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use correct timestamp for measurements

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Roman
2015-12-26 07:52:14 +01:00
parent b542e2b49b
commit 5aa5f7f8c3
1 changed files with 4 additions and 4 deletions
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EKF/estimator_base.cpp
+4 -4
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@@ -145,7 +145,7 @@ void EstimatorBase::setMagData(uint64_t time_usec, float *data)
mag_sample_new.time_us -= FILTER_UPDATE_PERRIOD_MS * 1000 / 2;
_time_last_mag = mag_sample_new.time_us;
_time_last_mag = time_usec;
memcpy(&mag_sample_new.mag._data[0], data, sizeof(mag_sample_new.mag._data));
@@ -168,7 +168,7 @@ void EstimatorBase::setGpsData(uint64_t time_usec, struct gps_message *gps)
gps_sample_new.time_us -= FILTER_UPDATE_PERRIOD_MS * 1000 / 2;
_time_last_gps = gps_sample_new.time_us;
_time_last_gps = time_usec;
_last_valid_gps_time_us = hrt_absolute_time();
@@ -200,7 +200,7 @@ void EstimatorBase::setBaroData(uint64_t time_usec, float *data)
baro_sample_new.time_us = time_usec - _params.baro_delay_ms * 1000;
baro_sample_new.time_us -= FILTER_UPDATE_PERRIOD_MS * 1000 / 2;
_time_last_baro = baro_sample_new.time_us;
_time_last_baro = time_usec;
baro_sample_new.time_us = math::max(baro_sample_new.time_us, _imu_sample_delayed.time_us);
@@ -216,7 +216,7 @@ void EstimatorBase::setAirspeedData(uint64_t time_usec, float *data)
airspeed_sample_new.time_us -= _params.airspeed_delay_ms * 1000;
airspeed_sample_new.time_us = time_usec -= FILTER_UPDATE_PERRIOD_MS * 1000 / 2;
_time_last_airspeed = airspeed_sample_new.time_us;
_time_last_airspeed = time_usec;
_airspeed_buffer.push(airspeed_sample_new);
}