px4 주제 알림: orb advertise

orb_advert_t orb_advertise(const struct orb_metadata *meta, const void *data)

 ： ；
 ： ； ， ；

int orb_publish(const struct orb_metadata *meta, orb_advert_t handle, const void *data)

 ： 

int orb_subscribe(const struct orb_metadata *meta)

 ： （topic）;
 ： ， ； ， ， 

(orb_advertise) Topic(ORB_ID)                              (orb_publish)                                         (orb_subscribe)
drivers/stm32/adc:     system_power           adc.c commander.cpp,  meas_airspeed.cpp, 
drivers/airspeed/airspeed.cpp:   differential_pressure ets_airspeed.cpp airspeed_calibration.cpp, 
src/modules/sensors/sensors.cpp differential_pressure sensors.cpp commander.cpp, sensors.cpp
drivers/airspeed/airspeed.cpp:  subsystem_info airspeed.cpp, commander.cpp 
src/drivers/l140ls/l140ls.cpp subsystem_info px4flow.cpp, 
src/drivers/mbl2xx/mbl2xx.cpp subsystem_info trone.cpp
src/drivers/px4flow/px4flow.cpp subsystem_info  l1401s.cpp, mb12xx.cpp
src/drivers/trone/trone.cpp subsystem_info
src/drivers/hil/hil.cpp actuator_outputs ardrone_motor_control.c, fmu.cpp, hil.cpp,  mavlink_messages.cpp
ardrone_interface/ardrone_motor_control.c actuator_outputs         px4io.cpp
Attitude_estimator_ekf_main.cpp vehicle_attitude attitude_estimator_ekf_main.cpp accelerometer_calibration.cpp
Attitude_estimator_q_main.cpp vehicle_attitude Attitude_estimator_ekf_main.cpp
Attitude_estimator_so3_main.cpp vehicle_attitude    Attitude_estimator_so3_main.cpp
ekf_att_pos_estimator_main.cpp vehicle_attitude src/modules/controllib/uorb/blocks.cpp
mavlink_receiver.cpp vehicle_attitude commander.cpp, flow_position_estimator_main.c
fw_att_control_main.cpp, gimbal.cpp fw_pos_control_l1_main.cpp, mavlink_message.cpp
mc_att_control_main.cpp,  mc_pos_control_main.cpp
multicopterLandDetector.cpp, 
position_estimator_inav_main.c, vtol_att_control_main.cpp
fw_att_control_main.cpp vehicle_attitude_setpoint
fw_pos_control_l1_main.cpp vehicle_attitude_setpoint
mavlink_receiver.cpp vehicle_attitude_setpoint
mc_pos_control_main.cpp vehicle_attitude_setpoint
navigator_main.cpp vehicle_attitude_setpoint
src/modules/commander/commander.cpp vehicle_control_mode
src/modules/commander/commander.cpp vehicle_status
drivers/batt_smbus/batt_smbus.cpp batt_topic
drivers/bma180/bma180.cpp sensor_accel
mavlink_receiver.cpp sensor_accel
bottle_drop.cpp actuator_controls_2
src/drivers/gimbal/gimbal.cpp actuator_controls_2
fw_att_control_main.cpp _actuators_0_pub
fw_att_control_main.cpp _actuators_2_pub
src/example_hwtest/hwtest.c actuator_controls_0
mavlink_receiver.cpp actuator_controls_0
vtol_att_control_main.cpp actuator_controls_0
src/modules/sensors/sensors.cpp actuator_controls_3
bottle_drop.cpp onboard_mission
src/modules/commander/commander.cpp home_position
src/modules/commander/commander.cpp actuator_armed
src/example_hwtest/hwtest.c actuator_armed
src/drivers/px4fmu/fmu.cpp actuator_armed
src/modules/commander/commander.cpp offboard_mission
mavlink_mission.cpp offboard_mission
ekf_att_pos_estimator_main.cpp estimator_status
ekf_att_pos_estimator_main.cpp  wind_estimate
ekf_att_pos_estimator_main.cpp vehicle_local_position   
flow_position_estimator_main.c vehicle_local_position
