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GCS_MAVLink: add local time to VISP message

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Adding both local and remote time is useful for providing support for this message because misaligned clocks lead to our EKF discarding the message
This commit is contained in:
Randy Mackay 2018-05-09 17:45:18 +09:00
parent 95fbc222d5
commit e04de34014
1 changed files with 3 additions and 2 deletions
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5
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -1975,8 +1975,9 @@ void GCS_MAVLINK::log_vision_position_estimate_data(const uint64_t usec,
const float pitch,
const float yaw)
{
DataFlash_Class::instance()->Log_Write("VISP", "TimeUS,PX,PY,PZ,Roll,Pitch,Yaw",
"smmmrrr", "F000000", "Qffffff",
DataFlash_Class::instance()->Log_Write("VISP", "TimeUS,RemTimeUS,PX,PY,PZ,Roll,Pitch,Yaw",
"ssmmmrrr", "FF000000", "QQffffff",
(uint64_t)AP_HAL::micros64(),
(uint64_t)usec,
(double)x,
(double)y,