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TAP ESC: Secure being the first publisher of all outputs / reports

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Lorenz Meier
2016-12-12 16:47:14 +01:00
committed by Lorenz Meier
parent ac3aa3e85c
commit c9b7b6bbb5
1 changed files with 3 additions and 8 deletions
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src/drivers/tap_esc/tap_esc.cpp
+3 -8
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@@ -573,6 +573,8 @@ TAP_ESC::cycle()
/* advertise the mixed control outputs, insist on the first group output */
_outputs_pub = orb_advertise(ORB_ID(actuator_outputs), &_outputs);
_esc_feedback_pub = orb_advertise(ORB_ID(esc_report), &_esc_feedback);
multirotor_motor_limits_s multirotor_motor_limits = {};
_to_mixer_status = orb_advertise(ORB_ID(multirotor_motor_limits), &multirotor_motor_limits);
_armed_sub = orb_subscribe(ORB_ID(actuator_armed));
_test_motor_sub = orb_subscribe(ORB_ID(test_motor));
_initialized = true;
@@ -652,14 +654,7 @@ TAP_ESC::cycle()
multirotor_motor_limits_s multirotor_motor_limits = {};
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);
} else {
orb_publish(ORB_ID(multirotor_motor_limits), _to_mixer_status, &multirotor_motor_limits);
}
orb_publish(ORB_ID(multirotor_motor_limits), _to_mixer_status, &multirotor_motor_limits);
/* disable unused ports by setting their output to NaN */
for (size_t i = num_outputs; i < sizeof(_outputs.output) / sizeof(_outputs.output[0]); i++) {