Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 14:38:30 -04:00
Code Issues Packages Projects Releases Wiki Activity

GCS_MAVLink: fix ATT_POS_MOCAP timestamp handle

Browse Source
This commit is contained in:
chobits 2018-06-12 17:59:00 +08:00 committed by Randy Mackay
parent d3da8f2914
commit 0d2b70e607
1 changed files with 2 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -2171,7 +2171,8 @@ void GCS_MAVLINK::handle_att_pos_mocap(mavlink_message_t *msg)
Quaternion attitude = Quaternion(m.q); Quaternion attitude = Quaternion(m.q);
const float posErr = 0; // parameter required? const float posErr = 0; // parameter required?
const float angErr = 0; // parameter required? const float angErr = 0; // parameter required?
const uint32_t timestamp_ms = m.time_usec * 0.001; // correct offboard timestamp to be in local ms since boot
uint32_t timestamp_ms = correct_offboard_timestamp_usec_to_ms(m.time_usec, PAYLOAD_SIZE(chan, ATT_POS_MOCAP));
const uint32_t reset_timestamp_ms = 0; // no data available const uint32_t reset_timestamp_ms = 0; // no data available
AP::ahrs().writeExtNavData(sensor_offset, AP::ahrs().writeExtNavData(sensor_offset,