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Move sensors to new mag interface

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This commit is contained in:
Lorenz Meier
2015-01-29 16:33:53 +01:00
parent f641a26fee
commit c3eb10560b
1 changed files with 6 additions and 6 deletions
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src/modules/sensors/sensors.cpp
+6 -6
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@@ -1249,7 +1249,7 @@ Sensors::mag_poll(struct sensor_combined_s &raw)
if (mag_updated) { if (mag_updated) {
struct mag_report mag_report; struct mag_report mag_report;
orb_copy(ORB_ID(sensor_mag0), _mag_sub, &mag_report); orb_copy(ORB_ID(sensor_mag), _mag_sub, &mag_report);
math::Vector<3> vect(mag_report.x, mag_report.y, mag_report.z); math::Vector<3> vect(mag_report.x, mag_report.y, mag_report.z);
@@ -1278,7 +1278,7 @@ Sensors::mag_poll(struct sensor_combined_s &raw)
if (mag_updated) { if (mag_updated) {
struct mag_report mag_report; struct mag_report mag_report;
orb_copy(ORB_ID(sensor_mag1), _mag1_sub, &mag_report); orb_copy(ORB_ID(sensor_mag), _mag1_sub, &mag_report);
raw.magnetometer1_raw[0] = mag_report.x_raw; raw.magnetometer1_raw[0] = mag_report.x_raw;
raw.magnetometer1_raw[1] = mag_report.y_raw; raw.magnetometer1_raw[1] = mag_report.y_raw;
@@ -1292,7 +1292,7 @@ Sensors::mag_poll(struct sensor_combined_s &raw)
if (mag_updated) { if (mag_updated) {
struct mag_report mag_report; struct mag_report mag_report;
orb_copy(ORB_ID(sensor_mag2), _mag2_sub, &mag_report); orb_copy(ORB_ID(sensor_mag), _mag2_sub, &mag_report);
raw.magnetometer2_raw[0] = mag_report.x_raw; raw.magnetometer2_raw[0] = mag_report.x_raw;
raw.magnetometer2_raw[1] = mag_report.y_raw; raw.magnetometer2_raw[1] = mag_report.y_raw;
@@ -1945,13 +1945,13 @@ Sensors::task_main()
*/ */
_gyro_sub = orb_subscribe(ORB_ID(sensor_gyro0)); _gyro_sub = orb_subscribe(ORB_ID(sensor_gyro0));
_accel_sub = orb_subscribe(ORB_ID(sensor_accel0)); _accel_sub = orb_subscribe(ORB_ID(sensor_accel0));
_mag_sub = orb_subscribe(ORB_ID(sensor_mag0)); _mag_sub = orb_subscribe_multi(ORB_ID(sensor_mag), 0);
_gyro1_sub = orb_subscribe(ORB_ID(sensor_gyro1)); _gyro1_sub = orb_subscribe(ORB_ID(sensor_gyro1));
_accel1_sub = orb_subscribe(ORB_ID(sensor_accel1)); _accel1_sub = orb_subscribe(ORB_ID(sensor_accel1));
_mag1_sub = orb_subscribe(ORB_ID(sensor_mag1)); _mag1_sub = orb_subscribe_multi(ORB_ID(sensor_mag), 1);
_gyro2_sub = orb_subscribe(ORB_ID(sensor_gyro2)); _gyro2_sub = orb_subscribe(ORB_ID(sensor_gyro2));
_accel2_sub = orb_subscribe(ORB_ID(sensor_accel2)); _accel2_sub = orb_subscribe(ORB_ID(sensor_accel2));
_mag2_sub = orb_subscribe(ORB_ID(sensor_mag2)); _mag2_sub = orb_subscribe_multi(ORB_ID(sensor_mag), 2);
_rc_sub = orb_subscribe(ORB_ID(input_rc)); _rc_sub = orb_subscribe(ORB_ID(input_rc));
_baro_sub = orb_subscribe(ORB_ID(sensor_baro0)); _baro_sub = orb_subscribe(ORB_ID(sensor_baro0));
_baro1_sub = orb_subscribe(ORB_ID(sensor_baro1)); _baro1_sub = orb_subscribe(ORB_ID(sensor_baro1));