changed timestamp to header.timestamp

Author: avtoku

src/estimator.cpp

@@ -130,7 +130,7 @@ void Estimator::run()
   // Timing Setup
   //
 
-  const uint64_t now_us = RF_.sensors_.get_imu()->timestamp;
+  const uint64_t now_us = RF_.sensors_.get_imu()->header.timestamp;
 
   if (last_time_ == 0) {
     last_time_ = now_us;
@@ -223,7 +223,7 @@ void Estimator::run()
   // Save off adjust gyro measurements with estimated biases for control
   state_.angular_velocity = gyro_LPF_ - bias_;
 
-  attitude_.timestamp = state_.timestamp_us;
+  attitude_.header.timestamp = state_.timestamp_us;
 
   attitude_.q[0] = state_.attitude.w;
   attitude_.q[1] = state_.attitude.x;

src/rc.cpp

@@ -291,7 +291,8 @@ uint16_t RC::fake_rx(uint16_t *chan, uint16_t len, bool lost, bool failsafe) {
   rc_.failsafeActivated = failsafe;
   rc_.frameLost = lost;
   rc_.nChan = RC_STRUCT_CHANNELS;
-  rc_.timestamp = RF_.board_.clock_micros();
+  rc_.header.timestamp = RF_.board_.clock_micros();
+  rc_.header.status = failsafe | lost;
   run();
   return len;
 };