mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-21 04:43:34 +08:00
Move PX4 Guide source into /docs (#24490)
* Add vitepress tree * Update existing workflows so they dont trigger on changes in the docs path * Add nojekyll, package.json, LICENCE etc * Add crowdin docs upload/download scripts * Add docs flaw checker workflows * Used docs prefix for docs workflows * Crowdin obvious fixes * ci: docs move to self hosted runner runs on a beefy server for faster builds Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: don't run build action for docs or ci changes Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: update runners Signed-off-by: Ramon Roche <mrpollo@gmail.com> * Add docs/en * Add docs assets and scripts * Fix up editlinks to point to PX4 sources * Download just the translations that are supported * Add translation sources for zh, uk, ko * Update latest tranlsation and uorb graphs * update vitepress to latest --------- Signed-off-by: Ramon Roche <mrpollo@gmail.com> Co-authored-by: Ramon Roche <mrpollo@gmail.com>
This commit is contained in:
Hamish Willee
co-authored by
Ramon Roche
Ramon Roche
parent
8e6d2ebe4a
commit
88d623bedb
@@ -0,0 +1,551 @@
|
||||
# 첫 번째 애플리케이션 튜토리얼(Hello Sky)
|
||||
|
||||
첫 번째 온보드 애플리케이션을 만들고 실행하는 방법을 설명합니다.
|
||||
PX4에서 앱 개발에 필요한 기본 개념과 API를 설명합니다.
|
||||
|
||||
:::info
|
||||
For simplicity, more advanced features like start/stop functionality and command-line arguments are omitted.
|
||||
These are covered in [Application/Module Template](../modules/module_template.md).
|
||||
:::
|
||||
|
||||
## 준비 사항
|
||||
|
||||
다음과 같은 것이 필요합니다.
|
||||
|
||||
- [PX4 SITL Simulator](../simulation/index.md) _or_ a [PX4-compatible flight controller](../flight_controller/index.md).
|
||||
- [PX4 Development Toolchain](../dev_setup/dev_env.md) for the desired target.
|
||||
- [Download the PX4 Source Code](../dev_setup/building_px4.md#download-the-px4-source-code) from Github
|
||||
|
||||
The source code [PX4-Autopilot/src/examples/px4_simple_app](https://github.com/PX4/PX4-Autopilot/tree/main/src/examples/px4_simple_app) directory contains a completed version of this tutorial that you can review if you get stuck.
|
||||
|
||||
- Rename (or delete) the **px4_simple_app** directory.
|
||||
|
||||
## 간단한 어플리케이션
|
||||
|
||||
In this section we create a _minimal application_ that just prints out `Hello Sky!`.
|
||||
This consists of a single _C_ file and a _cmake_ definition (which tells the toolchain how to build the application).
|
||||
|
||||
1. Create a new directory **PX4-Autopilot/src/examples/px4_simple_app**.
|
||||
|
||||
2. Create a new C file in that directory named **px4_simple_app.c**:
|
||||
|
||||
- 기본 헤더를 페이지 상단에 복사합니다.
|
||||
이것은 기여한 모든 파일에 첨부하여야 합니다.
|
||||
|
||||
```c
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012-2022 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
```
|
||||
|
||||
- 기본 헤더 아래에 다음 코드를 복사합니다.
|
||||
이것은 기여한 모든 파일에 첨부하여야 합니다.
|
||||
|
||||
```c
|
||||
/**
|
||||
* @file px4_simple_app.c
|
||||
* Minimal application example for PX4 autopilot
|
||||
*
|
||||
* @author Example User <mail@example.com>
|
||||
*/
|
||||
|
||||
#include <px4_platform_common/log.h>
|
||||
|
||||
__EXPORT int px4_simple_app_main(int argc, char *argv[]);
|
||||
|
||||
int px4_simple_app_main(int argc, char *argv[])
|
||||
{
|
||||
PX4_INFO("Hello Sky!");
|
||||
return OK;
|
||||
}
|
||||
```
|
||||
|
||||
:::tip
|
||||
The main function must be named `<module_name>_main` and exported from the module as shown.
