From 7418d8400173412ae1356f28871027abddd0fdd8 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Henry=20Kotz=C3=A9?= Date: Fri, 17 Oct 2025 20:43:34 +0200 Subject: [PATCH] ekf2: ev vel, use measurement timestamp to update aid_src timestamp_sample (#25774) - the estimator_aid_src::sample_timestamp would use its own timestamp to update, this would cause the estimator_aid_src for ev velocity not to log, since the timestamp_sample would always equal to zero and thus never be greater than the previous published time Co-authored-by: henrykotze --- src/modules/ekf2/EKF/aid_sources/external_vision/ev_vel.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/ekf2/EKF/aid_sources/external_vision/ev_vel.h b/src/modules/ekf2/EKF/aid_sources/external_vision/ev_vel.h index d392246888..10d6b64cf4 100644 --- a/src/modules/ekf2/EKF/aid_sources/external_vision/ev_vel.h +++ b/src/modules/ekf2/EKF/aid_sources/external_vision/ev_vel.h @@ -57,7 +57,7 @@ public: virtual ~ExternalVisionVel() = default; virtual bool fuseVelocity(estimator_aid_source3d_s &aid_src, float gate) { - _ekf.fuseLocalFrameVelocity(aid_src, aid_src.timestamp, _measurement, + _ekf.fuseLocalFrameVelocity(aid_src, _sample.time_us, _measurement, _measurement_var, gate); return aid_src.fused;