From cf62dad28d32052032db4bdfc186b78289aa1416 Mon Sep 17 00:00:00 2001
From: marcojob <44396071+marcojob@users.noreply.github.com>
Date: Wed, 13 Dec 2023 02:56:59 +0100
Subject: [PATCH] sensors/VehicleAngularVelocity: fix force
 SensorSelectionUpdate

 - This fixes the force call on SensorSelectionUpdate
 - In contrary to the rest of the codebase, this method also takes a timestamp: When you call SensorSelectionUpdate(true), time_now_us is actually set to 1 and force stays false, as this is the default value for in the method.
---
 .../vehicle_angular_velocity/VehicleAngularVelocity.cpp       | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp b/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp
index 0264c930de..f2b0d3540b 100644
--- a/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp
+++ b/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp
@@ -79,7 +79,7 @@ bool VehicleAngularVelocity::Start()
 		return false;
 	}
 
-	if (!SensorSelectionUpdate(true)) {
+	if (!SensorSelectionUpdate(hrt_absolute_time(), true)) {
 		ScheduleNow();
 	}
 
@@ -906,7 +906,7 @@ void VehicleAngularVelocity::Run()
 
 	// force reselection on timeout
 	if (time_now_us > _last_publish + 500_ms) {
-		SensorSelectionUpdate(true);
+		SensorSelectionUpdate(time_now_us, true);
 	}
 
 	perf_end(_cycle_perf);