uORB::Publication automatically set timestamp

boards/bitcraze/crazyflie/syslink/syslink_main.cpp

@@ -533,9 +533,8 @@ Syslink::handle_raw(syslink_message_t *sys)
 
 		crtp_commander *cmd = (crtp_commander *) &c->data[0];
 
-		input_rc_s rc = {};
+		input_rc_s rc{};
 
-		rc.timestamp = hrt_absolute_time();
 		rc.timestamp_last_signal = rc.timestamp;
 		rc.channel_count = 5;
 		rc.rc_failsafe = false;

boards/emlid/navio2/navio_sysfs_rc_in/NavioSysRCInput.cpp

@@ -152,7 +152,6 @@ void NavioSysRCInput::Run()
 	data.timestamp_last_signal = timestamp_sample;
 	data.channel_count = CHANNELS;
 	data.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_PPM;
-	data.timestamp = hrt_absolute_time();
 
 	_input_rc_pub.publish(data);
 	perf_count(_publish_interval_perf);

src/drivers/camera_capture/camera_capture.cpp

@@ -195,7 +195,6 @@ CameraCapture::Run()
 			// Acknowledge the command
 			vehicle_command_ack_s command_ack{};
 
-			command_ack.timestamp = hrt_absolute_time();
 			command_ack.command = cmd.command;
 			command_ack.result = (uint8_t)vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
 			command_ack.target_system = cmd.source_system;

src/drivers/camera_trigger/camera_trigger.cpp

@@ -494,7 +494,6 @@ void
 CameraTrigger::test()
 {
 	vehicle_command_s vcmd{};
-	vcmd.timestamp = hrt_absolute_time();
 	vcmd.param5 = 1.0;
 	vcmd.command = vehicle_command_s::VEHICLE_CMD_DO_DIGICAM_CONTROL;
 
@@ -701,7 +700,6 @@ CameraTrigger::Run()
 	if (updated && need_ack) {
 		vehicle_command_ack_s command_ack{};
 
-		command_ack.timestamp = hrt_absolute_time();
 		command_ack.command = cmd.command;
 		command_ack.result = (uint8_t)cmd_result;
 		command_ack.target_system = cmd.source_system;

src/drivers/differential_pressure/ms4525/ms4525_airspeed.cpp

@@ -204,7 +204,6 @@ MEASAirspeed::collect()
 
 	differential_pressure_s report{};
 
-	report.timestamp = hrt_absolute_time();
 	report.error_count = perf_event_count(_comms_errors);
 	report.temperature = temperature;
 	report.differential_pressure_filtered_pa =  _filter.apply(diff_press_pa_raw) - _diff_pres_offset;

src/drivers/gps/gps.cpp

@@ -657,7 +657,6 @@ GPS::run()
 	while (!should_exit()) {
 
 		if (_fake_gps) {
-			_report_gps_pos.timestamp = hrt_absolute_time();
 			_report_gps_pos.lat = (int32_t)47.378301e7f;
 			_report_gps_pos.lon = (int32_t)8.538777e7f;
 			_report_gps_pos.alt = (int32_t)1200e3f;

src/drivers/irlock/irlock.cpp

@@ -366,7 +366,6 @@ int IRLOCK::read_device()
 	// publish over uORB
 	if (report.num_targets > 0) {
 		irlock_report_s orb_report{};
-		orb_report.timestamp = report.timestamp;
 		orb_report.signature = report.targets[0].signature;
 		orb_report.pos_x     = report.targets[0].pos_x;
 		orb_report.pos_y     = report.targets[0].pos_y;

src/drivers/optical_flow/px4flow/px4flow.cpp

@@ -303,7 +303,6 @@ PX4FLOW::collect()
 
 	optical_flow_s report{};
 
