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use orb_advertise_multi: 

- subscribe to actuator controls after topic has been advertised
This commit is contained in:
tumbili 2015-06-08 19:41:54 +02:00 committed by Mark Charlebois
parent 065ec5b2dc
commit a5c214a7bb
2 changed files with 6 additions and 6 deletions
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6
src/drivers/hil/hil.cpp
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@ -348,9 +348,9 @@ HIL::task_main()
actuator_outputs_s outputs; actuator_outputs_s outputs;
memset(&outputs, 0, sizeof(outputs)); memset(&outputs, 0, sizeof(outputs));
/* advertise the mixed control outputs */ /* advertise the mixed control outputs */
//int dummy; int dummy;
_t_outputs = orb_advertise(ORB_ID(actuator_outputs), _t_outputs = orb_advertise_multi(ORB_ID(actuator_outputs),
&outputs); &outputs, &dummy, ORB_PRIO_LOW);
px4_pollfd_struct_t fds[2]; px4_pollfd_struct_t fds[2];
fds[0].fd = _t_actuators; fds[0].fd = _t_actuators;

6
src/modules/simulator/simulator_mavlink.cpp
View File

@ -310,9 +310,6 @@ void Simulator::updateSamples()
struct mag_report mag; struct mag_report mag;
memset(&mag, 0 ,sizeof(mag)); memset(&mag, 0 ,sizeof(mag));
// subscribe to topics
_actuator_outputs_sub = orb_subscribe(ORB_ID(actuator_outputs));
// try to setup udp socket for communcation with simulator // try to setup udp socket for communcation with simulator
memset((char *)&_myaddr, 0, sizeof(_myaddr)); memset((char *)&_myaddr, 0, sizeof(_myaddr));
_myaddr.sin_family = AF_INET; _myaddr.sin_family = AF_INET;
@ -381,6 +378,9 @@ void Simulator::updateSamples()
send_controls(); send_controls();
} }
// subscribe to topics
_actuator_outputs_sub = orb_subscribe_multi(ORB_ID(actuator_outputs), 0);
// got data from simulator, now activate the sending thread // got data from simulator, now activate the sending thread
pthread_create(&sender_thread, &sender_thread_attr, Simulator::sending_trampoline, NULL); pthread_create(&sender_thread, &sender_thread_attr, Simulator::sending_trampoline, NULL);
pthread_attr_destroy(&sender_thread_attr); pthread_attr_destroy(&sender_thread_attr);