|
||||
|
||||
:::
|
||||
|
||||
:::tip
|
||||
`PX4_INFO` is the equivalent of `printf` for the PX4 shell (included from **px4_platform_common/log.h**).
|
||||
There are different log levels: `PX4_INFO`, `PX4_WARN`, `PX4_ERR`, `PX4_DEBUG`.
|
||||
Warnings and errors are additionally added to the [ULog](../dev_log/ulog_file_format.md) and shown on [Flight Review](https://logs.px4.io/).
|
||||
|
||||
:::
|
||||
|
||||
3. Create and open a new _cmake_ definition file named **CMakeLists.txt**.
|
||||
아래 텍스트를 복사하십시오.
|
||||
|
||||
```cmake
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2015 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
############################################################################
|
||||
px4_add_module(
|
||||
MODULE examples__px4_simple_app
|
||||
MAIN px4_simple_app
|
||||
STACK_MAIN 2000
|
||||
SRCS
|
||||
px4_simple_app.c
|
||||
DEPENDS
|
||||
)
|
||||
```
|
||||
|
||||
The `px4_add_module()` method builds a static library from a module description.
|
||||
|
||||
- The `MODULE` block is the Firmware-unique name of the module (by convention the module name is prefixed by parent directories back to `src`).
|
||||
- The `MAIN` block lists the entry point of the module, which registers the command with NuttX so that it can be called from the PX4 shell or SITL console.
|
||||
|
||||
:::tip
|
||||
The `px4_add_module()` format is documented in [PX4-Autopilot/cmake/px4_add_module.cmake](https://github.com/PX4/PX4-Autopilot/blob/main/cmake/px4_add_module.cmake). <!-- NEED px4_version -->
|
||||
|
||||
:::
|
||||
|
||||
::: info
|
||||
If you specify `DYNAMIC` as an option to `px4_add_module`, a _shared library_ is created instead of a static library on POSIX platforms (these can be loaded without having to recompile PX4, and shared to others as binaries rather than source code).
|
||||
Your app will not become a builtin command, but ends up in a separate file called `examples__px4_simple_app.px4mod`.
|
||||
You can then run your command by loading the file at runtime using the `dyn` command: `dyn ./examples__px4_simple_app.px4mod`
|
||||
|
||||
:::
|
||||
|
||||
4. Create and open a new _Kconfig_ definition file named **Kconfig** and define your symbol for naming (see [Kconfig naming convention](../hardware/porting_guide_config.md#px4-kconfig-symbol-naming-convention)).
|
||||
아래 텍스트를 복사하십시오.
|
||||
|
||||
```
|
||||
menuconfig EXAMPLES_PX4_SIMPLE_APP
|
||||
bool "px4_simple_app"
|
||||
default n
|
||||
---help---
|
||||
Enable support for px4_simple_app
|
||||
```
|
||||
|
||||
## 애플리케이션/펌웨어 빌드
|
||||
|
||||
이제 어플리케이션 제작이 완료되었습니다.
|
||||
실행하려면 먼저 PX4의 일부로 빌드되었는지 확인합니다.
|
||||
Applications are added to the build/firmware in the appropriate board-level _px4board_ file for your target:
|
||||
|
||||
- PX4 SITL (Simulator): [PX4-Autopilot/boards/px4/sitl/default.px4board](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/sitl/default.px4board)
|
||||
- Pixhawk v1/2: [PX4-Autopilot/boards/px4/fmu-v2/default.px4board](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v2/default.px4board)
|
||||
- Pixracer (px4/fmu-v4): [PX4-Autopilot/boards/px4/fmu-v4/default.px4board](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v4/default.px4board)
|
||||
- _px4board_ files for other boards can be found in [PX4-Autopilot/boards/](https://github.com/PX4/PX4-Autopilot/tree/main/boards)
|
||||
|
||||
To enable the compilation of the application into the firmware add the corresponding Kconfig key `CONFIG_EXAMPLES_PX4_SIMPLE_APP=y` in the _px4board_ file or run [boardconfig](../hardware/porting_guide_config.md#px4-menuconfig-setup) `make px4_fmu-v4_default boardconfig`:
|
||||
|
||||
```
|
||||
examples --->
|
||||
[x] PX4 Simple app ----
|
||||
```
|
||||
|
||||
:::info
|
||||
The line will already be present for most files, because the examples are included in firmware by default.
