Trying to make PX4 send some MAVLink commands to other devices. Using vehicle_command topic for that. But have some problems with uORB. MavlinkStreamCommandLong and mavlink_command_send just don't receive my messages and so don't transmit them.
Here is the example code, that I have in my module:
vehicle_command_s cmd = {};
cmd.command = 123;
cmd.param1 = 456;
cmd.param2 = 123;
cmd.param3 = 456;
cmd.target_system = 8; // random target system
cmd.target_component = 0;
cmd.source_system = 1; // our id
orb_advert_t cmd_pub = orb_advertise_queue(ORB_ID(vehicle_command), &cmd, 5); // tried without the queue, didn't help
while(true) {
// publish a message once a second
usleep(1000000);
cmd.timestamp = hrt_absolute_time();
orb_publish(ORB_ID(vehicle_command), cmd_pub, &cmd);
}
I see all these messages via topic_listener.
So, I should get something like cmd sender command 123 sent (first, retries: 1/0, channel: 0) once a second, BUT, it happens only sometimes (once per 10–20 seconds), so most of the messages just got skipped.
okalachev
commented
6 years ago
Trying to make PX4 send some MAVLink commands to other devices. Using
vehicle_commandtopic for that. But have some problems with uORB.MavlinkStreamCommandLongandmavlink_command_sendjust don't receive my messages and so don't transmit them.Here is the example code, that I have in my module:
I see all these messages via
topic_listener.So, I should get something like
cmd sender command 123 sent (first, retries: 1/0, channel: 0)once a second, BUT, it happens only sometimes (once per 10–20 seconds), so most of the messages just got skipped.Anyone can help?