Usage: work_queue <command> [arguments...]
Commands:
start
stop
status print status info
example:
Work Queue: 9 threads RATE INTERVAL
|__ 1) wq:rate_ctrl
| |__ 1) mc_rate_control 800.6 Hz 1249 us
| |__ 2) pwm_out 799.5 Hz 1251 us
| \__ 3) vehicle_angular_velocity 800.6 Hz 1249 us
|__ 2) wq:SPI1
| |__ 1) bmi055 997.3 Hz 1003 us
| |__ 2) bmi055 1043.4 Hz 958 us
| |__ 3) icm20602 800.3 Hz 1250 us
| \__ 4) icm20689 798.3 Hz 1253 us
|__ 3) wq:SPI4
| \__ 1) ms5611 99.5 Hz 10048 us
|__ 4) wq:I2C3
| \__ 1) ist8310 88.9 Hz 11245 us
|__ 5) wq:attitude_ctrl
| \__ 1) mc_att_control 200.2 Hz 4996 us
|__ 6) wq:nav_and_controllers
| |__ 1) ekf2 200.2 Hz 4996 us
| |__ 2) land_detector 92.2 Hz 10846 us
| |__ 3) mc_hover_thrust_estimator 0.0 Hz 0 us
| |__ 4) mc_pos_control 50.0 Hz 19993 us
| |__ 5) sensors 200.1 Hz 4999 us
| |__ 6) vehicle_acceleration 208.5 Hz 4796 us
| |__ 7) vehicle_air_data 74.6 Hz 13410 us
| |__ 8) vehicle_imu 200.1 Hz 4998 us
| |__ 9) vehicle_imu 199.9 Hz 5003 us
| \__10) vehicle_imu 200.2 Hz 4996 us
|__ 7) wq:hp_default
| |__ 1) adc 100.0 Hz 9999 us (10000 us)
| |__ 2) battery_status 100.0 Hz 10000 us (10000 us)
| |__ 3) rc_update 0.0 Hz 0 us
| |__ 4) safety_button 30.3 Hz 32997 us (33000 us)
| \__ 5) tone_alarm 10.1 Hz 99473 us
|__ 8) wq:UART4
| \__ 1) rc_input 250.0 Hz 4000 us (4000 us)
\__ 9) wq:lp_default
|__ 1) load_mon 2.0 Hz 499696 us (500000 us)
|__ 2) rgbled_pwm 39.8 Hz 25130 us
\__ 3) send_event 30.0 Hz 33325 us (33333 us)
uorb 主要可以用于查看当前的uorb话题【uorb top -1 (是数字1)较为常用】
Usage: uorb <command> [arguments...]
Commands:
start
status Print topic statistics
top Monitor topic publication rates
[-a] print all instead of only currently publishing topics with subscribers
[-1] run only once, then exit
[<filter1> [<filter2>]] topic(s) to match (implies -a)
sensors status (传感器数据状态监视) sensors也是PX4重要的一个module,它负责处理所有的传感器信息,比如进行低通滤波,多传感器的冗余选择等,将原始的传感器驱动程序获得的数据进行适当地处理。
nsh> sensors status
INFO [sensors] selected gyro: 3670026(0)
INFO [data_validator] validator: best: 0, prev best: 0, failsafe: NO (0 events)
INFO [data_validator] sensor #0, prio: 100, state: OK
INFO [data_validator] val: -0.0010, lp: -0.0019 mean dev: -0.0000 RMS: 0.0043 conf: 1.0000
INFO [data_validator] val: -0.0014, lp: -0.0010 mean dev: -0.0000 RMS: 0.0020 conf: 1.0000
INFO [data_validator] val: 0.0001, lp: -0.0005 mean dev: 0.0000 RMS: 0.0010 conf: 1.0000
INFO [data_validator] sensor #1, prio: 100, state: OK
INFO [data_validator] val: -0.0044, lp: -0.0031 mean dev: 0.0000 RMS: 0.0042 conf: 1.0000
INFO [data_validator] val: 0.0014, lp: 0.0010 mean dev: -0.0000 RMS: 0.0020 conf: 1.0000
INFO [data_validator] val: -0.0002, lp: -0.0001 mean dev: -0.0000 RMS: 0.0011 conf: 1.0000
INFO [data_validator] sensor #2, prio: 75, state: OK
INFO [data_validator] val: 0.0004, lp: -0.0003 mean dev: 0.0000 RMS: 0.0056 conf: 1.0000
INFO [data_validator] val: -0.0030, lp: -0.0005 mean dev: 0.0000 RMS: 0.0036 conf: 1.0000
INFO [data_validator] val: -0.0028, lp: -0.0007 mean dev: 0.0000 RMS: 0.0031 conf: 1.0000
