From 7777d4416d77a683621ef8c18769f4661356e65e Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Tue, 27 Nov 2012 11:29:48 +0100
Subject: [PATCH] Changed to actuators effective in mavlink app

---
 apps/mavlink/mavlink.c      |  1 +
 apps/mavlink/orb_listener.c | 14 +++++++-------
 apps/mavlink/orb_topics.h   |  2 +-
 3 files changed, 9 insertions(+), 8 deletions(-)

diff --git a/apps/mavlink/mavlink.c b/apps/mavlink/mavlink.c
index b393620e20..a94591424f 100644
--- a/apps/mavlink/mavlink.c
+++ b/apps/mavlink/mavlink.c
@@ -745,6 +745,7 @@ int mavlink_main(int argc, char *argv[])
 		thread_should_exit = true;
 		while (thread_running) {
 			usleep(200000);
+			printf(".");
 		}
 		warnx("terminated.");
 		exit(0);
diff --git a/apps/mavlink/orb_listener.c b/apps/mavlink/orb_listener.c
index 82f8a1534b..ef4cd5598d 100644
--- a/apps/mavlink/orb_listener.c
+++ b/apps/mavlink/orb_listener.c
@@ -566,27 +566,27 @@ l_manual_control_setpoint(struct listener *l)
 void
 l_vehicle_attitude_controls(struct listener *l)
 {
-	struct actuator_controls_s actuators;
+	struct actuator_controls_effective_s actuators;
 
-	orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, mavlink_subs.actuators_sub, &actuators);
+	orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE, mavlink_subs.actuators_sub, &actuators);
 
 	if (gcs_link) {
 		/* send, add spaces so that string buffer is at least 10 chars long */
 		mavlink_msg_named_value_float_send(MAVLINK_COMM_0,
 						   last_sensor_timestamp / 1000,
-						   "ctrl0       ",
+						   "eff ctrl0    ",
 						   actuators.control[0]);
 		mavlink_msg_named_value_float_send(MAVLINK_COMM_0,
 						   last_sensor_timestamp / 1000,
-						   "ctrl1       ",
+						   "eff ctrl1    ",
 						   actuators.control[1]);
 		mavlink_msg_named_value_float_send(MAVLINK_COMM_0,
 						   last_sensor_timestamp / 1000,
-						   "ctrl2       ",
+						   "eff ctrl2     ",
 						   actuators.control[2]);
 		mavlink_msg_named_value_float_send(MAVLINK_COMM_0,
 						   last_sensor_timestamp / 1000,
-						   "ctrl3       ",
+						   "eff ctrl3     ",
 						   actuators.control[3]);
 	}
 }
@@ -739,7 +739,7 @@ uorb_receive_start(void)
 	orb_set_interval(mavlink_subs.man_control_sp_sub, 100);	/* 10Hz updates */
 
 	/* --- ACTUATOR CONTROL VALUE --- */
-	mavlink_subs.actuators_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS);
+	mavlink_subs.actuators_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE);
 	orb_set_interval(mavlink_subs.actuators_sub, 100);	/* 10Hz updates */
 
 	/* --- DEBUG VALUE OUTPUT --- */
diff --git a/apps/mavlink/orb_topics.h b/apps/mavlink/orb_topics.h
index 61ed8cbfe7..0eb2fabfd4 100644
--- a/apps/mavlink/orb_topics.h
+++ b/apps/mavlink/orb_topics.h
@@ -55,7 +55,7 @@
 #include <uORB/topics/vehicle_rates_setpoint.h>
 #include <uORB/topics/optical_flow.h>
 #include <uORB/topics/actuator_outputs.h>
-#include <uORB/topics/actuator_controls.h>
+#include <uORB/topics/actuator_controls_effective.h>
 #include <uORB/topics/manual_control_setpoint.h>
 #include <uORB/topics/debug_key_value.h>
 #include <drivers/drv_rc_input.h>