forked from Archive/PX4-Autopilot
Used correct datatype, removed unwanted cast
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@ -104,7 +104,7 @@ public:
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private:
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private:
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// XXX
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// XXX
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static const unsigned _max_actuators = PX4IO_CONTROL_CHANNELS;
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static const unsigned _max_actuators = PX4IO_CONTROL_CHANNELS;
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int _update_rate; ///< serial send rate in Hz
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unsigned _update_rate; ///< serial send rate in Hz
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int _serial_fd; ///< serial interface to PX4IO
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int _serial_fd; ///< serial interface to PX4IO
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hx_stream_t _io_stream; ///< HX protocol stream
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hx_stream_t _io_stream; ///< HX protocol stream
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@ -316,7 +316,7 @@ void
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PX4IO::task_main()
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PX4IO::task_main()
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{
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{
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log("starting");
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log("starting");
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int update_rate_in_ms;
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unsigned update_rate_in_ms;
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/* open the serial port */
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/* open the serial port */
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_serial_fd = ::open("/dev/ttyS2", O_RDWR);
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_serial_fd = ::open("/dev/ttyS2", O_RDWR);
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@ -356,7 +356,7 @@ PX4IO::task_main()
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_t_actuators = orb_subscribe(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS :
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_t_actuators = orb_subscribe(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS :
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ORB_ID(actuator_controls_1));
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ORB_ID(actuator_controls_1));
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/* convert the update rate in hz to milliseconds, rounding down if necessary */
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/* convert the update rate in hz to milliseconds, rounding down if necessary */
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update_rate_in_ms = int(1000 / _update_rate);
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update_rate_in_ms = 1000 / _update_rate;
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orb_set_interval(_t_actuators, update_rate_in_ms);
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orb_set_interval(_t_actuators, update_rate_in_ms);
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_t_armed = orb_subscribe(ORB_ID(actuator_armed));
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_t_armed = orb_subscribe(ORB_ID(actuator_armed));
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