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Add uorb topic

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Jaeyoung-Lim 2019-10-12 06:55:12 +02:00 committed by Nuno Marques
parent a3bd9ead4c
commit 677c0b4713
4 changed files with 28 additions and 0 deletions
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1
msg/CMakeLists.txt
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@ -80,6 +80,7 @@ set(msg_files
multirotor_motor_limits.msg
obstacle_distance.msg
offboard_control_mode.msg
onboard_computer_status.msg
optical_flow.msg
orbit_status.msg
parameter_update.msg

22
msg/onboard_computer_status.msg Normal file
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@ -0,0 +1,22 @@
uint64 timestamp # time since system start (microseconds)
uint32 uptime # time since system boot (miliseconds)
uint8 type # type of onboard computer
uint8[8] cpu_cores
uint8 cpu_combined
uint8[4] gpu_cores
uint8[10] gpu_combined
int8 temperature_board
int8 tempearture_core
int16 fan_speed
uint32 ram_usage
uint32 ram_total
uint32[4] storage_type
uint32[4] storage_usage
uint32[4] storage_total
uint32 link_type
uint32 link_tx_rate
uint32 link_rx_rate
uint32 link_tx_max
uint32 link_rx_max

3
src/modules/mavlink/mavlink_receiver.cpp
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@ -2545,6 +2545,9 @@ MavlinkReceiver::handle_message_onboard_computer_status(mavlink_message_t *msg)
mavlink_onboard_computer_status_t status_msg;
mavlink_msg_onboard_computer_status_decode(msg, &status_msg);
onboard_computer_status_s onboard_computer_status_topic{};
_onboard_computer_status_pub.publish(onboard_computer_status_topic);
}
/**

2
src/modules/mavlink/mavlink_receiver.h
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@ -71,6 +71,7 @@
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/obstacle_distance.h>
#include <uORB/topics/offboard_control_mode.h>
#include <uORB/topics/onboard_computer_status.h>
#include <uORB/topics/optical_flow.h>
#include <uORB/topics/ping.h>
#include <uORB/topics/position_setpoint_triplet.h>
@ -228,6 +229,7 @@ private:
uORB::Publication<landing_target_pose_s> _landing_target_pose_pub{ORB_ID(landing_target_pose)};
uORB::Publication<obstacle_distance_s> _obstacle_distance_pub{ORB_ID(obstacle_distance)};
uORB::Publication<offboard_control_mode_s> _offboard_control_mode_pub{ORB_ID(offboard_control_mode)};
uORB::Publication<onboard_computer_status_s> _onboard_computer_status_pub{ORB_ID(onboard_computer_status)};
uORB::Publication<optical_flow_s> _flow_pub{ORB_ID(optical_flow)};
uORB::Publication<position_setpoint_triplet_s> _pos_sp_triplet_pub{ORB_ID(position_setpoint_triplet)};
uORB::Publication<vehicle_attitude_s> _attitude_pub{ORB_ID(vehicle_attitude)};