From ddc95227129185bf2fc3eed5c17f3b060dd840fd Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Wed, 6 Feb 2019 09:16:44 -0500
Subject: [PATCH] EKF2 always use IMU timestamp as now

---
 src/modules/ekf2/ekf2_main.cpp | 10 +---------
 1 file changed, 1 insertion(+), 9 deletions(-)

diff --git a/src/modules/ekf2/ekf2_main.cpp b/src/modules/ekf2/ekf2_main.cpp
index 09dc0cf6f1..e356949dd5 100644
--- a/src/modules/ekf2/ekf2_main.cpp
+++ b/src/modules/ekf2/ekf2_main.cpp
@@ -805,15 +805,7 @@ void Ekf2::run()
 			imu_bias_reset_request = !_ekf.reset_imu_bias();
 		}
 
-		// in replay mode we are getting the actual timestamp from the sensor topic
-		hrt_abstime now = 0;
-
-		if (_replay_mode) {
-			now = sensors.timestamp;
-
-		} else {
-			now = hrt_absolute_time();
-		}
+		const hrt_abstime now = sensors.timestamp;
 
 		// push imu data into estimator
 		float gyro_integral[3];