diff options
| 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 | |
| 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')
| -rw-r--r-- | apps/mavlink/mavlink.c | 1 | ||||
| -rw-r--r-- | apps/mavlink/orb_listener.c | 14 | ||||
| -rw-r--r-- | apps/mavlink/orb_topics.h | 2 |
3 files changed, 9 insertions, 8 deletions
diff --git a/apps/mavlink/mavlink.c b/apps/mavlink/mavlink.c index b393620e2..a94591424 100644 --- a/apps/mavlink/mavlink.c +++ b/apps/mavlink/mavlink.c @@ -745,6 +745,7 @@ int mavlink_main(int argc, char *argv[]) thread_should_exit = true; while (thread_running) { usleep(200000); + printf("."); } warnx("terminated."); exit(0); 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 --- */ diff --git a/apps/mavlink/orb_topics.h b/apps/mavlink/orb_topics.h index 61ed8cbfe..0eb2fabfd 100644 --- a/apps/mavlink/orb_topics.h +++ b/apps/mavlink/orb_topics.h @@ -55,7 +55,7 @@ #include <uORB/topics/vehicle_rates_setpoint.h> #include <uORB/topics/optical_flow.h> #include <uORB/topics/actuator_outputs.h> -#include <uORB/topics/actuator_controls.h> +#include <uORB/topics/actuator_controls_effective.h> #include <uORB/topics/manual_control_setpoint.h> #include <uORB/topics/debug_key_value.h> #include <drivers/drv_rc_input.h> |