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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-03-22 11:22:58 +0400 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-03-22 11:22:58 +0400 |
| commit | 69700d774ce1cde6a52a9addf8766575e02b685e (patch) | |
| tree | d43951f0546deffbf2d14738727b5d4e4a23a545 /src/modules/att_pos_estimator_ekf | |
| parent | 712c72d25bc595d879c2592e0a750bb0a981120f (diff) | |
| parent | 3270e2f42887265f6576b132aa29b4c1037d0b0d (diff) | |
| download | px4-firmware-69700d774ce1cde6a52a9addf8766575e02b685e.tar.gz px4-firmware-69700d774ce1cde6a52a9addf8766575e02b685e.tar.bz2 px4-firmware-69700d774ce1cde6a52a9addf8766575e02b685e.zip | |
Merge branch 'master' into mpc_local_pos
Diffstat (limited to 'src/modules/att_pos_estimator_ekf')
| -rw-r--r-- | src/modules/att_pos_estimator_ekf/KalmanNav.hpp | 16 |
1 files changed, 8 insertions, 8 deletions
diff --git a/src/modules/att_pos_estimator_ekf/KalmanNav.hpp b/src/modules/att_pos_estimator_ekf/KalmanNav.hpp index 5021b9927..24df153cb 100644 --- a/src/modules/att_pos_estimator_ekf/KalmanNav.hpp +++ b/src/modules/att_pos_estimator_ekf/KalmanNav.hpp @@ -47,8 +47,8 @@ #include <mathlib/mathlib.h> #include <controllib/blocks.hpp> #include <controllib/block/BlockParam.hpp> -#include <controllib/uorb/UOrbSubscription.hpp> -#include <controllib/uorb/UOrbPublication.hpp> +#include <uORB/Subscription.hpp> +#include <uORB/Publication.hpp> #include <lib/geo/geo.h> #include <uORB/topics/vehicle_attitude.h> @@ -139,13 +139,13 @@ protected: math::Matrix<3,3> C_nb; /**< direction cosine matrix from body to nav frame */ math::Quaternion q; /**< quaternion from body to nav frame */ // subscriptions - control::UOrbSubscription<sensor_combined_s> _sensors; /**< sensors sub. */ - control::UOrbSubscription<vehicle_gps_position_s> _gps; /**< gps sub. */ - control::UOrbSubscription<parameter_update_s> _param_update; /**< parameter update sub. */ + uORB::Subscription<sensor_combined_s> _sensors; /**< sensors sub. */ + uORB::Subscription<vehicle_gps_position_s> _gps; /**< gps sub. */ + uORB::Subscription<parameter_update_s> _param_update; /**< parameter update sub. */ // publications - control::UOrbPublication<vehicle_global_position_s> _pos; /**< position pub. */ - control::UOrbPublication<vehicle_local_position_s> _localPos; /**< local position pub. */ - control::UOrbPublication<vehicle_attitude_s> _att; /**< attitude pub. */ + uORB::Publication<vehicle_global_position_s> _pos; /**< position pub. */ + uORB::Publication<vehicle_local_position_s> _localPos; /**< local position pub. */ + uORB::Publication<vehicle_attitude_s> _att; /**< attitude pub. */ // time stamps uint64_t _pubTimeStamp; /**< output data publication time stamp */ uint64_t _predictTimeStamp; /**< prediction time stamp */ |