使用侦听器命令进行传感器/主题调试

uORB 是用于进程间通信的异步 publish()/subscribe() 消息传递 API。 The listener command can be used from the QGroundControl MAVLink Console to inspect topic (message) values, including the current values published by sensors.

TIP

This is a powerful debugging tool because it can be used even when QGC is connected over a wireless link (e.g. when the vehicle is flying).

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.