|
||||
:::
|
||||
|
||||
보드별 명령어를 사용하여, 예제를 빌드합니다.
|
||||
|
||||
- jMAVSim Simulator: `make px4_sitl_default jmavsim`
|
||||
- Pixhawk v1/2: `make px4_fmu-v2_default` (or just `make px4_fmu-v2`)
|
||||
- Pixhawk v3: `make px4_fmu-v4_default`
|
||||
- Other boards: [Building the Code](../dev_setup/building_px4.md#building-for-nuttx)
|
||||
|
||||
## 앱 테스트(하드웨어)
|
||||
|
||||
### 보드에 펌웨어 업로드합니다.
|
||||
|
||||
업로더를 활성화한 다음 보드를 재설정합니다.
|
||||
|
||||
- Pixhawk v1/2: `make px4_fmu-v2_default upload`
|
||||
- Pixhawk v3: `make px4_fmu-v4_default upload`
|
||||
|
||||
보드 재설정전에 컴파일 메시지를 인쇄하고 마지막에 다음을 인쇄합니다.
|
||||
|
||||
```sh
|
||||
Loaded firmware for X,X, waiting for the bootloader...
|
||||
```
|
||||
|
||||
보드가 재설정되고 업로드되면 다음이 인쇄됩니다.
|
||||
|
||||
```sh
|
||||
Erase : [====================] 100.0%
|
||||
Program: [====================] 100.0%
|
||||
Verify : [====================] 100.0%
|
||||
Rebooting.
|
||||
|
||||
[100%] Built target upload
|
||||
```
|
||||
|
||||
### 콘솔을 연결합니다.
|
||||
|
||||
Now connect to the [system console](../debug/system_console.md) either via serial or USB.
|
||||
Hitting **ENTER** will bring up the shell prompt:
|
||||
|
||||
```sh
|
||||
nsh>
|
||||
```
|
||||
|
||||
'help'을 입력하고 Enter 키를 입력합니다.
|
||||
|
||||
```sh
|
||||
nsh> help
|
||||
help usage: help [-v] [<cmd>]
|
||||
|
||||
[ df kill mkfifo ps sleep
|
||||
? echo losetup mkrd pwd test
|
||||
cat exec ls mh rm umount
|
||||
cd exit mb mount rmdir unset
|
||||
cp free mkdir mv set usleep
|
||||
dd help mkfatfs mw sh xd
|
||||
|
||||
Builtin Apps:
|
||||
reboot
|
||||
perf
|
||||
top
|
||||
..
|
||||
px4_simple_app
|
||||
..
|
||||
sercon
|
||||
serdis
|
||||
```
|
||||
|
||||
Note that `px4_simple_app` is now part of the available commands.
|
||||
Start it by typing `px4_simple_app` and ENTER:
|
||||
|
||||
```sh
|
||||
nsh> px4_simple_app
|
||||
Hello Sky!
|
||||
```
|
||||
|
||||
이제 어플리케이션이 시스템에 올바르게 등록되었으며, 실제 작업을 수행하도록 확장할 수 있습니다.
|
||||
|
||||
## 앱 테스트(SITL)
|
||||
|
||||
If you're using SITL the _PX4 console_ is automatically started (see [Building the Code > First Build (Using a Simulator)](../dev_setup/building_px4.md#first-build-using-a-simulator)).
