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Use timestamp received from companion computer as timestamp_boot

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tommises
2016-07-10 12:29:19 +02:00
committed by Lorenz Meier
parent 5bd574dd05
commit 19b56c1574
1 changed files with 2 additions and 2 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+2 -2
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@@ -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;