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| author | Thomas Gubler <thomasgubler@gmail.com> | 2015-02-01 11:06:47 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2015-02-01 11:06:47 +0100 |
| commit | 84ff3c671d5c6d00a1b6c9a8062bddfb6875f8f9 (patch) | |
| tree | db0470a2471776e9ffe525b2fa7302cec7ab8bd8 /src/drivers/mkblctrl | |
| parent | 7c958a2cca90a6262dc491fe9ef86d85bacdf3da (diff) | |
| parent | a2a244584e36a0e9ffdb93a0dda8473baf8344d3 (diff) | |
| download | px4-firmware-84ff3c671d5c6d00a1b6c9a8062bddfb6875f8f9.tar.gz px4-firmware-84ff3c671d5c6d00a1b6c9a8062bddfb6875f8f9.tar.bz2 px4-firmware-84ff3c671d5c6d00a1b6c9a8062bddfb6875f8f9.zip | |
Merge remote-tracking branch 'upstream/master' into ros_messagelayer_merge2_attctrl_posctrl
Conflicts:
src/drivers/px4fmu/fmu.cpp
Diffstat (limited to 'src/drivers/mkblctrl')
| -rw-r--r-- | src/drivers/mkblctrl/mkblctrl.cpp | 5 |
1 files changed, 3 insertions, 2 deletions
diff --git a/src/drivers/mkblctrl/mkblctrl.cpp b/src/drivers/mkblctrl/mkblctrl.cpp index a4505fe6f..1331744ae 100644 --- a/src/drivers/mkblctrl/mkblctrl.cpp +++ b/src/drivers/mkblctrl/mkblctrl.cpp @@ -457,8 +457,9 @@ MK::task_main() actuator_outputs_s outputs; memset(&outputs, 0, sizeof(outputs)); /* advertise the mixed control outputs */ - _t_outputs = orb_advertise(_primary_pwm_device ? ORB_ID_VEHICLE_CONTROLS : ORB_ID(actuator_outputs_1), - &outputs); + int dummy; + _t_outputs = orb_advertise_multi(ORB_ID(actuator_outputs), + &outputs, &dummy, ORB_PRIO_HIGH); /* advertise the blctrl status */ esc_status_s esc; |