From c4cf28fa9529ed12a1c78f0e297863f34644167a Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 25 Jan 2015 21:07:06 +0100 Subject: Move FW att control to multi pub sub API --- src/modules/fw_att_control/fw_att_control_main.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) (limited to 'src') 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)); -- cgit v1.2.3