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| author | Lorenz Meier <lm@inf.ethz.ch> | 2015-01-25 21:07:06 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2015-01-29 16:33:53 +0100 |
| commit | c4cf28fa9529ed12a1c78f0e297863f34644167a (patch) | |
| tree | 28521a4ed4f2b2b854ff15c1ef12b383b06fef1e /src | |
| parent | 83a0f8e5ce2041494f57643246a612f2cd836752 (diff) | |
| download | px4-firmware-c4cf28fa9529ed12a1c78f0e297863f34644167a.tar.gz px4-firmware-c4cf28fa9529ed12a1c78f0e297863f34644167a.tar.bz2 px4-firmware-c4cf28fa9529ed12a1c78f0e297863f34644167a.zip | |
Move FW att control to multi pub sub API
Diffstat (limited to 'src')
| -rw-r--r-- | src/modules/fw_att_control/fw_att_control_main.cpp | 4 |
1 files changed, 2 insertions, 2 deletions
diff --git a/src/modules/fw_att_control/fw_att_control_main.cpp b/src/modules/fw_att_control/fw_att_control_main.cpp index 6f225bb48..4cb6c1aef 100644 --- a/src/modules/fw_att_control/fw_att_control_main.cpp +++ b/src/modules/fw_att_control/fw_att_control_main.cpp @@ -549,7 +549,7 @@ FixedwingAttitudeControl::vehicle_accel_poll() orb_check(_accel_sub, &accel_updated); if (accel_updated) { - orb_copy(ORB_ID(sensor_accel0), _accel_sub, &_accel); + orb_copy(ORB_ID(sensor_accel), _accel_sub, &_accel); } } @@ -619,7 +619,7 @@ FixedwingAttitudeControl::task_main() */ _att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint)); _att_sub = orb_subscribe(ORB_ID(vehicle_attitude)); - _accel_sub = orb_subscribe(ORB_ID(sensor_accel0)); + _accel_sub = orb_subscribe_multi(ORB_ID(sensor_accel), 0); _airspeed_sub = orb_subscribe(ORB_ID(airspeed)); _vcontrol_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode)); _params_sub = orb_subscribe(ORB_ID(parameter_update)); |