diff options
Diffstat (limited to 'src/modules/att_pos_estimator_ekf/KalmanNav.hpp')
| -rw-r--r-- | src/modules/att_pos_estimator_ekf/KalmanNav.hpp | 16 |
1 files changed, 8 insertions, 8 deletions
diff --git a/src/modules/att_pos_estimator_ekf/KalmanNav.hpp b/src/modules/att_pos_estimator_ekf/KalmanNav.hpp index 46ee4b6c8..caf93bc78 100644 --- a/src/modules/att_pos_estimator_ekf/KalmanNav.hpp +++ b/src/modules/att_pos_estimator_ekf/KalmanNav.hpp @@ -47,8 +47,8 @@ #include <mathlib/mathlib.h> #include <controllib/blocks.hpp> #include <controllib/block/BlockParam.hpp> -#include <controllib/uorb/UOrbSubscription.hpp> -#include <controllib/uorb/UOrbPublication.hpp> +#include <uORB/Subscription.hpp> +#include <uORB/Publication.hpp> #include <uORB/topics/vehicle_attitude.h> #include <uORB/topics/vehicle_global_position.h> @@ -138,13 +138,13 @@ protected: math::Matrix<3,3> C_nb; /**< direction cosine matrix from body to nav frame */ math::Quaternion q; /**< quaternion from body to nav frame */ // subscriptions - control::UOrbSubscription<sensor_combined_s> _sensors; /**< sensors sub. */ - control::UOrbSubscription<vehicle_gps_position_s> _gps; /**< gps sub. */ - control::UOrbSubscription<parameter_update_s> _param_update; /**< parameter update sub. */ + uORB::Subscription<sensor_combined_s> _sensors; /**< sensors sub. */ + uORB::Subscription<vehicle_gps_position_s> _gps; /**< gps sub. */ + uORB::Subscription<parameter_update_s> _param_update; /**< parameter update sub. */ // publications - control::UOrbPublication<vehicle_global_position_s> _pos; /**< position pub. */ - control::UOrbPublication<vehicle_local_position_s> _localPos; /**< local position pub. */ - control::UOrbPublication<vehicle_attitude_s> _att; /**< attitude pub. */ + uORB::Publication<vehicle_global_position_s> _pos; /**< position pub. */ + uORB::Publication<vehicle_local_position_s> _localPos; /**< local position pub. */ + uORB::Publication<vehicle_attitude_s> _att; /**< attitude pub. */ // time stamps uint64_t _pubTimeStamp; /**< output data publication time stamp */ uint64_t _predictTimeStamp; /**< prediction time stamp */ |