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| author | Lorenz Meier <lm@inf.ethz.ch> | 2015-01-25 21:06:03 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2015-01-29 16:33:53 +0100 |
| commit | 7f299ea0cc5aedbf1f7913930d592bdc696e0ca9 (patch) | |
| tree | d8b85c09377871bf5ba4a91676e83a8f5ed7c9c0 /src | |
| parent | d851a630d874f639e0861dc8411405f83ee23769 (diff) | |
| download | px4-firmware-7f299ea0cc5aedbf1f7913930d592bdc696e0ca9.tar.gz px4-firmware-7f299ea0cc5aedbf1f7913930d592bdc696e0ca9.tar.bz2 px4-firmware-7f299ea0cc5aedbf1f7913930d592bdc696e0ca9.zip | |
Move commander to multi pub/sub API
Diffstat (limited to 'src')
| -rw-r--r-- | src/modules/commander/gyro_calibration.cpp | 4 |
1 files changed, 2 insertions, 2 deletions
diff --git a/src/modules/commander/gyro_calibration.cpp b/src/modules/commander/gyro_calibration.cpp index 8ab14dd52..2be0e881e 100644 --- a/src/modules/commander/gyro_calibration.cpp +++ b/src/modules/commander/gyro_calibration.cpp @@ -95,7 +95,7 @@ int do_gyro_calibration(int mavlink_fd) unsigned poll_errcount = 0; /* subscribe to gyro sensor topic */ - int sub_sensor_gyro = orb_subscribe(ORB_ID(sensor_gyro0)); + int sub_sensor_gyro = orb_subscribe_multi(ORB_ID(sensor_gyro), 0); struct gyro_report gyro_report; while (calibration_counter < calibration_count) { @@ -107,7 +107,7 @@ int do_gyro_calibration(int mavlink_fd) int poll_ret = poll(fds, 1, 1000); if (poll_ret > 0) { - orb_copy(ORB_ID(sensor_gyro0), sub_sensor_gyro, &gyro_report); + orb_copy(ORB_ID(sensor_gyro), sub_sensor_gyro, &gyro_report); gyro_scale.x_offset += gyro_report.x; gyro_scale.y_offset += gyro_report.y; gyro_scale.z_offset += gyro_report.z; |