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fix uorb constants in uavcan module

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This commit is contained in:
Thomas Gubler 2015-01-28 09:08:58 +01:00
parent 8e7974e2e2
commit 66007d56ef
1 changed files with 6 additions and 6 deletions
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12
src/modules/uavcan/uavcan_main.cpp
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@ -381,7 +381,7 @@ int UavcanNode::run()
} else {
// get controls for required topics
bool controls_updated = false;
for (unsigned i = 0; i < NUM_ACTUATOR_CONTROL_GROUPS; i++) {
for (unsigned i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) {
if (_control_subs[i] > 0) {
if (_poll_fds[_poll_ids[i]].revents & POLLIN) {
controls_updated = true;
@ -393,14 +393,14 @@ int UavcanNode::run()
/*
see if we have any direct actuator updates
*/
if (_actuator_direct_sub != -1 &&
if (_actuator_direct_sub != -1 &&
(_poll_fds[_actuator_direct_poll_fd_num].revents & POLLIN) &&
orb_copy(ORB_ID(actuator_direct), _actuator_direct_sub, &_actuator_direct) == OK &&
!_test_in_progress) {
if (_actuator_direct.nvalues > NUM_ACTUATOR_OUTPUTS) {
_actuator_direct.nvalues = NUM_ACTUATOR_OUTPUTS;
}
memcpy(&_outputs.output[0], &_actuator_direct.values[0],
memcpy(&_outputs.output[0], &_actuator_direct.values[0],
_actuator_direct.nvalues*sizeof(float));
_outputs.noutputs = _actuator_direct.nvalues;
new_output = true;
@ -476,7 +476,7 @@ int UavcanNode::run()
if (updated) {
orb_copy(ORB_ID(actuator_armed), _armed_sub, &_armed);
// Update the armed status and check that we're not locked down and motor
// Update the armed status and check that we're not locked down and motor
// test is not running
bool set_armed = _armed.armed && !_armed.lockdown && !_test_in_progress;
@ -502,7 +502,7 @@ UavcanNode::control_callback(uintptr_t handle, uint8_t control_group, uint8_t co
int
UavcanNode::teardown()
{
for (unsigned i = 0; i < NUM_ACTUATOR_CONTROL_GROUPS; i++) {
for (unsigned i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) {
if (_control_subs[i] > 0) {
::close(_control_subs[i]);
_control_subs[i] = -1;
@ -526,7 +526,7 @@ UavcanNode::subscribe()
uint32_t sub_groups = _groups_required & ~_groups_subscribed;
uint32_t unsub_groups = _groups_subscribed & ~_groups_required;
// the first fd used by CAN
for (unsigned i = 0; i < NUM_ACTUATOR_CONTROL_GROUPS; i++) {
for (unsigned i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) {
if (sub_groups & (1 << i)) {
warnx("subscribe to actuator_controls_%d", i);
_control_subs[i] = orb_subscribe(_control_topics[i]);