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Move MATLAB example to multi pub/sub API

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Lorenz Meier
2015-01-25 21:06:27 +01:00
parent 7f299ea0cc
commit 777eda1a89
1 changed files with 9 additions and 9 deletions
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src/examples/matlab_csv_serial/matlab_csv_serial.c
+9 -9
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@@ -1,6 +1,6 @@
/**************************************************************************** /****************************************************************************
* *
* Copyright (c) 2014 PX4 Development Team. All rights reserved. * Copyright (c) 2014-2015 PX4 Development Team. All rights reserved.
* *
* Redistribution and use in source and binary forms, with or without * Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions * modification, are permitted provided that the following conditions
@@ -190,10 +190,10 @@ int matlab_csv_serial_thread_main(int argc, char *argv[])
struct gyro_report gyro1; struct gyro_report gyro1;
/* subscribe to parameter changes */ /* subscribe to parameter changes */
int accel0_sub = orb_subscribe(ORB_ID(sensor_accel0)); int accel0_sub = orb_subscribe_multi(ORB_ID(sensor_accel), 0);
int accel1_sub = orb_subscribe(ORB_ID(sensor_accel1)); int accel1_sub = orb_subscribe_multi(ORB_ID(sensor_accel), 1);
int gyro0_sub = orb_subscribe(ORB_ID(sensor_gyro0)); int gyro0_sub = orb_subscribe_multi(ORB_ID(sensor_gyro), 0);
int gyro1_sub = orb_subscribe(ORB_ID(sensor_gyro1)); int gyro1_sub = orb_subscribe_multi(ORB_ID(sensor_gyro), 1);
thread_running = true; thread_running = true;
@@ -224,10 +224,10 @@ int matlab_csv_serial_thread_main(int argc, char *argv[])
/* accel0 update available? */ /* accel0 update available? */
if (fds[0].revents & POLLIN) if (fds[0].revents & POLLIN)
{ {
orb_copy(ORB_ID(sensor_accel0), accel0_sub, &accel0); orb_copy(ORB_ID(sensor_accel), accel0_sub, &accel0);
orb_copy(ORB_ID(sensor_accel1), accel1_sub, &accel1); orb_copy(ORB_ID(sensor_accel), accel1_sub, &accel1);
orb_copy(ORB_ID(sensor_gyro0), gyro0_sub, &gyro0); orb_copy(ORB_ID(sensor_gyro), gyro0_sub, &gyro0);
orb_copy(ORB_ID(sensor_gyro1), gyro1_sub, &gyro1); orb_copy(ORB_ID(sensor_gyro), gyro1_sub, &gyro1);
// write out on accel 0, but collect for all other sensors as they have updates // write out on accel 0, but collect for all other sensors as they have updates
dprintf(serial_fd, "%llu,%d,%d,%d,%d,%d,%d\n", accel0.timestamp, (int)accel0.x_raw, (int)accel0.y_raw, (int)accel0.z_raw, dprintf(serial_fd, "%llu,%d,%d,%d,%d,%d,%d\n", accel0.timestamp, (int)accel0.x_raw, (int)accel0.y_raw, (int)accel0.z_raw,