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AP_Mount: convert Solo gimbal messages to TimeUS from TimeMS

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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
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10
libraries/AP_Mount/SoloGimbal.cpp
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@ -389,16 +389,16 @@ void SoloGimbal::write_logs()
return;
}
uint32_t tstamp = AP_HAL::millis();
const uint64_t tstamp = AP_HAL::micros64();
Vector3f eulerEst;
Quaternion quatEst;
_ekf.getQuat(quatEst);
quatEst.to_euler(eulerEst.x, eulerEst.y, eulerEst.z);
struct log_Gimbal1 pkt1 = {
struct log_Gimbal1 pkt1{
LOG_PACKET_HEADER_INIT(LOG_GIMBAL1_MSG),
time_ms : tstamp,
time_us : tstamp,
delta_time : _log_dt,
delta_angles_x : _log_del_ang.x,
delta_angles_y : _log_del_ang.y,
@ -412,9 +412,9 @@ void SoloGimbal::write_logs()
};
logger->WriteBlock(&pkt1, sizeof(pkt1));
struct log_Gimbal2 pkt2 = {
struct log_Gimbal2 pkt2{
LOG_PACKET_HEADER_INIT(LOG_GIMBAL2_MSG),
time_ms : tstamp,
time_us : tstamp,
est_sta : (uint8_t) _ekf.getStatus(),
est_x : eulerEst.x,
est_y : eulerEst.y,