-	report.timestamp = hrt_absolute_time();
 	report.pixel_flow_x_integral = static_cast<float>(_frame_integral.pixel_flow_x_integral) / 10000.0f;//convert to radians
 	report.pixel_flow_y_integral = static_cast<float>(_frame_integral.pixel_flow_y_integral) / 10000.0f;//convert to radians
 	report.frame_count_since_last_readout = _frame_integral.frame_count_since_last_readout;

src/drivers/px4io/px4io.cpp

@@ -751,7 +751,6 @@ PX4IO::init()
 		if (reg & PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE) {
 			mavlink_log_emergency(&_mavlink_log_pub, "IO is in failsafe, force failsafe");
 			/* send command to terminate flight via command API */
-			vcmd.timestamp = hrt_absolute_time();
 			vcmd.param1 = 1.0f; /* request flight termination */
 			vcmd.command = vehicle_command_s::VEHICLE_CMD_DO_FLIGHTTERMINATION;
 
@@ -783,7 +782,6 @@ PX4IO::init()
 		}
 
 		/* send command to arm system via command API */
-		vcmd.timestamp = hrt_absolute_time();
 		vcmd.param1 = 1.0f; /* request arming */
 		vcmd.param3 = 1234.f; /* mark the command coming from IO (for in-air restoring) */
 		vcmd.command = vehicle_command_s::VEHICLE_CMD_COMPONENT_ARM_DISARM;
@@ -1691,7 +1689,6 @@ PX4IO::io_handle_status(uint16_t status)
 	 * Get and handle the safety status
 	 */
 	safety_s safety{};
-	safety.timestamp = hrt_absolute_time();
 	safety.safety_switch_available = true;
 	safety.safety_off = (status & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) ? true : false;
 	safety.override_available = _override_available;
@@ -1738,8 +1735,6 @@ PX4IO::io_handle_vservo(uint16_t vservo, uint16_t vrssi)
 {
 	servorail_status_s servorail_status{};
 
-	servorail_status.timestamp = hrt_absolute_time();
-
 	/* voltage is scaled to mV */
 	servorail_status.voltage_v = vservo * 0.001f;
 	servorail_status.rssi_v    = vrssi * 0.001f;
@@ -1818,8 +1813,6 @@ PX4IO::io_get_raw_rc_input(input_rc_s &input_rc)
 
 	_rc_chan_count = channel_count;
 
-	input_rc.timestamp = hrt_absolute_time();
-
 	input_rc.rc_ppm_frame_length = regs[PX4IO_P_RAW_RC_DATA];
 
 	if (!_analog_rc_rssi_stable) {
@@ -1888,9 +1881,8 @@ PX4IO::io_get_raw_rc_input(input_rc_s &input_rc)
 int
 PX4IO::io_publish_raw_rc()
 {
-
 	/* fetch values from IO */
-	input_rc_s	rc_val;
+	input_rc_s rc_val{};
 
 	/* set the RC status flag ORDER MATTERS! */
 	rc_val.rc_lost = !(_status & PX4IO_P_STATUS_FLAGS_RC_OK);
@@ -1945,7 +1937,6 @@ PX4IO::io_publish_pwm_outputs()
 	}
 
 	actuator_outputs_s outputs = {};
-	outputs.timestamp = hrt_absolute_time();
 	outputs.noutputs = _max_actuators;
 
 	/* convert from register format to float */
@@ -1966,7 +1957,6 @@ PX4IO::io_publish_pwm_outputs()
 	/* publish mixer status */
 	if (saturation_status.flags.valid) {
 		multirotor_motor_limits_s motor_limits{};
-		motor_limits.timestamp = hrt_absolute_time();
 		motor_limits.saturation_status = saturation_status.value;
 
 		_to_mixer_status.publish(motor_limits);

src/drivers/qshell/posix/qshell.cpp

@@ -99,7 +99,6 @@ int QShell::_send_cmd(std::vector<std::string> &argList)
 	strcpy((char *)qshell_req.cmd, cmd.c_str());
 	qshell_req.request_sequence = _current_sequence;
 
