diff options
Diffstat (limited to 'src/examples/flow_position_control/flow_position_control_main.c')
| -rw-r--r-- | src/examples/flow_position_control/flow_position_control_main.c | 10 |
1 files changed, 5 insertions, 5 deletions
diff --git a/src/examples/flow_position_control/flow_position_control_main.c b/src/examples/flow_position_control/flow_position_control_main.c index 0b9404582..621d3253f 100644 --- a/src/examples/flow_position_control/flow_position_control_main.c +++ b/src/examples/flow_position_control/flow_position_control_main.c @@ -55,7 +55,7 @@ #include <drivers/drv_hrt.h> #include <uORB/uORB.h> #include <uORB/topics/parameter_update.h> -#include <uORB/topics/actuator_safety.h> +#include <uORB/topics/actuator_armed.h> #include <uORB/topics/vehicle_control_mode.h> #include <uORB/topics/vehicle_attitude.h> #include <uORB/topics/manual_control_setpoint.h> @@ -159,7 +159,7 @@ flow_position_control_thread_main(int argc, char *argv[]) const float time_scale = powf(10.0f,-6.0f); /* structures */ - struct actuator_safety_s safety; + struct actuator_armed_s armed; struct vehicle_control_mode_s control_mode; struct vehicle_attitude_s att; struct manual_control_setpoint_s manual; @@ -171,7 +171,7 @@ flow_position_control_thread_main(int argc, char *argv[]) /* subscribe to attitude, motor setpoints and system state */ int parameter_update_sub = orb_subscribe(ORB_ID(parameter_update)); int vehicle_attitude_sub = orb_subscribe(ORB_ID(vehicle_attitude)); - int safety_sub = orb_subscribe(ORB_ID(actuator_safety)); + int armed_sub = orb_subscribe(ORB_ID(actuator_armed)); int control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode)); int manual_control_setpoint_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); int filtered_bottom_flow_sub = orb_subscribe(ORB_ID(filtered_bottom_flow)); @@ -261,7 +261,7 @@ flow_position_control_thread_main(int argc, char *argv[]) perf_begin(mc_loop_perf); /* get a local copy of the vehicle state */ - orb_copy(ORB_ID(actuator_safety), safety_sub, &safety); + orb_copy(ORB_ID(actuator_armed), armed_sub, &armed); /* get a local copy of manual setpoint */ orb_copy(ORB_ID(manual_control_setpoint), manual_control_setpoint_sub, &manual); /* get a local copy of attitude */ @@ -578,7 +578,7 @@ flow_position_control_thread_main(int argc, char *argv[]) close(parameter_update_sub); close(vehicle_attitude_sub); close(vehicle_local_position_sub); - close(safety_sub); + close(armed_sub); close(control_mode_sub); close(manual_control_setpoint_sub); close(speed_sp_pub); |