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author | Lorenz Meier <lm@inf.ethz.ch> | 2013-01-24 16:53:31 +0100 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-01-24 16:53:31 +0100 |
commit | f21d406cbe99f37b2672b14d63f84c4d9f6fda5c (patch) | |
tree | bfd4ae5d5749f471f51f6aa6d5eca72d716a114d | |
parent | 379ed0a0922362a1bb92d03a661684a87824454d (diff) | |
download | px4-firmware-f21d406cbe99f37b2672b14d63f84c4d9f6fda5c.tar.gz px4-firmware-f21d406cbe99f37b2672b14d63f84c4d9f6fda5c.tar.bz2 px4-firmware-f21d406cbe99f37b2672b14d63f84c4d9f6fda5c.zip |
Added additional example
-rw-r--r-- | apps/examples/px4_mavlink_debug/Makefile | 42 | ||||
-rw-r--r-- | apps/examples/px4_mavlink_debug/px4_mavlink_debug.c | 74 | ||||
-rw-r--r-- | nuttx/configs/px4fmu/nsh/appconfig | 4 |
3 files changed, 120 insertions, 0 deletions
diff --git a/apps/examples/px4_mavlink_debug/Makefile b/apps/examples/px4_mavlink_debug/Makefile new file mode 100644 index 000000000..f59aef16f --- /dev/null +++ b/apps/examples/px4_mavlink_debug/Makefile @@ -0,0 +1,42 @@ +############################################################################ +# +# Copyright (C) 2012 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. +# +############################################################################ + +# +# Basic example application +# + +APPNAME = px4_mavlink_debug +PRIORITY = SCHED_PRIORITY_DEFAULT +STACKSIZE = 2048 + +include $(APPDIR)/mk/app.mk diff --git a/apps/examples/px4_mavlink_debug/px4_mavlink_debug.c b/apps/examples/px4_mavlink_debug/px4_mavlink_debug.c new file mode 100644 index 000000000..aa1eb5ed8 --- /dev/null +++ b/apps/examples/px4_mavlink_debug/px4_mavlink_debug.c @@ -0,0 +1,74 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: @author Example User <mail@example.com> + * + * 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_mavlink_debug.c + * Debug application example for PX4 autopilot + */ + +#include <nuttx/config.h> +#include <unistd.h> +#include <stdio.h> +#include <poll.h> + +#include <systemlib/err.h> + +#include <uORB/uORB.h> +#include <uORB/topics/debug_key_value.h> + +__EXPORT int px4_mavlink_debug_main(int argc, char *argv[]); + +int px4_mavlink_debug_main(int argc, char *argv[]) +{ + printf("Hello Debug!\n"); + + /* advertise debug value */ + struct debug_key_value_s dbg = { .key = "velx", .value = 0.0f }; + orb_advert_t pub_dbg = orb_advertise(ORB_ID(debug_key_value), &dbg); + + int value_counter = 0; + + while (value_counter < 100) { + /* send one value */ + dbg.value = value_counter; + orb_publish(ORB_ID(debug_key_value), pub_dbg, &dbg); + + warnx("sent one more value.."); + + value_counter++; + usleep(500000); + } + + return 0; +} diff --git a/nuttx/configs/px4fmu/nsh/appconfig b/nuttx/configs/px4fmu/nsh/appconfig index fcdf689aa..6f475f8d7 100644 --- a/nuttx/configs/px4fmu/nsh/appconfig +++ b/nuttx/configs/px4fmu/nsh/appconfig @@ -75,6 +75,10 @@ CONFIGURED_APPS += systemcmds/delay_test # https://pixhawk.ethz.ch/px4/dev/deamon # CONFIGURED_APPS += examples/px4_deamon_app +# Tutorial code from +# https://pixhawk.ethz.ch/px4/dev/debug_values +CONFIGURED_APPS += examples/px4_mavlink_debug + # Shared object broker; required by many parts of the system. CONFIGURED_APPS += uORB |