-	qshell_req.timestamp = hrt_absolute_time();
 	_qshell_req_pub.publish(qshell_req);
 
 	return 0;

src/drivers/qshell/qurt/qshell.cpp

@@ -122,7 +122,6 @@ int QShell::main()
 				PX4_INFO("Ok executing command: %s", m_qshell_req.cmd);
 			}
 
-			retval.timestamp = hrt_absolute_time();
 			_qshell_retval_pub.publish(retval);
 
 		} else if (pret == 0) {

src/drivers/safety_button/SafetyButton.cpp

@@ -146,14 +146,12 @@ SafetyButton::CheckPairingRequest(bool button_pressed)
 		led_control.color = led_control_s::COLOR_GREEN;
 		led_control.num_blinks = 1;
 		led_control.priority = 0;
-		led_control.timestamp = hrt_absolute_time();
 		_to_led_control.publish(led_control);
 
 		tune_control_s tune_control{};
 		tune_control.tune_id = TONE_NOTIFY_POSITIVE_TUNE;
 		tune_control.volume = tune_control_s::VOLUME_LEVEL_DEFAULT;
 		tune_control.tune_override = 0;
-		tune_control.timestamp = hrt_absolute_time();
 		_to_tune_control.publish(tune_control);
 
 		// reset state
@@ -214,7 +212,6 @@ SafetyButton::Run()
 		FlashButton();
 
 		safety_s safety{};
-		safety.timestamp = hrt_absolute_time();
 		safety.safety_switch_available = true;
 		safety.safety_off = _safety_btn_off || _safety_disabled;
 

src/drivers/telemetry/iridiumsbd/IridiumSBD.cpp

@@ -1107,8 +1107,6 @@ void IridiumSBD::publish_iridium_status()
 		_status.rx_session_pending = _rx_session_pending;
 	}
 
-	_status.timestamp = hrt_absolute_time();
-
 	// publish the status if it changed
 	if (need_to_publish) {
 		_iridiumsbd_status_pub.publish(_status);
@@ -1122,7 +1120,6 @@ void IridiumSBD::publish_subsystem_status()
 	const bool ok = _status.last_heartbeat > 0; // maybe at some point here an additional check should be made
 
 	if ((_info.present != present) || (_info.enabled != enabled) || (_info.ok != ok)) {
-		_info.timestamp = hrt_absolute_time();
 		_info.subsystem_type = subsystem_info_s::SUBSYSTEM_TYPE_SATCOM;
 		_info.present = present;
 		_info.enabled = enabled;

src/lib/avoidance/ObstacleAvoidanceTest.cpp

@@ -72,7 +72,6 @@ TEST_F(ObstacleAvoidanceTest, oa_enabled_healthy)
 	TestObstacleAvoidance oa;
 
 	vehicle_trajectory_waypoint_s message = empty_trajectory_waypoint;
-	message.timestamp = hrt_absolute_time();
 	message.type = vehicle_trajectory_waypoint_s::MAV_TRAJECTORY_REPRESENTATION_WAYPOINTS;
 	message.waypoints[vehicle_trajectory_waypoint_s::POINT_0].position[0] = 2.6f;
 	message.waypoints[vehicle_trajectory_waypoint_s::POINT_0].position[1] = 2.4f;

src/lib/drivers/accelerometer/PX4Accelerometer.cpp

@@ -155,7 +155,6 @@ void PX4Accelerometer::update(hrt_abstime timestamp_sample, float x, float y, fl
 		report.x = val_calibrated(0);
 		report.y = val_calibrated(1);
 		report.z = val_calibrated(2);
-		report.timestamp = hrt_absolute_time();
 
 		_sensor_pub.publish(report);
 	}
@@ -178,7 +177,6 @@ void PX4Accelerometer::update(hrt_abstime timestamp_sample, float x, float y, fl
 		report.dt = integral_dt;
 		report.samples = _integrator_samples;
 		report.clip_count = _integrator_clipping;
-		report.timestamp = hrt_absolute_time();
 
 		_sensor_integrated_pub.publish(report);
 
