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external attitude sp: set timestamp

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Thomas Gubler
2014-07-16 10:36:02 +02:00
parent 3c8927c423
commit a63f3a1731
1 changed files with 2 additions and 0 deletions
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src/modules/mavlink/mavlink_receiver.cpp
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@@ -528,6 +528,7 @@ MavlinkReceiver::handle_message_attitude_setpoint_external(mavlink_message_t *ms
/* Publish attitude setpoint if ignore bit is not set */
if (!(attitude_setpoint_external.type_mask & (1 << 7))) {
struct vehicle_attitude_setpoint_s att_sp;
att_sp.timestamp = hrt_absolute_time();
mavlink_quaternion_to_euler(attitude_setpoint_external.q,
&att_sp.roll_body, &att_sp.pitch_body, &att_sp.yaw_body);
att_sp.thrust = attitude_setpoint_external.thrust;
@@ -542,6 +543,7 @@ MavlinkReceiver::handle_message_attitude_setpoint_external(mavlink_message_t *ms
///XXX add support for ignoring individual axes
if (!(attitude_setpoint_external.type_mask & (0b111))) {
struct vehicle_rates_setpoint_s rates_sp;
rates_sp.timestamp = hrt_absolute_time();
rates_sp.roll = attitude_setpoint_external.body_roll_rate;
rates_sp.pitch = attitude_setpoint_external.body_pitch_rate;
rates_sp.yaw = attitude_setpoint_external.body_yaw_rate;