diff options
Diffstat (limited to 'src/modules')
| -rw-r--r-- | src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp | 2 | ||||
| -rw-r--r-- | src/modules/mavlink/mavlink_receiver.cpp | 8 | ||||
| -rw-r--r-- | src/modules/position_estimator_inav/position_estimator_inav_main.c | 10 | ||||
| -rw-r--r-- | src/modules/sdlog2/sdlog2.c | 6 | ||||
| -rw-r--r-- | src/modules/uORB/topics/vehicle_global_position.h | 2 | ||||
| -rw-r--r-- | src/modules/uORB/topics/vehicle_gps_position.h | 2 | ||||
| -rw-r--r-- | src/modules/uavcan/sensors/gnss.cpp | 2 |
7 files changed, 16 insertions, 16 deletions
diff --git a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp index e7805daa9..c41777968 100644 --- a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp +++ b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp @@ -1470,7 +1470,7 @@ FixedwingEstimator::task_main() map_projection_reproject(&_pos_ref, _local_pos.x, _local_pos.y, &est_lat, &est_lon); _global_pos.lat = est_lat; _global_pos.lon = est_lon; - _global_pos.time_gps_usec = _gps.time_gps_usec; + _global_pos.time_utc_usec = _gps.time_utc_usec; _global_pos.eph = _gps.eph; _global_pos.epv = _gps.epv; } diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index 6f5adb5fe..f109ceaf1 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -359,7 +359,7 @@ MavlinkReceiver::handle_message_optical_flow_rad(mavlink_message_t *msg) /* optical flow */ mavlink_optical_flow_rad_t flow; mavlink_msg_optical_flow_rad_decode(msg, &flow); - + enum Rotation flow_rot; param_get(param_find("SENS_FLOW_ROT"),&flow_rot); @@ -380,8 +380,8 @@ MavlinkReceiver::handle_message_optical_flow_rad(mavlink_message_t *msg) f.gyro_temperature = flow.temperature; /* rotate measurements according to parameter */ - float zeroval = 0.0f; - rotate_3f(flow_rot, f.pixel_flow_x_integral, f.pixel_flow_y_integral, zeroval); + float zeroval = 0.0f; + rotate_3f(flow_rot, f.pixel_flow_x_integral, f.pixel_flow_y_integral, zeroval); if (_flow_pub < 0) { _flow_pub = orb_advertise(ORB_ID(optical_flow), &f); @@ -1137,7 +1137,7 @@ MavlinkReceiver::handle_message_hil_gps(mavlink_message_t *msg) memset(&hil_gps, 0, sizeof(hil_gps)); hil_gps.timestamp_time = timestamp; - hil_gps.time_gps_usec = gps.time_usec; + hil_gps.time_utc_usec = gps.time_usec; hil_gps.timestamp_position = timestamp; hil_gps.lat = gps.lat; diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.c b/src/modules/position_estimator_inav/position_estimator_inav_main.c index 1962151fa..2f972fc9f 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_main.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c @@ -282,13 +282,13 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) }; float w_gps_xy = 1.0f; float w_gps_z = 1.0f; - + float corr_vision[3][2] = { { 0.0f, 0.0f }, // N (pos, vel) { 0.0f, 0.0f }, // E (pos, vel) { 0.0f, 0.0f }, // D (pos, vel) }; - + float corr_sonar = 0.0f; float corr_sonar_filtered = 0.0f; @@ -650,13 +650,13 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) x_est[1] = vision.vx; y_est[0] = vision.y; y_est[1] = vision.vy; - /* only reset the z estimate if the z weight parameter is not zero */ + /* only reset the z estimate if the z weight parameter is not zero */ if (params.w_z_vision_p > MIN_VALID_W) { z_est[0] = vision.z; z_est[1] = vision.vz; } - + vision_valid = true; last_vision_x = vision.x; @@ -1166,7 +1166,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) if (local_pos.xy_global && local_pos.z_global) { /* publish global position */ global_pos.timestamp = t; - global_pos.time_gps_usec = gps.time_gps_usec; + global_pos.time_utc_usec = gps.time_utc_usec; double est_lat, est_lon; map_projection_reproject(&ref, local_pos.x, local_pos.y, &est_lat, &est_lon); diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index 2daf73bf9..2ce3d0097 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -1128,7 +1128,7 @@ int sdlog2_thread_main(int argc, char *argv[]) /* check GPS topic to get GPS time */ if (log_name_timestamp) { if (!orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf_gps_pos)) { - gps_time = buf_gps_pos.time_gps_usec; + gps_time = buf_gps_pos.time_utc_usec; } } @@ -1156,7 +1156,7 @@ int sdlog2_thread_main(int argc, char *argv[]) bool gps_pos_updated = copy_if_updated(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf_gps_pos); if (gps_pos_updated && log_name_timestamp) { - gps_time = buf_gps_pos.time_gps_usec; + gps_time = buf_gps_pos.time_utc_usec; } if (!logging_enabled) { @@ -1186,7 +1186,7 @@ int sdlog2_thread_main(int argc, char *argv[]) if (gps_pos_updated) { log_msg.msg_type = LOG_GPS_MSG; - log_msg.body.log_GPS.gps_time = buf_gps_pos.time_gps_usec; + log_msg.body.log_GPS.gps_time = buf_gps_pos.time_utc_usec; log_msg.body.log_GPS.fix_type = buf_gps_pos.fix_type; log_msg.body.log_GPS.eph = buf_gps_pos.eph; log_msg.body.log_GPS.epv = buf_gps_pos.epv; diff --git a/src/modules/uORB/topics/vehicle_global_position.h b/src/modules/uORB/topics/vehicle_global_position.h index c3bb3b893..bc7046690 100644 --- a/src/modules/uORB/topics/vehicle_global_position.h +++ b/src/modules/uORB/topics/vehicle_global_position.h @@ -62,7 +62,7 @@ */ struct vehicle_global_position_s { uint64_t timestamp; /**< Time of this estimate, in microseconds since system start */ - uint64_t time_gps_usec; /**< GPS timestamp in microseconds */ + uint64_t time_utc_usec; /**< GPS UTC timestamp in microseconds */ double lat; /**< Latitude in degrees */ double lon; /**< Longitude in degrees */ float alt; /**< Altitude AMSL in meters */ diff --git a/src/modules/uORB/topics/vehicle_gps_position.h b/src/modules/uORB/topics/vehicle_gps_position.h index 7888a50f4..102914bbb 100644 --- a/src/modules/uORB/topics/vehicle_gps_position.h +++ b/src/modules/uORB/topics/vehicle_gps_position.h @@ -79,7 +79,7 @@ struct vehicle_gps_position_s { bool vel_ned_valid; /**< Flag to indicate if NED speed is valid */ uint64_t timestamp_time; /**< Timestamp for time information */ - uint64_t time_gps_usec; /**< Timestamp (microseconds in GPS format), this is the timestamp which comes from the gps module. It might be unavailable right after cold start, indicated by a value of 0 */ + uint64_t time_utc_usec; /**< Timestamp (microseconds, UTC), this is the timestamp which comes from the gps module. It might be unavailable right after cold start, indicated by a value of 0 */ uint8_t satellites_used; /**< Number of satellites used */ }; diff --git a/src/modules/uavcan/sensors/gnss.cpp b/src/modules/uavcan/sensors/gnss.cpp index a375db37f..571a6f1cd 100644 --- a/src/modules/uavcan/sensors/gnss.cpp +++ b/src/modules/uavcan/sensors/gnss.cpp @@ -159,7 +159,7 @@ void UavcanGnssBridge::gnss_fix_sub_cb(const uavcan::ReceivedDataStructure<uavca report.vel_ned_valid = true; report.timestamp_time = report.timestamp_position; - report.time_gps_usec = uavcan::UtcTime(msg.gnss_timestamp).toUSec(); // Convert to microseconds + report.time_utc_usec = uavcan::UtcTime(msg.gnss_timestamp).toUSec(); // Convert to microseconds report.satellites_used = msg.sats_used; |