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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/mavlink/mavlink_messages.cpp
+6 -6
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@@ -724,10 +724,10 @@ protected:
if (_sensor_sub->update(&_sensor_time, &sensor)) {
uint16_t fields_updated = 0;
if (_accel_timestamp != sensor.accelerometer_timestamp) {
if (_accel_timestamp != sensor.timestamp + sensor.accelerometer_timestamp_relative) {
/* mark first three dimensions as changed */
fields_updated |= (1 << 0) | (1 << 1) | (1 << 2);
_accel_timestamp = sensor.accelerometer_timestamp;
_accel_timestamp = sensor.timestamp + sensor.accelerometer_timestamp_relative;
}
if (_gyro_timestamp != sensor.timestamp) {
@@ -736,16 +736,16 @@ protected:
_gyro_timestamp = sensor.timestamp;
}
if (_mag_timestamp != sensor.magnetometer_timestamp) {
if (_mag_timestamp != sensor.timestamp + sensor.magnetometer_timestamp_relative) {
/* mark third group dimensions as changed */
fields_updated |= (1 << 6) | (1 << 7) | (1 << 8);
_mag_timestamp = sensor.magnetometer_timestamp;
_mag_timestamp = sensor.timestamp + sensor.magnetometer_timestamp_relative;
}
if (_baro_timestamp != sensor.baro_timestamp) {
if (_baro_timestamp != sensor.timestamp + sensor.baro_timestamp_relative) {
/* mark last group dimensions as changed */
fields_updated |= (1 << 9) | (1 << 11) | (1 << 12);
_baro_timestamp = sensor.baro_timestamp;
_baro_timestamp = sensor.timestamp + sensor.baro_timestamp_relative;
}
_differential_pressure_sub->update(&_differential_pressure_time, &differential_pressure);
src/modules/mavlink/mavlink_receiver.cpp
+3 -3
View File
@@ -1689,16 +1689,16 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
_hil_prev_accel[1] = imu.yacc;
_hil_prev_accel[2] = imu.zacc;
hil_sensors.accelerometer_integral_dt = dt * 1e6f;
hil_sensors.accelerometer_timestamp = timestamp;
hil_sensors.accelerometer_timestamp_relative = 0;
hil_sensors.magnetometer_ga[0] = imu.xmag;
hil_sensors.magnetometer_ga[1] = imu.ymag;
hil_sensors.magnetometer_ga[2] = imu.zmag;
hil_sensors.magnetometer_timestamp = timestamp;
hil_sensors.magnetometer_timestamp_relative = 0;
hil_sensors.baro_alt_meter = imu.pressure_alt;
hil_sensors.baro_temp_celcius = imu.temperature;
hil_sensors.baro_timestamp = timestamp;
hil_sensors.baro_timestamp_relative = 0;
/* publish combined sensor topic */
if (_sensors_pub == nullptr) {