forked from Archive/PX4-Autopilot
Hotfix: Copying from right actuator topic on IO if FMU and IO PWM outs are enabled
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@ -388,7 +388,8 @@ PX4IO::task_main()
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if (fds[1].revents & POLLIN) {
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if (fds[1].revents & POLLIN) {
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/* get controls */
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/* get controls */
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orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, _t_actuators, &_controls);
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orb_copy(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS :
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ORB_ID(actuator_controls_1), _t_actuators, &_controls);
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/* scale controls to PWM (temporary measure) */
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/* scale controls to PWM (temporary measure) */
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for (unsigned i = 0; i < _max_actuators; i++)
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for (unsigned i = 0; i < _max_actuators; i++)
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