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author | Lorenz Meier <lm@inf.ethz.ch> | 2014-01-12 12:57:53 +0100 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-01-12 12:57:53 +0100 |
commit | e421260f7c3e2a3f7145c2f643f8440060a84777 (patch) | |
tree | e91e6cf7bedcdec979caf4b1cc4685450b606e29 /src/modules/sensors | |
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/sensors')
-rw-r--r-- | src/modules/sensors/sensors.cpp | 13 |
1 files changed, 5 insertions, 8 deletions
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index d9f037c27..a494cd08d 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -931,7 +931,7 @@ Sensors::accel_poll(struct sensor_combined_s &raw) raw.accelerometer_raw[1] = accel_report.y_raw; raw.accelerometer_raw[2] = accel_report.z_raw; - raw.accelerometer_counter++; + raw.accelerometer_timestamp = accel_report.timestamp; } } @@ -957,7 +957,7 @@ Sensors::gyro_poll(struct sensor_combined_s &raw) raw.gyro_raw[1] = gyro_report.y_raw; raw.gyro_raw[2] = gyro_report.z_raw; - raw.gyro_counter++; + raw.timestamp = gyro_report.timestamp; } } @@ -987,7 +987,7 @@ Sensors::mag_poll(struct sensor_combined_s &raw) raw.magnetometer_raw[1] = mag_report.y_raw; raw.magnetometer_raw[2] = mag_report.z_raw; - raw.magnetometer_counter++; + raw.magnetometer_timestamp = mag_report.timestamp; } } @@ -1005,7 +1005,7 @@ Sensors::baro_poll(struct sensor_combined_s &raw) raw.baro_alt_meter = _barometer.altitude; // Altitude in meters raw.baro_temp_celcius = _barometer.temperature; // Temperature in degrees celcius - raw.baro_counter++; + raw.baro_timestamp = _barometer.timestamp; } } @@ -1019,7 +1019,7 @@ Sensors::diff_pres_poll(struct sensor_combined_s &raw) orb_copy(ORB_ID(differential_pressure), _diff_pres_sub, &_diff_pres); raw.differential_pressure_pa = _diff_pres.differential_pressure_pa; - raw.differential_pressure_counter++; + raw.differential_pressure_timestamp = _diff_pres.timestamp; _airspeed.indicated_airspeed_m_s = calc_indicated_airspeed(_diff_pres.differential_pressure_pa); _airspeed.true_airspeed_m_s = calc_true_airspeed(_diff_pres.differential_pressure_pa + raw.baro_pres_mbar * 1e2f, @@ -1560,9 +1560,6 @@ Sensors::task_main() /* check parameters for updates */ parameter_update_poll(); - /* store the time closest to all measurements (this is bogus, sensor timestamps should be propagated...) */ - raw.timestamp = hrt_absolute_time(); - /* copy most recent sensor data */ gyro_poll(raw); accel_poll(raw); |