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Move EKF to multi pub/sub API

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Lorenz Meier
2015-01-25 21:06:48 +01:00
parent 777eda1a89
commit 83a0f8e5ce
1 changed files with 3 additions and 3 deletions
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src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
+3 -3
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@@ -719,7 +719,7 @@ FixedwingEstimator::task_main()
* do subscriptions
*/
_distance_sub = orb_subscribe(ORB_ID(sensor_range_finder));
_baro_sub = orb_subscribe(ORB_ID(sensor_baro0));
_baro_sub = orb_subscribe_multi(ORB_ID(sensor_baro), 0);
_airspeed_sub = orb_subscribe(ORB_ID(airspeed));
_gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
_vstatus_sub = orb_subscribe(ORB_ID(vehicle_status));
@@ -1087,7 +1087,7 @@ FixedwingEstimator::task_main()
if (baro_updated) {
orb_copy(ORB_ID(sensor_baro0), _baro_sub, &_baro);
orb_copy(ORB_ID(sensor_baro), _baro_sub, &_baro);
float baro_elapsed = (_baro.timestamp - baro_last) / 1e6f;
baro_last = _baro.timestamp;
@@ -1216,7 +1216,7 @@ FixedwingEstimator::task_main()
initVelNED[2] = _gps.vel_d_m_s;
// Set up height correctly
orb_copy(ORB_ID(sensor_baro0), _baro_sub, &_baro);
orb_copy(ORB_ID(sensor_baro), _baro_sub, &_baro);
_baro_ref_offset = _ekf->states[9]; // this should become zero in the local frame
// init filtered gps and baro altitudes