From d9d9a59ce440fab4bb1177bd888dc99c77a82350 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Mon, 26 Jan 2015 09:50:23 +0100 Subject: MKBL: Move to topic groups --- src/drivers/mkblctrl/mkblctrl.cpp | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) (limited to 'src/drivers') diff --git a/src/drivers/mkblctrl/mkblctrl.cpp b/src/drivers/mkblctrl/mkblctrl.cpp index 1055487cb..15412984b 100644 --- a/src/drivers/mkblctrl/mkblctrl.cpp +++ b/src/drivers/mkblctrl/mkblctrl.cpp @@ -456,8 +456,9 @@ MK::task_main() actuator_outputs_s outputs; memset(&outputs, 0, sizeof(outputs)); /* advertise the mixed control outputs */ - _t_outputs = orb_advertise(_primary_pwm_device ? ORB_ID_VEHICLE_CONTROLS : ORB_ID(actuator_outputs_1), - &outputs); + int dummy; + _t_outputs = orb_advertise_multi(ORB_ID(actuator_outputs), + &outputs, &dummy, ORB_PRIO_HIGH); /* advertise the blctrl status */ esc_status_s esc; -- cgit v1.2.3