UAV-develop/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-09-25 12:09:56 +08:00
Code Issues Packages Projects Releases Wiki Activity

Fix imu time stamp to publication time for gz sim (#28414)

Browse Source
This commit is contained in:
Jaeyoung Lim
2026-08-27 15:30:43 -07:00
committed by GitHub
parent b4bcbb22fb
commit 6011989fbc
1 changed files with 5 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
src/modules/simulation/gz_bridge/GZBridge.cpp
View File

@@ -40,6 +40,7 @@
#include <px4_platform_common/getopt.h>
#include <algorithm>
#include <iostream>
#include <string>
@@ -434,7 +435,10 @@ void GZBridge::airspeedCallback(const gz::msgs::AirSpeed &msg)
void GZBridge::imuCallback(const gz::msgs::IMU &msg)
{
const uint64_t timestamp = hrt_absolute_time();
const uint64_t timestamp_sample = msg.header().stamp().sec() * 1000000ULL + msg.header().stamp().nsec() / 1000ULL;
// The simulated clock can be marginally behind the header stamp due to topic delivery ordering
const uint64_t timestamp = std::min(timestamp_sample, hrt_absolute_time());
// FLU -> FRD
static const auto q_FLU_to_FRD = gz::math::Quaterniond(0, 1, 0, 0);