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purge vehicle_vision_position alias

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This commit is contained in:
TSC21
2018-09-18 09:52:33 +02:00
committed by Lorenz Meier
parent 8f23a073a4
commit 183a63cce9
7 changed files with 2294 additions and 48 deletions
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src/modules/position_estimator_inav/position_estimator_inav_main.cpp
+4 -3
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@@ -59,6 +59,7 @@
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_gps_position.h>
#include <uORB/topics/vehicle_odometry.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/att_pos_mocap.h>
#include <uORB/topics/optical_flow.h>
@@ -381,7 +382,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
int vehicle_attitude_sub = orb_subscribe(ORB_ID(vehicle_attitude));
int optical_flow_sub = orb_subscribe(ORB_ID(optical_flow));
int vehicle_gps_position_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
int vision_position_sub = orb_subscribe(ORB_ID(vehicle_vision_position));
int visual_odometry_sub = orb_subscribe(ORB_ID(vehicle_visual_odometry));
int att_pos_mocap_sub = orb_subscribe(ORB_ID(att_pos_mocap));
int vehicle_rate_sp_sub = orb_subscribe(ORB_ID(vehicle_rates_setpoint));
int vehicle_air_data_sub = orb_subscribe(ORB_ID(vehicle_air_data));
@@ -774,10 +775,10 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
/* check no vision circuit breaker is set */
if (params.no_vision != CBRK_NO_VISION_KEY) {
/* vehicle vision position */
orb_check(vision_position_sub, &updated);
orb_check(visual_odometry_sub, &updated);
if (updated) {
orb_copy(ORB_ID(vehicle_vision_position), vision_position_sub, &vision);
orb_copy(ORB_ID(vehicle_visual_odometry), visual_odometry_sub, &vision);
static float last_vision_x = 0.0f;
static float last_vision_y = 0.0f;