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sensor_combined.msg: make timestamps relative

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This is needed for the new logger & saves some space as well.
This commit is contained in:
Beat Küng
2016-07-07 11:35:50 +02:00
committed by Lorenz Meier
parent c66f26245c
commit c5ea4b43be
12 changed files with 94 additions and 53 deletions
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src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
+2 -2
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@@ -334,7 +334,7 @@ void AttitudeEstimatorQ::task_main()
_gyro(2) = sensors.gyro_integral_rad[2] / gyro_dt;
}
if (sensors.accelerometer_timestamp > 0) {
if (sensors.accelerometer_timestamp_relative != sensor_combined_s::RELATIVE_TIMESTAMP_INVALID) {
float accel_dt = sensors.accelerometer_integral_dt / 1.e6f;
_accel(0) = sensors.accelerometer_integral_m_s[0] / accel_dt;
_accel(1) = sensors.accelerometer_integral_m_s[1] / accel_dt;
@@ -346,7 +346,7 @@ void AttitudeEstimatorQ::task_main()
}
}
if (sensors.magnetometer_timestamp > 0) {
if (sensors.magnetometer_timestamp_relative != sensor_combined_s::RELATIVE_TIMESTAMP_INVALID) {
_mag(0) = sensors.magnetometer_ga[0];
_mag(1) = sensors.magnetometer_ga[1];
_mag(2) = sensors.magnetometer_ga[2];