Mirrors_Framework/PX4-Autopilot
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Fixes 2911

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This commit is contained in:
Pavel Kirienko
2015-09-26 20:12:15 +03:00
committed by Lorenz Meier
parent fbde7b6f02
commit e2b801a323
3 changed files with 25 additions and 3 deletions
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src/modules/uavcan/sensors/baro.cpp
+8 -1
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@@ -159,7 +159,14 @@ void UavcanBarometerBridge::air_pressure_sub_cb(const
{
baro_report report;
report.timestamp = msg.getMonotonicTimestamp().toUSec();
/*
* FIXME HACK
* This code used to rely on msg.getMonotonicTimestamp().toUSec() instead of HRT.
* It stopped working when the time sync feature has been introduced, because it caused libuavcan
* to use an independent time source (based on hardware TIM5) instead of HRT.
* The proper solution is to be developed.
*/
report.timestamp = hrt_absolute_time();
report.temperature = last_temperature_kelvin - 273.15F;
report.pressure = msg.static_pressure / 100.0F; // Convert to millibar
report.error_count = 0;
src/modules/uavcan/sensors/gnss.cpp
+9 -1
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@@ -96,7 +96,15 @@ void UavcanGnssBridge::gnss_fix_sub_cb(const uavcan::ReceivedDataStructure<uavca
auto report = ::vehicle_gps_position_s();
report.timestamp_position = msg.getMonotonicTimestamp().toUSec();
/*
* FIXME HACK
* There used to be the following line of code:
* report.timestamp_position = msg.getMonotonicTimestamp().toUSec();
* It stopped working when the time sync feature has been introduced, because it caused libuavcan
* to use an independent time source (based on hardware TIM5) instead of HRT.
* The proper solution is to be developed.
*/
report.timestamp_position = hrt_absolute_time();
report.lat = msg.latitude_deg_1e8 / 10;
report.lon = msg.longitude_deg_1e8 / 10;
report.alt = msg.height_msl_mm;
src/modules/uavcan/sensors/mag.cpp
+8 -1
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@@ -146,7 +146,14 @@ 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.getMonotonicTimestamp().toUSec();
/*
* FIXME HACK
* This code used to rely on msg.getMonotonicTimestamp().toUSec() instead of HRT.
* It stopped working when the time sync feature has been introduced, because it caused libuavcan
* to use an independent time source (based on hardware TIM5) instead of HRT.
* The proper solution is to be developed.
*/
_report.timestamp = hrt_absolute_time();
_report.x = (msg.magnetic_field_ga[0] - _scale.x_offset) * _scale.x_scale;
_report.y = (msg.magnetic_field_ga[1] - _scale.y_offset) * _scale.y_scale;