From 81764c43a131de920a1523969edc9deddd1a2a8f Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Tue, 11 Jul 2023 11:07:39 +0200 Subject: [PATCH] EKF2: use timestamp from argument of PublishEvPosBias() (#21822) * EKF2: use timestamp from argument of PublishEvPosBias() Signed-off-by: Silvan Fuhrer * Update src/modules/ekf2/EKF2.cpp Co-authored-by: Mathieu Bresciani --------- Signed-off-by: Silvan Fuhrer Co-authored-by: Mathieu Bresciani --- src/modules/ekf2/EKF2.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/ekf2/EKF2.cpp b/src/modules/ekf2/EKF2.cpp index 13bdbbea5e..18b8da7290 100644 --- a/src/modules/ekf2/EKF2.cpp +++ b/src/modules/ekf2/EKF2.cpp @@ -1057,7 +1057,7 @@ void EKF2::PublishEvPosBias(const hrt_abstime ×tamp) if ((bias_vec - _last_ev_bias_published).longerThan(0.01f)) { bias.timestamp_sample = _ekf.aid_src_ev_hgt().timestamp_sample; - bias.timestamp = hrt_absolute_time(); + bias.timestamp = _replay_mode ? timestamp : hrt_absolute_time(); _estimator_ev_pos_bias_pub.publish(bias); _last_ev_bias_published = Vector3f(bias.bias);