Removed bogus sensor counters, replaced them with proper timestamps

8 files changed, 63 insertions, 75 deletions

diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
index a70a14fe4..1741fab8b 100755
--- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
+++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
@@ -249,7 +249,6 @@ const unsigned int loop_interval_alarm = 6500;	// loop interval in microseconds
 	// XXX write this out to perf regs
 
 	/* keep track of sensor updates */
-	uint32_t sensor_last_count[3] = {0, 0, 0};
 	uint64_t sensor_last_timestamp[3] = {0, 0, 0};
 
 	struct attitude_estimator_ekf_params ekf_params;
@@ -333,9 +332,8 @@ const unsigned int loop_interval_alarm = 6500;	// loop interval in microseconds
 					uint8_t update_vect[3] = {0, 0, 0};
 
 					/* Fill in gyro measurements */
-					if (sensor_last_count[0] != raw.gyro_counter) {
+					if (sensor_last_timestamp[0] != raw.timestamp) {
 						update_vect[0] = 1;
-						sensor_last_count[0] = raw.gyro_counter;
 						sensor_update_hz[0] = 1e6f / (raw.timestamp - sensor_last_timestamp[0]);
 						sensor_last_timestamp[0] = raw.timestamp;
 					}
@@ -345,11 +343,10 @@ const unsigned int loop_interval_alarm = 6500;	// loop interval in microseconds
 					z_k[2] =  raw.gyro_rad_s[2] - gyro_offsets[2];
 
 					/* update accelerometer measurements */
-					if (sensor_last_count[1] != raw.accelerometer_counter) {
+					if (sensor_last_timestamp[1] != raw.accelerometer_timestamp) {
 						update_vect[1] = 1;
-						sensor_last_count[1] = raw.accelerometer_counter;
 						sensor_update_hz[1] = 1e6f / (raw.timestamp - sensor_last_timestamp[1]);
-						sensor_last_timestamp[1] = raw.timestamp;
+						sensor_last_timestamp[1] = raw.accelerometer_timestamp;
 					}
 
 					z_k[3] = raw.accelerometer_m_s2[0];
@@ -357,11 +354,10 @@ const unsigned int loop_interval_alarm = 6500;	// loop interval in microseconds
 					z_k[5] = raw.accelerometer_m_s2[2];
 
 					/* update magnetometer measurements */
-					if (sensor_last_count[2] != raw.magnetometer_counter) {
+					if (sensor_last_timestamp[2] != raw.magnetometer_timestamp) {
 						update_vect[2] = 1;
-						sensor_last_count[2] = raw.magnetometer_counter;
 						sensor_update_hz[2] = 1e6f / (raw.timestamp - sensor_last_timestamp[2]);
-						sensor_last_timestamp[2] = raw.timestamp;
+						sensor_last_timestamp[2] = raw.magnetometer_timestamp;
 					}
 
 					z_k[6] = raw.magnetometer_ga[0];
diff --git a/src/modules/attitude_estimator_so3/attitude_estimator_so3_main.cpp b/src/modules/attitude_estimator_so3/attitude_estimator_so3_main.cpp
index e79726613..e2d69cd61 100755
--- a/src/modules/attitude_estimator_so3/attitude_estimator_so3_main.cpp
+++ b/src/modules/attitude_estimator_so3/attitude_estimator_so3_main.cpp
@@ -526,9 +526,8 @@ int attitude_estimator_so3_thread_main(int argc, char *argv[])
 					uint8_t update_vect[3] = {0, 0, 0};
 
 					/* Fill in gyro measurements */
-					if (sensor_last_count[0] != raw.gyro_counter) {
+					if (sensor_last_timestamp[0] != raw.timestamp) {
 						update_vect[0] = 1;
-						sensor_last_count[0] = raw.gyro_counter;
 						sensor_update_hz[0] = 1e6f / (raw.timestamp - sensor_last_timestamp[0]);
 						sensor_last_timestamp[0] = raw.timestamp;
 					}
@@ -538,11 +537,10 @@ int attitude_estimator_so3_thread_main(int argc, char *argv[])
 					gyro[2] = raw.gyro_rad_s[2] - gyro_offsets[2];
 
 					/* update accelerometer measurements */
-					if (sensor_last_count[1] != raw.accelerometer_counter) {
+					if (sensor_last_timestamp[1] != raw.accelerometer_timestamp) {
 						update_vect[1] = 1;
-						sensor_last_count[1] = raw.accelerometer_counter;
 						sensor_update_hz[1] = 1e6f / (raw.timestamp - sensor_last_timestamp[1]);
-						sensor_last_timestamp[1] = raw.timestamp;
+						sensor_last_timestamp[1] = raw.accelerometer_timestamp;
 					}
 
 					acc[0] = raw.accelerometer_m_s2[0];
@@ -550,11 +548,10 @@ int attitude_estimator_so3_thread_main(int argc, char *argv[])
 					acc[2] = raw.accelerometer_m_s2[2];
 
