From 88ffd047e04b92db1b03be6c94ed41cac54c2c9c Mon Sep 17 00:00:00 2001
From: TSC21 <n.marques21@hotmail.com>
Date: Sat, 14 Jul 2018 11:42:36 +0100
Subject: [PATCH] lpe: mocap and vision: set common ref timestamp
---
src/modules/local_position_estimator/sensors/mocap.cpp | 2 +-
src/modules/local_position_estimator/sensors/vision.cpp | 2 +-
2 files changed, 2 insertions(+), 2 deletions(-)
diff --git a/src/modules/local_position_estimator/sensors/mocap.cpp b/src/modules/local_position_estimator/sensors/mocap.cpp
index 6a2d1059f4..9991fbbe25 100644
--- a/src/modules/local_position_estimator/sensors/mocap.cpp
+++ b/src/modules/local_position_estimator/sensors/mocap.cpp
@@ -38,7 +38,7 @@ void BlockLocalPositionEstimator::mocapInit()
// get reference for global position
globallocalconverter_getref(&_ref_lat, &_ref_lon, &_ref_alt);
- _global_ref_timestamp = hrt_absolute_time();
+ _global_ref_timestamp = _timeStamp;
_is_global_cov_init = globallocalconverter_initialized();
if (!_map_ref.init_done && _is_global_cov_init && !_visionUpdated) {
diff --git a/src/modules/local_position_estimator/sensors/vision.cpp b/src/modules/local_position_estimator/sensors/vision.cpp
index ea43192e30..9f5c4f4f21 100644
--- a/src/modules/local_position_estimator/sensors/vision.cpp
+++ b/src/modules/local_position_estimator/sensors/vision.cpp
@@ -43,7 +43,7 @@ void BlockLocalPositionEstimator::visionInit()
// get reference for global position
globallocalconverter_getref(&_ref_lat, &_ref_lon, &_ref_alt);
- _global_ref_timestamp = hrt_absolute_time();
+ _global_ref_timestamp = _timeStamp;
_is_global_cov_init = globallocalconverter_initialized();
if (!_map_ref.init_done && _is_global_cov_init) {
--
GitLab