Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 06:28:27 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_Mount: convert Solo gimbal messages to TimeUS from TimeMS

Browse Source 
Also remove unused gimbal3 message entirely
This commit is contained in:
Peter Barker 2020-04-15 12:18:06 +10:00 committed by Peter Barker
parent d8582d864a
commit 856b635e89
1 changed files with 5 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
libraries/AP_Mount/SoloGimbal.cpp
View File

@ -389,16 +389,16 @@ void SoloGimbal::write_logs()
return; return;
} }
uint32_t tstamp = AP_HAL::millis(); const uint64_t tstamp = AP_HAL::micros64();
Vector3f eulerEst; Vector3f eulerEst;
Quaternion quatEst; Quaternion quatEst;
_ekf.getQuat(quatEst); _ekf.getQuat(quatEst);
quatEst.to_euler(eulerEst.x, eulerEst.y, eulerEst.z); quatEst.to_euler(eulerEst.x, eulerEst.y, eulerEst.z);
struct log_Gimbal1 pkt1 = { struct log_Gimbal1 pkt1{
LOG_PACKET_HEADER_INIT(LOG_GIMBAL1_MSG), LOG_PACKET_HEADER_INIT(LOG_GIMBAL1_MSG),
time_ms : tstamp, time_us : tstamp,
delta_time : _log_dt, delta_time : _log_dt,
delta_angles_x : _log_del_ang.x, delta_angles_x : _log_del_ang.x,
delta_angles_y : _log_del_ang.y, delta_angles_y : _log_del_ang.y,
@ -412,9 +412,9 @@ void SoloGimbal::write_logs()
}; };
logger->WriteBlock(&pkt1, sizeof(pkt1)); logger->WriteBlock(&pkt1, sizeof(pkt1));
struct log_Gimbal2 pkt2 = { struct log_Gimbal2 pkt2{
LOG_PACKET_HEADER_INIT(LOG_GIMBAL2_MSG), LOG_PACKET_HEADER_INIT(LOG_GIMBAL2_MSG),
time_ms : tstamp, time_us : tstamp,
est_sta : (uint8_t) _ekf.getStatus(), est_sta : (uint8_t) _ekf.getStatus(),
est_x : eulerEst.x, est_x : eulerEst.x,
est_y : eulerEst.y, est_y : eulerEst.y,