From 515e896cde5af074e55158aacb2a84bc3b365c88 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Tue, 19 Nov 2019 09:12:47 -0500 Subject: [PATCH] navigator: set position setpoint timestamp --- src/modules/navigator/mission_block.cpp | 1 + src/modules/navigator/navigator_main.cpp | 6 ++++-- src/modules/navigator/precland.cpp | 1 + 3 files changed, 6 insertions(+), 2 deletions(-) diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp index bea7347995..55c0773a8c 100644 --- a/src/modules/navigator/mission_block.cpp +++ b/src/modules/navigator/mission_block.cpp @@ -590,6 +590,7 @@ MissionBlock::mission_item_to_position_setpoint(const mission_item_s &item, posi } sp->valid = true; + sp->timestamp = hrt_absolute_time(); return sp->valid; } diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index 877a0641b0..9db79d42ca 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -665,9 +665,11 @@ Navigator::run() _pos_sp_triplet.current.type = position_setpoint_s::SETPOINT_TYPE_IDLE; _pos_sp_triplet.current.valid = true; - _pos_sp_triplet.previous.valid = false; - _pos_sp_triplet.next.valid = false; + _pos_sp_triplet.current.timestamp = hrt_absolute_time(); + _pos_sp_triplet.previous.valid = false; + + _pos_sp_triplet.next.valid = false; } /* if nothing is running, set position setpoint triplet invalid once */ diff --git a/src/modules/navigator/precland.cpp b/src/modules/navigator/precland.cpp index 7bf2c76ed6..4620aa5d17 100644 --- a/src/modules/navigator/precland.cpp +++ b/src/modules/navigator/precland.cpp @@ -93,6 +93,7 @@ PrecLand::on_activation() pos_sp_triplet->current.lon = _navigator->get_global_position()->lon; pos_sp_triplet->current.alt = _navigator->get_global_position()->alt; pos_sp_triplet->current.valid = true; + pos_sp_triplet->current.timestamp = hrt_absolute_time(); } _sp_pev = matrix::Vector2f(0, 0);