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| author | Lorenz Meier <lm@inf.ethz.ch> | 2015-01-25 21:06:48 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2015-01-29 16:33:53 +0100 |
| commit | 83a0f8e5ce2041494f57643246a612f2cd836752 (patch) | |
| tree | 5c04d4bc2ebc5635a0d9f120d30b32d311fd4ad5 /src | |
| parent | 777eda1a89222b9b7b91fd12c92475291ed56ce7 (diff) | |
| download | px4-firmware-83a0f8e5ce2041494f57643246a612f2cd836752.tar.gz px4-firmware-83a0f8e5ce2041494f57643246a612f2cd836752.tar.bz2 px4-firmware-83a0f8e5ce2041494f57643246a612f2cd836752.zip | |
Move EKF to multi pub/sub API
Diffstat (limited to 'src')
| -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 923aa2861..d0f5fb6f8 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 @@ -719,7 +719,7 @@ 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)); @@ -1087,7 +1087,7 @@ 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; @@ -1216,7 +1216,7 @@ 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 |