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UAVCAN: preserve original UAVCAN message timestamps

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This commit is contained in:
Holger Steinhaus 2014-11-18 14:58:04 +01:00
parent e026324784
commit 2ce2d26d52
4 changed files with 3 additions and 10 deletions
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6
src/modules/uavcan/sensors/baro.cpp
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@ -91,11 +91,7 @@ void UavcanBarometerBridge::air_data_sub_cb(const uavcan::ReceivedDataStructure<
{
auto report = ::baro_report();
report.timestamp = msg.getUtcTimestamp().toUSec();
if (report.timestamp == 0) {
report.timestamp = msg.getMonotonicTimestamp().toUSec();
}
report.timestamp = msg.getMonotonicTimestamp().toUSec();
report.temperature = msg.static_temperature;
report.pressure = msg.static_pressure / 100.0F; // Convert to millibar

2
src/modules/uavcan/sensors/gnss.cpp
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@ -92,7 +92,7 @@ void UavcanGnssBridge::gnss_fix_sub_cb(const uavcan::ReceivedDataStructure<uavca
auto report = ::vehicle_gps_position_s();
report.timestamp_position = hrt_absolute_time();
report.timestamp_position = msg.getMonotonicTimestamp().toUSec();
report.lat = msg.latitude_deg_1e8 / 10;
report.lon = msg.longitude_deg_1e8 / 10;
report.alt = msg.height_msl_mm;

2
src/modules/uavcan/sensors/gnss.hpp
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@ -43,8 +43,6 @@
#pragma once
#include <drivers/drv_hrt.h>
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_gps_position.h>

3
src/modules/uavcan/sensors/mag.cpp
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@ -37,7 +37,6 @@
#include "mag.hpp"
#include <drivers/drv_hrt.h>
#include <systemlib/err.h>
static const orb_id_t MAG_TOPICS[3] = {
@ -140,7 +139,7 @@ void UavcanMagnetometerBridge::mag_sub_cb(const uavcan::ReceivedDataStructure<ua
{
lock();
_report.range_ga = 1.3F; // Arbitrary number, doesn't really mean anything
_report.timestamp = hrt_absolute_time();
_report.timestamp = msg.getMonotonicTimestamp().toUSec();
_report.x = (msg.magnetic_field[0] - _scale.x_offset) * _scale.x_scale;
_report.y = (msg.magnetic_field[1] - _scale.y_offset) * _scale.y_scale;