Mirrors_Framework/PX4-Autopilot
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marco
2013-05-26 16:49:33 +02:00
parent 8e1571cf02
commit 73d2baeb20
1 changed files with 1 additions and 5 deletions
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src/drivers/mkblctrl/mkblctrl.cpp
+1 -5
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@@ -491,8 +491,6 @@ MK::task_main()
* Subscribe to the appropriate PWM output topic based on whether we are the * Subscribe to the appropriate PWM output topic based on whether we are the
* primary PWM output or not. * primary PWM output or not.
*/ */
// loeschen _t_actuators = orb_subscribe(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS :
// loeschen ORB_ID(actuator_controls_0));
_t_actuators = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS); _t_actuators = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS);
/* force a reset of the update rate */ /* force a reset of the update rate */
@@ -551,8 +549,7 @@ MK::task_main()
_current_update_rate = _update_rate; _current_update_rate = _update_rate;
} }
/* sleep waiting for data, stopping to check for PPM /* sleep waiting for data max 100ms */
* input at 100Hz */
int ret = ::poll(&fds[0], 2, 100); int ret = ::poll(&fds[0], 2, 100);
/* this would be bad... */ /* this would be bad... */
@@ -566,7 +563,6 @@ MK::task_main()
if (fds[0].revents & POLLIN) { if (fds[0].revents & POLLIN) {
/* get controls - must always do this to avoid spinning */ /* get controls - must always do this to avoid spinning */
// loeschen orb_copy(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS : ORB_ID(actuator_controls_0), _t_actuators, &_controls);
orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, _t_actuators, &_controls); orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, _t_actuators, &_controls);
/* can we mix? */ /* can we mix? */