PX4应用实例3：px4_simple_app

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 =