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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/navigator/mission_block.cpp
+4 -1
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@@ -479,7 +479,9 @@ MissionBlock::issue_command(const struct mission_item_s *item)
PX4_INFO("forwarding command %d", item->nav_cmd);
struct vehicle_command_s cmd = {};
mission_item_to_vehicle_command(item, &cmd);
_action_start = hrt_absolute_time();
const hrt_abstime now = hrt_absolute_time();
_action_start = now;
cmd.timestamp = now;
_navigator->publish_vehicle_cmd(cmd);
}
@@ -715,6 +717,7 @@ MissionBlock::set_land_item(struct mission_item_s *item, bool at_current_locatio
struct vehicle_command_s cmd = {};
cmd.command = NAV_CMD_DO_VTOL_TRANSITION;
cmd.param1 = vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC;
cmd.timestamp = hrt_absolute_time();
_navigator->publish_vehicle_cmd(cmd);
}