PX4-Autopilot/docs/zh/debug/mavlink_shell.md

MAVLink 控制台

The MAVLink Shell is an NSH console that can be accessed via MAVLink over serial (USB/Telemetry) or WiFi (UDP/TCP) links (in particular, on NuttX-based systems like: Pixhawk, Pixracer, etc.).

它可用于启动系统指令与模块，并得到输出信息。 While the shell cannot directly display the output of modules that it does not start, it can do so indirectly using the dmesg command (dmesg -f & can be used to display the output of other modules and tasks running on the work queue).

:::tip The QGroundControl MAVLink Console is the easiest way to access the console. If the system does not start properly you should instead use the System Console. :::

启用 Shell

QGroundControl MAVLink Console

The easiest way to access shell is to use the QGroundControl MAVLink Console (see Analyze View > Mavlink Console).

mavlink_shell.py

You can also access the shell in a terminal using the mavlink_shell.py script:

1. Shut down QGroundControl.

2. 安装依赖项

   pip3 install --user pymavlink pyserial
   

3. Open terminal (in PX4-Autopilot directory) and start the shell:

   # For serial port
   ./Tools/mavlink_shell.py /dev/ttyACM0
   

   # For Wifi connection
   ./Tools/mavlink_shell.py 0.0.0.0:14550
   

Use mavlink_shell.py -h to get a description of all available arguments.

使用 MAVLink Shell

For information see: PX4 Consoles/Shells > Using Consoles/Shells.