From 19b56c1574bc75fbb16294ad7abf4f6352cf9173 Mon Sep 17 00:00:00 2001 From: tommises Date: Sat, 9 Jul 2016 16:34:58 -0600 Subject: [PATCH] Use timestamp received from companion computer as timestamp_boot --- src/modules/mavlink/mavlink_receiver.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index acdc67993b..f5bb444785 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -683,7 +683,7 @@ MavlinkReceiver::handle_message_att_pos_mocap(mavlink_message_t *msg) // Use the component ID to identify the mocap system att_pos_mocap.id = msg->compid; - att_pos_mocap.timestamp_boot = hrt_absolute_time(); // Monotonic time + att_pos_mocap.timestamp_boot = sync_stamp(mocap.time_usec); att_pos_mocap.timestamp_computer = sync_stamp(mocap.time_usec); // Synced time att_pos_mocap.q[0] = mocap.q[0]; @@ -963,7 +963,7 @@ MavlinkReceiver::handle_message_vision_position_estimate(mavlink_message_t *msg) // Use the component ID to identify the vision sensor vision_position.id = msg->compid; - vision_position.timestamp_boot = hrt_absolute_time(); // Monotonic time + vision_position.timestamp_boot = sync_stamp(pos.usec); vision_position.timestamp_computer = sync_stamp(pos.usec); // Synced time vision_position.x = pos.x; vision_position.y = pos.y;