diff options
Diffstat (limited to 'src/drivers/ardrone_interface/ardrone_motor_control.c')
| -rw-r--r-- | src/drivers/ardrone_interface/ardrone_motor_control.c | 5 |
1 files changed, 3 insertions, 2 deletions
diff --git a/src/drivers/ardrone_interface/ardrone_motor_control.c b/src/drivers/ardrone_interface/ardrone_motor_control.c index 4fa24275f..0f45b6536 100644 --- a/src/drivers/ardrone_interface/ardrone_motor_control.c +++ b/src/drivers/ardrone_interface/ardrone_motor_control.c @@ -339,7 +339,8 @@ int ardrone_write_motor_commands(int ardrone_fd, uint16_t motor1, uint16_t motor outputs.output[3] = motor4; static orb_advert_t pub = 0; if (pub == 0) { - pub = orb_advertise(ORB_ID_VEHICLE_CONTROLS, &outputs); + /* advertise to channel 0 / primary */ + pub = orb_advertise(ORB_ID(actuator_outputs), &outputs); } if (hrt_absolute_time() - last_motor_time > min_motor_interval) { @@ -350,7 +351,7 @@ int ardrone_write_motor_commands(int ardrone_fd, uint16_t motor1, uint16_t motor fsync(ardrone_fd); /* publish just written values */ - orb_publish(ORB_ID_VEHICLE_CONTROLS, pub, &outputs); + orb_publish(ORB_ID(actuator_outputs), pub, &outputs); if (ret == sizeof(buf)) { return OK; |