From 1bb4c9d05fb68332c73b7c541cc2cfd590382f16 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Sat, 22 Aug 2020 14:33:33 -0400
Subject: [PATCH] frsky_telemetry: replace sensor_combined with
 vehicle_acceleration

---
 .../telemetry/frsky_telemetry/frsky_data.cpp       | 14 +++++++-------
 .../telemetry/frsky_telemetry/sPort_data.cpp       |  6 +++---
 2 files changed, 10 insertions(+), 10 deletions(-)

diff --git a/src/drivers/telemetry/frsky_telemetry/frsky_data.cpp b/src/drivers/telemetry/frsky_telemetry/frsky_data.cpp
index e11c9543e8..5e8cf71333 100644
--- a/src/drivers/telemetry/frsky_telemetry/frsky_data.cpp
+++ b/src/drivers/telemetry/frsky_telemetry/frsky_data.cpp
@@ -53,7 +53,7 @@
 
 #include <uORB/Subscription.hpp>
 #include <uORB/topics/battery_status.h>
-#include <uORB/topics/sensor_combined.h>
+#include <uORB/topics/vehicle_acceleration.h>
 #include <uORB/topics/vehicle_air_data.h>
 #include <uORB/topics/vehicle_local_position.h>
 #include <uORB/topics/vehicle_global_position.h>
@@ -67,7 +67,7 @@
 struct frsky_subscription_data_s {
 
 	uORB::SubscriptionData<battery_status_s> battery_status_sub{ORB_ID(battery_status)};
-	uORB::SubscriptionData<sensor_combined_s> sensor_combined_sub{ORB_ID(sensor_combined)};
+	uORB::SubscriptionData<vehicle_acceleration_s> vehicle_acceleration_sub{ORB_ID(vehicle_acceleration)};
 	uORB::SubscriptionData<vehicle_air_data_s> vehicle_air_data_sub{ORB_ID(vehicle_air_data)};
 	uORB::SubscriptionData<vehicle_local_position_s> vehicle_local_position_sub{ORB_ID(vehicle_local_position)};
 	uORB::SubscriptionData<vehicle_global_position_s> vehicle_global_position_sub{ORB_ID(vehicle_global_position)};
@@ -149,7 +149,7 @@ static void frsky_send_data(int uart, uint8_t id, int16_t data)
 void frsky_update_topics()
 {
 	subscription_data->battery_status_sub.update();
-	subscription_data->sensor_combined_sub.update();
+	subscription_data->vehicle_acceleration_sub.update();
 	subscription_data->vehicle_air_data_sub.update();
 	subscription_data->vehicle_local_position_sub.update();
 	subscription_data->vehicle_global_position_sub.update();
@@ -164,10 +164,10 @@ void frsky_update_topics()
 void frsky_send_frame1(int uart)
 {
 	/* send formatted frame */
-	const sensor_combined_s &sensor_combined = subscription_data->sensor_combined_sub.get();
-	frsky_send_data(uart, FRSKY_ID_ACCEL_X, roundf(sensor_combined.accelerometer_m_s2[0] * 1000.0f));
-	frsky_send_data(uart, FRSKY_ID_ACCEL_Y, roundf(sensor_combined.accelerometer_m_s2[1] * 1000.0f));
-	frsky_send_data(uart, FRSKY_ID_ACCEL_Z, roundf(sensor_combined.accelerometer_m_s2[2] * 1000.0f));
+	const vehicle_acceleration_s &vehicle_acceleration = subscription_data->vehicle_acceleration_sub.get();
+	frsky_send_data(uart, FRSKY_ID_ACCEL_X, roundf(vehicle_acceleration.xyz[0] * 1000.0f));
+	frsky_send_data(uart, FRSKY_ID_ACCEL_Y, roundf(vehicle_acceleration.xyz[1] * 1000.0f));
+	frsky_send_data(uart, FRSKY_ID_ACCEL_Z, roundf(vehicle_acceleration.xyz[2] * 1000.0f));
 
 	const vehicle_air_data_s &air_data = subscription_data->vehicle_air_data_sub.get();
 	frsky_send_data(uart, FRSKY_ID_BARO_ALT_BP, air_data.baro_alt_meter);
diff --git a/src/drivers/telemetry/frsky_telemetry/sPort_data.cpp b/src/drivers/telemetry/frsky_telemetry/sPort_data.cpp
index 881caa0611..a9dea500af 100644
--- a/src/drivers/telemetry/frsky_telemetry/sPort_data.cpp
+++ b/src/drivers/telemetry/frsky_telemetry/sPort_data.cpp
@@ -53,7 +53,7 @@
 
 #include <uORB/Subscription.hpp>
 #include <uORB/topics/battery_status.h>
-#include <uORB/topics/sensor_combined.h>
+#include <uORB/topics/vehicle_acceleration.h>
 #include <uORB/topics/vehicle_air_data.h>
 #include <uORB/topics/vehicle_global_position.h>
 #include <uORB/topics/vehicle_local_position.h>
@@ -66,7 +66,7 @@
 
 struct s_port_subscription_data_s {
 	uORB::SubscriptionData<battery_status_s> battery_status_sub{ORB_ID(battery_status)};
-	uORB::SubscriptionData<sensor_combined_s> sensor_combined_sub{ORB_ID(sensor_combined)};
+	uORB::SubscriptionData<vehicle_acceleration_s> vehicle_acceleration_sub{ORB_ID(vehicle_acceleration)};
 	uORB::SubscriptionData<vehicle_air_data_s> vehicle_air_data_sub{ORB_ID(vehicle_air_data)};
 	uORB::SubscriptionData<vehicle_global_position_s> vehicle_global_position_sub{ORB_ID(vehicle_global_position)};
 	uORB::SubscriptionData<vehicle_gps_position_s> vehicle_gps_position_sub{ORB_ID(vehicle_gps_position)};
@@ -102,7 +102,7 @@ void sPort_deinit()
 void sPort_update_topics()
 {
 	s_port_subscription_data->battery_status_sub.update();
-	s_port_subscription_data->sensor_combined_sub.update();
+	s_port_subscription_data->vehicle_acceleration_sub.update();
 	s_port_subscription_data->vehicle_air_data_sub.update();
 	s_port_subscription_data->vehicle_global_position_sub.update();
 	s_port_subscription_data->vehicle_gps_position_sub.update();