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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-11-27 11:29:48 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-11-27 11:29:48 +0100 |
| commit | 7777d4416d77a683621ef8c18769f4661356e65e (patch) | |
| tree | 222f1691e44dbf42b0509bb11b44bec9d8f0b287 /apps/mavlink/orb_listener.c | |
| parent | 7d485c117b8930ca0e6c4bcb71199e3ccc8dfeb9 (diff) | |
| download | px4-firmware-7777d4416d77a683621ef8c18769f4661356e65e.tar.gz px4-firmware-7777d4416d77a683621ef8c18769f4661356e65e.tar.bz2 px4-firmware-7777d4416d77a683621ef8c18769f4661356e65e.zip | |
Changed to actuators effective in mavlink app
Diffstat (limited to 'apps/mavlink/orb_listener.c')
| -rw-r--r-- | apps/mavlink/orb_listener.c | 14 |
1 files changed, 7 insertions, 7 deletions
diff --git a/apps/mavlink/orb_listener.c b/apps/mavlink/orb_listener.c index 82f8a1534..ef4cd5598 100644 --- a/apps/mavlink/orb_listener.c +++ b/apps/mavlink/orb_listener.c @@ -566,27 +566,27 @@ l_manual_control_setpoint(struct listener *l) void l_vehicle_attitude_controls(struct listener *l) { - struct actuator_controls_s actuators; + struct actuator_controls_effective_s actuators; - orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, mavlink_subs.actuators_sub, &actuators); + orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE, mavlink_subs.actuators_sub, &actuators); if (gcs_link) { /* send, add spaces so that string buffer is at least 10 chars long */ mavlink_msg_named_value_float_send(MAVLINK_COMM_0, last_sensor_timestamp / 1000, - "ctrl0 ", + "eff ctrl0 ", actuators.control[0]); mavlink_msg_named_value_float_send(MAVLINK_COMM_0, last_sensor_timestamp / 1000, - "ctrl1 ", + "eff ctrl1 ", actuators.control[1]); mavlink_msg_named_value_float_send(MAVLINK_COMM_0, last_sensor_timestamp / 1000, - "ctrl2 ", + "eff ctrl2 ", actuators.control[2]); mavlink_msg_named_value_float_send(MAVLINK_COMM_0, last_sensor_timestamp / 1000, - "ctrl3 ", + "eff ctrl3 ", actuators.control[3]); } } @@ -739,7 +739,7 @@ uorb_receive_start(void) orb_set_interval(mavlink_subs.man_control_sp_sub, 100); /* 10Hz updates */ /* --- ACTUATOR CONTROL VALUE --- */ - mavlink_subs.actuators_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS); + mavlink_subs.actuators_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE); orb_set_interval(mavlink_subs.actuators_sub, 100); /* 10Hz updates */ /* --- DEBUG VALUE OUTPUT --- */ |