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| author | James Goppert <james.goppert@gmail.com> | 2013-01-15 18:25:08 -0500 |
|---|---|---|
| committer | James Goppert <james.goppert@gmail.com> | 2013-01-15 18:25:08 -0500 |
| commit | 68a6a64213b5af66771a6a302bf06c4c588dc719 (patch) | |
| tree | 3cb5f2ab976758cac57142d8a5d9957d5bc4c3aa /apps/mavlink/mavlink_receiver.c | |
| parent | afb69cd05450d6df1bf2233b95030c9b93daaf1e (diff) | |
| download | px4-firmware-68a6a64213b5af66771a6a302bf06c4c588dc719.tar.gz px4-firmware-68a6a64213b5af66771a6a302bf06c4c588dc719.tar.bz2 px4-firmware-68a6a64213b5af66771a6a302bf06c4c588dc719.zip | |
Working on velocity errors.
Diffstat (limited to 'apps/mavlink/mavlink_receiver.c')
| -rw-r--r-- | apps/mavlink/mavlink_receiver.c | 7 |
1 files changed, 6 insertions, 1 deletions
diff --git a/apps/mavlink/mavlink_receiver.c b/apps/mavlink/mavlink_receiver.c index 0b63c30a4..9491ce7e3 100644 --- a/apps/mavlink/mavlink_receiver.c +++ b/apps/mavlink/mavlink_receiver.c @@ -318,9 +318,11 @@ handle_message(mavlink_message_t *msg) static uint16_t hil_frames = 0; static uint64_t old_timestamp = 0; + /* sensors general */ + hil_sensors.timestamp = imu.time_usec; + /* hil gyro */ static const float mrad2rad = 1.0e-3f; - hil_sensors.timestamp = timestamp; hil_sensors.gyro_counter = hil_counter; hil_sensors.gyro_raw[0] = imu.xgyro; hil_sensors.gyro_raw[1] = imu.ygyro; @@ -429,6 +431,9 @@ handle_message(mavlink_message_t *msg) static uint16_t hil_frames = 0; static uint64_t old_timestamp = 0; + /* sensors general */ + hil_sensors.timestamp = press.time_usec; + /* baro */ /* TODO, set ground_press/ temp during calib */ static const float ground_press = 1013.25f; // mbar |