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pwm_out_sim lazily publish actuator_outputs

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Daniel Agar
2018-09-17 00:06:52 +02:00
committed by Lorenz Meier
parent 9580cb8d86
commit bcad940a9f
2 changed files with 3 additions and 5 deletions
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src/drivers/pwm_out_sim/PWMSim.cpp
+2 -4
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@@ -158,9 +158,6 @@ PWMSim::run()
_armed_sub = orb_subscribe(ORB_ID(actuator_armed));
/* advertise the mixed control outputs, insist on the first group output */
_outputs_pub = orb_advertise(ORB_ID(actuator_outputs), &_actuator_outputs);
update_params();
int params_sub = orb_subscribe(ORB_ID(parameter_update));
@@ -287,7 +284,8 @@ PWMSim::run()
/* and publish for anyone that cares to see */
_actuator_outputs.timestamp = hrt_absolute_time();
orb_publish(ORB_ID(actuator_outputs), _outputs_pub, &_actuator_outputs);
int instance;
orb_publish_auto(ORB_ID(actuator_outputs), &_outputs_pub, &_actuator_outputs, &instance, ORB_PRIO_DEFAULT);
// use first valid timestamp_sample for latency tracking
for (int i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) {
src/drivers/pwm_out_sim/PWMSim.hpp
+1 -1
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@@ -110,7 +110,7 @@ private:
int _armed_sub{-1};
actuator_outputs_s _actuator_outputs = {};
actuator_outputs_s _actuator_outputs{};
orb_advert_t _outputs_pub{nullptr};
unsigned _num_outputs{0};