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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-06-10 15:09:16 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-06-10 15:09:16 +0200 |
| commit | 699ad1512cb55db004ab7d7143dd1ef8741fb9ad (patch) | |
| tree | e21f5b483b279824f299d0437888d95b52bae763 /src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp | |
| parent | becfed9fbd93204134c44f6da09d954151dff10d (diff) | |
| download | px4-firmware-699ad1512cb55db004ab7d7143dd1ef8741fb9ad.tar.gz px4-firmware-699ad1512cb55db004ab7d7143dd1ef8741fb9ad.tar.bz2 px4-firmware-699ad1512cb55db004ab7d7143dd1ef8741fb9ad.zip | |
EKF estimator: Add support for multi uORB sensor topics
Diffstat (limited to 'src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp')
| -rw-r--r-- | src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp | 6 |
1 files changed, 3 insertions, 3 deletions
diff --git a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp index 0a6d3fa8f..d806b0241 100644 --- a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp +++ b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp @@ -522,7 +522,7 @@ FixedwingEstimator::task_main() /* * do subscriptions */ - _baro_sub = orb_subscribe(ORB_ID(sensor_baro)); + _baro_sub = orb_subscribe(ORB_ID(sensor_baro0)); _airspeed_sub = orb_subscribe(ORB_ID(airspeed)); _gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position)); _vstatus_sub = orb_subscribe(ORB_ID(vehicle_status)); @@ -861,7 +861,7 @@ FixedwingEstimator::task_main() orb_check(_baro_sub, &baro_updated); if (baro_updated) { - orb_copy(ORB_ID(sensor_baro), _baro_sub, &_baro); + orb_copy(ORB_ID(sensor_baro0), _baro_sub, &_baro); _ekf->baroHgt = _baro.altitude; @@ -1040,7 +1040,7 @@ FixedwingEstimator::task_main() float gps_alt = _gps.alt / 1e3f; // Set up height correctly - orb_copy(ORB_ID(sensor_baro), _baro_sub, &_baro); + orb_copy(ORB_ID(sensor_baro0), _baro_sub, &_baro); _baro_gps_offset = _baro_ref - _baro.altitude; _ekf->baroHgt = _baro.altitude; _ekf->hgtMea = 1.0f * (_ekf->baroHgt - (_baro_ref)); |