Use ground truth uorb topic for ground truth mavlink message

PX4 · May 2, 2020 · 0cdf2c2 · 0cdf2c2
1 parent 28d2aca
commit 0cdf2c2
Showing 1 changed file with 4 additions and 4 deletions.
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp
@@ -4925,10 +4925,10 @@ class MavlinkStreamGroundTruth : public MavlinkStream
 	}
 
 private:
-	uORB::Subscription _angular_velocity_sub{ORB_ID(vehicle_angular_velocity)};
-	uORB::Subscription _att_sub{ORB_ID(vehicle_attitude)};
-	uORB::Subscription _gpos_sub{ORB_ID(vehicle_global_position)};
-	uORB::Subscription _lpos_sub{ORB_ID(vehicle_local_position)};
+	uORB::Subscription _angular_velocity_sub{ORB_ID(vehicle_angular_velocity_groundtruth)};
+	uORB::Subscription _att_sub{ORB_ID(vehicle_attitude_groundtruth)};
+	uORB::Subscription _gpos_sub{ORB_ID(vehicle_global_position_groundtruth)};
+	uORB::Subscription _lpos_sub{ORB_ID(vehicle_local_position_groundtruth)};
 
 	/* do not allow top copying this class */
 	MavlinkStreamGroundTruth(MavlinkStreamGroundTruth &) = delete;