From d957f8e00424e65b76bb5121c3f6549e0c2786cb Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Wed, 9 Jan 2013 13:11:06 +0100 Subject: Hotfix: Copying from right actuator topic on IO if FMU and IO PWM outs are enabled --- apps/drivers/px4io/px4io.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) (limited to 'apps/drivers') diff --git a/apps/drivers/px4io/px4io.cpp b/apps/drivers/px4io/px4io.cpp index 82ff61808..fd531a327 100644 --- a/apps/drivers/px4io/px4io.cpp +++ b/apps/drivers/px4io/px4io.cpp @@ -388,7 +388,8 @@ PX4IO::task_main() if (fds[1].revents & POLLIN) { /* get controls */ - orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, _t_actuators, &_controls); + orb_copy(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS : + ORB_ID(actuator_controls_1), _t_actuators, &_controls); /* scale controls to PWM (temporary measure) */ for (unsigned i = 0; i < _max_actuators; i++) -- cgit v1.2.3