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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-07-16 10:36:02 +0200 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-07-16 10:36:44 +0200 |
| commit | a63f3a173174e28fb5df63a1646c62dcbdc52bbb (patch) | |
| tree | 3754f85402b58695f504cb559bc0735b181e904e | |
| parent | 3c8927c42386a6528f120d04ec93f5ab9b453a5b (diff) | |
| download | px4-firmware-a63f3a173174e28fb5df63a1646c62dcbdc52bbb.tar.gz px4-firmware-a63f3a173174e28fb5df63a1646c62dcbdc52bbb.tar.bz2 px4-firmware-a63f3a173174e28fb5df63a1646c62dcbdc52bbb.zip | |
external attitude sp: set timestamp
| -rw-r--r-- | src/modules/mavlink/mavlink_receiver.cpp | 2 |
1 files changed, 2 insertions, 0 deletions
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index 30eb6d0e5..952bc8735 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -528,6 +528,7 @@ MavlinkReceiver::handle_message_attitude_setpoint_external(mavlink_message_t *ms /* Publish attitude setpoint if ignore bit is not set */ if (!(attitude_setpoint_external.type_mask & (1 << 7))) { struct vehicle_attitude_setpoint_s att_sp; + att_sp.timestamp = hrt_absolute_time(); mavlink_quaternion_to_euler(attitude_setpoint_external.q, &att_sp.roll_body, &att_sp.pitch_body, &att_sp.yaw_body); att_sp.thrust = attitude_setpoint_external.thrust; @@ -542,6 +543,7 @@ MavlinkReceiver::handle_message_attitude_setpoint_external(mavlink_message_t *ms ///XXX add support for ignoring individual axes if (!(attitude_setpoint_external.type_mask & (0b111))) { struct vehicle_rates_setpoint_s rates_sp; + rates_sp.timestamp = hrt_absolute_time(); rates_sp.roll = attitude_setpoint_external.body_roll_rate; rates_sp.pitch = attitude_setpoint_external.body_pitch_rate; rates_sp.yaw = attitude_setpoint_external.body_yaw_rate; |