|
||||
As with the _nsh console_ (see previous section) you can type `help` to see the list of built-in apps.
|
||||
|
||||
Enter `px4_simple_app` to run the minimal app.
|
||||
|
||||
```sh
|
||||
pxh> px4_simple_app
|
||||
INFO [px4_simple_app] Hello Sky!
|
||||
```
|
||||
|
||||
이제 응용 프로그램을 확장할 수 있습니다.
|
||||
|
||||
## 센서 데이터 읽기
|
||||
|
||||
유용한 작업을 수행하려면, 애플리케이션이 입력을 구독하고 출력(예: 모터 또는 서보 명령)을 게시해야 합니다.
|
||||
|
||||
:::tip
|
||||
The benefits of the PX4 hardware abstraction comes into play here!
|
||||
센서 드라이버와 어떤 식으로든 상호 작용할 필요가 없으며, 보드 또는 센서가 업데이트된 경우 앱을 업데이트할 필요도 없습니다.
|
||||
:::
|
||||
|
||||
Individual message channels between applications are called [topics](../middleware/uorb.md). For this tutorial, we are interested in the [SensorCombined](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorCombined.msg) topic, which holds the synchronized sensor data of the complete system.
|
||||
|
||||
주제 구독은 간단합니다.
|
||||
|
||||
```cpp
|
||||
#include <uORB/topics/sensor_combined.h>
|
||||
..
|
||||
int sensor_sub_fd = orb_subscribe(ORB_ID(sensor_combined));
|
||||
```
|
||||
|
||||
The `sensor_sub_fd` is a topic handle and can be used to very efficiently perform a blocking wait for new data.
|
||||
현재 스레드는 절전 모드로 전환되고, 새 데이터를 사용할 수 있게 되면 스케줄러에 의해 자동으로 깨어나며 기다리는 동안 CPU 주기를 소비하지 않습니다.
|
||||
To do this, we use the [poll()](http://pubs.opengroup.org/onlinepubs/007908799/xsh/poll.html) POSIX system call.
|
||||
|
||||
Adding `poll()` to the subscription looks like (_pseudocode, look for the full implementation below_):
|
||||
|
||||
```cpp
|
||||
#include <poll.h>
|
||||
#include <uORB/topics/sensor_combined.h>
|
||||
..
|
||||
int sensor_sub_fd = orb_subscribe(ORB_ID(sensor_combined));
|
||||
|
||||
/* one could wait for multiple topics with this technique, just using one here */
|
||||
px4_pollfd_struct_t fds[] = {
|
||||
{ .fd = sensor_sub_fd, .events = POLLIN },
|
||||
};
|
||||
|
||||
while (true) {
|
||||
/* wait for sensor update of 1 file descriptor for 1000 ms (1 second) */
|
||||
int poll_ret = px4_poll(fds, 1, 1000);
|
||||
..
|
||||
if (fds[0].revents & POLLIN) {
|
||||
/* obtained data for the first file descriptor */
|
||||
struct sensor_combined_s raw;
|
||||
/* copy sensors raw data into local buffer */
|
||||
orb_copy(ORB_ID(sensor_combined), sensor_sub_fd, &raw);
|
||||
PX4_INFO("Accelerometer:\t%8.4f\t%8.4f\t%8.4f",
|
||||
(double)raw.accelerometer_m_s2[0],
|
||||
(double)raw.accelerometer_m_s2[1],
|
||||
(double)raw.accelerometer_m_s2[2]);
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
아래의 명령어로 앱을 다시 컴파일합니다.
|
||||
|
||||
```sh
|
||||
make
|
||||
```
|
||||
|
||||
### uORB 구독 테스트
|
||||
|
||||
마지막 단계는 nsh 셸에 다음을 입력하여 애플리케이션을 백그라운드 프로세스/작업으로 시작하는 것입니다.
