Simulation: returned back the missing global position groundtruth tim…

…estamp
tiiuae · Nov 27, 2024 · e902047 · e902047
1 parent 4b6bc29
commit e902047
Show file tree

Hide file tree

Showing 2 changed files with 3 additions and 0 deletions.
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
@@ -2349,6 +2349,7 @@ MavlinkReceiver::handle_message_hil_gps(mavlink_message_t *msg)
 			// Publish GPS groundtruth
 			vehicle_global_position_s hil_global_position_groundtruth{};
 			hil_global_position_groundtruth.timestamp_sample = hrt_absolute_time();
+			hil_global_position_groundtruth.timestamp = hrt_absolute_time();
 			hil_global_position_groundtruth.lat = hil_gps.lat / 1e7;
 			hil_global_position_groundtruth.lon = hil_gps.lon / 1e7;
 			hil_global_position_groundtruth.alt = hil_gps.alt / 1e3f;

diff --git a/src/modules/simulation/gz_bridge/GZBridge.cpp b/src/modules/simulation/gz_bridge/GZBridge.cpp
@@ -714,8 +714,10 @@ void GZBridge::navSatCallback(const gz::msgs::NavSat &nav_sat)
 		vehicle_global_position_s global_position_groundtruth{};
 #if defined(ENABLE_LOCKSTEP_SCHEDULER)
 		global_position_groundtruth.timestamp_sample = time_us;
+		global_position_groundtruth.timestamp = time_us;
 #else
 		global_position_groundtruth.timestamp_sample = hrt_absolute_time();
+		global_position_groundtruth.timestamp = hrt_absolute_time();
 #endif
 		global_position_groundtruth.lat = nav_sat.latitude_deg();
 		global_position_groundtruth.lon = nav_sat.longitude_deg();