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ARDrone driver: Move to topic groups

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Lorenz Meier
2015-01-29 16:33:54 +01:00
parent 8d37d58da7
commit aadbcb42a9
1 changed files with 3 additions and 2 deletions
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src/drivers/ardrone_interface/ardrone_motor_control.c
+3 -2
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@@ -339,7 +339,8 @@ int ardrone_write_motor_commands(int ardrone_fd, uint16_t motor1, uint16_t motor
outputs.output[3] = motor4; outputs.output[3] = motor4;
static orb_advert_t pub = 0; static orb_advert_t pub = 0;
if (pub == 0) { if (pub == 0) {
pub = orb_advertise(ORB_ID_VEHICLE_CONTROLS, &outputs); /* advertise to channel 0 / primary */
pub = orb_advertise(ORB_ID(actuator_outputs), &outputs);
} }
if (hrt_absolute_time() - last_motor_time > min_motor_interval) { if (hrt_absolute_time() - last_motor_time > min_motor_interval) {
@@ -350,7 +351,7 @@ int ardrone_write_motor_commands(int ardrone_fd, uint16_t motor1, uint16_t motor
fsync(ardrone_fd); fsync(ardrone_fd);
/* publish just written values */ /* publish just written values */
orb_publish(ORB_ID_VEHICLE_CONTROLS, pub, &outputs); orb_publish(ORB_ID(actuator_outputs), pub, &outputs);
if (ret == sizeof(buf)) { if (ret == sizeof(buf)) {
return OK; return OK;