Mirrors_Framework/PX4-Autopilot
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IO driver: move to topic groups

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Lorenz Meier
2015-01-26 09:50:09 +01:00
parent 678d5c24fb
commit 51088026c7
1 changed files with 4 additions and 9 deletions
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src/drivers/px4io/px4io.cpp
+4 -9
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@@ -1681,17 +1681,12 @@ 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;