From 4f875560b7d18647210570eeaad8aeb7504b92e5 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 10 Jul 2016 12:43:10 +0200 Subject: [PATCH] Att Q Estimator: New vision timestamp --- .../attitude_estimator_q/attitude_estimator_q_main.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp b/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp index c093682044..33ff8ab605 100644 --- a/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp +++ b/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp @@ -401,10 +401,10 @@ void AttitudeEstimatorQ::task_main() // Check for timeouts on data if (_ext_hdg_mode == 1) { - _ext_hdg_good = _vision.timestamp_boot > 0 && (hrt_elapsed_time(&_vision.timestamp_boot) < 500000); + _ext_hdg_good = _vision.timestamp > 0 && (hrt_elapsed_time(&_vision.timestamp) < 500000); } else if (_ext_hdg_mode == 2) { - _ext_hdg_good = _mocap.timestamp_boot > 0 && (hrt_elapsed_time(&_mocap.timestamp_boot) < 500000); + _ext_hdg_good = _mocap.timestamp > 0 && (hrt_elapsed_time(&_mocap.timestamp) < 500000); } bool gpos_updated;