diff options
Diffstat (limited to 'src/drivers/hil/hil.cpp')
| -rw-r--r-- | src/drivers/hil/hil.cpp | 5 |
1 files changed, 2 insertions, 3 deletions
diff --git a/src/drivers/hil/hil.cpp b/src/drivers/hil/hil.cpp index f17e99e9d..9b5c8133b 100644 --- a/src/drivers/hil/hil.cpp +++ b/src/drivers/hil/hil.cpp @@ -392,7 +392,8 @@ HIL::task_main() if (fds[0].revents & POLLIN) { /* get controls - must always do this to avoid spinning */ - orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, _t_actuators, &_controls); + orb_copy(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS : + ORB_ID(actuator_controls_1), _t_actuators, &_controls); /* can we mix? */ if (_mixers != nullptr) { @@ -441,8 +442,6 @@ HIL::task_main() /* make sure servos are off */ // up_pwm_servo_deinit(); - log("stopping"); - /* note - someone else is responsible for restoring the GPIO config */ /* tell the dtor that we are exiting */ |