@@ -219,7 +217,6 @@ void PX4Accelerometer::updateFIFO(const FIFOSample &sample)
 		report.x = val_calibrated(0);
 		report.y = val_calibrated(1);
 		report.z = val_calibrated(2);
-		report.timestamp = hrt_absolute_time();
 
 		_sensor_pub.publish(report);
 	}
@@ -282,7 +279,6 @@ void PX4Accelerometer::updateFIFO(const FIFOSample &sample)
 			report.samples = _integrator_fifo_samples;
 			report.clip_count = _integrator_clipping;
 
-			report.timestamp = hrt_absolute_time();
 			_sensor_integrated_pub.publish(report);
 
 			// update vibration metrics
@@ -308,7 +304,6 @@ void PX4Accelerometer::updateFIFO(const FIFOSample &sample)
 	memcpy(fifo.y, sample.y, sizeof(sample.y[0]) * N);
 	memcpy(fifo.z, sample.z, sizeof(sample.z[0]) * N);
 
-	fifo.timestamp = hrt_absolute_time();
 	_sensor_fifo_pub.publish(fifo);
 
 
@@ -331,7 +326,6 @@ void PX4Accelerometer::PublishStatus()
 		status.clipping[0] = _clipping[0];
 		status.clipping[1] = _clipping[1];
 		status.clipping[2] = _clipping[2];
-		status.timestamp = hrt_absolute_time();
 		_sensor_status_pub.publish(status);
 
 		_status_last_publish = status.timestamp;

src/lib/flight_tasks/FlightTasks.cpp

@@ -167,7 +167,6 @@ void FlightTasks::_updateCommand()
 
 	// send back acknowledgment
 	vehicle_command_ack_s command_ack{};
-	command_ack.timestamp = hrt_absolute_time();
 	command_ack.command = command.command;
 	command_ack.result = cmd_result;
 	command_ack.result_param1 = static_cast<int>(switch_result);

src/lib/flight_tasks/tasks/FlightTask/FlightTask.cpp

@@ -84,7 +84,6 @@ const vehicle_local_position_setpoint_s FlightTask::getPositionSetpoint()
 {
 	/* fill position setpoint message */
 	vehicle_local_position_setpoint_s vehicle_local_position_setpoint{};
-	vehicle_local_position_setpoint.timestamp = hrt_absolute_time();
 
 	vehicle_local_position_setpoint.x = _position_setpoint(0);
 	vehicle_local_position_setpoint.y = _position_setpoint(1);

src/lib/flight_tasks/tasks/Orbit/FlightTaskOrbit.cpp

@@ -96,7 +96,6 @@ bool FlightTaskOrbit::applyCommandParameters(const vehicle_command_s &command)
 bool FlightTaskOrbit::sendTelemetry()
 {
 	orbit_status_s orbit_status{};
-	orbit_status.timestamp = hrt_absolute_time();
 	orbit_status.radius = math::signNoZero(_v) * _r;
 	orbit_status.frame = 0; // MAV_FRAME::MAV_FRAME_GLOBAL
 

src/modules/commander/Arming/ArmAuthorization/ArmAuthorization.cpp

@@ -82,7 +82,6 @@ static uint8_t (*arm_check_method[ARM_AUTH_METHOD_LAST])() = {
 static void arm_auth_request_msg_send()
 {
 	vehicle_command_s vcmd{};
-	vcmd.timestamp = hrt_absolute_time();
 	vcmd.command = vehicle_command_s::VEHICLE_CMD_ARM_AUTHORIZATION_REQUEST;
 	vcmd.target_system = arm_parameters.struct_value.authorizer_system_id;
 

src/modules/commander/Commander.cpp

@@ -178,8 +178,6 @@ static bool send_vehicle_command(uint16_t cmd, float param1 = NAN, float param2
 	vcmd.source_component = vehicle_status_sub.get().component_id;
 	vcmd.target_component = vehicle_status_sub.get().component_id;
 
