ekf2_replay.msg: use timestamp instead of time_ref, remove unused time_usec_vel

msg/ekf2_replay.msg

@@ -1,4 +1,4 @@
-uint64 time_ref 			# ekf2 reference time. This is a timestamp passed to the
+# uint64 timestamp 			# ekf2 reference time. This is a timestamp passed to the
 					# estimator which it uses a absolute reference.
 float32 gyro_integral_dt		# gyro integration period in s
 float32 accelerometer_integral_dt 	# accelerometer integration period in s
@@ -16,7 +16,6 @@ float32[3] magnetometer_ga 		# magnetometer measurement vector (body fixed NED)
 float32 baro_alt_meter			# barometer altitude measurement in m
 
 uint64 time_usec			# timestamp of gps position measurement in us
-uint64 time_usec_vel			# timestamp of gps velocity measurement in us
 int32 lat				# Latitude in 1E-7 degrees
 int32 lon				# Longitude in 1E-7 degrees
 int32 alt				# Altitude in 1E-3 meters above MSL, (millimetres)

src/modules/ekf2/ekf2_main.cpp

@@ -1015,7 +1015,7 @@ void Ekf2::task_main()
 
 		if (publish_replay_message) {
 			struct ekf2_replay_s replay = {};
-			replay.time_ref = now;
+			replay.timestamp = now;
 			replay.gyro_integral_dt = sensors.gyro_integral_dt;
 			replay.accelerometer_integral_dt = sensors.accelerometer_integral_dt;
 			replay.magnetometer_timestamp = _timestamp_mag_us;
@@ -1028,7 +1028,6 @@ void Ekf2::task_main()
 			// only write gps data if we had a gps update.
 			if (gps_updated) {
 				replay.time_usec = gps.timestamp;
-				replay.time_usec_vel = gps.timestamp;
 				replay.lat = gps.lat;
 				replay.lon = gps.lon;
 				replay.alt = gps.alt;

src/modules/sdlog2/sdlog2.c

@@ -1590,7 +1590,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 
 			if (replay_updated) {
 				log_msg.msg_type = LOG_RPL1_MSG;
-				log_msg.body.log_RPL1.time_ref = buf.replay.time_ref;
+				log_msg.body.log_RPL1.time_ref = buf.replay.timestamp;
 				log_msg.body.log_RPL1.gyro_integral_dt = buf.replay.gyro_integral_dt;
 				log_msg.body.log_RPL1.accelerometer_integral_dt = buf.replay.accelerometer_integral_dt;
 				log_msg.body.log_RPL1.magnetometer_timestamp = buf.replay.magnetometer_timestamp;
@@ -1611,7 +1611,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 				if (buf.replay.time_usec > 0) {
 					log_msg.msg_type = LOG_RPL2_MSG;
 					log_msg.body.log_RPL2.time_pos_usec = buf.replay.time_usec;
-					log_msg.body.log_RPL2.time_vel_usec = buf.replay.time_usec_vel;
+					log_msg.body.log_RPL2.time_vel_usec = buf.replay.time_usec;
 					log_msg.body.log_RPL2.lat = buf.replay.lat;
 					log_msg.body.log_RPL2.lon = buf.replay.lon;
 					log_msg.body.log_RPL2.alt = buf.replay.alt;