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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
2016-06-25 15:57:03 +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/ekf2/ekf2_main.cpp
+12 -4
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@@ -509,10 +509,18 @@ void Ekf2::task_main()
sensors.gyro_integral_rad, sensors.accelerometer_integral_m_s);
// read mag data
_ekf.setMagData(sensors.magnetometer_timestamp, sensors.magnetometer_ga);
if (sensors.magnetometer_timestamp_relative == sensor_combined_s::RELATIVE_TIMESTAMP_INVALID) {
_ekf.setMagData(0, sensors.magnetometer_ga);
} else {
_ekf.setMagData(sensors.timestamp + sensors.magnetometer_timestamp_relative, sensors.magnetometer_ga);
}
// read baro data
_ekf.setBaroData(sensors.baro_timestamp, &sensors.baro_alt_meter);
if (sensors.baro_timestamp_relative == sensor_combined_s::RELATIVE_TIMESTAMP_INVALID) {
_ekf.setBaroData(0, &sensors.baro_alt_meter);
} else {
_ekf.setBaroData(sensors.timestamp + sensors.baro_timestamp_relative, &sensors.baro_alt_meter);
}
// read gps data if available
if (gps_updated) {
@@ -907,8 +915,8 @@ void Ekf2::task_main()
replay.time_ref = now;
replay.gyro_integral_dt = sensors.gyro_integral_dt;
replay.accelerometer_integral_dt = sensors.accelerometer_integral_dt;
replay.magnetometer_timestamp = sensors.magnetometer_timestamp;
replay.baro_timestamp = sensors.baro_timestamp;
replay.magnetometer_timestamp = sensors.timestamp + sensors.magnetometer_timestamp_relative;
replay.baro_timestamp = sensors.timestamp + sensors.baro_timestamp_relative;
memcpy(replay.gyro_integral_rad, sensors.gyro_integral_rad, sizeof(replay.gyro_integral_rad));
memcpy(replay.accelerometer_integral_m_s, sensors.accelerometer_integral_m_s,
sizeof(replay.accelerometer_integral_m_s));