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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-06-10 15:10:12 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-06-10 15:10:12 +0200 |
| commit | 0031713004dc9dcc071e13ee388af8ad028d3978 (patch) | |
| tree | 77d82c58b2f41e5d158dbe5a87cfff57c79dcac7 | |
| parent | e3e8bf25befa23edd6e2963760794abf4c8d6e2e (diff) | |
| download | px4-firmware-0031713004dc9dcc071e13ee388af8ad028d3978.tar.gz px4-firmware-0031713004dc9dcc071e13ee388af8ad028d3978.tar.bz2 px4-firmware-0031713004dc9dcc071e13ee388af8ad028d3978.zip | |
mavlink: Add support for multi uORB sensor interface
| -rw-r--r-- | src/modules/mavlink/mavlink_receiver.cpp | 20 |
1 files changed, 10 insertions, 10 deletions
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index 53769e0cf..98a7cef5a 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -495,10 +495,10 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg) gyro.temperature = imu.temperature; if (_gyro_pub < 0) { - _gyro_pub = orb_advertise(ORB_ID(sensor_gyro), &gyro); + _gyro_pub = orb_advertise(ORB_ID(sensor_gyro0), &gyro); } else { - orb_publish(ORB_ID(sensor_gyro), _gyro_pub, &gyro); + orb_publish(ORB_ID(sensor_gyro0), _gyro_pub, &gyro); } } @@ -517,10 +517,10 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg) accel.temperature = imu.temperature; if (_accel_pub < 0) { - _accel_pub = orb_advertise(ORB_ID(sensor_accel), &accel); + _accel_pub = orb_advertise(ORB_ID(sensor_accel0), &accel); } else { - orb_publish(ORB_ID(sensor_accel), _accel_pub, &accel); + orb_publish(ORB_ID(sensor_accel0), _accel_pub, &accel); } } @@ -538,10 +538,10 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg) mag.z = imu.zmag; if (_mag_pub < 0) { - _mag_pub = orb_advertise(ORB_ID(sensor_mag), &mag); + _mag_pub = orb_advertise(ORB_ID(sensor_mag0), &mag); } else { - orb_publish(ORB_ID(sensor_mag), _mag_pub, &mag); + orb_publish(ORB_ID(sensor_mag0), _mag_pub, &mag); } } @@ -556,10 +556,10 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg) baro.temperature = imu.temperature; if (_baro_pub < 0) { - _baro_pub = orb_advertise(ORB_ID(sensor_baro), &baro); + _baro_pub = orb_advertise(ORB_ID(sensor_baro0), &baro); } else { - orb_publish(ORB_ID(sensor_baro), _baro_pub, &baro); + orb_publish(ORB_ID(sensor_baro0), _baro_pub, &baro); } } @@ -835,10 +835,10 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg) accel.temperature = 25.0f; if (_accel_pub < 0) { - _accel_pub = orb_advertise(ORB_ID(sensor_accel), &accel); + _accel_pub = orb_advertise(ORB_ID(sensor_accel0), &accel); } else { - orb_publish(ORB_ID(sensor_accel), _accel_pub, &accel); + orb_publish(ORB_ID(sensor_accel0), _accel_pub, &accel); } } |