PX4 uORB Write

Write uORB data for the specified uORB topic

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

Description

The PX4 uORB Write block accepts a Simulink^® nonvirtual bus that corresponds to the specified uORB topic and publishes the message to the uORB network.

On each sample hit, the block converts the Msg input from a Simulink bus signal to a uORB message and publishes it. The block does not distinguish whether the input is a new message; but, merely publishes it on every sample hit.

Ports

Input

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`Msg` — uORB message, specified as a nonvirtual bus
nonvirtual bus

To specify the type of uORB message, use the parameter, Topic to Publish to.

Data Types: bus

Parameters

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Main Tab

`Topic to publish to` — Name of the uORB topic to which the message needs to be published
vehicle_gps_position (default) | one of the uORB topics

Select the name of the uORB topic that the block needs to publish to. Click Select to browse topic names available in the Firmware/msg folder of the px4 directory that you downloaded.

`Select instance` — Instance of the uORB topic to which the message needs to be published
instance of the uORB topic

Select the instance of the uORB topic that the block needs needs to publish to.

Dependencies

This parameter appears only if you select a topic that supports multiple instances, in the Topic to publish to parameter.

For example, the actuator_controls topic supports multiple instances and you can select one instance from the drop-down.

Advanced Tab

`Length of publish queue` — Maximum number of buffered elements
`1` (default) | integer

Enter the maximum number of buffered elements in the publish queue. If the value is 1, no queuing is used to publish the data.

Model 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 Example

Version History

Introduced in R2018b