From 940ce5b2d6e21938ee8519eb408c9b48004ca956 Mon Sep 17 00:00:00 2001
From: Jacob Crabill <jacob.crabill@gmail.com>
Date: Fri, 25 Oct 2019 04:21:03 -0700
Subject: [PATCH] UAVCAN: Optical Flow: Bug fix (missing integration_timespan
 field in optical_flow topic). (#13257)

---
 src/drivers/uavcan/sensors/flow.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/drivers/uavcan/sensors/flow.cpp b/src/drivers/uavcan/sensors/flow.cpp
index d2e6c25364..33b32ab4df 100644
--- a/src/drivers/uavcan/sensors/flow.cpp
+++ b/src/drivers/uavcan/sensors/flow.cpp
@@ -68,6 +68,7 @@ UavcanFlowBridge::flow_sub_cb(const uavcan::ReceivedDataStructure<com::hex::equi
 	optical_flow_s flow{};
 
 	flow.timestamp = hrt_absolute_time();
+	flow.integration_timespan = 1.e6f * msg.integration_interval; // s -> micros
 	flow.pixel_flow_x_integral = msg.flow_integral[0];
 	flow.pixel_flow_y_integral = msg.flow_integral[1];