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mavlink/MavlinkReceiver: Use hrt_absolute_time for distance_sensor timestamps

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sfalexrog
2019-02-20 13:02:16 +03:00
committed by Beat Küng
parent 5132368378
commit 9355324209
1 changed files with 1 additions and 1 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+1 -1
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@@ -790,7 +790,7 @@ MavlinkReceiver::handle_message_distance_sensor(mavlink_message_t *msg)
struct distance_sensor_s d;
memset(&d, 0, sizeof(d));
d.timestamp = dist_sensor.time_boot_ms * 1000; /* ms to us */
d.timestamp = hrt_absolute_time(); /* Use system time for now, don't trust sender to attach correct timestamp */
d.min_distance = float(dist_sensor.min_distance) * 1e-2f; /* cm to m */
d.max_distance = float(dist_sensor.max_distance) * 1e-2f; /* cm to m */
d.current_distance = float(dist_sensor.current_distance) * 1e-2f; /* cm to m */