PX4 uORB Message

R2026b

Create a blank message using specified uORB topic

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

Description

Add-On Required: This feature requires the UAV Toolbox Support Package for PX4 Autopilots add-on.

The PX4 uORB Message block creates a Simulink^® nonvirtual bus with a blank message corresponding to the selected uORB topic. The block creates a uORB message bus that works with PX4 uORB Write block.

Output

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Msg — Blank uORB message
nonvirtual bus

Blank uORB message, returned as a nonvirtual bus. The type of uORB message is specified using the parameter, Topic. All elements of the bus are initialized to 0. Connect a Bus Assignment block to modify specific fields in the message.

Data Types: bus

Examples

Getting Started with uORB Blocks for PX4 Autopilots Support Package

Read and write uORB messages using PX4 uORB Read and PX4 uORB Write blocks.

Open Model

Parameters

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Topic — Name of the uORB topic for creating the blank uORB message
vehicle_gps_position (default) | One of the uORB topic

Select the name of the uORB topic for the block to create a blank message. Click Select to browse the topic names available in the px4/Firmware/msg directory that you downloaded.

Sample time — Interval between outputs
`Inf` (default) | numeric scalar

Enter the time interval at which the block provides blank uORB messages.

The default value indicates that the block output never changes. Using this value speeds the simulation and code generation by eliminating the need to recompute the block output. Otherwise, the block outputs a new blank message at each interval of Sample time.

Version History

Introduced in R2018b