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Merge pull request #1599 from PX4/mtk_time

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GPS driver: Add missing wall clock setup for MTK GPS modules
This commit is contained in:
Lorenz Meier
2015-01-07 13:02:50 +01:00
parent c6722fce0b 78cde98ea8
commit 6ed2f77ca5
1 changed files with 19 additions and 3 deletions
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src/drivers/gps/mtk.cpp
+19 -3
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@@ -264,7 +264,7 @@ MTK::handle_message(gps_mtk_packet_t &packet)
_gps_position->satellites_used = packet.satellites; _gps_position->satellites_used = packet.satellites;
/* convert time and date information to unix timestamp */ /* convert time and date information to unix timestamp */
struct tm timeinfo; //TODO: test this conversion struct tm timeinfo;
uint32_t timeinfo_conversion_temp; uint32_t timeinfo_conversion_temp;
timeinfo.tm_mday = packet.date * 1e-4; timeinfo.tm_mday = packet.date * 1e-4;
@@ -280,8 +280,24 @@ MTK::handle_message(gps_mtk_packet_t &packet)
timeinfo_conversion_temp -= timeinfo.tm_sec * 1e3; timeinfo_conversion_temp -= timeinfo.tm_sec * 1e3;
time_t epoch = mktime(&timeinfo); time_t epoch = mktime(&timeinfo);
_gps_position->time_utc_usec = epoch * 1e6; //TODO: test this if (epoch > GPS_EPOCH_SECS) {
_gps_position->time_utc_usec += timeinfo_conversion_temp * 1e3; // FMUv2+ boards 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.
timespec ts;
ts.tv_sec = epoch;
ts.tv_nsec = timeinfo_conversion_temp * 1000000ULL;
if (clock_settime(CLOCK_REALTIME, &ts)) {
warn("failed setting clock");
}
_gps_position->time_utc_usec = static_cast<uint64_t>(epoch) * 1000000ULL;
_gps_position->time_utc_usec += timeinfo_conversion_temp * 1000ULL;
} else {
_gps_position->time_utc_usec = 0;
}
_gps_position->timestamp_position = _gps_position->timestamp_time = hrt_absolute_time(); _gps_position->timestamp_position = _gps_position->timestamp_time = hrt_absolute_time();
// Position and velocity update always at the same time // Position and velocity update always at the same time