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| author | Thomas Gubler <thomasgubler@gmail.com> | 2015-02-01 11:06:47 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2015-02-01 11:06:47 +0100 |
| commit | 84ff3c671d5c6d00a1b6c9a8062bddfb6875f8f9 (patch) | |
| tree | db0470a2471776e9ffe525b2fa7302cec7ab8bd8 /src/modules/ekf_att_pos_estimator | |
| parent | 7c958a2cca90a6262dc491fe9ef86d85bacdf3da (diff) | |
| parent | a2a244584e36a0e9ffdb93a0dda8473baf8344d3 (diff) | |
| download | px4-firmware-84ff3c671d5c6d00a1b6c9a8062bddfb6875f8f9.tar.gz px4-firmware-84ff3c671d5c6d00a1b6c9a8062bddfb6875f8f9.tar.bz2 px4-firmware-84ff3c671d5c6d00a1b6c9a8062bddfb6875f8f9.zip | |
Merge remote-tracking branch 'upstream/master' into ros_messagelayer_merge2_attctrl_posctrl
Conflicts:
src/drivers/px4fmu/fmu.cpp
Diffstat (limited to 'src/modules/ekf_att_pos_estimator')
| -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 e33691b0c..38660b433 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 @@ -720,7 +720,7 @@ FixedwingEstimator::task_main() * do subscriptions */ _distance_sub = orb_subscribe(ORB_ID(sensor_range_finder)); - _baro_sub = orb_subscribe(ORB_ID(sensor_baro0)); + _baro_sub = orb_subscribe_multi(ORB_ID(sensor_baro), 0); _airspeed_sub = orb_subscribe(ORB_ID(airspeed)); _gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position)); _vstatus_sub = orb_subscribe(ORB_ID(vehicle_status)); @@ -1088,7 +1088,7 @@ FixedwingEstimator::task_main() if (baro_updated) { - orb_copy(ORB_ID(sensor_baro0), _baro_sub, &_baro); + orb_copy(ORB_ID(sensor_baro), _baro_sub, &_baro); float baro_elapsed = (_baro.timestamp - baro_last) / 1e6f; baro_last = _baro.timestamp; @@ -1217,7 +1217,7 @@ FixedwingEstimator::task_main() initVelNED[2] = _gps.vel_d_m_s; // Set up height correctly - orb_copy(ORB_ID(sensor_baro0), _baro_sub, &_baro); + orb_copy(ORB_ID(sensor_baro), _baro_sub, &_baro); _baro_ref_offset = _ekf->states[9]; // this should become zero in the local frame // init filtered gps and baro altitudes |