From 826eaed2ee1d09fff6dbfc6d90e79617b83a68e3 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 10 Jul 2016 12:43:21 +0200 Subject: [PATCH] EKF2: Clean up vision timestamps --- src/modules/ekf2/ekf2_main.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/modules/ekf2/ekf2_main.cpp b/src/modules/ekf2/ekf2_main.cpp index b408227217..352de9430f 100644 --- a/src/modules/ekf2/ekf2_main.cpp +++ b/src/modules/ekf2/ekf2_main.cpp @@ -608,8 +608,8 @@ void Ekf2::task_main() ev_data.angErr = _default_ev_ang_noise; } - // use timestamp from external computer - requires clocks to be synchronised so may not be a good idea - _ekf.setExtVisionData(ev.timestamp_computer, &ev_data); + // use timestamp from external computer, clocks are synchronized when using MAVROS + _ekf.setExtVisionData(ev.timestamp, &ev_data); } orb_check(_vehicle_land_detected_sub, &vehicle_land_detected_updated); @@ -979,7 +979,7 @@ void Ekf2::task_main() } if (vision_position_updated) { - replay.ev_timestamp = ev.timestamp_computer; + replay.ev_timestamp = ev.timestamp; replay.pos_ev[0] = ev.x; replay.pos_ev[1] = ev.y; replay.pos_ev[2] = ev.z;