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| author | Lorenz Meier <lm@inf.ethz.ch> | 2015-01-25 21:06:27 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2015-01-29 16:33:53 +0100 |
| commit | 777eda1a89222b9b7b91fd12c92475291ed56ce7 (patch) | |
| tree | 4a4c61df85892522d324ae31fdaba9d06d1afd51 /src/examples | |
| parent | 7f299ea0cc5aedbf1f7913930d592bdc696e0ca9 (diff) | |
| download | px4-firmware-777eda1a89222b9b7b91fd12c92475291ed56ce7.tar.gz px4-firmware-777eda1a89222b9b7b91fd12c92475291ed56ce7.tar.bz2 px4-firmware-777eda1a89222b9b7b91fd12c92475291ed56ce7.zip | |
Move MATLAB example to multi pub/sub API
Diffstat (limited to 'src/examples')
| -rw-r--r-- | src/examples/matlab_csv_serial/matlab_csv_serial.c | 18 |
1 files changed, 9 insertions, 9 deletions
diff --git a/src/examples/matlab_csv_serial/matlab_csv_serial.c b/src/examples/matlab_csv_serial/matlab_csv_serial.c index a95f45d1a..145cf99cc 100644 --- a/src/examples/matlab_csv_serial/matlab_csv_serial.c +++ b/src/examples/matlab_csv_serial/matlab_csv_serial.c @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2014 PX4 Development Team. All rights reserved. + * Copyright (c) 2014-2015 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -190,10 +190,10 @@ int matlab_csv_serial_thread_main(int argc, char *argv[]) struct gyro_report gyro1; /* subscribe to parameter changes */ - int accel0_sub = orb_subscribe(ORB_ID(sensor_accel0)); - int accel1_sub = orb_subscribe(ORB_ID(sensor_accel1)); - int gyro0_sub = orb_subscribe(ORB_ID(sensor_gyro0)); - int gyro1_sub = orb_subscribe(ORB_ID(sensor_gyro1)); + int accel0_sub = orb_subscribe_multi(ORB_ID(sensor_accel), 0); + int accel1_sub = orb_subscribe_multi(ORB_ID(sensor_accel), 1); + int gyro0_sub = orb_subscribe_multi(ORB_ID(sensor_gyro), 0); + int gyro1_sub = orb_subscribe_multi(ORB_ID(sensor_gyro), 1); thread_running = true; @@ -224,10 +224,10 @@ int matlab_csv_serial_thread_main(int argc, char *argv[]) /* accel0 update available? */ if (fds[0].revents & POLLIN) { - orb_copy(ORB_ID(sensor_accel0), accel0_sub, &accel0); - orb_copy(ORB_ID(sensor_accel1), accel1_sub, &accel1); - orb_copy(ORB_ID(sensor_gyro0), gyro0_sub, &gyro0); - orb_copy(ORB_ID(sensor_gyro1), gyro1_sub, &gyro1); + orb_copy(ORB_ID(sensor_accel), accel0_sub, &accel0); + orb_copy(ORB_ID(sensor_accel), accel1_sub, &accel1); + orb_copy(ORB_ID(sensor_gyro), gyro0_sub, &gyro0); + orb_copy(ORB_ID(sensor_gyro), gyro1_sub, &gyro1); // write out on accel 0, but collect for all other sensors as they have updates dprintf(serial_fd, "%llu,%d,%d,%d,%d,%d,%d\n", accel0.timestamp, (int)accel0.x_raw, (int)accel0.y_raw, (int)accel0.z_raw, |