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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-03-04 23:11:24 +0400 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-03-04 23:11:24 +0400 |
| commit | 046def571d21856f24f6afc805450c003858afea (patch) | |
| tree | bfc6c7cddbe29fd4077445f3bacc166cc504cb0e | |
| parent | 9817922bf96611f59552b6a6fd2aebab790135f5 (diff) | |
| download | px4-firmware-046def571d21856f24f6afc805450c003858afea.tar.gz px4-firmware-046def571d21856f24f6afc805450c003858afea.tar.bz2 px4-firmware-046def571d21856f24f6afc805450c003858afea.zip | |
sensors: publish manual controls on actuator_controls_1 topic instead of actuator_controls_3
| -rw-r--r-- | src/modules/sensors/sensors.cpp | 28 |
1 files changed, 14 insertions, 14 deletions
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index b176d7417..068fb3d0b 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -195,7 +195,7 @@ private: orb_advert_t _sensor_pub; /**< combined sensor data topic */ orb_advert_t _manual_control_pub; /**< manual control signal topic */ - orb_advert_t _actuator_group_3_pub; /**< manual control as actuator topic */ + orb_advert_t _actuator_group_1_pub; /**< manual control as actuator topic */ orb_advert_t _rc_pub; /**< raw r/c control topic */ orb_advert_t _battery_pub; /**< battery status */ orb_advert_t _airspeed_pub; /**< airspeed */ @@ -459,7 +459,7 @@ Sensors::Sensors() : /* publications */ _sensor_pub(-1), _manual_control_pub(-1), - _actuator_group_3_pub(-1), + _actuator_group_1_pub(-1), _rc_pub(-1), _battery_pub(-1), _airspeed_pub(-1), @@ -1279,7 +1279,7 @@ Sensors::rc_poll() return; struct manual_control_setpoint_s manual_control; - struct actuator_controls_s actuator_group_3; + struct actuator_controls_s actuator_group_1; /* initialize to default values */ manual_control.roll = NAN; @@ -1460,14 +1460,14 @@ Sensors::rc_poll() } /* copy from mapped manual control to control group 3 */ - actuator_group_3.control[0] = manual_control.roll; - actuator_group_3.control[1] = manual_control.pitch; - actuator_group_3.control[2] = manual_control.yaw; - actuator_group_3.control[3] = manual_control.throttle; - actuator_group_3.control[4] = manual_control.flaps; - actuator_group_3.control[5] = manual_control.aux1; - actuator_group_3.control[6] = manual_control.aux2; - actuator_group_3.control[7] = manual_control.aux3; + actuator_group_1.control[0] = manual_control.roll; + actuator_group_1.control[1] = manual_control.pitch; + actuator_group_1.control[2] = manual_control.yaw; + actuator_group_1.control[3] = manual_control.throttle; + actuator_group_1.control[4] = manual_control.flaps; + actuator_group_1.control[5] = manual_control.aux1; + actuator_group_1.control[6] = manual_control.aux2; + actuator_group_1.control[7] = manual_control.aux3; /* check if ready for publishing */ if (_rc_pub > 0) { @@ -1487,11 +1487,11 @@ Sensors::rc_poll() } /* check if ready for publishing */ - if (_actuator_group_3_pub > 0) { - orb_publish(ORB_ID(actuator_controls_3), _actuator_group_3_pub, &actuator_group_3); + if (_actuator_group_1_pub > 0) { + orb_publish(ORB_ID(actuator_controls_1), _actuator_group_1_pub, &actuator_group_1); } else { - _actuator_group_3_pub = orb_advertise(ORB_ID(actuator_controls_3), &actuator_group_3); + _actuator_group_1_pub = orb_advertise(ORB_ID(actuator_controls_1), &actuator_group_1); } } |