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| author | Thomas Gubler <thomasgubler@gmail.com> | 2015-01-28 09:08:58 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2015-01-28 16:32:54 +0100 |
| commit | 66007d56ef35ebc1f11ac83f2347bfc22b9664f9 (patch) | |
| tree | e5185e054071386c7ad303bfd5421237785afea5 | |
| parent | 8e7974e2e29a75daf5a55e723f6d6a4b416c252f (diff) | |
| download | px4-firmware-66007d56ef35ebc1f11ac83f2347bfc22b9664f9.tar.gz px4-firmware-66007d56ef35ebc1f11ac83f2347bfc22b9664f9.tar.bz2 px4-firmware-66007d56ef35ebc1f11ac83f2347bfc22b9664f9.zip | |
fix uorb constants in uavcan module
| -rw-r--r-- | src/modules/uavcan/uavcan_main.cpp | 12 |
1 files changed, 6 insertions, 6 deletions
diff --git a/src/modules/uavcan/uavcan_main.cpp b/src/modules/uavcan/uavcan_main.cpp index 4dc03b61b..b93a95f96 100644 --- a/src/modules/uavcan/uavcan_main.cpp +++ b/src/modules/uavcan/uavcan_main.cpp @@ -381,7 +381,7 @@ int UavcanNode::run() } else { // get controls for required topics bool controls_updated = false; - for (unsigned i = 0; i < NUM_ACTUATOR_CONTROL_GROUPS; i++) { + for (unsigned i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) { if (_control_subs[i] > 0) { if (_poll_fds[_poll_ids[i]].revents & POLLIN) { controls_updated = true; @@ -393,14 +393,14 @@ int UavcanNode::run() /* see if we have any direct actuator updates */ - if (_actuator_direct_sub != -1 && + if (_actuator_direct_sub != -1 && (_poll_fds[_actuator_direct_poll_fd_num].revents & POLLIN) && orb_copy(ORB_ID(actuator_direct), _actuator_direct_sub, &_actuator_direct) == OK && !_test_in_progress) { if (_actuator_direct.nvalues > NUM_ACTUATOR_OUTPUTS) { _actuator_direct.nvalues = NUM_ACTUATOR_OUTPUTS; } - memcpy(&_outputs.output[0], &_actuator_direct.values[0], + memcpy(&_outputs.output[0], &_actuator_direct.values[0], _actuator_direct.nvalues*sizeof(float)); _outputs.noutputs = _actuator_direct.nvalues; new_output = true; @@ -476,7 +476,7 @@ int UavcanNode::run() if (updated) { orb_copy(ORB_ID(actuator_armed), _armed_sub, &_armed); - // Update the armed status and check that we're not locked down and motor + // Update the armed status and check that we're not locked down and motor // test is not running bool set_armed = _armed.armed && !_armed.lockdown && !_test_in_progress; @@ -502,7 +502,7 @@ UavcanNode::control_callback(uintptr_t handle, uint8_t control_group, uint8_t co int UavcanNode::teardown() { - for (unsigned i = 0; i < NUM_ACTUATOR_CONTROL_GROUPS; i++) { + for (unsigned i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) { if (_control_subs[i] > 0) { ::close(_control_subs[i]); _control_subs[i] = -1; @@ -526,7 +526,7 @@ UavcanNode::subscribe() uint32_t sub_groups = _groups_required & ~_groups_subscribed; uint32_t unsub_groups = _groups_subscribed & ~_groups_required; // the first fd used by CAN - for (unsigned i = 0; i < NUM_ACTUATOR_CONTROL_GROUPS; i++) { + for (unsigned i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) { if (sub_groups & (1 << i)) { warnx("subscribe to actuator_controls_%d", i); _control_subs[i] = orb_subscribe(_control_topics[i]); |