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AP_NavEKF2: Retrieve correct time-stamp for active compass

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Paul Riseborough 2015-11-09 13:42:17 +11:00 committed by Andrew Tridgell
parent 6698d4379d
commit 3099d94e78
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
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@ -217,7 +217,7 @@ void NavEKF2_core::readMagData()
} }
// store time of last measurement update // store time of last measurement update
lastMagUpdate_us = _ahrs->get_compass()->last_update_usec(); lastMagUpdate_us = _ahrs->get_compass()->last_update_usec(magSelectIndex);
// estimate of time magnetometer measurement was taken, allowing for delays // estimate of time magnetometer measurement was taken, allowing for delays
magDataNew.time_ms = imuSampleTime_ms - frontend->magDelay_ms; magDataNew.time_ms = imuSampleTime_ms - frontend->magDelay_ms;