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| author | Holger Steinhaus <holger@steinhaus-home.de> | 2014-11-18 14:58:04 +0100 |
|---|---|---|
| committer | Holger Steinhaus <holger@steinhaus-home.de> | 2014-11-18 14:58:04 +0100 |
| commit | 2ce2d26d52884f868ecbcb102f38cbc853c2dbf6 (patch) | |
| tree | 7f37f9fc1825504019e8ad7c1a7f954cbf4e5e2a /src/modules/uavcan/sensors/mag.cpp | |
| parent | e026324784409bd16a561544cb608e7089d500a0 (diff) | |
| download | px4-firmware-2ce2d26d52884f868ecbcb102f38cbc853c2dbf6.tar.gz px4-firmware-2ce2d26d52884f868ecbcb102f38cbc853c2dbf6.tar.bz2 px4-firmware-2ce2d26d52884f868ecbcb102f38cbc853c2dbf6.zip | |
UAVCAN: preserve original UAVCAN message timestamps
Diffstat (limited to 'src/modules/uavcan/sensors/mag.cpp')
| -rw-r--r-- | src/modules/uavcan/sensors/mag.cpp | 3 |
1 files changed, 1 insertions, 2 deletions
diff --git a/src/modules/uavcan/sensors/mag.cpp b/src/modules/uavcan/sensors/mag.cpp index 5cbb96433..35ebee542 100644 --- a/src/modules/uavcan/sensors/mag.cpp +++ b/src/modules/uavcan/sensors/mag.cpp @@ -37,7 +37,6 @@ #include "mag.hpp" -#include <drivers/drv_hrt.h> #include <systemlib/err.h> static const orb_id_t MAG_TOPICS[3] = { @@ -140,7 +139,7 @@ void UavcanMagnetometerBridge::mag_sub_cb(const uavcan::ReceivedDataStructure<ua { lock(); _report.range_ga = 1.3F; // Arbitrary number, doesn't really mean anything - _report.timestamp = hrt_absolute_time(); + _report.timestamp = msg.getMonotonicTimestamp().toUSec(); _report.x = (msg.magnetic_field[0] - _scale.x_offset) * _scale.x_scale; _report.y = (msg.magnetic_field[1] - _scale.y_offset) * _scale.y_scale; |