forked from Archive/PX4-Autopilot
HIL: Move to topic groups
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d9d9a59ce4
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@ -330,8 +330,9 @@ HIL::task_main()
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actuator_outputs_s outputs;
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actuator_outputs_s outputs;
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memset(&outputs, 0, sizeof(outputs));
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memset(&outputs, 0, sizeof(outputs));
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/* advertise the mixed control outputs */
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/* advertise the mixed control outputs */
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_t_outputs = orb_advertise(_primary_pwm_device ? ORB_ID_VEHICLE_CONTROLS : ORB_ID(actuator_outputs_1),
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int dummy;
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&outputs);
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_t_outputs = orb_advertise_multi(ORB_ID(actuator_outputs),
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&outputs, &dummy, ORB_PRIO_LOW);
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pollfd fds[2];
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pollfd fds[2];
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fds[0].fd = _t_actuators;
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fds[0].fd = _t_actuators;
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@ -423,7 +424,7 @@ HIL::task_main()
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}
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}
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/* and publish for anyone that cares to see */
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/* and publish for anyone that cares to see */
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orb_publish(ORB_ID_VEHICLE_CONTROLS, _t_outputs, &outputs);
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orb_publish(ORB_ID(actuator_outputs), _t_outputs, &outputs);
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}
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}
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}
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}
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