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Add PPS capture message to logged topics, simplify timestamp logic and small cleanup

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This commit is contained in:
Michael Schaeuble
2021-12-17 07:56:08 +01:00
committed by Beat Küng
parent 5ad8b84dec
commit 064a602962
6 changed files with 12 additions and 18 deletions
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src/drivers/camera_capture/camera_capture.cpp
+2 -4
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@@ -193,10 +193,8 @@ CameraCapture::publish_trigger()
if (_pps_hrt_timestamp > 0) {
// Current RTC time (RTC time captured by the PPS module + elapsed time since capture)
uint64_t gps_utc_time = _pps_rtc_timestamp + hrt_elapsed_time(&_pps_hrt_timestamp);
// Current RTC time - elapsed time since capture interrupt event
trigger.timestamp_utc = gps_utc_time - hrt_elapsed_time(&trigger.timestamp);
// Last PPS RTC time + elapsed time to the camera capture interrupt
trigger.timestamp_utc = _pps_rtc_timestamp + (trigger.timestamp - _pps_hrt_timestamp);
} else {
// No PPS capture received, use RTC clock as fallback