From 7b52eced6615fedcc45ce6d2ee28bc7ed1fca7ba Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Beat=20K=C3=BCng?= Date: Tue, 19 Jul 2016 09:21:35 +0200 Subject: [PATCH] commander: write timestamp of commander_state topic on init and state change --- src/modules/commander/commander.cpp | 1 + src/modules/commander/state_machine_helper.cpp | 1 + 2 files changed, 2 insertions(+) diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index de2293e34c..804b03172c 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -1267,6 +1267,7 @@ int commander_thread_main(int argc, char *argv[]) status_flags.rc_input_blocked = false; status.rc_input_mode = vehicle_status_s::RC_IN_MODE_DEFAULT; internal_state.main_state = commander_state_s::MAIN_STATE_MANUAL; + internal_state.timestamp = hrt_absolute_time(); main_state_prev = commander_state_s::MAIN_STATE_MAX; status.nav_state = vehicle_status_s::NAVIGATION_STATE_MANUAL; status.arming_state = vehicle_status_s::ARMING_STATE_INIT; diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp index 483f52cc08..dadc652009 100644 --- a/src/modules/commander/state_machine_helper.cpp +++ b/src/modules/commander/state_machine_helper.cpp @@ -407,6 +407,7 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta if (internal_state->main_state != new_main_state) { main_state_prev = internal_state->main_state; internal_state->main_state = new_main_state; + internal_state->timestamp = hrt_absolute_time(); } else { ret = TRANSITION_NOT_CHANGED; }