger time is defined by MAYBE_LAND_TRIGGER_TIME. When maybe_landed is detected, the position controller sets the thrust setpoint to zero.
landed: it requires maybe_landed to be true for time LAND_DETECTOR_TRIGGER_TIME_US.
The module runs periodically on the HP work queue.
Background process running periodically on the low priority work queue to calculate the CPU load and RAM usage and publish the cpuload topic.
On NuttX it also checks the stack usage of each process and if it falls below 300 bytes, a warning is output, which will also appear in the log file.
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)
Both backends can be enabled and used at the same time.
The file backend supports 2 types of log files: full (the normal log) and a mission log. The mission log is a reduced ulog file and can be used for example for geotagging or vehicle management. It can be enabled and configured via SDLOG_MISSION parameter. The normal log is always a superset of the mission log.
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
In between there is a write buffer with configurable size (and another fixed-size buffer for the mission log). It should be large to avoid dropouts.
Typical usage to start logging immediately:
Or if already running:
Online magnetometer bias estimator.
Module consuming manual_control_inputs publishing one manual_control_setpoint.
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.
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 show option will display the network settings in net.cfg to the console.
$ netman save # Save the parameters to the SD card. $ netman show # display current settings. $ netman update -i eth0 # do an update
Measures the PWM input on AUX5 (or MAIN5) via a timer capture ISR and publishes via the uORB 'pwm_input` message.
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.
To reduce control latency, the module is scheduled on input_rc publications.
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 log was recorded.
The module is typically used together with uORB publisher rules, to specify which messages should be replayed. The replay module will just publish all messages that are found in the log. It also applies the parameters from the log.
Background process running periodically on the LP work queue to perform housekeeping tasks. It is currently only responsible for tone alarm on RC Loss.
The tasks can be started via CLI or uORB topics (vehicle_command from MAVLink, etc.).
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 topics is SensorCombined, used by many parts of the system.
Make sure the sensor drivers get the updated calibration parameters (scale & offset) when the parameters change or on startup. The sensor drivers use the ioctl interface for parameter updates. For this to work properly, the sensor drivers must already be running when sensors is started.
Do sensor consistency checks and publish the SensorsStatusImu topic.
It runs in its own thread and polls on the currently selected gyro topic.
Driver for reading data from the Tattu 12S 16000mAh smart battery.
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.
Command-line tool to control & test the (external) tunes.
Tunes are used to provide audible notification and warnings (e.g. when the system arms, gets position lock, etc.). The tool requires that a driver is running that can handle the tune_control uorb topic.
Information about the tune format and predefined system tunes can be found here: https://github.com/PX4/PX4-Autopilot/blob/main/src/lib/tunes/tune_definition.desc
Play system tune #2:
UXRCE-DDS Client used to communicate uORB topics with an Agent over serial or UDP.
Command-line tool to show work queue status.
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netman update is run automatically by . 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.
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The replay procedure is documented on the page.
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