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Make sensors app multi-device aware

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Lorenz Meier
2014-06-10 15:04:18 +02:00
parent 578680135e
commit 96accbf96c
1 changed files with 8 additions and 8 deletions
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src/modules/sensors/sensors.cpp
+8 -8
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@@ -967,7 +967,7 @@ Sensors::accel_poll(struct sensor_combined_s &raw)
if (accel_updated) {
struct accel_report accel_report;
orb_copy(ORB_ID(sensor_accel), _accel_sub, &accel_report);
orb_copy(ORB_ID(sensor_accel0), _accel_sub, &accel_report);
math::Vector<3> vect(accel_report.x, accel_report.y, accel_report.z);
vect = _board_rotation * vect;
@@ -993,7 +993,7 @@ Sensors::gyro_poll(struct sensor_combined_s &raw)
if (gyro_updated) {
struct gyro_report gyro_report;
orb_copy(ORB_ID(sensor_gyro), _gyro_sub, &gyro_report);
orb_copy(ORB_ID(sensor_gyro0), _gyro_sub, &gyro_report);
math::Vector<3> vect(gyro_report.x, gyro_report.y, gyro_report.z);
vect = _board_rotation * vect;
@@ -1019,7 +1019,7 @@ Sensors::mag_poll(struct sensor_combined_s &raw)
if (mag_updated) {
struct mag_report mag_report;
orb_copy(ORB_ID(sensor_mag), _mag_sub, &mag_report);
orb_copy(ORB_ID(sensor_mag0), _mag_sub, &mag_report);
math::Vector<3> vect(mag_report.x, mag_report.y, mag_report.z);
@@ -1050,7 +1050,7 @@ Sensors::baro_poll(struct sensor_combined_s &raw)
if (baro_updated) {
orb_copy(ORB_ID(sensor_baro), _baro_sub, &_barometer);
orb_copy(ORB_ID(sensor_baro0), _baro_sub, &_barometer);
raw.baro_pres_mbar = _barometer.pressure; // Pressure in mbar
raw.baro_alt_meter = _barometer.altitude; // Altitude in meters
@@ -1579,11 +1579,11 @@ Sensors::task_main()
/*
* do subscriptions
*/
_gyro_sub = orb_subscribe(ORB_ID(sensor_gyro));
_accel_sub = orb_subscribe(ORB_ID(sensor_accel));
_mag_sub = orb_subscribe(ORB_ID(sensor_mag));
_gyro_sub = orb_subscribe(ORB_ID(sensor_gyro0));
_accel_sub = orb_subscribe(ORB_ID(sensor_accel0));
_mag_sub = orb_subscribe(ORB_ID(sensor_mag0));
_rc_sub = orb_subscribe(ORB_ID(input_rc));
_baro_sub = orb_subscribe(ORB_ID(sensor_baro));
_baro_sub = orb_subscribe(ORB_ID(sensor_baro0));
_diff_pres_sub = orb_subscribe(ORB_ID(differential_pressure));
_vcontrol_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
_params_sub = orb_subscribe(ORB_ID(parameter_update));