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| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-01-09 13:11:06 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-01-09 13:11:06 +0100 |
| commit | d957f8e00424e65b76bb5121c3f6549e0c2786cb (patch) | |
| tree | 98abf589c68b3dcaa33249af25373b4dc158b034 /apps/drivers | |
| parent | b5424a4d024e92dc10b82c3db1637f858e2689ad (diff) | |
| download | px4-firmware-d957f8e00424e65b76bb5121c3f6549e0c2786cb.tar.gz px4-firmware-d957f8e00424e65b76bb5121c3f6549e0c2786cb.tar.bz2 px4-firmware-d957f8e00424e65b76bb5121c3f6549e0c2786cb.zip | |
Hotfix: Copying from right actuator topic on IO if FMU and IO PWM outs are enabled
Diffstat (limited to 'apps/drivers')
| -rw-r--r-- | apps/drivers/px4io/px4io.cpp | 3 |
1 files changed, 2 insertions, 1 deletions
diff --git a/apps/drivers/px4io/px4io.cpp b/apps/drivers/px4io/px4io.cpp index 82ff61808..fd531a327 100644 --- a/apps/drivers/px4io/px4io.cpp +++ b/apps/drivers/px4io/px4io.cpp @@ -388,7 +388,8 @@ PX4IO::task_main() if (fds[1].revents & POLLIN) { /* get controls */ - orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, _t_actuators, &_controls); + orb_copy(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS : + ORB_ID(actuator_controls_1), _t_actuators, &_controls); /* scale controls to PWM (temporary measure) */ for (unsigned i = 0; i < _max_actuators; i++) |