1. 打开src/examples/px4_simple_app/px4_simple_app.c
#include <px4_config.h>
#include <px4_tasks.h>
#include <px4_posix.h>
#include <unistd.h>
#include <stdio.h>
#include <poll.h>
#include <string.h>
#include <math.h>
#include <uORB/uORB.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/vehicle_attitude.h>
__EXPORT int px4_simple_app_main(int argc, char *argv[]);
int px4_simple_app_main(int argc, char *argv[])
{
PX4_INFO("Hello Sky!");
/* 订阅 sensor_combined主题*/
int sensor_sub_fd = orb_subscribe(ORB_ID(sensor_combined));
orb_set_interval(sensor_sub_fd, 200);//限制更新频率为5 Hz
/* 1.公告attitude主题 */
struct vehicle_attitude_s att;
memset(&att, 0, sizeof(att));
orb_advert_t att_pub = orb_advertise(ORB_ID(vehicle_attitude), &att);
/* 可以在此等待多个主题 */
px4_pollfd_struct_t fds[] =
{
{ .fd =