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AP_InertialSensor_PX4: 64-bit timestamps for ACCx and GYRx messages

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Peter Barker 2015-05-23 10:02:51 +10:00 committed by Andrew Tridgell
parent 988f3277de
commit 8be9e99fad
1 changed files with 4 additions and 4 deletions
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8
libraries/AP_InertialSensor/AP_InertialSensor_PX4.cpp
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@ -395,8 +395,8 @@ bool AP_InertialSensor_PX4::_get_accel_sample(uint8_t i, struct accel_report &ac
if (dataflash != NULL) {
struct log_ACCEL pkt = {
LOG_PACKET_HEADER_INIT((uint8_t)(LOG_ACC1_MSG+i)),
timestamp : (uint32_t)(accel_report.timestamp/1000),
timestamp_us : (uint32_t)accel_report.timestamp,
time_us : hal.scheduler->micros64(),
sample_us : accel_report.timestamp,
AccX : accel_report.x,
AccY : accel_report.y,
AccZ : accel_report.z
@ -418,8 +418,8 @@ bool AP_InertialSensor_PX4::_get_gyro_sample(uint8_t i, struct gyro_report &gyro
if (dataflash != NULL) {
struct log_GYRO pkt = {
LOG_PACKET_HEADER_INIT((uint8_t)(LOG_GYR1_MSG+i)),
timestamp : (uint32_t)(gyro_report.timestamp/1000),
timestamp_us : (uint32_t)gyro_report.timestamp,
time_us : hal.scheduler->micros64(),
sample_us : gyro_report.timestamp,
GyrX : gyro_report.x,
GyrY : gyro_report.y,
GyrZ : gyro_report.z