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Make commander multi-device aware

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Lorenz Meier
2014-06-10 15:04:56 +02:00
parent 96accbf96c
commit 07fb1e089d
2 changed files with 4 additions and 4 deletions
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src/modules/commander/gyro_calibration.cpp
+2 -2
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@@ -92,7 +92,7 @@ int do_gyro_calibration(int mavlink_fd)
unsigned poll_errcount = 0;
/* subscribe to gyro sensor topic */
int sub_sensor_gyro = orb_subscribe(ORB_ID(sensor_gyro));
int sub_sensor_gyro = orb_subscribe(ORB_ID(sensor_gyro0));
struct gyro_report gyro_report;
while (calibration_counter < calibration_count) {
@@ -104,7 +104,7 @@ int do_gyro_calibration(int mavlink_fd)
int poll_ret = poll(fds, 1, 1000);
if (poll_ret > 0) {
orb_copy(ORB_ID(sensor_gyro), sub_sensor_gyro, &gyro_report);
orb_copy(ORB_ID(sensor_gyro0), sub_sensor_gyro, &gyro_report);
gyro_scale.x_offset += gyro_report.x;
gyro_scale.y_offset += gyro_report.y;
gyro_scale.z_offset += gyro_report.z;
src/modules/commander/mag_calibration.cpp
+2 -2
View File
@@ -145,7 +145,7 @@ int do_mag_calibration(int mavlink_fd)
}
if (res == OK) {
int sub_mag = orb_subscribe(ORB_ID(sensor_mag));
int sub_mag = orb_subscribe(ORB_ID(sensor_mag0));
struct mag_report mag;
/* limit update rate to get equally spaced measurements over time (in ms) */
@@ -170,7 +170,7 @@ int do_mag_calibration(int mavlink_fd)
int poll_ret = poll(fds, 1, 1000);
if (poll_ret > 0) {
orb_copy(ORB_ID(sensor_mag), sub_mag, &mag);
orb_copy(ORB_ID(sensor_mag0), sub_mag, &mag);
x[calibration_counter] = mag.x;
y[calibration_counter] = mag.y;