From 47cab3dba52520c4c3e9b42529152baf1148f1ee Mon Sep 17 00:00:00 2001
From: kritz <kritz@ethz.ch>
Date: Thu, 23 Jan 2020 15:36:08 +0100
Subject: [PATCH] Update external vision interface (#13989)

* Update external vision interface

* Update ECL Version
---
 src/lib/ecl                    | 2 +-
 src/modules/ekf2/ekf2_main.cpp | 7 ++++---
 2 files changed, 5 insertions(+), 4 deletions(-)

diff --git a/src/lib/ecl b/src/lib/ecl
index ed916c8006..de33885658 160000
--- a/src/lib/ecl
+++ b/src/lib/ecl
@@ -1 +1 @@
-Subproject commit ed916c8006d603953dd622de9199d6e73d68d5e2
+Subproject commit de33885658b3cdf6eb63ba15ae851a75657f2576
diff --git a/src/modules/ekf2/ekf2_main.cpp b/src/modules/ekf2/ekf2_main.cpp
index 04e87f6ba5..4f443b876e 100644
--- a/src/modules/ekf2/ekf2_main.cpp
+++ b/src/modules/ekf2/ekf2_main.cpp
@@ -1095,10 +1095,10 @@ void Ekf2::Run()
 		if (_ev_odom_sub.updated()) {
 			new_ev_data_received = true;
 
-			// copy both attitude & position, we need both to fill a single ext_vision_message
+			// copy both attitude & position, we need both to fill a single extVisionSample
 			_ev_odom_sub.copy(&_ev_odom);
 
-			ext_vision_message ev_data;
+			extVisionSample ev_data;
 
 			// check for valid velocity data
 			if (PX4_ISFINITE(_ev_odom.vx) && PX4_ISFINITE(_ev_odom.vy) && PX4_ISFINITE(_ev_odom.vz)) {
@@ -1158,7 +1158,8 @@ void Ekf2::Run()
 			}
 
 			// use timestamp from external computer, clocks are synchronized when using MAVROS
-			_ekf.setExtVisionData(_ev_odom.timestamp, &ev_data);
+			ev_data.time_us = _ev_odom.timestamp;
+			_ekf.setExtVisionData(ev_data);
 
 			ekf2_timestamps.visual_odometry_timestamp_rel = (int16_t)((int64_t)_ev_odom.timestamp / 100 -
 					(int64_t)ekf2_timestamps.timestamp / 100);