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DF wrappers: use abs time instead of DF timestamp

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The timestamp in the DriverFramework is not the same as the one
provided by hrt_absolute_time() in PX4. Because we are publishing on the
PX4 side, let's also use the timestamp from there.
This commit is contained in:
Julian Oes
2016-04-08 15:51:16 +02:00
parent 8422280f18
commit 36d580bdc8
3 changed files with 4 additions and 4 deletions
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src/platforms/posix/drivers/df_bmp280_wrapper/df_bmp280_wrapper.cpp
+1 -1
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@@ -161,7 +161,7 @@ int DfBmp280Wrapper::_publish(struct baro_sensor_data &data)
perf_begin(_baro_sample_perf); perf_begin(_baro_sample_perf);
baro_report baro_report = {}; baro_report baro_report = {};
baro_report.timestamp = data.last_read_time_usec; baro_report.timestamp = hrt_absolute_time();
baro_report.pressure = data.pressure_pa; baro_report.pressure = data.pressure_pa;
baro_report.temperature = data.temperature_c; baro_report.temperature = data.temperature_c;
src/platforms/posix/drivers/df_hmc5883_wrapper/df_hmc5883_wrapper.cpp
+1 -1
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@@ -275,7 +275,7 @@ int DfHmc9250Wrapper::_publish(struct mag_sensor_data &data)
perf_begin(_mag_sample_perf); perf_begin(_mag_sample_perf);
mag_report mag_report = {}; mag_report mag_report = {};
mag_report.timestamp = data.last_read_time_usec; mag_report.timestamp = hrt_absolute_time();
/* The standard external mag by 3DR has x pointing to the /* The standard external mag by 3DR has x pointing to the
* right, y pointing backwards, and z down, therefore switch x * right, y pointing backwards, and z down, therefore switch x
src/platforms/posix/drivers/df_mpu9250_wrapper/df_mpu9250_wrapper.cpp
+2 -2
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@@ -408,7 +408,7 @@ int DfMpu9250Wrapper::_publish(struct imu_sensor_data &data)
perf_begin(_accel_sample_perf); perf_begin(_accel_sample_perf);
accel_report accel_report = {}; accel_report accel_report = {};
accel_report.timestamp = data.last_read_time_usec; accel_report.timestamp = hrt_absolute_time();
// TODO: remove these (or get the values) // TODO: remove these (or get the values)
accel_report.x_raw = NAN; accel_report.x_raw = NAN;
@@ -456,7 +456,7 @@ int DfMpu9250Wrapper::_publish(struct imu_sensor_data &data)
perf_begin(_gyro_sample_perf); perf_begin(_gyro_sample_perf);
gyro_report gyro_report = {}; gyro_report gyro_report = {};
gyro_report.timestamp = data.last_read_time_usec; gyro_report.timestamp = hrt_absolute_time();
// TODO: remove these (or get the values) // TODO: remove these (or get the values)
gyro_report.x_raw = NAN; gyro_report.x_raw = NAN;