From 1d2e424c4c4d51e812507298cc3ddc1f6348170d Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Sat, 22 Aug 2020 14:34:23 -0400
Subject: [PATCH] commander: calibration replace sensor_combined with
 vehicle_acceleration

---
 src/modules/commander/calibration_routines.cpp | 10 +++++-----
 src/modules/commander/gyro_calibration.cpp     |  1 -
 src/modules/commander/rc_calibration.cpp       |  1 -
 3 files changed, 5 insertions(+), 7 deletions(-)

diff --git a/src/modules/commander/calibration_routines.cpp b/src/modules/commander/calibration_routines.cpp
index 86a0f04a5d..3edbcf60aa 100644
--- a/src/modules/commander/calibration_routines.cpp
+++ b/src/modules/commander/calibration_routines.cpp
@@ -52,7 +52,7 @@
 
 #include <uORB/Publication.hpp>
 #include <uORB/SubscriptionBlocking.hpp>
-#include <uORB/topics/sensor_combined.h>
+#include <uORB/topics/vehicle_acceleration.h>
 #include <uORB/topics/vehicle_command.h>
 #include <uORB/topics/vehicle_command_ack.h>
 
@@ -345,12 +345,12 @@ enum detect_orientation_return detect_orientation(orb_advert_t *mavlink_log_pub,
 	unsigned poll_errcount = 0;
 
 	// Setup subscriptions to onboard accel sensor
-	uORB::SubscriptionBlocking<sensor_combined_s> sensor_sub{ORB_ID(sensor_combined)};
+	uORB::SubscriptionBlocking<vehicle_acceleration_s> vehicle_acceleration_sub{ORB_ID(vehicle_acceleration)};
 
 	while (true) {
-		sensor_combined_s sensor;
+		vehicle_acceleration_s accel;
 
-		if (sensor_sub.updateBlocking(sensor, 100000)) {
+		if (vehicle_acceleration_sub.updateBlocking(accel, 100000)) {
 			t = hrt_absolute_time();
 			float dt = (t - t_prev) / 1000000.0f;
 			t_prev = t;
@@ -358,7 +358,7 @@ enum detect_orientation_return detect_orientation(orb_advert_t *mavlink_log_pub,
 
 			for (unsigned i = 0; i < ndim; i++) {
 
-				float di = sensor.accelerometer_m_s2[i];
+				float di = accel.xyz[i];
 
 				float d = di - accel_ema[i];
 				accel_ema[i] += d * w;
diff --git a/src/modules/commander/gyro_calibration.cpp b/src/modules/commander/gyro_calibration.cpp
index 9d290407ab..8df491efe5 100644
--- a/src/modules/commander/gyro_calibration.cpp
+++ b/src/modules/commander/gyro_calibration.cpp
@@ -55,7 +55,6 @@
 #include <lib/systemlib/mavlink_log.h>
 #include <uORB/Subscription.hpp>
 #include <uORB/SubscriptionBlocking.hpp>
-#include <uORB/topics/sensor_combined.h>
 #include <uORB/topics/sensor_correction.h>
 #include <uORB/topics/sensor_gyro.h>
 
diff --git a/src/modules/commander/rc_calibration.cpp b/src/modules/commander/rc_calibration.cpp
index 20266bb2fd..c7d4561258 100644
--- a/src/modules/commander/rc_calibration.cpp
+++ b/src/modules/commander/rc_calibration.cpp
@@ -44,7 +44,6 @@
 #include "commander_helper.h"
 
 #include <uORB/Subscription.hpp>
-#include <uORB/topics/sensor_combined.h>
 #include <uORB/topics/manual_control_setpoint.h>
 #include <systemlib/mavlink_log.h>
 #include <parameters/param.h>