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EKF2: Clean up vision timestamps

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Lorenz Meier
2016-07-10 12:43:21 +02:00
parent 4f875560b7
commit 826eaed2ee
1 changed files with 3 additions and 3 deletions
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src/modules/ekf2/ekf2_main.cpp
+3 -3
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@@ -608,8 +608,8 @@ void Ekf2::task_main()
ev_data.angErr = _default_ev_ang_noise; ev_data.angErr = _default_ev_ang_noise;
} }
// use timestamp from external computer - requires clocks to be synchronised so may not be a good idea // use timestamp from external computer, clocks are synchronized when using MAVROS
_ekf.setExtVisionData(ev.timestamp_computer, &ev_data); _ekf.setExtVisionData(ev.timestamp, &ev_data);
} }
orb_check(_vehicle_land_detected_sub, &vehicle_land_detected_updated); orb_check(_vehicle_land_detected_sub, &vehicle_land_detected_updated);
@@ -979,7 +979,7 @@ void Ekf2::task_main()
} }
if (vision_position_updated) { if (vision_position_updated) {
replay.ev_timestamp = ev.timestamp_computer; replay.ev_timestamp = ev.timestamp;
replay.pos_ev[0] = ev.x; replay.pos_ev[0] = ev.x;
replay.pos_ev[1] = ev.y; replay.pos_ev[1] = ev.y;
replay.pos_ev[2] = ev.z; replay.pos_ev[2] = ev.z;