fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-23 15:07:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

vehicle_gps_position: use timestamp field instead of timestamp_position

Browse Source 
timestamp was unused. This allows to remove timestamp_position.
This commit is contained in:
Beat Küng
2016-06-15 12:59:39 +02:00
committed by Lorenz Meier
parent bf0b3c1585
commit 89f5bd27e8
15 changed files with 37 additions and 38 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/ekf2/ekf2_main.cpp
+3 -3
View File
@@ -517,7 +517,7 @@ void Ekf2::task_main()
// read gps data if available
if (gps_updated) {
struct gps_message gps_msg = {};
gps_msg.time_usec = gps.timestamp_position;
gps_msg.time_usec = gps.timestamp;
gps_msg.lat = gps.lat;
gps_msg.lon = gps.lon;
gps_msg.alt = gps.alt;
@@ -535,7 +535,7 @@ void Ekf2::task_main()
//TODO add gdop to gps topic
gps_msg.gdop = 0.0f;
_ekf.setGpsData(gps.timestamp_position, &gps_msg);
_ekf.setGpsData(gps.timestamp, &gps_msg);
}
// only set airspeed data if condition for airspeed fusion are met
@@ -909,7 +909,7 @@ void Ekf2::task_main()
// only write gps data if we had a gps update.
if (gps_updated) {
replay.time_usec = gps.timestamp_position;
replay.time_usec = gps.timestamp;
replay.time_usec_vel = gps.timestamp_velocity;
replay.lat = gps.lat;
replay.lon = gps.lon;