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Set timestamp with vehicle commands

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The vehicle_command uORB messages had the timestamp unset at 0.
This commit is contained in:
Julian Oes
2017-07-08 11:52:23 +02:00
committed by Lorenz Meier
parent d64b7706f5
commit 9854fc0d84
8 changed files with 18 additions and 1 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+5
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@@ -452,6 +452,8 @@ MavlinkReceiver::handle_message_command_long(mavlink_message_t *msg)
memset(&vcmd, 0, sizeof(vcmd));
vcmd.timestamp = hrt_absolute_time();
/* Copy the content of mavlink_command_long_t cmd_mavlink into command_t cmd */
vcmd.param1 = cmd_mavlink.param1;
@@ -559,6 +561,8 @@ MavlinkReceiver::handle_message_command_int(mavlink_message_t *msg)
memset(&vcmd, 0, sizeof(vcmd));
vcmd.timestamp = hrt_absolute_time();
/* Copy the content of mavlink_command_int_t cmd_mavlink into command_t cmd */
vcmd.param1 = cmd_mavlink.param1;
@@ -767,6 +771,7 @@ MavlinkReceiver::handle_message_set_mode(mavlink_message_t *msg)
vcmd.source_system = msg->sysid;
vcmd.source_component = msg->compid;
vcmd.confirmation = 1;
vcmd.timestamp = hrt_absolute_time();
if (_cmd_pub == nullptr) {
_cmd_pub = orb_advertise_queue(ORB_ID(vehicle_command), &vcmd, vehicle_command_s::ORB_QUEUE_LENGTH);