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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/position_estimator_inav/position_estimator_inav_main.cpp
+6 -6
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@@ -425,8 +425,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
if (fds_init[0].revents & POLLIN) {
orb_copy(ORB_ID(sensor_combined), sensor_combined_sub, &sensor);
if (wait_baro && sensor.baro_timestamp != baro_timestamp) {
baro_timestamp = sensor.baro_timestamp;
if (wait_baro && sensor.timestamp + sensor.baro_timestamp_relative != baro_timestamp) {
baro_timestamp = sensor.timestamp + sensor.baro_timestamp_relative;
baro_wait_for_sample_time = hrt_absolute_time();
/* mean calculation over several measurements */
@@ -502,7 +502,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
if (updated) {
orb_copy(ORB_ID(sensor_combined), sensor_combined_sub, &sensor);
if (sensor.accelerometer_timestamp != accel_timestamp) {
if (sensor.timestamp + sensor.accelerometer_timestamp_relative != accel_timestamp) {
if (att.R_valid) {
float sensor_accel[3];
float accel_dt = sensor.accelerometer_integral_dt / 1.e6f;
@@ -525,13 +525,13 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
memset(acc, 0, sizeof(acc));
}
accel_timestamp = sensor.accelerometer_timestamp;
accel_timestamp = sensor.timestamp + sensor.accelerometer_timestamp_relative;
accel_updates++;
}
if (sensor.baro_timestamp != baro_timestamp) {
if (sensor.timestamp + sensor.baro_timestamp_relative != baro_timestamp) {
corr_baro = baro_offset - sensor.baro_alt_meter - z_est[0];
baro_timestamp = sensor.baro_timestamp;
baro_timestamp = sensor.timestamp + sensor.baro_timestamp_relative;
baro_updates++;
}
}