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mavlink: set correct distance_sensor timestamp. Fixes #11840

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When PX4FLOW is connected to PX4 through MAVLink (e.g., through a USB
port), the timestamp assigned to the distance_sensor was wrong. This fix
uses the same timestamp assigned to the optical_flow message created from
the same OPTICAL_FLOW_RAD MAVLink message.

Signed-off-by: Gabriel Moreno <gabrielm@cs.cmu.edu>
This commit is contained in:
Gabriel Moreno
2019-04-15 13:22:32 -04:00
committed by Lorenz Meier
parent 93d52581ef
commit f9324fb76a
1 changed files with 1 additions and 1 deletions
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2
src/modules/mavlink/mavlink_receiver.cpp
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@@ -625,7 +625,7 @@ MavlinkReceiver::handle_message_optical_flow_rad(mavlink_message_t *msg)
struct distance_sensor_s d = {};
if (flow.distance > 0.0f) { // negative values signal invalid data
d.timestamp = _mavlink_timesync.sync_stamp(flow.integration_time_us * 1000); /* ms to us */
d.timestamp = f.timestamp;
d.min_distance = 0.3f;
d.max_distance = 5.0f;
d.current_distance = flow.distance; /* both are in m */