|
||||
|
||||
```sh
|
||||
px4_simple_app &
|
||||
```
|
||||
|
||||
앱은 콘솔에 5개의 센서 값을 출력후 종료합니다.
|
||||
|
||||
```sh
|
||||
[px4_simple_app] Accelerometer: 0.0483 0.0821 0.0332
|
||||
[px4_simple_app] Accelerometer: 0.0486 0.0820 0.0336
|
||||
[px4_simple_app] Accelerometer: 0.0487 0.0819 0.0327
|
||||
[px4_simple_app] Accelerometer: 0.0482 0.0818 0.0323
|
||||
[px4_simple_app] Accelerometer: 0.0482 0.0827 0.0331
|
||||
[px4_simple_app] Accelerometer: 0.0489 0.0804 0.0328
|
||||
```
|
||||
|
||||
:::tip
|
||||
The [Module Template for Full Applications](../modules/module_template.md) can be used to write background process that can be controlled from the command line.
|
||||
:::
|
||||
|
||||
## 데이터 게시
|
||||
|
||||
To use the calculated outputs, the next step is to _publish_ the results.
|
||||
아래에서는 태도 주제를 게시하는 방법을 설명합니다.
|
||||
|
||||
:::info
|
||||
We've chosen `attitude` because we know that the _mavlink_ app forwards it to the ground control station - providing an easy way to look at the results.
|
||||
:::
|
||||
|
||||
The interface is pretty simple: initialize the `struct` of the topic to be published and advertise the topic:
|
||||
|
||||
```c
|
||||
#include <uORB/topics/vehicle_attitude.h>
|
||||
..
|
||||
/* advertise attitude topic */
|
||||
struct vehicle_attitude_s att;
|
||||
memset(&att, 0, sizeof(att));
|
||||
orb_advert_t att_pub_fd = orb_advertise(ORB_ID(vehicle_attitude), &att);
|
||||
```
|
||||
|
||||
메인 루프에서 정보가 준비시마다 게시합니다.
|
||||
|
||||
```c
|
||||
orb_publish(ORB_ID(vehicle_attitude), att_pub_fd, &att);
|
||||
```
|
||||
|
||||
## 전체 예제 코드
|
||||
|
||||
The [complete example code](https://github.com/PX4/PX4-Autopilot/blob/main/src/examples/px4_simple_app/px4_simple_app.c) is now:
|
||||
|
||||
```c
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012-2019 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file px4_simple_app.c
|
||||
* Minimal application example for PX4 autopilot
|
||||
*
|
||||
* @author Example User <mail@example.com>
|
||||
*/
|
||||
|
||||
#include <px4_platform_common/px4_config.h>
|
||||
#include <px4_platform_common/tasks.h>
|
||||
#include <px4_platform_common/posix.h>
|
||||
#include <unistd.h>
|
||||
#include <stdio.h>
|
||||
#include <poll.h>
|
||||
#include <string.h>
|
||||
#include <math.h>
|
||||
|
||||
#include <uORB/uORB.h>
|
||||
#include <uORB/topics/sensor_combined.h>
|
||||
#include <uORB/topics/vehicle_attitude.h>
|
||||
|
||||
__EXPORT int px4_simple_app_main(int argc, char *argv[]);
|
||||
|
||||
int px4_simple_app_main(int argc, char *argv[])
|
||||
{
|
||||
PX4_INFO("Hello Sky!");
|
||||
|
||||
/* subscribe to sensor_combined topic */
|
||||
int sensor_sub_fd = orb_subscribe(ORB_ID(sensor_combined));
|
||||
/* limit the update rate to 5 Hz */
|
||||
orb_set_interval(sensor_sub_fd, 200);
|
||||
|
||||
/* advertise attitude topic */
|
||||
struct vehicle_attitude_s att;
|
||||
memset(&att, 0, sizeof(att));
|
||||
orb_advert_t att_pub = orb_advertise(ORB_ID(vehicle_attitude), &att);
