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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/px4io/px4io.cpp
+4 -9
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@@ -1685,17 +1685,12 @@ PX4IO::io_publish_pwm_outputs()
/* lazily advertise on first publication */
if (_to_outputs == 0) {
_to_outputs = orb_advertise((_primary_pwm_device ?
ORB_ID_VEHICLE_CONTROLS :
ORB_ID(actuator_outputs_1)),
&outputs);
int instance;
_to_outputs = orb_advertise_multi(ORB_ID(actuator_outputs),
&outputs, &instance, ORB_PRIO_MAX);
} else {
orb_publish((_primary_pwm_device ?
ORB_ID_VEHICLE_CONTROLS :
ORB_ID(actuator_outputs_1)),
_to_outputs,
&outputs);
orb_publish(ORB_ID(actuator_outputs), _to_outputs, &outputs);
}
return OK;