yemai/bizhang_-obav
1
0
Fork 0
mirror of https://gitee.com/xiaohuolufeihua/bizhang_-obav.git synced 2026-05-21 09:22:18 +00:00
Code Issues Packages Projects Releases Wiki Activity

Support topic groups in MAVLink subscription handling

Browse Source
This commit is contained in:
Lorenz Meier
2015-01-26 09:49:30 +01:00
parent 2f7a9eaf65
commit cbe3783d5e
5 changed files with 18 additions and 16 deletions
Download Patch File Download Diff File Expand all files Collapse all files

11
src/modules/mavlink/mavlink_messages.cpp
View File

@@ -1342,14 +1342,7 @@ protected:
_act_sub(nullptr),
_act_time(0)
{
orb_id_t act_topics[] = {
ORB_ID(actuator_outputs_0),
ORB_ID(actuator_outputs_1),
ORB_ID(actuator_outputs_2),
ORB_ID(actuator_outputs_3)
};
_act_sub = _mavlink->add_orb_subscription(act_topics[N]);
_act_sub = _mavlink->add_orb_subscription(ORB_ID(actuator_outputs), N);
}
void send(const hrt_abstime t)
@@ -1424,7 +1417,7 @@ protected:
_status_time(0),
_pos_sp_triplet_sub(_mavlink->add_orb_subscription(ORB_ID(position_setpoint_triplet))),
_pos_sp_triplet_time(0),
_act_sub(_mavlink->add_orb_subscription(ORB_ID(actuator_outputs_0))),
_act_sub(_mavlink->add_orb_subscription(ORB_ID(actuator_outputs))),
_act_time(0)
{}