Move EKF to multi pub/sub API

src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp

@@ -719,7 +719,7 @@ FixedwingEstimator::task_main()
 	 * do subscriptions
 	 */
 	_distance_sub = orb_subscribe(ORB_ID(sensor_range_finder));
-	_baro_sub = orb_subscribe(ORB_ID(sensor_baro0));
+	_baro_sub = orb_subscribe_multi(ORB_ID(sensor_baro), 0);
 	_airspeed_sub = orb_subscribe(ORB_ID(airspeed));
 	_gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
 	_vstatus_sub = orb_subscribe(ORB_ID(vehicle_status));
@@ -1087,7 +1087,7 @@ FixedwingEstimator::task_main()
 
 			if (baro_updated) {
 
-				orb_copy(ORB_ID(sensor_baro0), _baro_sub, &_baro);
+				orb_copy(ORB_ID(sensor_baro), _baro_sub, &_baro);
 
 				float baro_elapsed = (_baro.timestamp - baro_last) / 1e6f;
 				baro_last = _baro.timestamp;
@@ -1216,7 +1216,7 @@ FixedwingEstimator::task_main()
 					initVelNED[2] = _gps.vel_d_m_s;
 
 					// Set up height correctly
-					orb_copy(ORB_ID(sensor_baro0), _baro_sub, &_baro);
+					orb_copy(ORB_ID(sensor_baro), _baro_sub, &_baro);
 					_baro_ref_offset = _ekf->states[9]; // this should become zero in the local frame
 
 					// init filtered gps and baro altitudes