fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-23 08:37:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

FMU driver: Move to topic groups

Browse Source
This commit is contained in:
Lorenz Meier
2015-01-26 09:49:57 +01:00
parent 455f6abfcf
commit 678d5c24fb
1 changed files with 4 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/px4fmu/fmu.cpp
+4 -6
View File
@@ -141,7 +141,7 @@ private:
int _control_subs[NUM_ACTUATOR_CONTROL_GROUPS];
actuator_controls_s _controls[NUM_ACTUATOR_CONTROL_GROUPS];
orb_id_t _control_topics[NUM_ACTUATOR_CONTROL_GROUPS];
orb_id_t _actuator_output_topic;
int _actuator_output_topic_instance;
pollfd _poll_fds[NUM_ACTUATOR_CONTROL_GROUPS];
unsigned _poll_fds_num;
@@ -256,7 +256,7 @@ PX4FMU::PX4FMU() :
_groups_required(0),
_groups_subscribed(0),
_control_subs{-1},
_actuator_output_topic(nullptr),
_actuator_output_topic_instance(-1),
_poll_fds_num(0),
_pwm_limit{},
_failsafe_pwm{0},
@@ -327,8 +327,6 @@ PX4FMU::init()
log("default PWM output device");
}
_actuator_output_topic = ORB_ID_DOUBLE(actuator_outputs_, _class_instance);
/* reset GPIOs */
gpio_reset();
@@ -679,10 +677,10 @@ PX4FMU::task_main()
/* publish mixed control outputs */
if (_outputs_pub < 0) {
_outputs_pub = orb_advertise(_actuator_output_topic, &outputs);
_outputs_pub = orb_advertise_multi(ORB_ID(actuator_outputs), &outputs, &_actuator_output_topic_instance, ORB_PRIO_DEFAULT);
} else {
orb_publish(_actuator_output_topic, _outputs_pub, &outputs);
orb_publish(ORB_ID(actuator_outputs), _outputs_pub, &outputs);
}
}
}