Mirrors_Framework/PX4-Autopilot
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Don't advertise things we don't have anymore.

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px4dev
2013-01-14 01:09:42 -08:00
parent 2dc47160f4
commit 06b66ad065
1 changed files with 14 additions and 18 deletions
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apps/drivers/px4io/px4io.cpp
+14 -18
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@@ -324,24 +324,6 @@ PX4IO::task_main()
_t_vstatus = orb_subscribe(ORB_ID(vehicle_status));
orb_set_interval(_t_vstatus, 200); /* 5Hz update rate max. */
/* advertise the limited control inputs */
memset(&_controls_effective, 0, sizeof(_controls_effective));
_t_actuators_effective = orb_advertise(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE : ORB_ID(actuator_controls_1),
&_controls_effective);
/* advertise the mixed control outputs */
memset(&_outputs, 0, sizeof(_outputs));
_t_outputs = orb_advertise(_primary_pwm_device ? ORB_ID_VEHICLE_CONTROLS : ORB_ID(actuator_outputs_1),
&_outputs);
/* advertise the rc inputs */
memset(&_input_rc, 0, sizeof(_input_rc));
_to_input_rc = orb_advertise(ORB_ID(input_rc), &_input_rc);
/* do not advertise the battery status until its clear that a battery is connected */
memset(&_battery_status, 0, sizeof(_battery_status));
_to_battery = -1;
/* poll descriptor */
pollfd fds[3];
fds[0].fd = _t_actuators;
@@ -402,6 +384,20 @@ PX4IO::task_main()
break;
}
#if 0
/* advertise the limited control inputs */
memset(&_controls_effective, 0, sizeof(_controls_effective));
_to_actuators_effective = orb_advertise(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE : ORB_ID(actuator_controls_1),
&_controls_effective);
/* advertise the mixed control outputs */
memset(&_outputs, 0, sizeof(_outputs));
_to_outputs = orb_advertise(_primary_pwm_device ? ORB_ID_VEHICLE_CONTROLS : ORB_ID(actuator_outputs_1),
&_outputs);
#endif
}
unlock();