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Attitude estimator Q: Move to convenience publication call

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This commit is contained in:
Lorenz Meier
2015-11-08 11:13:03 +01:00
parent fd01d565fe
commit eb4a562948
1 changed files with 10 additions and 16 deletions
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src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
+10 -16
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@@ -552,7 +552,7 @@ void AttitudeEstimatorQ::task_main()
_vel_prev_t = 0;
}
// Time from previous iteration
/* time from previous iteration */
hrt_abstime now = hrt_absolute_time();
float dt = (last_time > 0) ? ((now - last_time) / 1000000.0f) : 0.00001f;
last_time = now;
@@ -595,18 +595,15 @@ void AttitudeEstimatorQ::task_main()
att.accel_vibration = _voter_accel.get_vibration_factor(hrt_absolute_time());
att.mag_vibration = _voter_mag.get_vibration_factor(hrt_absolute_time());
if (_att_pub == nullptr) {
_att_pub = orb_advertise(ORB_ID(vehicle_attitude), &att);
} else {
orb_publish(ORB_ID(vehicle_attitude), _att_pub, &att);
}
/* the instance count is not used here */
int att_inst;
orb_publish_auto(ORB_ID(vehicle_attitude), &_att_pub, &att, &att_inst, ORB_PRIO_HIGH);
struct control_state_s ctrl_state = {};
ctrl_state.timestamp = sensors.timestamp;
/* Attitude quaternions for control state */
/* attitude quaternions for control state */
ctrl_state.q[0] = _q(0);
ctrl_state.q[1] = _q(1);
@@ -615,7 +612,7 @@ void AttitudeEstimatorQ::task_main()
ctrl_state.q[3] = _q(3);
/* Attitude rates for control state */
/* attitude rates for control state */
ctrl_state.roll_rate = _lp_roll_rate.apply(_rates(0));
ctrl_state.pitch_rate = _lp_pitch_rate.apply(_rates(1));
@@ -632,13 +629,10 @@ void AttitudeEstimatorQ::task_main()
ctrl_state.airspeed_valid = false;
}
/* Publish to control state topic */
if (_ctrl_state_pub == nullptr) {
_ctrl_state_pub = orb_advertise(ORB_ID(control_state), &ctrl_state);
} else {
orb_publish(ORB_ID(control_state), _ctrl_state_pub, &ctrl_state);
}
/* the instance count is not used here */
int ctrl_inst;
/* publish to control state topic */
orb_publish_auto(ORB_ID(control_state), &_ctrl_state_pub, &ctrl_state, &ctrl_inst, ORB_PRIO_HIGH);
}
}