Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-31 10:26:52 +08:00
Code Issues Actions 7 Packages Projects Releases Wiki Activity

examples/uuv_example_app: replace sensor_combined with vehicle_acceleration

Browse Source
This commit is contained in:
Daniel Agar
2020-08-22 14:34:05 -04:00
parent e8a074dc03
commit 2c450280d2
1 changed files with 9 additions and 9 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/examples/uuv_example_app/uuv_example_app.cpp
+9 -9
View File
@@ -62,7 +62,7 @@
// Include uORB and the required topics for this app // Include uORB and the required topics for this app
#include <uORB/uORB.h> #include <uORB/uORB.h>
#include <uORB/topics/sensor_combined.h> // this topics hold the acceleration data #include <uORB/topics/vehicle_acceleration.h> // this topics hold the acceleration data
#include <uORB/topics/actuator_controls.h> // this topic gives the actuators control input #include <uORB/topics/actuator_controls.h> // this topic gives the actuators control input
#include <uORB/topics/vehicle_attitude.h> // this topic holds the orientation of the hippocampus #include <uORB/topics/vehicle_attitude.h> // this topic holds the orientation of the hippocampus
@@ -72,8 +72,8 @@ int uuv_example_app_main(int argc, char *argv[])
{ {
PX4_INFO("auv_hippocampus_example_app has been started!"); PX4_INFO("auv_hippocampus_example_app has been started!");
/* subscribe to sensor_combined topic */ /* subscribe to vehicle_acceleration topic */
int sensor_sub_fd = orb_subscribe(ORB_ID(sensor_combined)); int sensor_sub_fd = orb_subscribe(ORB_ID(vehicle_acceleration));
/* limit the update rate to 5 Hz */ /* limit the update rate to 5 Hz */
orb_set_interval(sensor_sub_fd, 200); orb_set_interval(sensor_sub_fd, 200);
@@ -118,17 +118,17 @@ int uuv_example_app_main(int argc, char *argv[])
if (fds[0].revents & POLLIN) { if (fds[0].revents & POLLIN) {
/* obtained data for the first file descriptor */ /* obtained data for the first file descriptor */
struct sensor_combined_s raw_sensor; vehicle_acceleration_s sensor{};
/* copy sensors raw data into local buffer */ /* copy sensors raw data into local buffer */
orb_copy(ORB_ID(sensor_combined), sensor_sub_fd, &raw_sensor); orb_copy(ORB_ID(vehicle_acceleration), sensor_sub_fd, &sensor);
// printing the sensor data into the terminal // printing the sensor data into the terminal
PX4_INFO("Acc:\t%8.4f\t%8.4f\t%8.4f", PX4_INFO("Acc:\t%8.4f\t%8.4f\t%8.4f",
(double)raw_sensor.accelerometer_m_s2[0], (double)sensor.xyz[0],
(double)raw_sensor.accelerometer_m_s2[1], (double)sensor.xyz[1],
(double)raw_sensor.accelerometer_m_s2[2]); (double)sensor.xyz[2]);
/* obtained data for the third file descriptor */ /* obtained data for the third file descriptor */
struct vehicle_attitude_s raw_ctrl_state; vehicle_attitude_s raw_ctrl_state{};
/* copy sensors raw data into local buffer */ /* copy sensors raw data into local buffer */
orb_copy(ORB_ID(vehicle_attitude), vehicle_attitude_sub_fd, &raw_ctrl_state); orb_copy(ORB_ID(vehicle_attitude), vehicle_attitude_sub_fd, &raw_ctrl_state);