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create uORB::PublicationMulti for multi publications

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Daniel Agar
2019-08-08 21:01:56 -04:00
parent 0a0c404a08
commit e8a11086eb
13 changed files with 193 additions and 69 deletions
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src/lib/drivers/accelerometer/PX4Accelerometer.hpp
+2 -2
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@@ -41,7 +41,7 @@
#include <mathlib/math/filter/LowPassFilter2pVector3f.hpp>
#include <px4_module_params.h>
#include <uORB/uORB.h>
#include <uORB/Publication.hpp>
#include <uORB/PublicationMulti.hpp>
#include <uORB/topics/sensor_accel.h>
class PX4Accelerometer : public cdev::CDev, public ModuleParams
@@ -68,7 +68,7 @@ private:
void configure_filter(float cutoff_freq) { _filter.set_cutoff_frequency(_sample_rate, cutoff_freq); }
uORB::PublicationData<sensor_accel_s> _sensor_accel_pub;
uORB::PublicationMultiData<sensor_accel_s> _sensor_accel_pub;
math::LowPassFilter2pVector3f _filter{1000, 100};
Integrator _integrator{4000, false};