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| author | Matt Beall <matt.beall@greypointcorp.com> | 2015-02-25 11:54:41 -0700 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2015-02-28 15:19:16 +0100 |
| commit | b8aa79cae4da9343a0ab301c6383c6ed0dfc61db (patch) | |
| tree | 1965bfe3ed808ecac397fd712c4ca395f59d12aa | |
| parent | 7d6723aa2d088e7527d043704a2fc6b9297d248f (diff) | |
| download | px4-firmware-b8aa79cae4da9343a0ab301c6383c6ed0dfc61db.tar.gz px4-firmware-b8aa79cae4da9343a0ab301c6383c6ed0dfc61db.tar.bz2 px4-firmware-b8aa79cae4da9343a0ab301c6383c6ed0dfc61db.zip | |
Made changes to have actuator controls mirror other syntax more closely
| -rw-r--r-- | src/modules/mavlink/mavlink_receiver.cpp | 8 |
1 files changed, 7 insertions, 1 deletions
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index eb1af79d6..c551fdfea 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -690,7 +690,13 @@ MavlinkReceiver::handle_message_set_actuator_control_target(mavlink_message_t *m for(size_t i = 0; i < 8 ; i++){ actuator_controls.control[i] = set_actuator_control_target.controls[i]; } - _actuator_controls_pub = orb_advertise(ORB_ID(actuator_controls_0), &actuator_controls); + + if (_offboard_control_mode_pub < 0) { + _actuator_controls_pub = orb_advertise(ORB_ID(actuator_controls_0), &actuator_controls); + } else { + orb_publish(ORB_ID(actuator_controls_0), _actuator_controls_pub, &actuator_controls); + } + } } |