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Attitude estimator Q: Update to new sensors combined topic

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Lorenz Meier
2015-08-30 00:08:12 +02:00
parent 374abf3b73
commit fd0950f046
1 changed files with 6 additions and 6 deletions
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src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
+6 -6
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@@ -288,12 +288,12 @@ void AttitudeEstimatorQ::task_main()
sensor_combined_s sensors;
if (!orb_copy(ORB_ID(sensor_combined), _sensors_sub, &sensors)) {
// Feed validator with recent sensor data
_voter_gyro.put(0, sensors.timestamp, sensors.gyro_rad_s, sensors.gyro_errcount);
_voter_gyro.put(1, sensors.gyro1_timestamp, sensors.gyro1_rad_s, sensors.gyro1_errcount);
_voter_accel.put(0, sensors.accelerometer_timestamp, sensors.accelerometer_m_s2, sensors.accelerometer_errcount);
_voter_accel.put(1, sensors.accelerometer1_timestamp, sensors.accelerometer1_m_s2, sensors.accelerometer1_errcount);
_voter_mag.put(0, sensors.magnetometer_timestamp, sensors.magnetometer_ga, sensors.magnetometer_errcount);
_voter_mag.put(1, sensors.magnetometer1_timestamp, sensors.magnetometer1_ga, sensors.magnetometer1_errcount);
for (unsigned i = 0; i < 2; i++) {
_voter_gyro.put(i, sensors.gyro_timestamp[i], &sensors.gyro_rad_s[i * 3], sensors.gyro_errcount[i]);
_voter_accel.put(i, sensors.accelerometer_timestamp[i], &sensors.accelerometer_m_s2[i * 3], sensors.accelerometer_errcount[i]);
_voter_mag.put(i, sensors.magnetometer_timestamp[i], &sensors.magnetometer_ga[i * 3], sensors.magnetometer_errcount[i]);
}
int best_gyro, best_accel, best_mag;