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lpe : move to new vision topic

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This commit is contained in:
Kabir Mohammed 2016-12-16 20:57:48 +05:30 committed by Lorenz Meier
parent f8775306d3
commit 8eaddeee0a
2 changed files with 3 additions and 4 deletions
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4
src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp
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@ -34,8 +34,8 @@ BlockLocalPositionEstimator::BlockLocalPositionEstimator() :
_sub_manual(ORB_ID(manual_control_setpoint), 1000 / 2, 0, &getSubscriptions()),
// gps 10 hz
_sub_gps(ORB_ID(vehicle_gps_position), 1000 / 10, 0, &getSubscriptions()),
// vision 30 hz
_sub_vision_pos(ORB_ID(vision_position_estimate), 1000 / 30, 0, &getSubscriptions()),
// vision 50 hz
_sub_vision_pos(ORB_ID(vehicle_vision_position), 1000 / 50, 0, &getSubscriptions()),
// mocap 50 hz
_sub_mocap(ORB_ID(att_pos_mocap), 1000 / 50, 0, &getSubscriptions()),
// all distance sensors, 10 hz

3
src/modules/local_position_estimator/BlockLocalPositionEstimator.hpp
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@ -20,7 +20,6 @@
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/vehicle_gps_position.h>
#include <uORB/topics/vision_position_estimate.h>
#include <uORB/topics/att_pos_mocap.h>
// uORB Publications
@ -240,7 +239,7 @@ private:
uORB::Subscription<parameter_update_s> _sub_param_update;
uORB::Subscription<manual_control_setpoint_s> _sub_manual;
uORB::Subscription<vehicle_gps_position_s> _sub_gps;
uORB::Subscription<vision_position_estimate_s> _sub_vision_pos;
uORB::Subscription<vehicle_local_position_s> _sub_vision_pos;
uORB::Subscription<att_pos_mocap_s> _sub_mocap;
uORB::Subscription<distance_sensor_s> _sub_dist0;
uORB::Subscription<distance_sensor_s> _sub_dist1;