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ekf2: publish ekf2_timestamps topic

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This commit is contained in:
Beat Küng
2017-03-04 22:47:54 +08:00
committed by Lorenz Meier
parent df3ef3660b
commit aabdc4125b
2 changed files with 70 additions and 3 deletions
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src/modules/sensors/voted_sensors_update.cpp
+5 -3
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@@ -1045,15 +1045,17 @@ void VotedSensorsUpdate::check_failover()
void VotedSensorsUpdate::set_relative_timestamps(sensor_combined_s &raw)
{
if (_last_accel_timestamp[_accel.last_best_vote]) {
raw.accelerometer_timestamp_relative = (int32_t)(_last_accel_timestamp[_accel.last_best_vote] - raw.timestamp);
raw.accelerometer_timestamp_relative = (int32_t)((int64_t)_last_accel_timestamp[_accel.last_best_vote] -
(int64_t)raw.timestamp);
}
if (_last_mag_timestamp[_mag.last_best_vote]) {
raw.magnetometer_timestamp_relative = (int32_t)(_last_mag_timestamp[_mag.last_best_vote] - raw.timestamp);
raw.magnetometer_timestamp_relative = (int32_t)((int64_t)_last_mag_timestamp[_mag.last_best_vote] -
(int64_t)raw.timestamp);
}
if (_last_baro_timestamp[_baro.last_best_vote]) {
raw.baro_timestamp_relative = (int32_t)(_last_baro_timestamp[_baro.last_best_vote] - raw.timestamp);
raw.baro_timestamp_relative = (int32_t)((int64_t)_last_baro_timestamp[_baro.last_best_vote] - (int64_t)raw.timestamp);
}
}