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Move FW att control to multi pub sub API

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Lorenz Meier
2015-01-29 16:33:53 +01:00
parent 83a0f8e5ce
commit c4cf28fa95
1 changed files with 2 additions and 2 deletions
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src/modules/fw_att_control/fw_att_control_main.cpp
+2 -2
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@@ -549,7 +549,7 @@ FixedwingAttitudeControl::vehicle_accel_poll()
orb_check(_accel_sub, &accel_updated); orb_check(_accel_sub, &accel_updated);
if (accel_updated) { if (accel_updated) {
orb_copy(ORB_ID(sensor_accel0), _accel_sub, &_accel); orb_copy(ORB_ID(sensor_accel), _accel_sub, &_accel);
} }
} }
@@ -619,7 +619,7 @@ FixedwingAttitudeControl::task_main()
*/ */
_att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint)); _att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
_att_sub = orb_subscribe(ORB_ID(vehicle_attitude)); _att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
_accel_sub = orb_subscribe(ORB_ID(sensor_accel0)); _accel_sub = orb_subscribe_multi(ORB_ID(sensor_accel), 0);
_airspeed_sub = orb_subscribe(ORB_ID(airspeed)); _airspeed_sub = orb_subscribe(ORB_ID(airspeed));
_vcontrol_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode)); _vcontrol_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
_params_sub = orb_subscribe(ORB_ID(parameter_update)); _params_sub = orb_subscribe(ORB_ID(parameter_update));