-	vcmd.timestamp = hrt_absolute_time();
-
 	uORB::PublicationQueued<vehicle_command_s> vcmd_pub{ORB_ID(vehicle_command)};
 
 	return vcmd_pub.publish(vcmd);
@@ -797,7 +795,6 @@ Commander::handle_command(vehicle_status_s *status_local, const vehicle_command_
 					if (local_pos.xy_global && local_pos.z_global) {
 						/* use specified position */
 						home_position_s home{};
-						home.timestamp = hrt_absolute_time();
 
 						home.lat = lat;
 						home.lon = lon;
@@ -1083,7 +1080,6 @@ Commander::handle_command_motor_test(const vehicle_command_s &cmd)
 	}
 
 	test_motor_s test_motor{};
-	test_motor.timestamp = hrt_absolute_time();
 	test_motor.motor_number = (int)(cmd.param1 + 0.5f) - 1;
 	int throttle_type = (int)(cmd.param2 + 0.5f);
 
@@ -1138,8 +1134,6 @@ Commander::set_home_position()
 			// Set home position
 			home_position_s home{};
 
-			home.timestamp = hrt_absolute_time();
-
 			home.lat = gpos.lat;
 			home.lon = gpos.lon;
 			home.valid_hpos = true;
@@ -1181,8 +1175,6 @@ Commander::set_home_position_alt_only()
 		home.alt = lpos.ref_alt;
 		home.valid_alt = true;
 
-		home.timestamp = hrt_absolute_time();
-
 		return _home_pub.update(home);
 	}
 
@@ -2209,7 +2201,6 @@ Commander::run()
 
 			update_control_mode();
 
-			status.timestamp = hrt_absolute_time();
 			_status_pub.publish(status);
 
 			switch ((PrearmedMode)_param_com_prearm_mode.get()) {
@@ -2243,15 +2234,12 @@ Commander::run()
 				break;
 			}
 
-			armed.timestamp = hrt_absolute_time();
 			_armed_pub.publish(armed);
 
 			/* publish internal state for logging purposes */
-			_internal_state.timestamp = hrt_absolute_time();
 			_commander_state_pub.publish(_internal_state);
 
 			/* publish vehicle_status_flags */
-			status_flags.timestamp = hrt_absolute_time();
 			_vehicle_status_flags_pub.publish(status_flags);
 		}
 
@@ -3012,8 +3000,6 @@ Commander::update_control_mode()
 {
 	vehicle_control_mode_s control_mode{};
 
-	control_mode.timestamp = hrt_absolute_time();
-
 	/* set vehicle_control_mode according to set_navigation_state */
 	control_mode.flag_armed = armed.armed;
 	control_mode.flag_external_manual_override_ok = (status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING
@@ -3241,13 +3227,11 @@ void answer_command(const vehicle_command_s &cmd, unsigned result,
 	/* publish ACK */
 	vehicle_command_ack_s command_ack{};
 
-	command_ack.timestamp = hrt_absolute_time();
 	command_ack.command = cmd.command;
 	command_ack.result = (uint8_t)result;
 	command_ack.target_system = cmd.source_system;
 	command_ack.target_component = cmd.source_component;
 
-
 	command_ack_pub.publish(command_ack);
 }
 

src/modules/events/send_event.cpp

@@ -120,7 +120,6 @@ void SendEvent::answer_command(const vehicle_command_s &cmd, unsigned result)
 {
 	/* publish ACK */
 	vehicle_command_ack_s command_ack{};
-	command_ack.timestamp = hrt_absolute_time();
 	command_ack.command = cmd.command;
 	command_ack.result = (uint8_t)result;
 	command_ack.target_system = cmd.source_system;

src/modules/events/status_display.cpp

@@ -95,8 +95,6 @@ void StatusDisplay::process()
 
 void StatusDisplay::publish()
 {
-	_led_control.timestamp = hrt_absolute_time();
-
 	_led_control_pub.publish(_led_control);
 }