AP_NavEKF2: Retrieve correct time-stamp for active compass

9 years ago · 3099d94e78
1 changed files with 1 additions and 1 deletions
--- a/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
@ -217,7 +217,7 @@ void NavEKF2_core::readMagData()
				@@ -217,7 +217,7 @@ void NavEKF2_core::readMagData()
        }

        // store time of last measurement update
-        lastMagUpdate_us = _ahrs->get_compass()->last_update_usec();
+        lastMagUpdate_us = _ahrs->get_compass()->last_update_usec(magSelectIndex);

        // estimate of time magnetometer measurement was taken, allowing for delays
        magDataNew.time_ms = imuSampleTime_ms - frontend->magDelay_ms;