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| author | Lorenz Meier <lm@inf.ethz.ch> | 2015-01-25 21:08:07 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2015-01-29 16:33:53 +0100 |
| commit | 9190d597912d90b6d5fbf7a606f8e9d083797534 (patch) | |
| tree | 97f51cbe61391678f30e1cc7d5adc5c45021dbce /src | |
| parent | 165e5f5a62eedf1a4776b921b50fb84a3acdd3db (diff) | |
| download | px4-firmware-9190d597912d90b6d5fbf7a606f8e9d083797534.tar.gz px4-firmware-9190d597912d90b6d5fbf7a606f8e9d083797534.tar.bz2 px4-firmware-9190d597912d90b6d5fbf7a606f8e9d083797534.zip | |
Move sensors app to multi pub/sub
Diffstat (limited to 'src')
| -rw-r--r-- | src/modules/sensors/sensors.cpp | 32 |
1 files changed, 16 insertions, 16 deletions
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index 3f66d7995..630c54335 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -1113,7 +1113,7 @@ Sensors::accel_poll(struct sensor_combined_s &raw) if (accel_updated) { struct accel_report accel_report; - orb_copy(ORB_ID(sensor_accel0), _accel_sub, &accel_report); + orb_copy(ORB_ID(sensor_accel), _accel_sub, &accel_report); math::Vector<3> vect(accel_report.x, accel_report.y, accel_report.z); vect = _board_rotation * vect; @@ -1134,7 +1134,7 @@ Sensors::accel_poll(struct sensor_combined_s &raw) if (accel_updated) { struct accel_report accel_report; - orb_copy(ORB_ID(sensor_accel1), _accel_sub, &accel_report); + orb_copy(ORB_ID(sensor_accel), _accel1_sub, &accel_report); math::Vector<3> vect(accel_report.x, accel_report.y, accel_report.z); vect = _board_rotation * vect; @@ -1155,7 +1155,7 @@ Sensors::accel_poll(struct sensor_combined_s &raw) if (accel_updated) { struct accel_report accel_report; - orb_copy(ORB_ID(sensor_accel2), _accel_sub, &accel_report); + orb_copy(ORB_ID(sensor_accel), _accel2_sub, &accel_report); math::Vector<3> vect(accel_report.x, accel_report.y, accel_report.z); vect = _board_rotation * vect; @@ -1181,7 +1181,7 @@ Sensors::gyro_poll(struct sensor_combined_s &raw) if (gyro_updated) { struct gyro_report gyro_report; - orb_copy(ORB_ID(sensor_gyro0), _gyro_sub, &gyro_report); + orb_copy(ORB_ID(sensor_gyro), _gyro_sub, &gyro_report); math::Vector<3> vect(gyro_report.x, gyro_report.y, gyro_report.z); vect = _board_rotation * vect; @@ -1202,7 +1202,7 @@ Sensors::gyro_poll(struct sensor_combined_s &raw) if (gyro_updated) { struct gyro_report gyro_report; - orb_copy(ORB_ID(sensor_gyro1), _gyro1_sub, &gyro_report); + orb_copy(ORB_ID(sensor_gyro), _gyro1_sub, &gyro_report); math::Vector<3> vect(gyro_report.x, gyro_report.y, gyro_report.z); vect = _board_rotation * vect; @@ -1223,7 +1223,7 @@ Sensors::gyro_poll(struct sensor_combined_s &raw) if (gyro_updated) { struct gyro_report gyro_report; - orb_copy(ORB_ID(sensor_gyro2), _gyro_sub, &gyro_report); + orb_copy(ORB_ID(sensor_gyro), _gyro2_sub, &gyro_report); math::Vector<3> vect(gyro_report.x, gyro_report.y, gyro_report.z); vect = _board_rotation * vect; @@ -1310,7 +1310,7 @@ Sensors::baro_poll(struct sensor_combined_s &raw) if (baro_updated) { - orb_copy(ORB_ID(sensor_baro0), _baro_sub, &_barometer); + orb_copy(ORB_ID(sensor_baro), _baro_sub, &_barometer); raw.baro_pres_mbar = _barometer.pressure; // Pressure in mbar raw.baro_alt_meter = _barometer.altitude; // Altitude in meters @@ -1325,7 +1325,7 @@ Sensors::baro_poll(struct sensor_combined_s &raw) struct baro_report baro_report; - orb_copy(ORB_ID(sensor_baro1), _baro1_sub, &baro_report); + orb_copy(ORB_ID(sensor_baro), _baro1_sub, &baro_report); raw.baro1_pres_mbar = baro_report.pressure; // Pressure in mbar raw.baro1_alt_meter = baro_report.altitude; // Altitude in meters @@ -1943,18 +1943,18 @@ Sensors::task_main() /* * do subscriptions */ - _gyro_sub = orb_subscribe(ORB_ID(sensor_gyro0)); - _accel_sub = orb_subscribe(ORB_ID(sensor_accel0)); + _gyro_sub = orb_subscribe_multi(ORB_ID(sensor_gyro), 0); + _accel_sub = orb_subscribe_multi(ORB_ID(sensor_accel), 0); _mag_sub = orb_subscribe_multi(ORB_ID(sensor_mag), 0); - _gyro1_sub = orb_subscribe(ORB_ID(sensor_gyro1)); - _accel1_sub = orb_subscribe(ORB_ID(sensor_accel1)); + _gyro1_sub = orb_subscribe_multi(ORB_ID(sensor_gyro), 1); + _accel1_sub = orb_subscribe_multi(ORB_ID(sensor_accel), 1); _mag1_sub = orb_subscribe_multi(ORB_ID(sensor_mag), 1); - _gyro2_sub = orb_subscribe(ORB_ID(sensor_gyro2)); - _accel2_sub = orb_subscribe(ORB_ID(sensor_accel2)); + _gyro2_sub = orb_subscribe_multi(ORB_ID(sensor_gyro), 2); + _accel2_sub = orb_subscribe_multi(ORB_ID(sensor_accel), 2); _mag2_sub = orb_subscribe_multi(ORB_ID(sensor_mag), 2); _rc_sub = orb_subscribe(ORB_ID(input_rc)); - _baro_sub = orb_subscribe(ORB_ID(sensor_baro0)); - _baro1_sub = orb_subscribe(ORB_ID(sensor_baro1)); + _baro_sub = orb_subscribe_multi(ORB_ID(sensor_baro), 0); + _baro1_sub = orb_subscribe_multi(ORB_ID(sensor_baro), 1); _diff_pres_sub = orb_subscribe(ORB_ID(differential_pressure)); _vcontrol_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode)); _params_sub = orb_subscribe(ORB_ID(parameter_update)); |