From bd2f80d82d88d469debb6737bca830f93f48446e Mon Sep 17 00:00:00 2001
From: mt-lifan <renlifan@manifoldtech.cn>
Date: Tue, 30 Sep 2025 19:03:35 +0800
Subject: [PATCH] <fix> Avoid adding high frequency odom data for recorddata
 functionality

---
 README.md                 | 2 +-
 include/host_sdk_sample.h | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/README.md b/README.md
index 542dc6a..b57ebbd 100644
--- a/README.md
+++ b/README.md
@@ -16,7 +16,7 @@ This driver package provides core functionality for point cloud SLAM application
 
 ## 1. Version
 
-Current Version: v0.5.0
+Current Version: v0.5.1
 
 ## 2. Preparation
 
diff --git a/include/host_sdk_sample.h b/include/host_sdk_sample.h
index 39e0582..e4b48ce 100644
--- a/include/host_sdk_sample.h
+++ b/include/host_sdk_sample.h
@@ -1020,7 +1020,7 @@ void process_pair(const ImageConstPtr &rgb_msg, const PointCloud2ConstPtr &pcd_m
                 msg.pose.pose.orientation.w = static_cast<double>(odom_data->orient[3]) / 1e6;
 
                 // Enqueue binary logging for pose
-                if (data_logger_) {
+                if (!is_highfreq && data_logger_) {
                     const uint32_t idx_now = pose_index_.fetch_add(1, std::memory_order_relaxed);
                     const double ts_sec = static_cast<double>(odom_data->timestamp_ns) / 1e9;
                     float pose_arr[7];