INFO [sensors] selected accel: 3670026(0)
INFO [data_validator] validator: best: 0, prev best: 0, failsafe: NO (0 events)
INFO [data_validator] sensor #0, prio: 100, state: OK
INFO [data_validator] val: 0.1830, lp: 0.1770 mean dev: -0.0000 RMS: 0.0114 conf: 1.0000
INFO [data_validator] val: 0.0054, lp: 0.0205 mean dev: -0.0000 RMS: 0.0183 conf: 1.0000
INFO [data_validator] val: -9.6658, lp: -9.6973 mean dev: -0.0001 RMS: 0.0619 conf: 1.0000
INFO [data_validator] sensor #1, prio: 100, state: OK
INFO [data_validator] val: 0.1572, lp: 0.1594 mean dev: -0.0001 RMS: 0.0146 conf: 1.0000
INFO [data_validator] val: -0.0000, lp: 0.0140 mean dev: -0.0001 RMS: 0.0204 conf: 1.0000
INFO [data_validator] val: -9.7818, lp: -9.8008 mean dev: -0.0000 RMS: 0.0608 conf: 1.0000
INFO [data_validator] sensor #2, prio: 75, state: OK
INFO [data_validator] val: -0.0745, lp: -0.0491 mean dev: 0.0000 RMS: 0.0174 conf: 1.0000
INFO [data_validator] val: -0.1883, lp: -0.1693 mean dev: -0.0000 RMS: 0.0197 conf: 1.0000
INFO [data_validator] val: -9.7579, lp: -9.7845 mean dev: -0.0001 RMS: 0.0621 conf: 1.0000
INFO [sensors] selected mag: 396825(0)
INFO [data_validator] validator: best: 0, prev best: 0, failsafe: NO (0 events)
INFO [data_validator] sensor #0, prio: 75, state: OK
INFO [data_validator] val: 0.0021, lp: 0.0049 mean dev: -0.0000 RMS: 0.0015 conf: 1.0000
INFO [data_validator] val: 0.1681, lp: 0.1683 mean dev: 0.0000 RMS: 0.0012 conf: 1.0000
INFO [data_validator] val: -0.0139, lp: -0.0177 mean dev: -0.0000 RMS: 0.0033 conf: 1.0000
INFO [vehicle_air_data] selected barometer: 3997730(0)
INFO [data_validator] validator: best: 0, prev best: 0, failsafe: NO (0 events)
INFO [data_validator] sensor #0, prio: 75, state: OK
INFO [data_validator] val: 94513.0000, lp: 94516.2891 mean dev: -0.1046 RMS: 2.6126 conf: 1.0000
INFO [data_validator] val: 27.8700, lp: 27.8496 mean dev: 0.0315 RMS: 0.0150 conf: 1.0000
INFO [data_validator] val: 0.0000, lp: 0.0000 mean dev: 0.0000 RMS: 0.0000 conf: 1.0000
INFO [sensors] Airspeed status:
INFO [data_validator] no data
INFO [vehicle_acceleration] selected sensor: 3670026(0), rate: 800.6 Hz
INFO [vehicle_acceleration] estimated bias: [0.00000.00000.0000]
INFO [sensor_calibration] ACC 3670026 EN: 1, offset: [0.0556 -0.0322 0.0141] scale: [0.99921.00031.0002]
INFO [vehicle_angular_velocity] selected sensor: 3670026(0), rate: 800.6 Hz
INFO [vehicle_angular_velocity] estimated bias: [0.00000.00000.0000]
INFO [sensor_calibration] GYRO 3670026 EN: 1, offset: [-0.0317 0.03210.0104]
INFO [vehicle_imu] IMU ID: 3670026, accel interval: 1248.9 us, gyro interval: 1248.9 us
vehicle_imu: accel data gap: 1 events
vehicle_imu: gyro data gap: 1 events
vehicle_imu: accel update interval: 181828 events, 1249.04us avg, min 971us max 1481us 23.714us rms
vehicle_imu: gyro update interval: 181832 events, 1249.04us avg, min 971us max 1481us 23.714us rms
