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replay: remove GPS relative timestamps

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Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
This commit is contained in:
CarlOlsson
2020-02-07 08:19:22 +01:00
committed by Beat Küng
parent b399698306
commit a61f1647ad
4 changed files with 2 additions and 14 deletions
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src/modules/ekf2/ekf2_main.cpp
-3
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@@ -804,7 +804,6 @@ void Ekf2::Run()
ekf2_timestamps.airspeed_timestamp_rel = ekf2_timestamps_s::RELATIVE_TIMESTAMP_INVALID;
ekf2_timestamps.distance_sensor_timestamp_rel = ekf2_timestamps_s::RELATIVE_TIMESTAMP_INVALID;
ekf2_timestamps.gps_timestamp_rel = ekf2_timestamps_s::RELATIVE_TIMESTAMP_INVALID;
ekf2_timestamps.optical_flow_timestamp_rel = ekf2_timestamps_s::RELATIVE_TIMESTAMP_INVALID;
ekf2_timestamps.vehicle_air_data_timestamp_rel = ekf2_timestamps_s::RELATIVE_TIMESTAMP_INVALID;
ekf2_timestamps.vehicle_magnetometer_timestamp_rel = ekf2_timestamps_s::RELATIVE_TIMESTAMP_INVALID;
@@ -928,8 +927,6 @@ void Ekf2::Run()
if (_gps_subs[0].copy(&gps)) {
fillGpsMsgWithVehicleGpsPosData(_gps_state[0], gps);
_gps_alttitude_ellipsoid[0] = gps.alt_ellipsoid;
ekf2_timestamps.gps_timestamp_rel = (int16_t)((int64_t)gps.timestamp / 100 - (int64_t)ekf2_timestamps.timestamp / 100);
}
}