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attitude_estimator_q: use vehicle_visual_odometry topic to get the heading

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This commit is contained in:
TSC21
2018-07-12 21:55:06 +01:00
committed by Lorenz Meier
parent 440ebfde02
commit 6b2fb54963
1 changed files with 2 additions and 2 deletions
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src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
+2 -2
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@@ -262,7 +262,7 @@ void AttitudeEstimatorQ::task_main()
#endif
_sensors_sub = orb_subscribe(ORB_ID(sensor_combined));
_vision_sub = orb_subscribe(ORB_ID(vehicle_vision_attitude));
_vision_sub = orb_subscribe(ORB_ID(vehicle_visual_odometry));
_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));
@@ -346,7 +346,7 @@ void AttitudeEstimatorQ::task_main()
if (vision_updated) {
vehicle_attitude_s vision;
if (orb_copy(ORB_ID(vehicle_vision_attitude), _vision_sub, &vision) == PX4_OK) {
if (orb_copy(ORB_ID(vehicle_visual_odometry), _vision_sub, &vision) == PX4_OK) {
Quatf q(vision.q);
Dcmf Rvis = Quatf(vision.q);