INFO [sensor_calibration] ACC 3670026 EN: 1, offset: [0.0556 -0.0322 0.0141] scale: [0.99921.00031.0002]
INFO [sensor_calibration] GYRO 3670026 EN: 1, offset: [-0.0317 0.03210.0104]
INFO [vehicle_imu] IMU ID: 3932170, accel interval: 1249.4 us, gyro interval: 1249.4 us
vehicle_imu: accel data gap: 1 events
vehicle_imu: gyro data gap: 1 events
vehicle_imu: accel update interval: 181586 events, 1250.85us avg, min 830us max 1675us 31.126us rms
vehicle_imu: gyro update interval: 181586 events, 1250.85us avg, min 830us max 1675us 31.126us rms
INFO [sensor_calibration] ACC 3932170 EN: 1, offset: [-0.0909 0.1831 -0.1208] scale: [0.99800.99860.9935]
INFO [sensor_calibration] GYRO 3932170 EN: 1, offset: [0.0112 -0.0308 0.0091]
INFO [vehicle_imu] Accel ID: 4259850, interval: 955.2 us, Gyro ID: 4325386, interval: 1002.3 us
vehicle_imu: accel data gap: 1 events
vehicle_imu: gyro data gap: 1 events
vehicle_imu: accel update interval: 237163 events, 957.82us avg, min 48us max 2114us 162.976us rms
vehicle_imu: gyro update interval: 226733 events, 1001.88us avg, min 46us max 1395us 157.701us rms
INFO [sensor_calibration] ACC 4259850 EN: 1, offset: [0.18420.24540.1875] scale: [0.98820.99130.9830]
INFO [sensor_calibration] GYRO 4325386 EN: 1, offset: [0.00130.00150.0007]
dmsg DeBug消息打印
example:
sercon: Registering CDC/ACM serial driver
sercon: Successfully registered the CDC/ACM serial driver
HW arch: PX4_FMU_V5
HW type: V560
HW version: 0x00000006
HW revision: 0x00000000
FW git-hash: 71db0903a910d35a18f10d74c851446a6f66d61f
FW version: Release 1.11.0 (17498367)
OS: NuttX
OS version: Release 8.2.0 (134349055)
OS git-hash: ec20f2e6c5cc35b2b9bbe942dea55eabb81297b6
Build datetime: Mar 12 2022 18:35:12
Build uri: localhost
Toolchain: GNU GCC, 9.3.1 20200408 (release)
PX4GUID: 0002000000003533383731385118002a002c
MCU: STM32F76xxx, rev. Z
INFO [param] selected parameter default file /fs/mtd_params
INFO [tune_control] Publishing standard tune 1
Board defaults: /etc/init.d/rc.board_defaults
INFO [dataman] Unknown restart, data manager file '/fs/microsd/dataman' size is 362560 bytes
Board sensors: /etc/init.d/rc.board_sensors
icm20602 #0 on SPI bus 1 (devid=0x38)
icm20689 #0 on SPI bus 1 (devid=0x3c)
bmi055 #0 on SPI bus 1 (devid=0x41)
bmi055 #1 on SPI bus 1 (devid=0x42)
ist8310 #0 on I2C bus 3
ms5611 #0 on SPI bus 4 (devid=0x3d)
Board extras: /etc/init.d/rc.board_mavlink
INFO [mavlink] mode: Config, data rate: 800000 B/s on /dev/ttyACM0 @ 57600B
Starting Main GPS on /dev/ttyS0
Starting MAVLink on /dev/ttyS1
INFO [mavlink] mode: Normal, data rate: 1200 B/s on /dev/ttyS1 @ 57600B
INFO [init] Mixer: /etc/mixers/quad_x.main.mix on /dev/pwm_output0
Addons script: /fs/microsd/etc/extras.txt
INFO [logger] logger started (mode=all)
NuttShell (NSH)
nsh> INFO [ecl/EKF] reset position to last known position
INFO [ecl/EKF] reset velocity to zero
INFO [ecl/EKF] 9901680: EKF aligned, (baro hgt, IMU buf: 18, OBS buf: 14)
INFO [mavlink] Starting mavlink shell
WARN [commander] Manual control lost