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ekf2_replay.msg: use timestamp instead of time_ref, remove unused time_usec_vel

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This commit is contained in:
Beat Küng
2017-03-04 22:47:54 +08:00
committed by Lorenz Meier
parent dcdfcbe64f
commit 018846fadf
3 changed files with 4 additions and 6 deletions
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msg/ekf2_replay.msg
+1 -2
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@@ -1,4 +1,4 @@
uint64 time_ref # ekf2 reference time. This is a timestamp passed to the
# uint64 timestamp # ekf2 reference time. This is a timestamp passed to the
# estimator which it uses a absolute reference.
float32 gyro_integral_dt # gyro integration period in s
float32 accelerometer_integral_dt # accelerometer integration period in s
@@ -16,7 +16,6 @@ float32[3] magnetometer_ga # magnetometer measurement vector (body fixed NED)
float32 baro_alt_meter # barometer altitude measurement in m
uint64 time_usec # timestamp of gps position measurement in us
uint64 time_usec_vel # timestamp of gps velocity measurement in us
int32 lat # Latitude in 1E-7 degrees
int32 lon # Longitude in 1E-7 degrees
int32 alt # Altitude in 1E-3 meters above MSL, (millimetres)
src/modules/ekf2/ekf2_main.cpp
+1 -2
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@@ -1015,7 +1015,7 @@ void Ekf2::task_main()
if (publish_replay_message) {
struct ekf2_replay_s replay = {};
replay.time_ref = now;
replay.timestamp = now;
replay.gyro_integral_dt = sensors.gyro_integral_dt;
replay.accelerometer_integral_dt = sensors.accelerometer_integral_dt;
replay.magnetometer_timestamp = _timestamp_mag_us;
@@ -1028,7 +1028,6 @@ void Ekf2::task_main()
// only write gps data if we had a gps update.
if (gps_updated) {
replay.time_usec = gps.timestamp;
replay.time_usec_vel = gps.timestamp;
replay.lat = gps.lat;
replay.lon = gps.lon;
replay.alt = gps.alt;
src/modules/sdlog2/sdlog2.c
+2 -2
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@@ -1590,7 +1590,7 @@ int sdlog2_thread_main(int argc, char *argv[])
if (replay_updated) {
log_msg.msg_type = LOG_RPL1_MSG;
log_msg.body.log_RPL1.time_ref = buf.replay.time_ref;
log_msg.body.log_RPL1.time_ref = buf.replay.timestamp;
log_msg.body.log_RPL1.gyro_integral_dt = buf.replay.gyro_integral_dt;
log_msg.body.log_RPL1.accelerometer_integral_dt = buf.replay.accelerometer_integral_dt;
log_msg.body.log_RPL1.magnetometer_timestamp = buf.replay.magnetometer_timestamp;
@@ -1611,7 +1611,7 @@ int sdlog2_thread_main(int argc, char *argv[])
if (buf.replay.time_usec > 0) {
log_msg.msg_type = LOG_RPL2_MSG;
log_msg.body.log_RPL2.time_pos_usec = buf.replay.time_usec;
log_msg.body.log_RPL2.time_vel_usec = buf.replay.time_usec_vel;
log_msg.body.log_RPL2.time_vel_usec = buf.replay.time_usec;
log_msg.body.log_RPL2.lat = buf.replay.lat;
log_msg.body.log_RPL2.lon = buf.replay.lon;
log_msg.body.log_RPL2.alt = buf.replay.alt;