From b12f5c4e312710691c84c1c120b71ee418be92cf Mon Sep 17 00:00:00 2001 From: alexklimaj Date: Fri, 5 May 2023 12:49:58 -0600 Subject: [PATCH] adis16507 group delay should be subtracted from timestamp_sample --- src/drivers/imu/analog_devices/adis16507/ADIS16507.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/drivers/imu/analog_devices/adis16507/ADIS16507.cpp b/src/drivers/imu/analog_devices/adis16507/ADIS16507.cpp index 4f582bc854..0aa216c940 100644 --- a/src/drivers/imu/analog_devices/adis16507/ADIS16507.cpp +++ b/src/drivers/imu/analog_devices/adis16507/ADIS16507.cpp @@ -318,7 +318,7 @@ void ADIS16507::RunImpl() // TODO: // Group Delay with No Filtering: Accelerometer 1.57 ms const uint64_t accel_group_delay_us = 1'570; - _px4_accel.update(timestamp_sample + accel_group_delay_us, accel_x, accel_y, accel_z); + _px4_accel.update(timestamp_sample - accel_group_delay_us, accel_x, accel_y, accel_z); int16_t gyro_x = buffer.X_GYRO_OUT; @@ -335,7 +335,7 @@ void ADIS16507::RunImpl() // Gyroscope (Y-Axis) 1.51 ms // Gyroscope (Z-Axis) 1.29 ms const uint64_t gyro_group_delay_us = (1'510 + 1'510 + 1'290) / 3; - _px4_gyro.update(timestamp_sample + gyro_group_delay_us, gyro_x, gyro_y, gyro_z); + _px4_gyro.update(timestamp_sample - gyro_group_delay_us, gyro_x, gyro_y, gyro_z); success = true;