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examples/px4_simple_app: replace sensor_combined with vehicle_acceleration

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This commit is contained in:
Daniel Agar
2020-08-22 14:33:51 -04:00
parent 1bb4c9d05f
commit e8a074dc03
1 changed files with 11 additions and 11 deletions
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src/examples/px4_simple_app/px4_simple_app.c
+11 -11
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@@ -48,7 +48,7 @@
#include <math.h>
#include <uORB/uORB.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/vehicle_acceleration.h>
#include <uORB/topics/vehicle_attitude.h>
__EXPORT int px4_simple_app_main(int argc, char *argv[]);
@@ -57,8 +57,8 @@ int px4_simple_app_main(int argc, char *argv[])
{
PX4_INFO("Hello Sky!");
/* subscribe to sensor_combined topic */
int sensor_sub_fd = orb_subscribe(ORB_ID(sensor_combined));
/* subscribe to vehicle_acceleration topic */
int sensor_sub_fd = orb_subscribe(ORB_ID(vehicle_acceleration));
/* limit the update rate to 5 Hz */
orb_set_interval(sensor_sub_fd, 200);
@@ -99,20 +99,20 @@ int px4_simple_app_main(int argc, char *argv[])
if (fds[0].revents & POLLIN) {
/* obtained data for the first file descriptor */
struct sensor_combined_s raw;
struct vehicle_acceleration_s accel;
/* copy sensors raw data into local buffer */
orb_copy(ORB_ID(sensor_combined), sensor_sub_fd, &raw);
orb_copy(ORB_ID(vehicle_acceleration), sensor_sub_fd, &accel);
PX4_INFO("Accelerometer:\t%8.4f\t%8.4f\t%8.4f",
(double)raw.accelerometer_m_s2[0],
(double)raw.accelerometer_m_s2[1],
(double)raw.accelerometer_m_s2[2]);
(double)accel.xyz[0],
(double)accel.xyz[1],
(double)accel.xyz[2]);
/* set att and publish this information for other apps
the following does not have any meaning, it's just an example
*/
att.q[0] = raw.accelerometer_m_s2[0];
att.q[1] = raw.accelerometer_m_s2[1];
att.q[2] = raw.accelerometer_m_s2[2];
att.q[0] = accel.xyz[0];
att.q[1] = accel.xyz[1];
att.q[2] = accel.xyz[2];
orb_publish(ORB_ID(vehicle_attitude), att_pub, &att);
}