Merged mavlink2_hil into paul_estimator_mavlink2

src/modules/mavlink/mavlink_receiver.cpp

@@ -108,7 +108,6 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
 	_telemetry_status_pub(-1),
 	_rc_pub(-1),
 	_manual_pub(-1),
-
 	_hil_frames(0),
 	_old_timestamp(0),
 	_hil_local_proj_inited(0),
@@ -646,7 +645,6 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
 	}
 
 	/* increment counters */
-	_hil_counter++;
 	_hil_frames++;
 
 	/* print HIL sensors rate */

src/modules/mavlink/mavlink_receiver.h

@@ -139,7 +139,6 @@ private:
 	orb_advert_t _telemetry_status_pub;
 	orb_advert_t _rc_pub;
 	orb_advert_t _manual_pub;
-	int _hil_counter;
 	int _hil_frames;
 	uint64_t _old_timestamp;
 	bool _hil_local_proj_inited;

src/modules/sensors/sensors.cpp

@@ -1594,6 +1594,8 @@ Sensors::task_main()
 		/* check parameters for updates */
 		parameter_update_poll();
 
+		/* the timestamp of the raw struct is updated by the gyro_poll() method */
+
 		/* copy most recent sensor data */
 		gyro_poll(raw);
 		accel_poll(raw);