 					/* update magnetometer measurements */
-					if (sensor_last_count[2] != raw.magnetometer_counter) {
+					if (sensor_last_timestamp[2] != raw.magnetometer_timestamp) {
 						update_vect[2] = 1;
-						sensor_last_count[2] = raw.magnetometer_counter;
 						sensor_update_hz[2] = 1e6f / (raw.timestamp - sensor_last_timestamp[2]);
-						sensor_last_timestamp[2] = raw.timestamp;
+						sensor_last_timestamp[2] = raw.magnetometer_timestamp;
 					}
 
 					mag[0] = raw.magnetometer_ga[0];
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)
diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.c b/src/modules/position_estimator_inav/position_estimator_inav_main.c
index 3084b6d92..1270ff5cf 100644
--- a/src/modules/position_estimator_inav/position_estimator_inav_main.c
+++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c
@@ -177,8 +177,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 	hrt_abstime landed_time = 0;
 	bool flag_armed = false;
 
-	uint32_t accel_counter = 0;
-	uint32_t baro_counter = 0;
+	hrt_abstime accel_timestamp = 0;
+	hrt_abstime baro_timestamp = 0;
 
 	/* declare and safely initialize all structs */
 	struct actuator_controls_s actuator;
@@ -242,8 +242,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 			if (fds_init[0].revents & POLLIN) {
 				orb_copy(ORB_ID(sensor_combined), sensor_combined_sub, &sensor);
 
-				if (wait_baro && sensor.baro_counter != baro_counter) {
-					baro_counter = sensor.baro_counter;
+				if (wait_baro && sensor.baro_timestamp != baro_timestamp) {
+					baro_timestamp = sensor.baro_timestamp;
 
 					/* mean calculation over several measurements */
 					if (baro_init_cnt < baro_init_num) {
@@ -354,7 +354,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 			if (fds[4].revents & POLLIN) {
 				orb_copy(ORB_ID(sensor_combined), sensor_combined_sub, &sensor);
 
-				if (sensor.accelerometer_counter != accel_counter) {
+				if (sensor.accelerometer_timestamp != accel_timestamp) {
 					if (att.R_valid) {
 						/* correct accel bias, now only for Z */
 						sensor.accelerometer_m_s2[2] -= accel_bias[2];
@@ -376,13 +376,13 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 						memset(accel_corr, 0, sizeof(accel_corr));
 					}
 
-					accel_counter = sensor.accelerometer_counter;
+					accel_timestamp = sensor.accelerometer_timestamp;
 					accel_updates++;
 				}
 
-				if (sensor.baro_counter != baro_counter) {
+				if (sensor.baro_timestamp != baro_timestamp) {
 					baro_corr = - sensor.baro_alt_meter - z_est[0];
-					baro_counter = sensor.baro_counter;
+					baro_timestamp = sensor.baro_timestamp;
 					baro_updates++;
 				}
 			}
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c
index e94b1e13c..1b9137462 100644
--- a/src/modules/sdlog2/sdlog2.c
+++ b/src/modules/sdlog2/sdlog2.c
@@ -903,11 +903,11 @@ int sdlog2_thread_main(int argc, char *argv[])
 	pthread_cond_init(&logbuffer_cond, NULL);
 
 	/* track changes in sensor_combined topic */
-	uint16_t gyro_counter = 0;
-	uint16_t accelerometer_counter = 0;
-	uint16_t magnetometer_counter = 0;
-	uint16_t baro_counter = 0;
-	uint16_t differential_pressure_counter = 0;
+	hrt_abstime gyro_timestamp = 0;
+	hrt_abstime accelerometer_timestamp = 0;
+	hrt_abstime magnetometer_timestamp = 0;
+	hrt_abstime barometer_timestamp = 0;
+	hrt_abstime differential_pressure_timestamp = 0;
 
 	/* enable logging on start if needed */
 	if (log_on_start)
@@ -1003,28 +1003,28 @@ int sdlog2_thread_main(int argc, char *argv[])
 				bool write_IMU = false;
 				bool write_SENS = false;
 
-				if (buf.sensor.gyro_counter != gyro_counter) {
-					gyro_counter = buf.sensor.gyro_counter;
+				if (buf.sensor.timestamp != gyro_timestamp) {
+					gyro_timestamp = buf.sensor.timestamp;
 					write_IMU = true;
 				}
 
