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Update external vision interface (#13989) 

* Update external vision interface

* Update ECL Version
This commit is contained in:
kritz 2020-01-23 15:36:08 +01:00 committed by Mathieu Bresciani
parent 9554f8f98b
commit 47cab3dba5
2 changed files with 5 additions and 4 deletions
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2
src/lib/ecl

@ -1 +1 @@
Subproject commit ed916c8006d603953dd622de9199d6e73d68d5e2
Subproject commit de33885658b3cdf6eb63ba15ae851a75657f2576

7
src/modules/ekf2/ekf2_main.cpp
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@ -1095,10 +1095,10 @@ void Ekf2::Run()
if (_ev_odom_sub.updated()) {
new_ev_data_received = true;
// copy both attitude & position, we need both to fill a single ext_vision_message
// copy both attitude & position, we need both to fill a single extVisionSample
_ev_odom_sub.copy(&_ev_odom);
ext_vision_message ev_data;
extVisionSample ev_data;
// check for valid velocity data
if (PX4_ISFINITE(_ev_odom.vx) && PX4_ISFINITE(_ev_odom.vy) && PX4_ISFINITE(_ev_odom.vz)) {
@ -1158,7 +1158,8 @@ void Ekf2::Run()
}
// use timestamp from external computer, clocks are synchronized when using MAVROS
_ekf.setExtVisionData(_ev_odom.timestamp, &ev_data);
ev_data.time_us = _ev_odom.timestamp;
_ekf.setExtVisionData(ev_data);
ekf2_timestamps.visual_odometry_timestamp_rel = (int16_t)((int64_t)_ev_odom.timestamp / 100 -
(int64_t)ekf2_timestamps.timestamp / 100);