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lpe: mocap and vision: set common ref timestamp

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TSC21
2018-07-14 11:42:36 +01:00
committed by Lorenz Meier
parent 7629075cae
commit 88ffd047e0
2 changed files with 2 additions and 2 deletions
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src/modules/local_position_estimator/sensors/mocap.cpp
+1 -1
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@@ -38,7 +38,7 @@ void BlockLocalPositionEstimator::mocapInit()
// get reference for global position // get reference for global position
globallocalconverter_getref(&_ref_lat, &_ref_lon, &_ref_alt); globallocalconverter_getref(&_ref_lat, &_ref_lon, &_ref_alt);
_global_ref_timestamp = hrt_absolute_time(); _global_ref_timestamp = _timeStamp;
_is_global_cov_init = globallocalconverter_initialized(); _is_global_cov_init = globallocalconverter_initialized();
if (!_map_ref.init_done && _is_global_cov_init && !_visionUpdated) { if (!_map_ref.init_done && _is_global_cov_init && !_visionUpdated) {
src/modules/local_position_estimator/sensors/vision.cpp
+1 -1
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@@ -43,7 +43,7 @@ void BlockLocalPositionEstimator::visionInit()
// get reference for global position // get reference for global position
globallocalconverter_getref(&_ref_lat, &_ref_lon, &_ref_alt); globallocalconverter_getref(&_ref_lat, &_ref_lon, &_ref_alt);
_global_ref_timestamp = hrt_absolute_time(); _global_ref_timestamp = _timeStamp;
_is_global_cov_init = globallocalconverter_initialized(); _is_global_cov_init = globallocalconverter_initialized();
if (!_map_ref.init_done && _is_global_cov_init) { if (!_map_ref.init_done && _is_global_cov_init) {