diff options
Diffstat (limited to 'src/modules/attitude_estimator_so3/attitude_estimator_so3_main.cpp')
| -rwxr-xr-x | src/modules/attitude_estimator_so3/attitude_estimator_so3_main.cpp | 4 |
1 files changed, 2 insertions, 2 deletions
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]; |