From 8eaddeee0a055848b987fbfd96ff4379812fa97a Mon Sep 17 00:00:00 2001
From: Kabir Mohammed <mhkabir98@gmail.com>
Date: Fri, 16 Dec 2016 20:57:48 +0530
Subject: [PATCH] lpe : move to new vision topic

---
 .../local_position_estimator/BlockLocalPositionEstimator.cpp  | 4 ++--
 .../local_position_estimator/BlockLocalPositionEstimator.hpp  | 3 +--
 2 files changed, 3 insertions(+), 4 deletions(-)

diff --git a/src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp b/src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp
index b9dc8079b2..5a16932f79 100644
--- a/src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp
+++ b/src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp
@@ -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
diff --git a/src/modules/local_position_estimator/BlockLocalPositionEstimator.hpp b/src/modules/local_position_estimator/BlockLocalPositionEstimator.hpp
index c324b86001..21bc0e921a 100644
--- a/src/modules/local_position_estimator/BlockLocalPositionEstimator.hpp
+++ b/src/modules/local_position_estimator/BlockLocalPositionEstimator.hpp
@@ -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;