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Merge remote-tracking branch 'upstream/master' into ros_messagelayer_merge2_attctrl_posctrl

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Conflicts:
	src/drivers/px4fmu/fmu.cpp
This commit is contained in:
Thomas Gubler
2015-02-01 11:06:47 +01:00
parent 7c958a2cca a2a244584e
commit 84ff3c671d
63 changed files with 807 additions and 484 deletions
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src/drivers/px4fmu/fmu.cpp
+4 -6
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@@ -145,7 +145,7 @@ private:
int _control_subs[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS];
actuator_controls_s _controls[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS];
orb_id_t _control_topics[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS];
orb_id_t _actuator_output_topic;
int _actuator_output_topic_instance;
pollfd _poll_fds[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS];
unsigned _poll_fds_num;
@@ -260,7 +260,7 @@ 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},
@@ -331,8 +331,6 @@ PX4FMU::init()
log("default PWM output device");
}
_actuator_output_topic = ORB_ID_DOUBLE(actuator_outputs_, _class_instance);
/* reset GPIOs */
gpio_reset();
@@ -683,10 +681,10 @@ 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);
}
}
}