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| author | Julian Oes <julian@oes.ch> | 2013-12-02 23:03:29 +0100 |
|---|---|---|
| committer | Julian Oes <julian@oes.ch> | 2013-12-02 23:03:29 +0100 |
| commit | 6048f9beda68507d74e321ad4816aa137e20fe3a (patch) | |
| tree | cba05ecd3b911ad3b3c4310a5e21811605c39dab /src/drivers | |
| parent | 0ec609f49167e1e6857e970088b4e8de93bba032 (diff) | |
| download | px4-firmware-6048f9beda68507d74e321ad4816aa137e20fe3a.tar.gz px4-firmware-6048f9beda68507d74e321ad4816aa137e20fe3a.tar.bz2 px4-firmware-6048f9beda68507d74e321ad4816aa137e20fe3a.zip | |
HIL: copy correct actuator group
Diffstat (limited to 'src/drivers')
| -rw-r--r-- | src/drivers/hil/hil.cpp | 3 |
1 files changed, 2 insertions, 1 deletions
diff --git a/src/drivers/hil/hil.cpp b/src/drivers/hil/hil.cpp index c1d73dd87..b848f6c37 100644 --- a/src/drivers/hil/hil.cpp +++ b/src/drivers/hil/hil.cpp @@ -391,7 +391,8 @@ HIL::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) { |