diff options
| -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); } } |