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Move commander to multi pub/sub API

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This commit is contained in:
Lorenz Meier 2015-01-25 21:06:03 +01:00
parent d851a630d8
commit 7f299ea0cc
1 changed files with 2 additions and 2 deletions
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4
src/modules/commander/gyro_calibration.cpp
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@ -95,7 +95,7 @@ int do_gyro_calibration(int mavlink_fd)
unsigned poll_errcount = 0;
/* subscribe to gyro sensor topic */
int sub_sensor_gyro = orb_subscribe(ORB_ID(sensor_gyro0));
int sub_sensor_gyro = orb_subscribe_multi(ORB_ID(sensor_gyro), 0);
struct gyro_report gyro_report;
while (calibration_counter < calibration_count) {
@ -107,7 +107,7 @@ int do_gyro_calibration(int mavlink_fd)
int poll_ret = poll(fds, 1, 1000);
if (poll_ret > 0) {
orb_copy(ORB_ID(sensor_gyro0), sub_sensor_gyro, &gyro_report);
orb_copy(ORB_ID(sensor_gyro), sub_sensor_gyro, &gyro_report);
gyro_scale.x_offset += gyro_report.x;
gyro_scale.y_offset += gyro_report.y;
gyro_scale.z_offset += gyro_report.z;