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authorLorenz Meier <lm@inf.ethz.ch>2013-09-05 13:24:51 +0200
committerLorenz Meier <lm@inf.ethz.ch>2013-09-05 13:24:51 +0200
commit84f44107dd3b4ea767f4d161631af034199a78d3 (patch)
tree1ea09b0b00963a08e7dc17b4676bc69f3b263a77 /src
parent5dbe53877ab543728d4f2d288716d4989464237a (diff)
parent3968bd4c1b6443f512b4b6692b1fbc18860466e5 (diff)
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Merge branch 'master' of github.com:PX4/Firmware
Diffstat (limited to 'src')
-rw-r--r--src/modules/position_estimator_inav/position_estimator_inav_main.c10
1 files changed, 5 insertions, 5 deletions
diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.c b/src/modules/position_estimator_inav/position_estimator_inav_main.c
index 88057b323..932f61088 100644
--- a/src/modules/position_estimator_inav/position_estimator_inav_main.c
+++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c
@@ -53,7 +53,7 @@
#include <math.h>
#include <uORB/uORB.h>
#include <uORB/topics/parameter_update.h>
-#include <uORB/topics/actuator_controls_effective.h>
+#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/vehicle_attitude.h>
@@ -181,7 +181,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
uint32_t baro_counter = 0;
/* declare and safely initialize all structs */
- struct actuator_controls_effective_s actuator;
+ struct actuator_controls_s actuator;
memset(&actuator, 0, sizeof(actuator));
struct actuator_armed_s armed;
memset(&armed, 0, sizeof(armed));
@@ -200,7 +200,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
/* subscribe */
int parameter_update_sub = orb_subscribe(ORB_ID(parameter_update));
- int actuator_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE);
+ int actuator_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS);
int armed_sub = orb_subscribe(ORB_ID(actuator_armed));
int sensor_combined_sub = orb_subscribe(ORB_ID(sensor_combined));
int vehicle_attitude_sub = orb_subscribe(ORB_ID(vehicle_attitude));
@@ -337,7 +337,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
/* actuator */
if (fds[1].revents & POLLIN) {
- orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE, actuator_sub, &actuator);
+ orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_sub, &actuator);
}
/* armed */
@@ -546,7 +546,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
alt_disp = alt_disp * alt_disp;
float land_disp2 = params.land_disp * params.land_disp;
/* get actual thrust output */
- float thrust = armed.armed ? actuator.control_effective[3] : 0.0f;
+ float thrust = armed.armed ? actuator.control[3] : 0.0f;
if (landed) {
if (alt_disp > land_disp2 && thrust > params.land_thr) {