PX4 uORB Write
Write uORB data for the specified uORB topic
UAV Toolbox Support Package for PX4 Autopilots / PX4 uORB Read and Write Blocks
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.
During Connected I/O simulation, this block writes data to the peripherals of the hardware.
Msg — uORB message, specified as a nonvirtual bus
To specify the type of uORB message, use the parameter,
Topic to Publish
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
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.
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.
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.
Introduced in R2018b