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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-01-12 12:57:53 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-01-12 12:57:53 +0100 |
| commit | e421260f7c3e2a3f7145c2f643f8440060a84777 (patch) | |
| tree | e91e6cf7bedcdec979caf4b1cc4685450b606e29 /src/modules/mavlink/orb_listener.c | |
| parent | 0d3a743f75d50163568203a413d8e72dac6636c5 (diff) | |
| download | px4-firmware-e421260f7c3e2a3f7145c2f643f8440060a84777.tar.gz px4-firmware-e421260f7c3e2a3f7145c2f643f8440060a84777.tar.bz2 px4-firmware-e421260f7c3e2a3f7145c2f643f8440060a84777.zip | |
Removed bogus sensor counters, replaced them with proper timestamps
Diffstat (limited to 'src/modules/mavlink/orb_listener.c')
| -rw-r--r-- | src/modules/mavlink/orb_listener.c | 24 |
1 files changed, 12 insertions, 12 deletions
diff --git a/src/modules/mavlink/orb_listener.c b/src/modules/mavlink/orb_listener.c index 92b1b45be..4a4ebf709 100644 --- a/src/modules/mavlink/orb_listener.c +++ b/src/modules/mavlink/orb_listener.c @@ -181,33 +181,33 @@ l_sensor_combined(const struct listener *l) /* mark individual fields as changed */ uint16_t fields_updated = 0; - static unsigned accel_counter = 0; - static unsigned gyro_counter = 0; - static unsigned mag_counter = 0; - static unsigned baro_counter = 0; + static hrt_abstime accel_counter = 0; + static hrt_abstime gyro_counter = 0; + static hrt_abstime mag_counter = 0; + static hrt_abstime baro_counter = 0; - if (accel_counter != raw.accelerometer_counter) { + if (accel_counter != raw.accelerometer_timestamp) { /* mark first three dimensions as changed */ fields_updated |= (1 << 0) | (1 << 1) | (1 << 2); - accel_counter = raw.accelerometer_counter; + accel_counter = raw.accelerometer_timestamp; } - if (gyro_counter != raw.gyro_counter) { + if (gyro_counter != raw.timestamp) { /* mark second group dimensions as changed */ fields_updated |= (1 << 3) | (1 << 4) | (1 << 5); - gyro_counter = raw.gyro_counter; + gyro_counter = raw.timestamp; } - if (mag_counter != raw.magnetometer_counter) { + if (mag_counter != raw.magnetometer_timestamp) { /* mark third group dimensions as changed */ fields_updated |= (1 << 6) | (1 << 7) | (1 << 8); - mag_counter = raw.magnetometer_counter; + mag_counter = raw.magnetometer_timestamp; } - if (baro_counter != raw.baro_counter) { + if (baro_counter != raw.baro_timestamp) { /* mark last group dimensions as changed */ fields_updated |= (1 << 9) | (1 << 11) | (1 << 12); - baro_counter = raw.baro_counter; + baro_counter = raw.baro_timestamp; } if (gcs_link) |