From 7d56ae4ed65f67cfe159a436eb58da59e9e0b0f6 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Thu, 8 Jan 2015 12:59:20 +0100 Subject: [PATCH] mc attitude control: Log sensor time stamp in actuator output --- src/modules/mc_att_control/mc_att_control_main.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp index cfb237711a..a094ed2c60 100644 --- a/src/modules/mc_att_control/mc_att_control_main.cpp +++ b/src/modules/mc_att_control/mc_att_control_main.cpp @@ -888,6 +888,7 @@ MulticopterAttitudeControl::task_main() _actuators.control[2] = (isfinite(_att_control(2))) ? _att_control(2) : 0.0f; _actuators.control[3] = (isfinite(_thrust_sp)) ? _thrust_sp : 0.0f; _actuators.timestamp = hrt_absolute_time(); + _actuators.timestamp_sample = _v_att.timestamp; if (!_actuators_0_circuit_breaker_enabled) { if (_actuators_0_pub > 0) {