fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-22 14:43:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

Add uorb topic

Browse Source
This commit is contained in:
Jaeyoung-Lim
2019-10-27 11:47:10 +00:00
committed by Nuno Marques
parent a3bd9ead4c
commit 677c0b4713
4 changed files with 28 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
msg/CMakeLists.txt
+1
View File
@@ -80,6 +80,7 @@ set(msg_files
multirotor_motor_limits.msg multirotor_motor_limits.msg
obstacle_distance.msg obstacle_distance.msg
offboard_control_mode.msg offboard_control_mode.msg
onboard_computer_status.msg
optical_flow.msg optical_flow.msg
orbit_status.msg orbit_status.msg
parameter_update.msg parameter_update.msg
msg/onboard_computer_status.msg
+22
View File
@@ -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
src/modules/mavlink/mavlink_receiver.cpp
+3
View File
@@ -2545,6 +2545,9 @@ MavlinkReceiver::handle_message_onboard_computer_status(mavlink_message_t *msg)
mavlink_onboard_computer_status_t status_msg; mavlink_onboard_computer_status_t status_msg;
mavlink_msg_onboard_computer_status_decode(msg, &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);
} }
/** /**
src/modules/mavlink/mavlink_receiver.h
+2
View File
@@ -71,6 +71,7 @@
#include <uORB/topics/manual_control_setpoint.h> #include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/obstacle_distance.h> #include <uORB/topics/obstacle_distance.h>
#include <uORB/topics/offboard_control_mode.h> #include <uORB/topics/offboard_control_mode.h>
#include <uORB/topics/onboard_computer_status.h>
#include <uORB/topics/optical_flow.h> #include <uORB/topics/optical_flow.h>
#include <uORB/topics/ping.h> #include <uORB/topics/ping.h>
#include <uORB/topics/position_setpoint_triplet.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<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<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<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<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<position_setpoint_triplet_s> _pos_sp_triplet_pub{ORB_ID(position_setpoint_triplet)};
uORB::Publication<vehicle_attitude_s> _attitude_pub{ORB_ID(vehicle_attitude)}; uORB::Publication<vehicle_attitude_s> _attitude_pub{ORB_ID(vehicle_attitude)};