diff options
Diffstat (limited to 'src/modules/sensors/sensors.cpp')
| -rw-r--r-- | src/modules/sensors/sensors.cpp | 16 |
1 files changed, 8 insertions, 8 deletions
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index 6bafb9ba6..388cd2dcc 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -1004,7 +1004,7 @@ Sensors::accel_poll(struct sensor_combined_s &raw) if (accel_updated) { struct accel_report accel_report; - orb_copy(ORB_ID(sensor_accel), _accel_sub, &accel_report); + orb_copy(ORB_ID(sensor_accel0), _accel_sub, &accel_report); math::Vector<3> vect(accel_report.x, accel_report.y, accel_report.z); vect = _board_rotation * vect; @@ -1030,7 +1030,7 @@ Sensors::gyro_poll(struct sensor_combined_s &raw) if (gyro_updated) { struct gyro_report gyro_report; - orb_copy(ORB_ID(sensor_gyro), _gyro_sub, &gyro_report); + orb_copy(ORB_ID(sensor_gyro0), _gyro_sub, &gyro_report); math::Vector<3> vect(gyro_report.x, gyro_report.y, gyro_report.z); vect = _board_rotation * vect; @@ -1056,7 +1056,7 @@ Sensors::mag_poll(struct sensor_combined_s &raw) if (mag_updated) { struct mag_report mag_report; - orb_copy(ORB_ID(sensor_mag), _mag_sub, &mag_report); + orb_copy(ORB_ID(sensor_mag0), _mag_sub, &mag_report); math::Vector<3> vect(mag_report.x, mag_report.y, mag_report.z); @@ -1087,7 +1087,7 @@ Sensors::baro_poll(struct sensor_combined_s &raw) if (baro_updated) { - orb_copy(ORB_ID(sensor_baro), _baro_sub, &_barometer); + orb_copy(ORB_ID(sensor_baro0), _baro_sub, &_barometer); raw.baro_pres_mbar = _barometer.pressure; // Pressure in mbar raw.baro_alt_meter = _barometer.altitude; // Altitude in meters @@ -1618,11 +1618,11 @@ Sensors::task_main() /* * do subscriptions */ - _gyro_sub = orb_subscribe(ORB_ID(sensor_gyro)); - _accel_sub = orb_subscribe(ORB_ID(sensor_accel)); - _mag_sub = orb_subscribe(ORB_ID(sensor_mag)); + _gyro_sub = orb_subscribe(ORB_ID(sensor_gyro0)); + _accel_sub = orb_subscribe(ORB_ID(sensor_accel0)); + _mag_sub = orb_subscribe(ORB_ID(sensor_mag0)); _rc_sub = orb_subscribe(ORB_ID(input_rc)); - _baro_sub = orb_subscribe(ORB_ID(sensor_baro)); + _baro_sub = orb_subscribe(ORB_ID(sensor_baro0)); _diff_pres_sub = orb_subscribe(ORB_ID(differential_pressure)); _vcontrol_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode)); _params_sub = orb_subscribe(ORB_ID(parameter_update)); |