使用侦听器命令进行传感器/主题调试

The uORB is an asynchronous publish() / subscribe() messaging API used for inter-thread/inter-process communication. The listener command can be used from the QGroundControl MAVLink Console to inspect topic (message) values, including the current values published by sensors.

TIP

这是一个非常实用的调试工具，应为它可以在QGC通过无线连接的时候使用（例如，当机体在飞行中）。

INFO

The listener command is also available through the System Console and the MAVLink Shell.

TIP

To check what topics are available at what rate, just use the uorb top command.

The image below demonstrates QGroundControl being used to get the value of the acceleration sensor.

For more information about how to determine what topics are available and how to call listener see: uORB Messaging > Listing Topics and Listening in.