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| author | Juchli D <juchlid@ethz.ch> | 2013-11-05 13:24:41 +0100 |
|---|---|---|
| committer | Juchli D <juchlid@ethz.ch> | 2013-11-05 13:24:41 +0100 |
| commit | 23237df84ef1fcf955c739c721a15ca356fddf96 (patch) | |
| tree | be93cea4d2bb2279d6a603f3905547f4efbb6ae9 /src/drivers | |
| parent | 791695ccd008859f6abe1a12d86b7be2ba811fec (diff) | |
| download | px4-firmware-23237df84ef1fcf955c739c721a15ca356fddf96.tar.gz px4-firmware-23237df84ef1fcf955c739c721a15ca356fddf96.tar.bz2 px4-firmware-23237df84ef1fcf955c739c721a15ca356fddf96.zip | |
fmu: Also take into account actuator group 1
Diffstat (limited to 'src/drivers')
| -rw-r--r-- | src/drivers/px4fmu/fmu.cpp | 3 |
1 files changed, 2 insertions, 1 deletions
diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp index 0441566e9..a2c62cf06 100644 --- a/src/drivers/px4fmu/fmu.cpp +++ b/src/drivers/px4fmu/fmu.cpp @@ -542,7 +542,8 @@ PX4FMU::task_main() if (fds[0].revents & POLLIN) { /* get controls - must always do this to avoid spinning */ - 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); /* can we mix? */ if (_mixers != nullptr) { |