diff options
Diffstat (limited to 'src/modules/attitude_estimator_ekf')
| -rwxr-xr-x | src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp | 4 |
1 files changed, 2 insertions, 2 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]; |