mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-22 07:37:35 +08:00
Lorenz Meier
75 lines
2.5 KiB
C
75 lines
2.5 KiB
C
/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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* Author: @author Example User <mail@example.com>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file px4_mavlink_debug.c
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* Debug application example for PX4 autopilot
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*/
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#include <nuttx/config.h>
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#include <unistd.h>
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#include <stdio.h>
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#include <poll.h>
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#include <systemlib/err.h>
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#include <uORB/uORB.h>
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#include <uORB/topics/debug_key_value.h>
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__EXPORT int px4_mavlink_debug_main(int argc, char *argv[]);
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int px4_mavlink_debug_main(int argc, char *argv[])
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{
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printf("Hello Debug!\n");
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/* advertise debug value */
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struct debug_key_value_s dbg = { .key = "velx", .value = 0.0f };
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orb_advert_t pub_dbg = orb_advertise(ORB_ID(debug_key_value), &dbg);
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int value_counter = 0;
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while (value_counter < 100) {
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/* send one value */
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dbg.value = value_counter;
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orb_publish(ORB_ID(debug_key_value), pub_dbg, &dbg);
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warnx("sent one more value..");
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value_counter++;
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usleep(500000);
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}
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return 0;
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}
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