From 8aa41f7d34c6b6cddc59ba9d5ed1567044e66e46 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Sun, 2 Sep 2012 12:21:54 +0200
Subject: Add actuator controls output

---
 apps/mavlink/mavlink.c | 24 ++++++++++++++++++++++++
 apps/px4/fmu/fmu.cpp   |  2 +-
 2 files changed, 25 insertions(+), 1 deletion(-)

diff --git a/apps/mavlink/mavlink.c b/apps/mavlink/mavlink.c
index 2d3903925..d9a201d4b 100644
--- a/apps/mavlink/mavlink.c
+++ b/apps/mavlink/mavlink.c
@@ -163,6 +163,7 @@ static struct mavlink_subscriptions {
 	int gps_sub;
 	int man_control_sp_sub;
 	int armed_sub;
+	int actuators_sub;
 	bool initialized;
 } mavlink_subs = {
 	.sensor_sub = 0,
@@ -175,6 +176,7 @@ static struct mavlink_subscriptions {
 	.gps_sub = 0,
 	.man_control_sp_sub = 0,
 	.armed_sub = 0,
+	.actuators_sub = 0,
 	.initialized = false
 };
 
@@ -557,6 +559,7 @@ static void *uorb_receiveloop(void *arg)
 		struct vehicle_attitude_setpoint_s att_sp;
 		struct actuator_outputs_s act_outputs;
 		struct manual_control_setpoint_s man_control;
+		struct actuator_controls_s actuators;
 	} buf;
 
 	/* --- SENSORS RAW VALUE --- */
@@ -687,6 +690,14 @@ static void *uorb_receiveloop(void *arg)
 	fds[fdsc_count].events = POLLIN;
 	fdsc_count++;
 
+	/* --- ACTUATOR CONTROL VALUE --- */
+	/* subscribe to ORB for actuator control */
+	subs->actuators_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS);
+	orb_set_interval(subs->actuators_sub, 2000);	/* 0.5 Hz updates */
+	fds[fdsc_count].fd = subs->actuators_sub;
+	fds[fdsc_count].events = POLLIN;
+	fdsc_count++;
+
 	/* all subscriptions initialized, return success */
 	subs->initialized = true;
 
@@ -1041,6 +1052,19 @@ static void *uorb_receiveloop(void *arg)
 				mavlink_msg_manual_control_send(MAVLINK_COMM_0, mavlink_system.sysid, buf.man_control.roll,
 					buf.man_control.pitch, buf.man_control.yaw, buf.man_control.throttle, 1, 1, 1, 1);
 			}
+
+			/* --- ACTUATOR ARMED --- */
+			if (fds[ifds++].revents & POLLIN) {
+			}
+
+			/* --- ACTUATOR CONTROL --- */
+			if (fds[ifds++].revents & POLLIN) {
+				orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, subs->actuators_sub, &buf.actuators);
+				mavlink_msg_named_value_float_send(MAVLINK_COMM_0, hrt_absolute_time() / 1000, "ctrl0", buf.actuators.control[0]);
+				mavlink_msg_named_value_float_send(MAVLINK_COMM_0, hrt_absolute_time() / 1000, "ctrl1", buf.actuators.control[1]);
+				mavlink_msg_named_value_float_send(MAVLINK_COMM_0, hrt_absolute_time() / 1000, "ctrl2", buf.actuators.control[2]);
+				mavlink_msg_named_value_float_send(MAVLINK_COMM_0, hrt_absolute_time() / 1000, "ctrl3", buf.actuators.control[3]);
+			}
 		}
 	}
 
diff --git a/apps/px4/fmu/fmu.cpp b/apps/px4/fmu/fmu.cpp
index b5db823bd..d39633cc9 100644
--- a/apps/px4/fmu/fmu.cpp
+++ b/apps/px4/fmu/fmu.cpp
@@ -552,7 +552,7 @@ void
 fake(int argc, char *argv[])
 {
 	if (argc < 5) {
-		puts("fmu fake <roll> <pitch> <yaw> <thrust> (values -100 - 100)");
+		puts("fmu fake <roll> <pitch> <yaw> <thrust> (values -100 .. 100)");
 		exit(1);
 	}
 
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