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MAVLink: clean up vision timestamps

This commit is contained in:
Lorenz Meier 2016-07-10 12:43:47 +02:00
parent c0a406b81f
commit 8b3045baa2
2 changed files with 4 additions and 5 deletions
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2
src/modules/mavlink/mavlink_messages.cpp
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@ -1459,7 +1459,7 @@ protected:
if (_pos_sub->update(&_pos_time, &vpos)) {
mavlink_vision_position_estimate_t vmsg;
vmsg.usec = vpos.timestamp_boot;
vmsg.usec = vpos.timestamp;
vmsg.x = vpos.x;
vmsg.y = vpos.y;
vmsg.z = vpos.z;

7
src/modules/mavlink/mavlink_receiver.cpp
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@ -957,14 +957,13 @@ MavlinkReceiver::handle_message_vision_position_estimate(mavlink_message_t *msg)
mavlink_vision_position_estimate_t pos;
mavlink_msg_vision_position_estimate_decode(msg, &pos);
struct vision_position_estimate_s vision_position;
memset(&vision_position, 0, sizeof(vision_position));
struct vision_position_estimate_s vision_position = {};
// Use the component ID to identify the vision sensor
vision_position.id = msg->compid;
vision_position.timestamp_boot = sync_stamp(pos.usec);
vision_position.timestamp_computer = sync_stamp(pos.usec); // Synced time
vision_position.timestamp = sync_stamp(pos.usec);
vision_position.timestamp_received = hrt_absolute_time();
vision_position.x = pos.x;
vision_position.y = pos.y;
vision_position.z = pos.z;