From cbe3783d5eeeb6597b1f02f38abf16737f6d4d64 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Mon, 26 Jan 2015 09:49:30 +0100 Subject: Support topic groups in MAVLink subscription handling --- src/modules/mavlink/mavlink_messages.cpp | 11 ++--------- 1 file changed, 2 insertions(+), 9 deletions(-) (limited to 'src/modules/mavlink/mavlink_messages.cpp') diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index 6765100c7..4a095a765 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -1342,14 +1342,7 @@ protected: _act_sub(nullptr), _act_time(0) { - orb_id_t act_topics[] = { - ORB_ID(actuator_outputs_0), - ORB_ID(actuator_outputs_1), - ORB_ID(actuator_outputs_2), - ORB_ID(actuator_outputs_3) - }; - - _act_sub = _mavlink->add_orb_subscription(act_topics[N]); + _act_sub = _mavlink->add_orb_subscription(ORB_ID(actuator_outputs), N); } void send(const hrt_abstime t) @@ -1424,7 +1417,7 @@ protected: _status_time(0), _pos_sp_triplet_sub(_mavlink->add_orb_subscription(ORB_ID(position_setpoint_triplet))), _pos_sp_triplet_time(0), - _act_sub(_mavlink->add_orb_subscription(ORB_ID(actuator_outputs_0))), + _act_sub(_mavlink->add_orb_subscription(ORB_ID(actuator_outputs))), _act_time(0) {} -- cgit v1.2.3