diff options
| -rw-r--r-- | src/modules/uavcan/sensors/mag.cpp | 7 |
1 files changed, 2 insertions, 5 deletions
diff --git a/src/modules/uavcan/sensors/mag.cpp b/src/modules/uavcan/sensors/mag.cpp index a529e7e75..5cbb96433 100644 --- a/src/modules/uavcan/sensors/mag.cpp +++ b/src/modules/uavcan/sensors/mag.cpp @@ -37,6 +37,7 @@ #include "mag.hpp" +#include <drivers/drv_hrt.h> #include <systemlib/err.h> static const orb_id_t MAG_TOPICS[3] = { @@ -139,11 +140,7 @@ void UavcanMagnetometerBridge::mag_sub_cb(const uavcan::ReceivedDataStructure<ua { lock(); _report.range_ga = 1.3F; // Arbitrary number, doesn't really mean anything - - _report.timestamp = msg.getUtcTimestamp().toUSec(); - if (_report.timestamp == 0) { - _report.timestamp = msg.getMonotonicTimestamp().toUSec(); - } + _report.timestamp = hrt_absolute_time(); _report.x = (msg.magnetic_field[0] - _scale.x_offset) * _scale.x_scale; _report.y = (msg.magnetic_field[1] - _scale.y_offset) * _scale.y_scale; |