-				if (buf.sensor.accelerometer_counter != accelerometer_counter) {
-					accelerometer_counter = buf.sensor.accelerometer_counter;
+				if (buf.sensor.accelerometer_timestamp != accelerometer_timestamp) {
+					accelerometer_timestamp = buf.sensor.accelerometer_timestamp;
 					write_IMU = true;
 				}
 
-				if (buf.sensor.magnetometer_counter != magnetometer_counter) {
-					magnetometer_counter = buf.sensor.magnetometer_counter;
+				if (buf.sensor.magnetometer_timestamp != magnetometer_timestamp) {
+					magnetometer_timestamp = buf.sensor.magnetometer_timestamp;
 					write_IMU = true;
 				}
 
-				if (buf.sensor.baro_counter != baro_counter) {
-					baro_counter = buf.sensor.baro_counter;
+				if (buf.sensor.baro_timestamp != barometer_timestamp) {
+					barometer_timestamp = buf.sensor.baro_timestamp;
 					write_SENS = true;
 				}
 
-				if (buf.sensor.differential_pressure_counter != differential_pressure_counter) {
-					differential_pressure_counter = buf.sensor.differential_pressure_counter;
+				if (buf.sensor.differential_pressure_timestamp != differential_pressure_timestamp) {
+					differential_pressure_timestamp = buf.sensor.differential_pressure_timestamp;
 					write_SENS = true;
 				}
 
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);
diff --git a/src/modules/uORB/topics/sensor_combined.h b/src/modules/uORB/topics/sensor_combined.h
index ad164555e..92812efd4 100644
--- a/src/modules/uORB/topics/sensor_combined.h
+++ b/src/modules/uORB/topics/sensor_combined.h
@@ -77,34 +77,33 @@ struct sensor_combined_s {
 
 	/* NOTE: Ordering of fields optimized to align to 32 bit / 4 bytes Change with consideration only   */
 
-	uint64_t timestamp;			/**< Timestamp in microseconds since boot         */
+	uint64_t timestamp;			/**< Timestamp in microseconds since boot, from gyro         */
 
 	int16_t	gyro_raw[3];			/**< Raw sensor values of angular velocity        */
-	uint16_t gyro_counter;			/**< Number of raw measurments taken              */
 	float gyro_rad_s[3];			/**< Angular velocity in radian per seconds       */
-	
+
 	int16_t accelerometer_raw[3];		/**< Raw acceleration in NED body frame           */
-	uint32_t accelerometer_counter;		/**< Number of raw acc measurements taken         */
 	float accelerometer_m_s2[3];		/**< Acceleration in NED body frame, in m/s^2     */
 	int accelerometer_mode;			/**< Accelerometer measurement mode */
 	float accelerometer_range_m_s2;		/**< Accelerometer measurement range in m/s^2 */
+	uint64_t accelerometer_timestamp;	/**< Accelerometer timestamp        */
 
 	int16_t	magnetometer_raw[3];		/**< Raw magnetic field in NED body frame         */
 	float magnetometer_ga[3];		/**< Magnetic field in NED body frame, in Gauss   */
 	int magnetometer_mode;			/**< Magnetometer measurement mode */
 	float magnetometer_range_ga;		/**< ± measurement range in Gauss */
 	float magnetometer_cuttoff_freq_hz;	/**< Internal analog low pass frequency of sensor */
-	uint32_t magnetometer_counter;		/**< Number of raw mag measurements taken         */
-	
+	uint64_t magnetometer_timestamp;	/**< Magnetometer timestamp         */
+
 	float baro_pres_mbar;			/**< Barometric pressure, already temp. comp.     */
 	float baro_alt_meter;			/**< Altitude, already temp. comp.                */
 	float baro_temp_celcius;		/**< Temperature in degrees celsius               */
 	float adc_voltage_v[4];			/**< ADC voltages of ADC Chan 10/11/12/13 or -1      */
 	float mcu_temp_celcius;			/**< Internal temperature measurement of MCU */
-	uint32_t baro_counter;			/**< Number of raw baro measurements taken        */
+	uint64_t baro_timestamp;		/**< Barometer timestamp        */
 
-	float differential_pressure_pa;				/**< Airspeed sensor differential pressure                  */ 
-	uint32_t differential_pressure_counter;		/**< Number of raw differential pressure measurements taken */
+	float differential_pressure_pa;				/**< Airspeed sensor differential pressure                  */
+	uint64_t differential_pressure_timestamp;		/**< Last measurement timestamp */
 };
 
 /**