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att_q : move to new vision attitude topic

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This commit is contained in:
Kabir Mohammed
2017-02-15 21:48:33 +01:00
committed by Lorenz Meier
parent bdcc626f29
commit a158d7f124
1 changed files with 3 additions and 4 deletions
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src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
+3 -4
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@@ -58,7 +58,6 @@
#include <uORB/topics/control_state.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vision_position_estimate.h>
#include <uORB/topics/att_pos_mocap.h>
#include <uORB/topics/airspeed.h>
#include <uORB/topics/parameter_update.h>
@@ -157,7 +156,7 @@ private:
Vector<3> _accel;
Vector<3> _mag;
vision_position_estimate_s _vision = {};
vehicle_attitude_s _vision = {};
Vector<3> _vision_hdg;
att_pos_mocap_s _mocap = {};
@@ -291,7 +290,7 @@ void AttitudeEstimatorQ::task_main()
_sensors_sub = orb_subscribe(ORB_ID(sensor_combined));
_vision_sub = orb_subscribe(ORB_ID(vision_position_estimate));
_vision_sub = orb_subscribe(ORB_ID(vehicle_vision_attitude));
_mocap_sub = orb_subscribe(ORB_ID(att_pos_mocap));
_airspeed_sub = orb_subscribe(ORB_ID(airspeed));
@@ -371,7 +370,7 @@ void AttitudeEstimatorQ::task_main()
orb_check(_mocap_sub, &mocap_updated);
if (vision_updated) {
orb_copy(ORB_ID(vision_position_estimate), _vision_sub, &_vision);
orb_copy(ORB_ID(vehicle_vision_attitude), _vision_sub, &_vision);
math::Quaternion q(_vision.q);
math::Matrix<3, 3> Rvis = q.to_dcm();