From 80e10645230a6de6f7f5963360fc727611c45d0b Mon Sep 17 00:00:00 2001
From: Kabir Mohammed <kabir@uasys.io>
Date: Thu, 23 Feb 2017 08:59:41 +0530
Subject: [PATCH] mavlink : fix legacy vision interface attitude timestamps
---
src/modules/mavlink/mavlink_receiver.cpp | 2 ++
1 file changed, 2 insertions(+)
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index 73d3696008..bc2fc9b324 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -1164,6 +1164,8 @@ MavlinkReceiver::handle_message_vision_position_estimate(mavlink_message_t *msg)
struct vehicle_attitude_s vision_attitude = {};
+ vision_attitude.timestamp = sync_stamp(pos.usec);
+
math::Quaternion q;
q.from_euler(pos.roll, pos.pitch, pos.yaw);
--
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