fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-06-30 17:50:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

vehicle_odometry: add timestamp_sample field for latency monitoring

Browse Source
This commit is contained in:
Mohammed Kabir
2020-04-28 10:07:19 -04:00
committed by Daniel Agar
parent ccaa103164
commit 5ffe88672e
9 changed files with 26 additions and 15 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp
+2 -1
View File
@@ -636,7 +636,8 @@ void BlockLocalPositionEstimator::publishOdom()
if (PX4_ISFINITE(_x(X_x)) && PX4_ISFINITE(_x(X_y)) && PX4_ISFINITE(_x(X_z)) &&
PX4_ISFINITE(_x(X_vx)) && PX4_ISFINITE(_x(X_vy))
&& PX4_ISFINITE(_x(X_vz))) {
_pub_odom.get().timestamp = _timeStamp;
_pub_odom.get().timestamp = hrt_absolute_time();
_pub_odom.get().timestamp_sample = _timeStamp;
_pub_odom.get().local_frame = _pub_odom.get().LOCAL_FRAME_NED;
// position