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INS data output: Add the latency the logged messages
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c87a042195
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@ -317,6 +317,11 @@ void simple_update() {
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*/
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static void print_ekf_binary()
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{
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static uint32_t timeval;
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uint16_t delay;
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delay = PIOS_DELAY_DiffuS(timeval);
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timeval = PIOS_DELAY_GetRaw();
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uint8_t framing[2] = { 0xff, 0x00 };
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// Dump raw buffer
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PIOS_COM_SendBuffer(PIOS_COM_AUX, &framing[0], sizeof(framing));
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@ -329,6 +334,7 @@ static void print_ekf_binary()
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PIOS_COM_SendBuffer(PIOS_COM_AUX, (uint8_t *) & altitude_data.altitude, 4);
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PIOS_COM_SendBuffer(PIOS_COM_AUX, (uint8_t *) &gyro_data.temperature, 4);
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PIOS_COM_SendBuffer(PIOS_COM_AUX, (uint8_t *) &accel_data.temperature, 4);
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PIOS_COM_SendBuffer(PIOS_COM_AUX, (uint8_t *) &delay, 2);
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mag_data.updated = 0;
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altitude_data.updated = 0;
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