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GPS: Update the RTC even when RTC is enabled

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Lorenz Meier
2015-01-03 19:05:42 +01:00
parent b37b181818
commit 2a95b4a9b8
1 changed files with 6 additions and 5 deletions
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src/drivers/gps/ubx.cpp
+6 -5
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@@ -808,7 +808,7 @@ UBX::payload_rx_done(void)
UBX_TRACE_RXMSG("Rx NAV-TIMEUTC\n");
{
/* convert to unix timestamp */
// convert to unix timestamp
struct tm timeinfo;
timeinfo.tm_year = _buf.payload_rx_nav_timeutc.year - 1900;
timeinfo.tm_mon = _buf.payload_rx_nav_timeutc.month - 1;
@@ -818,14 +818,15 @@ UBX::payload_rx_done(void)
timeinfo.tm_sec = _buf.payload_rx_nav_timeutc.sec;
time_t epoch = mktime(&timeinfo);
#ifndef CONFIG_RTC
//Since we lack a hardware RTC, set the system time clock based on GPS UTC
//TODO generalize this by moving into gps.cpp?
// FMUv2+ have a hardware RTC, but GPS helps us to configure it
// and control its drift. Since we rely on the HRT for our monotonic
// clock, updating it from time to time is safe.
// TODO generalize this by moving into gps.cpp?
timespec ts;
ts.tv_sec = epoch;
ts.tv_nsec = _buf.payload_rx_nav_timeutc.nano;
clock_settime(CLOCK_REALTIME, &ts);
#endif
_gps_position->time_gps_usec = (uint64_t)epoch * 1000000; //TODO: test this
_gps_position->time_gps_usec += (uint64_t)(_buf.payload_rx_nav_timeutc.nano * 1e-3f);