mavlink_receiver.cpp vehicle_local_position
position_esmator_inav_main.c vehicle_local_position
ekf_att_pos_estimator_main.cpp vehicle_global_position
mavlink_receiver.cpp vehicle_global_position
position_esmator_inav_main.c vehicle_global_position
src/modules/uvcan/actuators/esc.cpp esc_status
src/drivers/hott/message.cpp esc_status
src/drivers/mkblctrl/mkblctrl.cpp esc_status
flow_position_estimator_main.c filtered_bottom_flow
src/drivers/px4fmu/fmu.cpp input_rc
mavlink_receiver.cpp input_rc
src/drivers/px4io/px4io.cpp input_rc
fw_att_control_main.cpp rates_sp_id
mc_att_control_main.cpp _rates_sp_id
fw_pos_control_l1_main.cpp navigation_capabilities
fw_pos_control_l1_main.cpp tecs_status
src/modules/navigator/geofence.cpp fence
src/modules/uavcan/sensors/gnss.cpp vehicle_gps_position
src/drivers/gps/gps.cpp vehicle_gps_position
mavlink_receiver.cpp vehicle_gps_position
src/drivers/gps/gps.cpp satellite_info
src/drivers/hil/hil.cpp ORB_ID_VEHICLE_ATTITUDE_CONTROLS
src/examples/fixedwing_control/main.c ORB_ID_VEHICLE_ATTITUDE_CONTROLS
src/examples/rover_steering_control/main.cpp ORB_ID_VEHICLE_ATTITUDE_CONTROLS
landDetector.cpp vehicle_land_detected
mavlink_receiver.cpp vehicle_land_detected
src/drivers/l140ls/l140ls.cpp sensor_range_finder
mavlink_receiver.cpp sensor_range_finder
src/drivers/mbl2xx/mbl2xx.cpp sensor_range_finder
src/drivers/sf0x/sf0x.cpp sensor_range_finder
src/drivers/trone/trone.cpp sensor_range_finder
mavlink_parameters.cpp rc_parameter_map
mavlink_receiver.cpp vehicle_command
src/modules/sdlog2/sdlog2.c vehicle_command
src/drivers/px4io/px4io.cpp vehicle_command
mavlink_receiver.cpp optical_flow
src/drivers/px4flow/px4flow.cpp optical_flow
mavlink_receiver.cpp vehicle_vicon_position
mavlink_receiver.cpp offboard_control_mode
mavlink_receiver.cpp vehicle_force_setpoint
mavlink_receiver.cpp position_setpoints_triplet
mavlink_receiver.cpp vision_position_estimate
mavlink_receiver.cpp vehicle_rates_setpoint
vtol_att_control_main.cpp vehicle_rates_setpoint
mavlink_receiver.cpp manual_control_setpoints
src/modules/sensors/sensors.cpp manual_control_setpoint
mavlink_receiver.cpp time_offset
mavlink_receiver.cpp airspeed
src/modules/sdlog2/sdlog2.c airspeed
mavlink_receiver.cpp sensor_gyro
mavlink_receiver.cpp sensor_mag
mavlink_receiver.cpp sensor_baro
mavlink_receiver.cpp sensor_combined
src/modules/sensors/sensors.cpp sensor_combined
src/drivers/px4io/px4io.cpp battery_status
mavlink_receiver.cpp battery_status
src/modules/sensors/sensors.cpp battery_status
mc_att_control_main.cpp ma_att_ctrl_status
mc_pos_control_main.cpp vehicle_global_velocity_setpoint
mc_pos_control_main.cpp vehicle_local_position_setpoint
src/systemcmds/motor_test/motor_test.c test_motor
navigator_main.cpp position_setpoint_triplet
navigator_main.cpp mission_result
navigator_main.cpp geofence_result
src/modules/systemlib/param/param.c parameter_update
src/drivers/px4io/px4io.cpp safety
src/drivers/px4io/px4io.cpp servorail_status
src/drivers/px4io/px4io.cpp multirotor_motor_limits
src/modules/sensors/sensors.cpp rc_channels
src/modules/uorb/uorb.cpp orb_test
vtol_att_control_main.cpp vtol_vehicle_status