diff options
Diffstat (limited to 'src/modules/mavlink/orb_listener.c')
| -rw-r--r-- | src/modules/mavlink/orb_listener.c | 24 |
1 files changed, 12 insertions, 12 deletions
diff --git a/src/modules/mavlink/orb_listener.c b/src/modules/mavlink/orb_listener.c index d7243c623..a70ee7d81 100644 --- a/src/modules/mavlink/orb_listener.c +++ b/src/modules/mavlink/orb_listener.c @@ -182,33 +182,33 @@ l_sensor_combined(const struct listener *l) /* mark individual fields as changed */ uint16_t fields_updated = 0; - static unsigned accel_counter = 0; - static unsigned gyro_counter = 0; - static unsigned mag_counter = 0; - static unsigned baro_counter = 0; + static hrt_abstime accel_counter = 0; + static hrt_abstime gyro_counter = 0; + static hrt_abstime mag_counter = 0; + static hrt_abstime baro_counter = 0; - if (accel_counter != raw.accelerometer_counter) { + if (accel_counter != raw.accelerometer_timestamp) { /* mark first three dimensions as changed */ fields_updated |= (1 << 0) | (1 << 1) | (1 << 2); - accel_counter = raw.accelerometer_counter; + accel_counter = raw.accelerometer_timestamp; } - if (gyro_counter != raw.gyro_counter) { + if (gyro_counter != raw.timestamp) { /* mark second group dimensions as changed */ fields_updated |= (1 << 3) | (1 << 4) | (1 << 5); - gyro_counter = raw.gyro_counter; + gyro_counter = raw.timestamp; } - if (mag_counter != raw.magnetometer_counter) { + if (mag_counter != raw.magnetometer_timestamp) { /* mark third group dimensions as changed */ fields_updated |= (1 << 6) | (1 << 7) | (1 << 8); - mag_counter = raw.magnetometer_counter; + mag_counter = raw.magnetometer_timestamp; } - if (baro_counter != raw.baro_counter) { + if (baro_counter != raw.baro_timestamp) { /* mark last group dimensions as changed */ fields_updated |= (1 << 9) | (1 << 11) | (1 << 12); - baro_counter = raw.baro_counter; + baro_counter = raw.baro_timestamp; } if (gcs_link) |