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replay: update & add some comments

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This commit is contained in:
Beat Küng
2017-03-03 15:07:48 +01:00
committed by Lorenz Meier
parent eaa9e6a019
commit ca05e64a9f
4 changed files with 6 additions and 4 deletions
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src/modules/replay/replay_main.cpp
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@@ -885,6 +885,7 @@ bool ReplayEkf2::publishEkf2Topics(const ekf2_timestamps_s &ekf2_timestamps, std
{
auto handle_sensor_publication = [&](int16_t timestamp_relative, uint16_t msg_id) {
if (timestamp_relative != ekf2_timestamps_s::RELATIVE_TIMESTAMP_INVALID) {
// timestamp_relative is already given in 0.1 ms
uint64_t t = timestamp_relative + ekf2_timestamps.timestamp / 100; // in 0.1 ms
findTimestampAndPublish(t, msg_id, replay_file);
}