Removed bogus sensor counters, replaced them with proper timestamps

2 files changed, 17 insertions, 18 deletions

diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index 7b6fad658..37e5b8c61 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -388,7 +388,6 @@ handle_message(mavlink_message_t *msg)
 			hil_sensors.gyro_rad_s[0] = imu.xgyro;
 			hil_sensors.gyro_rad_s[1] = imu.ygyro;
 			hil_sensors.gyro_rad_s[2] = imu.zgyro;
-			hil_sensors.gyro_counter = hil_counter;
 
 			/* accelerometer */
 			static const float mg2ms2 = 9.8f / 1000.0f;
@@ -400,7 +399,7 @@ handle_message(mavlink_message_t *msg)
 			hil_sensors.accelerometer_m_s2[2] = imu.zacc;
 			hil_sensors.accelerometer_mode = 0; // TODO what is this?
 			hil_sensors.accelerometer_range_m_s2 = 32.7f; // int16
-			hil_sensors.accelerometer_counter = hil_counter;
+			hil_sensors.accelerometer_timestamp = hil_sensors.timestamp;
 
 			/* adc */
 			hil_sensors.adc_voltage_v[0] = 0.0f;
@@ -418,17 +417,17 @@ handle_message(mavlink_message_t *msg)
 			hil_sensors.magnetometer_range_ga = 32.7f; // int16
 			hil_sensors.magnetometer_mode = 0; // TODO what is this
 			hil_sensors.magnetometer_cuttoff_freq_hz = 50.0f;
-			hil_sensors.magnetometer_counter = hil_counter;
+			hil_sensors.magnetometer_timestamp = hil_sensors.timestamp;
 
 			/* baro */
 			hil_sensors.baro_pres_mbar = imu.abs_pressure;
 			hil_sensors.baro_alt_meter = imu.pressure_alt;
 			hil_sensors.baro_temp_celcius = imu.temperature;
-			hil_sensors.baro_counter = hil_counter;
+			hil_sensors.baro_timestamp = hil_sensors.timestamp;
 
 			/* differential pressure */
 			hil_sensors.differential_pressure_pa = imu.diff_pressure * 1e2f; //from hPa to Pa
-			hil_sensors.differential_pressure_counter = hil_counter;
+			hil_sensors.differential_pressure_timestamp = hil_sensors.timestamp;
 
 			/* airspeed from differential pressure, ambient pressure and temp */
 			struct airspeed_s airspeed;
@@ -829,7 +828,7 @@ receive_thread(void *arg)
 
 	while (!thread_should_exit) {
 		if (poll(fds, 1, timeout) > 0) {
-			if (nread < sizeof(buf)) {
+			if (nread < (ssize_t)sizeof(buf)) {
 				/* to avoid reading very small chunks wait for data before reading */
 				usleep(1000);
 			}
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)