diff options
Diffstat (limited to 'apps/mavlink/orb_listener.c')
-rw-r--r-- | apps/mavlink/orb_listener.c | 14 |
1 files changed, 7 insertions, 7 deletions
diff --git a/apps/mavlink/orb_listener.c b/apps/mavlink/orb_listener.c index 82f8a1534..ef4cd5598 100644 --- a/apps/mavlink/orb_listener.c +++ b/apps/mavlink/orb_listener.c @@ -566,27 +566,27 @@ l_manual_control_setpoint(struct listener *l) void l_vehicle_attitude_controls(struct listener *l) { - struct actuator_controls_s actuators; + struct actuator_controls_effective_s actuators; - orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, mavlink_subs.actuators_sub, &actuators); + orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE, mavlink_subs.actuators_sub, &actuators); if (gcs_link) { /* send, add spaces so that string buffer is at least 10 chars long */ mavlink_msg_named_value_float_send(MAVLINK_COMM_0, last_sensor_timestamp / 1000, - "ctrl0 ", + "eff ctrl0 ", actuators.control[0]); mavlink_msg_named_value_float_send(MAVLINK_COMM_0, last_sensor_timestamp / 1000, - "ctrl1 ", + "eff ctrl1 ", actuators.control[1]); mavlink_msg_named_value_float_send(MAVLINK_COMM_0, last_sensor_timestamp / 1000, - "ctrl2 ", + "eff ctrl2 ", actuators.control[2]); mavlink_msg_named_value_float_send(MAVLINK_COMM_0, last_sensor_timestamp / 1000, - "ctrl3 ", + "eff ctrl3 ", actuators.control[3]); } } @@ -739,7 +739,7 @@ uorb_receive_start(void) orb_set_interval(mavlink_subs.man_control_sp_sub, 100); /* 10Hz updates */ /* --- ACTUATOR CONTROL VALUE --- */ - mavlink_subs.actuators_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS); + mavlink_subs.actuators_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE); orb_set_interval(mavlink_subs.actuators_sub, 100); /* 10Hz updates */ /* --- DEBUG VALUE OUTPUT --- */ |