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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/ekf2_replay/ekf2_replay_main.cpp
+2 -2
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@@ -379,8 +379,8 @@ void Ekf2Replay::setEstimatorInput(uint8_t *data, uint8_t type)
_sensors.timestamp = replay_part1.time_ref;
_sensors.gyro_integral_dt = replay_part1.gyro_integral_dt;
_sensors.accelerometer_integral_dt = (uint32_t)replay_part1.accelerometer_integral_dt;
_sensors.magnetometer_timestamp = replay_part1.magnetometer_timestamp;
_sensors.baro_timestamp = replay_part1.baro_timestamp;
_sensors.magnetometer_timestamp_relative = (int32_t)(replay_part1.magnetometer_timestamp - _sensors.timestamp);
_sensors.baro_timestamp_relative = (int32_t)(replay_part1.baro_timestamp - _sensors.timestamp);
_sensors.gyro_integral_rad[0] = replay_part1.gyro_integral_x_rad;
_sensors.gyro_integral_rad[1] = replay_part1.gyro_integral_y_rad;
_sensors.gyro_integral_rad[2] = replay_part1.gyro_integral_z_rad;