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vehicle_gps_position: use timestamp field instead of timestamp_position

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timestamp was unused. This allows to remove timestamp_position.
This commit is contained in:
Beat Küng
2016-06-24 00:22:01 +02:00
committed by Lorenz Meier
parent bf0b3c1585
commit 89f5bd27e8
15 changed files with 37 additions and 38 deletions
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src/modules/uavcan/sensors/gnss.cpp
+4 -4
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@@ -104,12 +104,12 @@ void UavcanGnssBridge::gnss_fix_sub_cb(const uavcan::ReceivedDataStructure<uavca
* to use an independent time source (based on hardware TIM5) instead of HRT.
* The proper solution is to be developed.
*/
report.timestamp_position = hrt_absolute_time();
report.timestamp = hrt_absolute_time();
report.lat = msg.latitude_deg_1e8 / 10;
report.lon = msg.longitude_deg_1e8 / 10;
report.alt = msg.height_msl_mm;
report.timestamp_variance = report.timestamp_position;
report.timestamp_variance = report.timestamp;
// Check if the msg contains valid covariance information
@@ -163,7 +163,7 @@ void UavcanGnssBridge::gnss_fix_sub_cb(const uavcan::ReceivedDataStructure<uavca
report.fix_type = msg.status;
report.timestamp_velocity = report.timestamp_position;
report.timestamp_velocity = report.timestamp;
report.vel_n_m_s = msg.ned_velocity[0];
report.vel_e_m_s = msg.ned_velocity[1];
report.vel_d_m_s = msg.ned_velocity[2];
@@ -172,7 +172,7 @@ void UavcanGnssBridge::gnss_fix_sub_cb(const uavcan::ReceivedDataStructure<uavca
report.cog_rad = atan2f(report.vel_e_m_s, report.vel_n_m_s);
report.vel_ned_valid = true;
report.timestamp_time = report.timestamp_position;
report.timestamp_time = report.timestamp;
report.time_utc_usec = uavcan::UtcTime(msg.gnss_timestamp).toUSec(); // Convert to microseconds
report.satellites_used = msg.sats_used;