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| author | marco <marco@Marcos-MacBook-Pro.local> | 2013-05-26 16:49:33 +0200 |
|---|---|---|
| committer | marco <marco@Marcos-MacBook-Pro.local> | 2013-05-26 16:49:33 +0200 |
| commit | 73d2baeb20d3c7757c5aca59e6a66bb4d5bb3533 (patch) | |
| tree | d3b44c0fdc1b396900ad7ca415ba6bf64d0180aa /src/drivers | |
| parent | 8e1571cf0230ff31cbbb1af64a793c3957827cc2 (diff) | |
| download | px4-firmware-73d2baeb20d3c7757c5aca59e6a66bb4d5bb3533.tar.gz px4-firmware-73d2baeb20d3c7757c5aca59e6a66bb4d5bb3533.tar.bz2 px4-firmware-73d2baeb20d3c7757c5aca59e6a66bb4d5bb3533.zip | |
comments cleaned
Diffstat (limited to 'src/drivers')
| -rw-r--r-- | src/drivers/mkblctrl/mkblctrl.cpp | 6 |
1 files changed, 1 insertions, 5 deletions
diff --git a/src/drivers/mkblctrl/mkblctrl.cpp b/src/drivers/mkblctrl/mkblctrl.cpp index 4220f552e..c67276f8a 100644 --- a/src/drivers/mkblctrl/mkblctrl.cpp +++ b/src/drivers/mkblctrl/mkblctrl.cpp @@ -491,8 +491,6 @@ MK::task_main() * Subscribe to the appropriate PWM output topic based on whether we are the * primary PWM output or not. */ - // loeschen _t_actuators = orb_subscribe(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS : - // loeschen ORB_ID(actuator_controls_0)); _t_actuators = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS); /* force a reset of the update rate */ @@ -551,8 +549,7 @@ MK::task_main() _current_update_rate = _update_rate; } - /* sleep waiting for data, stopping to check for PPM - * input at 100Hz */ + /* sleep waiting for data max 100ms */ int ret = ::poll(&fds[0], 2, 100); /* this would be bad... */ @@ -566,7 +563,6 @@ MK::task_main() if (fds[0].revents & POLLIN) { /* get controls - must always do this to avoid spinning */ - // loeschen orb_copy(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS : ORB_ID(actuator_controls_0), _t_actuators, &_controls); orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, _t_actuators, &_controls); /* can we mix? */ |