sensor_uorb_topic_debugging.md

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。 listener 命令可从 QGroundControl 的 MAVLink 控制台 中用于检查主题（消息）值，包括传感器发布的当前值。

:::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). :::

:::note The listener command is also available through the System Console and the MAVLink Shell. :::

有关如何确定可用的主题以及如何调用 listener 的详细信息，请参阅：uORB 消息列表主题和侦听 。

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.