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HIL: Move to topic groups

This commit is contained in:
Lorenz Meier 2015-01-26 09:50:36 +01:00
parent d9d9a59ce4
commit 8d37d58da7
1 changed files with 4 additions and 3 deletions
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7
src/drivers/hil/hil.cpp
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@ -330,8 +330,9 @@ HIL::task_main()
actuator_outputs_s outputs;
memset(&outputs, 0, sizeof(outputs));
/* advertise the mixed control outputs */
_t_outputs = orb_advertise(_primary_pwm_device ? ORB_ID_VEHICLE_CONTROLS : ORB_ID(actuator_outputs_1),
&outputs);
int dummy;
_t_outputs = orb_advertise_multi(ORB_ID(actuator_outputs),
&outputs, &dummy, ORB_PRIO_LOW);
pollfd fds[2];
fds[0].fd = _t_actuators;
@ -423,7 +424,7 @@ HIL::task_main()
}
/* and publish for anyone that cares to see */
orb_publish(ORB_ID_VEHICLE_CONTROLS, _t_outputs, &outputs);
orb_publish(ORB_ID(actuator_outputs), _t_outputs, &outputs);
}
}