diff options
Diffstat (limited to 'src/drivers/px4fmu/fmu.cpp')
| -rw-r--r-- | src/drivers/px4fmu/fmu.cpp | 15 |
1 files changed, 8 insertions, 7 deletions
diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp index a6f337486..6d4019f24 100644 --- a/src/drivers/px4fmu/fmu.cpp +++ b/src/drivers/px4fmu/fmu.cpp @@ -70,6 +70,7 @@ #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 <systemlib/err.h> #ifdef HRT_PPM_CHANNEL @@ -108,7 +109,7 @@ private: unsigned _current_update_rate; int _task; int _t_actuators; - int _t_armed; + int _t_actuator_armed; orb_advert_t _t_outputs; orb_advert_t _t_actuators_effective; unsigned _num_outputs; @@ -195,7 +196,7 @@ PX4FMU::PX4FMU() : _current_update_rate(0), _task(-1), _t_actuators(-1), - _t_armed(-1), + _t_actuator_armed(-1), _t_outputs(0), _t_actuators_effective(0), _num_outputs(0), @@ -424,8 +425,8 @@ PX4FMU::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; @@ -444,7 +445,7 @@ PX4FMU::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; #ifdef HRT_PPM_CHANNEL @@ -567,7 +568,7 @@ PX4FMU::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 */ bool set_armed = aa.armed && !aa.lockdown; @@ -603,7 +604,7 @@ PX4FMU::task_main() ::close(_t_actuators); ::close(_t_actuators_effective); - ::close(_t_armed); + ::close(_t_actuator_armed); /* make sure servos are off */ up_pwm_servo_deinit(); |