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| author | Lorenz Meier <lm@inf.ethz.ch> | 2015-01-08 12:59:20 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2015-01-11 11:03:56 +0100 |
| commit | 7d56ae4ed65f67cfe159a436eb58da59e9e0b0f6 (patch) | |
| tree | bc3a8f94ec5a278d909b8ce6d49c7b854e38e105 /src | |
| parent | 05367f8a006ae6e36fec0911c97490c31033551b (diff) | |
| download | px4-firmware-7d56ae4ed65f67cfe159a436eb58da59e9e0b0f6.tar.gz px4-firmware-7d56ae4ed65f67cfe159a436eb58da59e9e0b0f6.tar.bz2 px4-firmware-7d56ae4ed65f67cfe159a436eb58da59e9e0b0f6.zip | |
mc attitude control: Log sensor time stamp in actuator output
Diffstat (limited to 'src')
| -rw-r--r-- | src/modules/mc_att_control/mc_att_control_main.cpp | 1 |
1 files changed, 1 insertions, 0 deletions
diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp index cfb237711..a094ed2c6 100644 --- a/src/modules/mc_att_control/mc_att_control_main.cpp +++ b/src/modules/mc_att_control/mc_att_control_main.cpp @@ -888,6 +888,7 @@ MulticopterAttitudeControl::task_main() _actuators.control[2] = (isfinite(_att_control(2))) ? _att_control(2) : 0.0f; _actuators.control[3] = (isfinite(_thrust_sp)) ? _thrust_sp : 0.0f; _actuators.timestamp = hrt_absolute_time(); + _actuators.timestamp_sample = _v_att.timestamp; if (!_actuators_0_circuit_breaker_enabled) { if (_actuators_0_pub > 0) { |