PX4 uORB Message

Create a blank message using specified uORB topic

Add-On Required: This feature requires the UAV Toolbox Support Package for PX4 Autopilots add-on.

• 

Libraries:
UAV Toolbox Support Package for PX4 Autopilots / PX4 uORB Read and Write Blocks

Description

The PX4 uORB Message block creates a Simulink^® nonvirtual bus with a blank message corresponding to the selected uORB topic. The block creates uORB message bus that work with PX4 uORB Write block.

Output

Msg — Blank uORB message

nonvirtual bus

Blank uORB message, returned as a nonvirtual bus. The type of uORB message is specified using the parameter, Topic. All elements of the bus are initialized to 0. Connect a Bus Assignment block to modify specific fields in the message.

Data Types: bus

Examples

Getting Started with uORB Blocks for PX4 Autopilots Support Package

Use the PX4 uORB Read and the PX4 uORB Write blocks in UAV Toolbox Support Package for PX4® Autopilots to read and write uORB messages in the uORB network.

• Open Model

Parameters

Topic — Name of the uORB topic for creating the blank uORB message

vehicle_gps_position (default) | One of the uORB topic

Select the name of the uORB topic for the block to create a blank message. Click Select to browse the topic names available in the px4/Firmware/msg directory that you downloaded.

Sample time — Interval between outputs

Inf (default) | numeric scalar

Enter the time interval at which the block provides blank uORB messages.

The default value indicates that the block output never changes. Using this value speeds the simulation and code generation by eliminating the need to recompute the block output. Otherwise, the block outputs a new blank message at each interval of Sample time.

Version History

Introduced in R2018b