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mc_att_control set timestamp_sample from gyro

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This commit is contained in:
Daniel Agar
2017-12-06 10:08:00 +00:00
committed by Lorenz Meier
parent f6b108c2b6
commit f748b38b3a
1 changed files with 2 additions and 2 deletions
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src/modules/mc_att_control/mc_att_control_main.cpp
+2 -2
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@@ -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) {