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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-03-17 13:25:22 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-03-17 13:25:22 +0100 |
| commit | ffd0d1032041601916e2bd2faa395ca0af03659c (patch) | |
| tree | 2c1f8be8542b033acafc4e210dcaeaf1fdefff3c /src/modules | |
| parent | 2db7d30400d0240baf4532eeef6cb13403417654 (diff) | |
| download | px4-firmware-ffd0d1032041601916e2bd2faa395ca0af03659c.tar.gz px4-firmware-ffd0d1032041601916e2bd2faa395ca0af03659c.tar.bz2 px4-firmware-ffd0d1032041601916e2bd2faa395ca0af03659c.zip | |
Fix usage of right time stamps
Diffstat (limited to 'src/modules')
| -rwxr-xr-x | src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp | 4 | ||||
| -rwxr-xr-x | src/modules/attitude_estimator_so3/attitude_estimator_so3_main.cpp | 4 |
2 files changed, 4 insertions, 4 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 11ae2a268..10a6cd2c5 100755 --- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp +++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp @@ -393,7 +393,7 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds if (sensor_last_timestamp[1] != raw.accelerometer_timestamp) { update_vect[1] = 1; sensor_update_hz[1] = 1e6f / (raw.timestamp - sensor_last_timestamp[1]); - sensor_last_timestamp[1] = raw.timestamp; + sensor_last_timestamp[1] = raw.accelerometer_timestamp; } hrt_abstime vel_t = 0; @@ -445,7 +445,7 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds if (sensor_last_timestamp[2] != raw.magnetometer_timestamp) { update_vect[2] = 1; 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 7150218ff..3653defa6 100755 --- a/src/modules/attitude_estimator_so3/attitude_estimator_so3_main.cpp +++ b/src/modules/attitude_estimator_so3/attitude_estimator_so3_main.cpp @@ -539,7 +539,7 @@ int attitude_estimator_so3_thread_main(int argc, char *argv[]) if (sensor_last_timestamp[1] != raw.accelerometer_timestamp) { update_vect[1] = 1; 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]; @@ -550,7 +550,7 @@ int attitude_estimator_so3_thread_main(int argc, char *argv[]) if (sensor_last_timestamp[2] != raw.magnetometer_timestamp) { update_vect[2] = 1; 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]; |