Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-06-07 09:13:32 +08:00
Code Issues Actions 34 Packages Projects Releases Wiki Activity

FMU driver: Avoid trashing existing publicacations for RC, motor outputs, etc.

Browse Source
This commit is contained in:
Lorenz Meier
2016-12-12 16:46:35 +01:00
committed by Lorenz Meier
parent c23378e70d
commit ac3aa3e85c
1 changed files with 13 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/px4fmu/fmu.cpp
+13 -4
View File
@@ -811,7 +811,7 @@ PX4FMU::publish_pwm_outputs(uint16_t *values, size_t numvalues)
}
if (_outputs_pub == nullptr) {
int instance = -1;
int instance = _class_instance;
_outputs_pub = orb_advertise_multi(ORB_ID(actuator_outputs), &outputs, &instance, ORB_PRIO_DEFAULT);
} else {
@@ -1172,7 +1172,10 @@ PX4FMU::cycle()
multirotor_motor_limits.saturation_status = _mixers->get_saturation_status();
if (_to_mixer_status == nullptr) {
_to_mixer_status = orb_advertise(ORB_ID(multirotor_motor_limits), &multirotor_motor_limits);
/* publish limits */
int instance = _class_instance;
_to_mixer_status = orb_advertise_multi(ORB_ID(multirotor_motor_limits), &multirotor_motor_limits, &instance,
ORB_PRIO_DEFAULT);
} else {
orb_publish(ORB_ID(multirotor_motor_limits), _to_mixer_status, &multirotor_motor_limits);
@@ -1250,7 +1253,8 @@ PX4FMU::cycle()
orb_publish(ORB_ID(safety), _to_safety, &safety);
} else {
_to_safety = orb_advertise(ORB_ID(safety), &safety);
int instance = _class_instance;
_to_safety = orb_advertise_multi(ORB_ID(safety), &safety, &instance, ORB_PRIO_DEFAULT);
}
}
@@ -1578,7 +1582,8 @@ PX4FMU::cycle()
if (rc_updated) {
/* lazily advertise on first publication */
if (_to_input_rc == nullptr) {
_to_input_rc = orb_advertise(ORB_ID(input_rc), &_rc_in);
int instance = _class_instance;
_to_input_rc = orb_advertise_multi(ORB_ID(input_rc), &_rc_in, &instance, ORB_PRIO_DEFAULT);
} else {
orb_publish(ORB_ID(input_rc), _to_input_rc, &_rc_in);
@@ -3179,6 +3184,8 @@ fake(int argc, char *argv[])
errx(1, "advertise failed");
}
orb_unadvertise(handle);
actuator_armed_s aa;
aa.armed = true;
@@ -3190,6 +3197,8 @@ fake(int argc, char *argv[])
errx(1, "advertise failed 2");
}
orb_unadvertise(handle);
exit(0);
}