From eaa9e6a0193416b28c4094d14fa568b42160fd04 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Beat=20K=C3=BCng?= Date: Fri, 3 Mar 2017 10:18:15 +0100 Subject: [PATCH] ekf2: set att.timestamp to now in replay mode before ekf is initialized logger will always log this topic, and a 0 timestamp will look worse in FlightPlot. This will show a period of 0 attitude instead before ekf is initialized. --- src/modules/ekf2/ekf2_main.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/ekf2/ekf2_main.cpp b/src/modules/ekf2/ekf2_main.cpp index 096fb93083..19f593b053 100644 --- a/src/modules/ekf2/ekf2_main.cpp +++ b/src/modules/ekf2/ekf2_main.cpp @@ -924,7 +924,7 @@ void Ekf2::task_main() // in replay mode we have to tell the replay module not to wait for an update // we do this by publishing an attitude with zero timestamp struct vehicle_attitude_s att = {}; - att.timestamp = 0; + att.timestamp = now; if (_att_pub == nullptr) { _att_pub = orb_advertise(ORB_ID(vehicle_attitude), &att);