diff options
| author | Lorenz Meier <lm@inf.ethz.ch> | 2015-01-26 09:50:09 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2015-01-29 16:33:54 +0100 |
| commit | 51088026c79aa6dfa237ecfd8276d7e4997bbb9e (patch) | |
| tree | b91ff6597d7a91db568e641bbff7fcb9e6c64bdc /src/drivers | |
| parent | 678d5c24fb978f0c18bb87a6894ed2922fe227ca (diff) | |
| download | px4-firmware-51088026c79aa6dfa237ecfd8276d7e4997bbb9e.tar.gz px4-firmware-51088026c79aa6dfa237ecfd8276d7e4997bbb9e.tar.bz2 px4-firmware-51088026c79aa6dfa237ecfd8276d7e4997bbb9e.zip | |
IO driver: move to topic groups
Diffstat (limited to 'src/drivers')
| -rw-r--r-- | src/drivers/px4io/px4io.cpp | 13 |
1 files changed, 4 insertions, 9 deletions
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index 556eebab6..653d0d5d7 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -1681,17 +1681,12 @@ PX4IO::io_publish_pwm_outputs() /* lazily advertise on first publication */ if (_to_outputs == 0) { - _to_outputs = orb_advertise((_primary_pwm_device ? - ORB_ID_VEHICLE_CONTROLS : - ORB_ID(actuator_outputs_1)), - &outputs); + int instance; + _to_outputs = orb_advertise_multi(ORB_ID(actuator_outputs), + &outputs, &instance, ORB_PRIO_MAX); } else { - orb_publish((_primary_pwm_device ? - ORB_ID_VEHICLE_CONTROLS : - ORB_ID(actuator_outputs_1)), - _to_outputs, - &outputs); + orb_publish(ORB_ID(actuator_outputs), _to_outputs, &outputs); } return OK; |