|
||||
|
||||
/* one could wait for multiple topics with this technique, just using one here */
|
||||
px4_pollfd_struct_t fds[] = {
|
||||
{ .fd = sensor_sub_fd, .events = POLLIN },
|
||||
/* there could be more file descriptors here, in the form like:
|
||||
* { .fd = other_sub_fd, .events = POLLIN },
|
||||
*/
|
||||
};
|
||||
|
||||
int error_counter = 0;
|
||||
|
||||
for (int i = 0; i < 5; i++) {
|
||||
/* wait for sensor update of 1 file descriptor for 1000 ms (1 second) */
|
||||
int poll_ret = px4_poll(fds, 1, 1000);
|
||||
|
||||
/* handle the poll result */
|
||||
if (poll_ret == 0) {
|
||||
/* this means none of our providers is giving us data */
|
||||
PX4_ERR("Got no data within a second");
|
||||
|
||||
} else if (poll_ret < 0) {
|
||||
/* this is seriously bad - should be an emergency */
|
||||
if (error_counter < 10 || error_counter % 50 == 0) {
|
||||
/* use a counter to prevent flooding (and slowing us down) */
|
||||
PX4_ERR("ERROR return value from poll(): %d", poll_ret);
|
||||
}
|
||||
|
||||
error_counter++;
|
||||
|
||||
} else {
|
||||
|
||||
if (fds[0].revents & POLLIN) {
|
||||
/* obtained data for the first file descriptor */
|
||||
struct sensor_combined_s raw;
|
||||
/* copy sensors raw data into local buffer */
|
||||
orb_copy(ORB_ID(sensor_combined), sensor_sub_fd, &raw);
|
||||
PX4_INFO("Accelerometer:\t%8.4f\t%8.4f\t%8.4f",
|
||||
(double)raw.accelerometer_m_s2[0],
|
||||
(double)raw.accelerometer_m_s2[1],
|
||||
(double)raw.accelerometer_m_s2[2]);
|
||||
|
||||
/* set att and publish this information for other apps
|
||||
the following does not have any meaning, it's just an example
|
||||
*/
|
||||
att.q[0] = raw.accelerometer_m_s2[0];
|
||||
att.q[1] = raw.accelerometer_m_s2[1];
|
||||
att.q[2] = raw.accelerometer_m_s2[2];
|
||||
|
||||
orb_publish(ORB_ID(vehicle_attitude), att_pub, &att);
|
||||
}
|
||||
|
||||
/* there could be more file descriptors here, in the form like:
|
||||
* if (fds[1..n].revents & POLLIN) {}
|
||||
*/
|
||||
}
|
||||
}
|
||||
|
||||
PX4_INFO("exiting");
|
||||
|
||||
return 0;
|
||||
}
|
||||
```
|
||||
|
||||
## 전체 예제 실행
|
||||
|
||||
마지막으로 앱을 실행합니다.
|
||||
|
||||
```sh
|
||||
px4_simple_app
|
||||
```
|
||||
|
||||
If you start _QGroundControl_, you can check the sensor values in the real time plot ([Analyze > MAVLink Inspector](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/analyze_view/mavlink_inspector.html)).
|
||||
|
||||
## 마무리
|
||||
|
||||
이 튜토리얼에서는 PX4 자동조종장치를 앱 개발에 필요한 내용들을 설명하였습니다.
|
||||
Keep in mind that the full list of uORB messages/topics is [available here](https://github.com/PX4/PX4-Autopilot/tree/main/msg/) and that the headers are well documented and serve as reference.
|
||||
|
||||
Further information and troubleshooting/common pitfalls can be found here: [uORB](../middleware/uorb.md).
|
||||
|
||||
다음 페이지에서는 시작 및 중지 기능이 있는 전체 애플리케이션을 작성하기 위한 템플릿을 제공합니다.
|
||||
Reference in New Issue
Block a user