From 3a084fbdb8f2619d4baf548b222f3c5daa0b27d6 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Beat=20K=C3=BCng?= Date: Tue, 16 Aug 2016 19:38:53 +0200 Subject: [PATCH] position_setpoint_triplet topic: set the timestamp when publishing --- src/modules/mavlink/mavlink_receiver.cpp | 1 + src/modules/navigator/navigator_main.cpp | 1 + 2 files changed, 2 insertions(+) diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index e45b960818..2bbf7463a5 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -788,6 +788,7 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t } else { /* It's not a pure force setpoint: publish to setpoint triplet topic */ struct position_setpoint_triplet_s pos_sp_triplet = {}; + pos_sp_triplet.timestamp = hrt_absolute_time(); pos_sp_triplet.previous.valid = false; pos_sp_triplet.next.valid = false; pos_sp_triplet.current.valid = true; diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index 7d48b81bc2..2698e03d87 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -622,6 +622,7 @@ Navigator::task_main() } if (_pos_sp_triplet_updated) { + _pos_sp_triplet.timestamp = hrt_absolute_time(); publish_position_setpoint_triplet(); _pos_sp_triplet_updated = false; }