How to add user defined module in PX4

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Step1: Create a ORB topic (~/Firmware/msg/)

Step2: Add user defined topic in the CMakeList.txt (~/Firmware/msg/)

Step3: Build the firmware [1] , and you will find a corresponding head file (~/Firmware/build/px4_fmu-v3_default/uORB/topics)

Step4: Create user defined modules with CMakeLIst.txt and source code (~FIrmware/src/modules)

Step5: Follow the px4_add_module.cmake to write your CMakeList.txt in Step4

Step6: FInd your board's default.cmake [2]

Step7: Add your module name in the default.cmake (~Firmware/boards/px4/fmu-v3)

Step8: build and upload your firmware [1]

Step9-1: Test your function using QGroundCOntrol mavlink console

Step9-2: Test your function using QGroundCOntrol mavlink console

* The board I am using is Pixhawk2.1 cube.
* You should have some background knowledge about PX4 uORB topic before doing these things.

Reference:
[1] Building PX4 Software
[2] Flight Controller Configuration File Layouttml

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