From f748b38b3ad2b2b7195f1dae7f605c4ccea12c85 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Tue, 5 Dec 2017 10:39:16 -0500 Subject: [PATCH] mc_att_control set timestamp_sample from gyro --- src/modules/mc_att_control/mc_att_control_main.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp index 94d7c8d954..4024dfd9c2 100644 --- a/src/modules/mc_att_control/mc_att_control_main.cpp +++ b/src/modules/mc_att_control/mc_att_control_main.cpp @@ -1238,7 +1238,7 @@ MulticopterAttitudeControl::task_main() _actuators.control[3] = (PX4_ISFINITE(_thrust_sp)) ? _thrust_sp : 0.0f; _actuators.control[7] = _v_att_sp.landing_gear; _actuators.timestamp = hrt_absolute_time(); - _actuators.timestamp_sample = _v_att.timestamp; + _actuators.timestamp_sample = _sensor_gyro.timestamp; /* scale effort by battery status */ if (_params.bat_scale_en && _battery_status.scale > 0.0f) { @@ -1287,7 +1287,7 @@ MulticopterAttitudeControl::task_main() _actuators.control[2] = 0.0f; _actuators.control[3] = 0.0f; _actuators.timestamp = hrt_absolute_time(); - _actuators.timestamp_sample = _v_att.timestamp; + _actuators.timestamp_sample = _sensor_gyro.timestamp; if (!_actuators_0_circuit_breaker_enabled) { if (_actuators_0_pub != nullptr) {