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| author | Lorenz Meier <lm@inf.ethz.ch> | 2015-01-26 09:50:36 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2015-01-29 16:33:54 +0100 |
| commit | 8d37d58da732a621695d39c886ff4877151064cc (patch) | |
| tree | 49d900f97a774c87fdf443bf1c0afa1fdaa9685e /src | |
| parent | d9d9a59ce440fab4bb1177bd888dc99c77a82350 (diff) | |
| download | px4-firmware-8d37d58da732a621695d39c886ff4877151064cc.tar.gz px4-firmware-8d37d58da732a621695d39c886ff4877151064cc.tar.bz2 px4-firmware-8d37d58da732a621695d39c886ff4877151064cc.zip | |
HIL: Move to topic groups
Diffstat (limited to 'src')
| -rw-r--r-- | src/drivers/hil/hil.cpp | 7 |
1 files changed, 4 insertions, 3 deletions
diff --git a/src/drivers/hil/hil.cpp b/src/drivers/hil/hil.cpp index 9b5c8133b..058425676 100644 --- a/src/drivers/hil/hil.cpp +++ b/src/drivers/hil/hil.cpp @@ -330,8 +330,9 @@ HIL::task_main() actuator_outputs_s outputs; memset(&outputs, 0, sizeof(outputs)); /* advertise the mixed control outputs */ - _t_outputs = orb_advertise(_primary_pwm_device ? ORB_ID_VEHICLE_CONTROLS : ORB_ID(actuator_outputs_1), - &outputs); + int dummy; + _t_outputs = orb_advertise_multi(ORB_ID(actuator_outputs), + &outputs, &dummy, ORB_PRIO_LOW); pollfd fds[2]; fds[0].fd = _t_actuators; @@ -423,7 +424,7 @@ HIL::task_main() } /* and publish for anyone that cares to see */ - orb_publish(ORB_ID_VEHICLE_CONTROLS, _t_outputs, &outputs); + orb_publish(ORB_ID(actuator_outputs), _t_outputs, &outputs); } } |