diff options
Diffstat (limited to 'src/drivers/mkblctrl/mkblctrl.cpp')
| -rw-r--r-- | src/drivers/mkblctrl/mkblctrl.cpp | 15 |
1 files changed, 8 insertions, 7 deletions
diff --git a/src/drivers/mkblctrl/mkblctrl.cpp b/src/drivers/mkblctrl/mkblctrl.cpp index 4ad13fc04..1bc3e97a4 100644 --- a/src/drivers/mkblctrl/mkblctrl.cpp +++ b/src/drivers/mkblctrl/mkblctrl.cpp @@ -75,6 +75,7 @@ #include <uORB/topics/actuator_controls.h> #include <uORB/topics/actuator_controls_effective.h> #include <uORB/topics/actuator_outputs.h> +#include <uORB/topics/actuator_armed.h> #include <uORB/topics/esc_status.h> #include <systemlib/err.h> @@ -135,7 +136,7 @@ private: int _current_update_rate; int _task; int _t_actuators; - int _t_armed; + int _t_actuator_armed; unsigned int _motor; int _px4mode; int _frametype; @@ -248,7 +249,7 @@ MK::MK(int bus) : _update_rate(50), _task(-1), _t_actuators(-1), - _t_armed(-1), + _t_actuator_armed(-1), _t_outputs(0), _t_actuators_effective(0), _t_esc_status(0), @@ -513,8 +514,8 @@ MK::task_main() /* force a reset of the update rate */ _current_update_rate = 0; - _t_armed = orb_subscribe(ORB_ID(actuator_armed)); - orb_set_interval(_t_armed, 200); /* 5Hz update rate */ + _t_actuator_armed = orb_subscribe(ORB_ID(actuator_armed)); + orb_set_interval(_t_actuator_armed, 200); /* 5Hz update rate */ /* advertise the mixed control outputs */ actuator_outputs_s outputs; @@ -540,7 +541,7 @@ MK::task_main() pollfd fds[2]; fds[0].fd = _t_actuators; fds[0].events = POLLIN; - fds[1].fd = _t_armed; + fds[1].fd = _t_actuator_armed; fds[1].events = POLLIN; log("starting"); @@ -654,7 +655,7 @@ MK::task_main() actuator_armed_s aa; /* get new value */ - orb_copy(ORB_ID(actuator_armed), _t_armed, &aa); + orb_copy(ORB_ID(actuator_armed), _t_actuator_armed, &aa); /* update PWM servo armed status if armed and not locked down */ mk_servo_arm(aa.armed && !aa.lockdown); @@ -700,7 +701,7 @@ MK::task_main() //::close(_t_esc_status); ::close(_t_actuators); ::close(_t_actuators_effective); - ::close(_t_armed); + ::close(_t_actuator_armed); /* make sure servos are off */ |