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Use monotonic clock for simulator

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Lorenz Meier
2016-09-27 11:56:49 +02:00
committed by Lorenz Meier
parent 5b674ffe48
commit adf56050b9
1 changed files with 1 additions and 1 deletions
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src/modules/simulator/simulator_mavlink.cpp
+1 -1
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@@ -218,7 +218,7 @@ void Simulator::handle_message(mavlink_message_t *msg, bool publish)
uint64_t sim_timestamp = imu.time_usec; uint64_t sim_timestamp = imu.time_usec;
struct timespec ts; struct timespec ts;
px4_clock_gettime(CLOCK_REALTIME, &ts); px4_clock_gettime(CLOCK_MONOTONIC, &ts);
uint64_t timestamp = ts.tv_sec * 1000 * 1000 + ts.tv_nsec / 1000; uint64_t timestamp = ts.tv_sec * 1000 * 1000 + ts.tv_nsec / 1000;
perf_set_elapsed(_perf_sim_delay, timestamp - sim_timestamp); perf_set_elapsed(_perf_sim_delay, timestamp - sim_timestamp);