diff options
Diffstat (limited to 'src/drivers/px4io/px4io.cpp')
| -rw-r--r-- | src/drivers/px4io/px4io.cpp | 13 |
1 files changed, 4 insertions, 9 deletions
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index 8ce548571..ae7f85b87 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -1685,17 +1685,12 @@ PX4IO::io_publish_pwm_outputs() /* lazily advertise on first publication */ if (_to_outputs == 0) { - _to_outputs = orb_advertise((_primary_pwm_device ? - ORB_ID_VEHICLE_CONTROLS : - ORB_ID(actuator_outputs_1)), - &outputs); + int instance; + _to_outputs = orb_advertise_multi(ORB_ID(actuator_outputs), + &outputs, &instance, ORB_PRIO_MAX); } else { - orb_publish((_primary_pwm_device ? - ORB_ID_VEHICLE_CONTROLS : - ORB_ID(actuator_outputs_1)), - _to_outputs, - &outputs); + orb_publish(ORB_ID(actuator_outputs), _to_outputs, &outputs); } return OK; |