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| author | Lorenz Meier <lm@inf.ethz.ch> | 2015-01-26 09:49:30 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2015-01-29 16:33:53 +0100 |
| commit | cbe3783d5eeeb6597b1f02f38abf16737f6d4d64 (patch) | |
| tree | 725307dcc42351f4cf63c7e325d6ba7e09b439d9 /src/modules/mavlink/mavlink_messages.cpp | |
| parent | 2f7a9eaf6553d7da6c5d6e9b3edf6e710b4dc292 (diff) | |
| download | px4-firmware-cbe3783d5eeeb6597b1f02f38abf16737f6d4d64.tar.gz px4-firmware-cbe3783d5eeeb6597b1f02f38abf16737f6d4d64.tar.bz2 px4-firmware-cbe3783d5eeeb6597b1f02f38abf16737f6d4d64.zip | |
Support topic groups in MAVLink subscription handling
Diffstat (limited to 'src/modules/mavlink/mavlink_messages.cpp')
| -rw-r--r-- | src/modules/mavlink/mavlink_messages.cpp | 11 |
1 files changed, 2 insertions, 9 deletions
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index 6765100c7..4a095a765 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -1342,14 +1342,7 @@ protected: _act_sub(nullptr), _act_time(0) { - orb_id_t act_topics[] = { - ORB_ID(actuator_outputs_0), - ORB_ID(actuator_outputs_1), - ORB_ID(actuator_outputs_2), - ORB_ID(actuator_outputs_3) - }; - - _act_sub = _mavlink->add_orb_subscription(act_topics[N]); + _act_sub = _mavlink->add_orb_subscription(ORB_ID(actuator_outputs), N); } void send(const hrt_abstime t) @@ -1424,7 +1417,7 @@ protected: _status_time(0), _pos_sp_triplet_sub(_mavlink->add_orb_subscription(ORB_ID(position_setpoint_triplet))), _pos_sp_triplet_time(0), - _act_sub(_mavlink->add_orb_subscription(ORB_ID(actuator_outputs_0))), + _act_sub(_mavlink->add_orb_subscription(ORB_ID(actuator_outputs))), _act_time(0) {} |