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att_ekf : move to new vision topics

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This commit is contained in:
Kabir Mohammed
2016-12-16 23:13:26 +05:30
committed by Lorenz Meier
parent c65b8fffd3
commit 3653d64b31
1 changed files with 3 additions and 4 deletions
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7
src/examples/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
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@@ -63,7 +63,6 @@
#include <uORB/topics/vehicle_gps_position.h> #include <uORB/topics/vehicle_gps_position.h>
#include <uORB/topics/vehicle_global_position.h> #include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/parameter_update.h> #include <uORB/topics/parameter_update.h>
#include <uORB/topics/vision_position_estimate.h>
#include <uORB/topics/att_pos_mocap.h> #include <uORB/topics/att_pos_mocap.h>
#include <drivers/drv_hrt.h> #include <drivers/drv_hrt.h>
@@ -298,7 +297,7 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
int sub_control_mode = orb_subscribe(ORB_ID(vehicle_control_mode)); int sub_control_mode = orb_subscribe(ORB_ID(vehicle_control_mode));
/* subscribe to vision estimate */ /* subscribe to vision estimate */
int vision_sub = orb_subscribe(ORB_ID(vision_position_estimate)); int vision_sub = orb_subscribe(ORB_ID(vehicle_vision_attitude));
/* subscribe to mocap data */ /* subscribe to mocap data */
int mocap_sub = orb_subscribe(ORB_ID(att_pos_mocap)); int mocap_sub = orb_subscribe(ORB_ID(att_pos_mocap));
@@ -332,7 +331,7 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
math::Matrix<3, 3> R_decl; math::Matrix<3, 3> R_decl;
R_decl.identity(); R_decl.identity();
struct vision_position_estimate_s vision {}; struct vehicle_attitude_s vision {};
struct att_pos_mocap_s mocap {}; struct att_pos_mocap_s mocap {};
/* register the perf counter */ /* register the perf counter */
@@ -492,7 +491,7 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
orb_check(mocap_sub, &mocap_updated); orb_check(mocap_sub, &mocap_updated);
if (vision_updated) { if (vision_updated) {
orb_copy(ORB_ID(vision_position_estimate), vision_sub, &vision); orb_copy(ORB_ID(vehicle_vision_attitude), vision_sub, &vision);
} }
if (mocap_updated) { if (mocap_updated) {