From 863a6e88119384f4aa5776f5c9e264e06697632b Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Fri, 12 Jun 2015 09:27:15 +0200 Subject: [PATCH] HIL driver: Fix boot order race --- src/drivers/hil/hil.cpp | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) diff --git a/src/drivers/hil/hil.cpp b/src/drivers/hil/hil.cpp index 961ec47246..a7c2e83e34 100644 --- a/src/drivers/hil/hil.cpp +++ b/src/drivers/hil/hil.cpp @@ -331,10 +331,9 @@ HIL::task_main() /* advertise the mixed control outputs */ actuator_outputs_s outputs; memset(&outputs, 0, sizeof(outputs)); - /* advertise the mixed control outputs */ - int dummy; - _t_outputs = orb_advertise_multi(ORB_ID(actuator_outputs), - &outputs, &dummy, ORB_PRIO_LOW); + /* advertise the mixed control outputs, insist on the first group output */ + _t_outputs = orb_advertise(ORB_ID(actuator_outputs), + &outputs); pollfd fds[2]; fds[0].fd = _t_actuators;