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UAVCAN: fix mag report timestamp

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This commit is contained in:
Holger Steinhaus
2014-11-13 16:58:41 +01:00
parent 16d74e3c31
commit e026324784
1 changed files with 2 additions and 5 deletions
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src/modules/uavcan/sensors/mag.cpp
+2 -5
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@@ -37,6 +37,7 @@
#include "mag.hpp"
#include <drivers/drv_hrt.h>
#include <systemlib/err.h>
static const orb_id_t MAG_TOPICS[3] = {
@@ -139,11 +140,7 @@ void UavcanMagnetometerBridge::mag_sub_cb(const uavcan::ReceivedDataStructure<ua
{
lock();
_report.range_ga = 1.3F; // Arbitrary number, doesn't really mean anything
_report.timestamp = msg.getUtcTimestamp().toUSec();
if (_report.timestamp == 0) {
_report.timestamp = msg.getMonotonicTimestamp().toUSec();
}
_report.timestamp = hrt_absolute_time();
_report.x = (msg.magnetic_field[0] - _scale.x_offset) * _scale.x_scale;
_report.y = (msg.magnetic_field[1] - _scale.y_offset) * _scale.y_scale;