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remove att_pos_mocap uORB topics

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This commit is contained in:
TSC21
2018-09-18 09:52:33 +02:00
committed by Lorenz Meier
parent 8dd610ab78
commit 440ebfde02
6 changed files with 7 additions and 21 deletions
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src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
+4 -4
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@@ -52,12 +52,12 @@
#include <systemlib/err.h>
#include <parameters/param.h>
#include <perf/perf_counter.h>
#include <uORB/topics/att_pos_mocap.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_magnetometer.h>
#include <uORB/topics/vehicle_odometry.h>
extern "C" __EXPORT int attitude_estimator_q_main(int argc, char *argv[]);
@@ -263,7 +263,7 @@ void AttitudeEstimatorQ::task_main()
_sensors_sub = orb_subscribe(ORB_ID(sensor_combined));
_vision_sub = orb_subscribe(ORB_ID(vehicle_vision_attitude));
_mocap_sub = orb_subscribe(ORB_ID(att_pos_mocap));
_mocap_sub = orb_subscribe(ORB_ID(vehicle_mocap_odometry));
_params_sub = orb_subscribe(ORB_ID(parameter_update));
_global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
_magnetometer_sub = orb_subscribe(ORB_ID(vehicle_magnetometer));
@@ -369,9 +369,9 @@ void AttitudeEstimatorQ::task_main()
orb_check(_mocap_sub, &mocap_updated);
if (mocap_updated) {
att_pos_mocap_s mocap;
vehicle_odometry_s mocap;
if (orb_copy(ORB_ID(att_pos_mocap), _mocap_sub, &mocap) == PX4_OK) {
if (orb_copy(ORB_ID(vehicle_mocap_odometry), _mocap_sub, &mocap) == PX4_OK) {
Dcmf Rmoc = Quatf(mocap.q);
Vector3f v(1.0f, 0.0f, 0.4f);