From 9355324209452af66d093693ee58e0a6ed156873 Mon Sep 17 00:00:00 2001 From: sfalexrog Date: Wed, 20 Feb 2019 13:02:16 +0300 Subject: [PATCH] mavlink/MavlinkReceiver: Use hrt_absolute_time for distance_sensor timestamps --- src/modules/mavlink/mavlink_receiver.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index 63933fafeb..3bf30257bb 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -790,7 +790,7 @@ MavlinkReceiver::handle_message_distance_sensor(mavlink_message_t *msg) struct distance_sensor_s d; memset(&d, 0, sizeof(d)); - d.timestamp = dist_sensor.time_boot_ms * 1000; /* ms to us */ + d.timestamp = hrt_absolute_time(); /* Use system time for now, don't trust sender to attach correct timestamp */ d.min_distance = float(dist_sensor.min_distance) * 1e-2f; /* cm to m */ d.max_distance = float(dist_sensor.max_distance) * 1e-2f; /* cm to m */ d.current_distance = float(dist_sensor.current_distance) * 1e-2f; /* cm to m */