From 355e3ea98649be5cebe5d7f2ed36be3aa7b3a6bd Mon Sep 17 00:00:00 2001 From: RomanBapst Date: Tue, 11 Aug 2020 13:30:43 +0300 Subject: [PATCH] vtol_type: use correct pwm device path in init function Signed-off-by: RomanBapst --- src/modules/vtol_att_control/vtol_type.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/modules/vtol_att_control/vtol_type.cpp b/src/modules/vtol_att_control/vtol_type.cpp index 3b6dd8d7a2..6fe0c84400 100644 --- a/src/modules/vtol_att_control/vtol_type.cpp +++ b/src/modules/vtol_att_control/vtol_type.cpp @@ -81,7 +81,8 @@ VtolType::VtolType(VtolAttitudeControl *att_controller) : bool VtolType::init() { - const char *dev = PWM_OUTPUT0_DEVICE_PATH; + const char *dev = _params->vt_mc_on_fmu ? PWM_OUTPUT1_DEVICE_PATH : PWM_OUTPUT0_DEVICE_PATH; + int fd = px4_open(dev, 0); if (fd < 0) {