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frsky_telemetry: replace sensor_combined with vehicle_acceleration

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This commit is contained in:
Daniel Agar
2020-08-22 14:33:33 -04:00
parent 5c040582db
commit 1bb4c9d05f
2 changed files with 10 additions and 10 deletions
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14
src/drivers/telemetry/frsky_telemetry/frsky_data.cpp
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@@ -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);