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Add timestamp to RTL message

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Julian Kent 2020-10-08 13:32:43 +02:00 committed by Lorenz Meier
parent f169247bc2
commit 5500a84b6a
1 changed files with 1 additions and 0 deletions
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src/modules/navigator/rtl.cpp
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@ -236,6 +236,7 @@ void RTL::find_RTL_destination()
float rtl_flight_time_ratio = time_to_home_s / (60 * _param_rtl_flt_time.get());
rtl_flight_time_s rtl_flight_time;
rtl_flight_time.timestamp = hrt_absolute_time();
rtl_flight_time.rtl_limit_fraction = rtl_flight_time_ratio;
rtl_flight_time.rtl_time_s = time_to_home_s;
_rtl_flight_time_pub.publish(rtl_flight_time);