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EKF estimator: Add support for multi uORB sensor topics

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Lorenz Meier
2014-06-10 15:09:16 +02:00
parent becfed9fbd
commit 699ad1512c
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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@@ -522,7 +522,7 @@ FixedwingEstimator::task_main()
/*
* do subscriptions
*/
_baro_sub = orb_subscribe(ORB_ID(sensor_baro));
_baro_sub = orb_subscribe(ORB_ID(sensor_baro0));
_airspeed_sub = orb_subscribe(ORB_ID(airspeed));
_gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
_vstatus_sub = orb_subscribe(ORB_ID(vehicle_status));
@@ -861,7 +861,7 @@ FixedwingEstimator::task_main()
orb_check(_baro_sub, &baro_updated);
if (baro_updated) {
orb_copy(ORB_ID(sensor_baro), _baro_sub, &_baro);
orb_copy(ORB_ID(sensor_baro0), _baro_sub, &_baro);
_ekf->baroHgt = _baro.altitude;
@@ -1040,7 +1040,7 @@ FixedwingEstimator::task_main()
float gps_alt = _gps.alt / 1e3f;
// Set up height correctly
orb_copy(ORB_ID(sensor_baro), _baro_sub, &_baro);
orb_copy(ORB_ID(sensor_baro0), _baro_sub, &_baro);
_baro_gps_offset = _baro_ref - _baro.altitude;
_ekf->baroHgt = _baro.altitude;
_ekf->hgtMea = 1.0f * (_ekf->baroHgt - (_baro_ref));