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sensor_baro add separate timestamp_sample field

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- the timestamp is uORB message publication metadata
This commit is contained in:
Daniel Agar
2020-07-17 09:42:19 -04:00
parent 19059a80bd
commit 1394b5d7bc
4 changed files with 12 additions and 12 deletions
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src/lib/drivers/barometer/PX4Barometer.cpp
+4 -6
View File
@@ -55,8 +55,7 @@ PX4Barometer::~PX4Barometer()
_sensor_baro_pub.unadvertise();
}
void
PX4Barometer::set_device_type(uint8_t devtype)
void PX4Barometer::set_device_type(uint8_t devtype)
{
// current DeviceStructure
union device::Device::DeviceId device_id;
@@ -69,13 +68,12 @@ PX4Barometer::set_device_type(uint8_t devtype)
_sensor_baro_pub.get().device_id = device_id.devid;
}
void
PX4Barometer::update(hrt_abstime timestamp, float pressure)
void PX4Barometer::update(const hrt_abstime &timestamp_sample, float pressure)
{
sensor_baro_s &report = _sensor_baro_pub.get();
report.timestamp = timestamp;
report.timestamp_sample = timestamp_sample;
report.pressure = pressure;
report.timestamp = hrt_absolute_time();
_sensor_baro_pub.update();
}
src/lib/drivers/barometer/PX4Barometer.hpp
+1 -1
View File
@@ -55,7 +55,7 @@ public:
void set_temperature(float temperature) { _sensor_baro_pub.get().temperature = temperature; }
void update(hrt_abstime timestamp, float pressure);
void update(const hrt_abstime &timestamp_sample, float pressure);
int get_class_instance() { return _class_device_instance; };