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posix lockstep remove HRT offset and use full sim time

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This commit is contained in:
Daniel Agar
2022-09-01 16:52:25 -04:00
parent 3da0293369
commit c52f2143d2
3 changed files with 21 additions and 47 deletions
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src/drivers/drv_hrt.h
-5
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@@ -235,11 +235,6 @@ __EXPORT extern void hrt_call_delay(struct hrt_call *entry, hrt_abstime delay);
*/
__EXPORT extern void hrt_init(void);
#ifdef __PX4_POSIX
__EXPORT extern hrt_abstime hrt_absolute_time_offset(void);
#endif
#if defined(ENABLE_LOCKSTEP_SCHEDULER)
__EXPORT extern int px4_lockstep_register_component(void);
src/modules/simulation/simulator_mavlink/SimulatorMavlink.cpp
+1 -1
View File
@@ -119,7 +119,7 @@ void SimulatorMavlink::actuator_controls_from_outputs(mavlink_hil_actuator_contr
{
memset(msg, 0, sizeof(mavlink_hil_actuator_controls_t));
msg->time_usec = hrt_absolute_time() + hrt_absolute_time_offset();
msg->time_usec = hrt_absolute_time();
bool armed = (_vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED);