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For VOXL flight controllers, Use DSP clock directly on Posix for CLOCK_MONOTONIC

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This commit is contained in:
Eric Katzfey
2026-02-07 14:56:06 -07:00
committed by Eric Katzfey
parent 1dbee4100a
commit aacb7e35dd
2 changed files with 16 additions and 26 deletions
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boards/modalai/voxl2/libfc-sensor-api
+1 -1
Submodule boards/modalai/voxl2/libfc-sensor-api updated: 85151aaf6b...d5abf9cbbf
platforms/posix/src/px4/common/drv_hrt.cpp
+15 -25
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@@ -51,7 +51,7 @@
#include <errno.h>
#include "hrt_work.h"
// Voxl2 board specific API definitions to get time offset
// Voxl board specific API definitions to get time
#if defined(CONFIG_MUORB_APPS_SYNC_TIMESTAMP)
#include "fc_sensor.h"
#endif
@@ -112,29 +112,6 @@ hrt_abstime hrt_absolute_time()
#else // defined(ENABLE_LOCKSTEP_SCHEDULER)
struct timespec ts;
px4_clock_gettime(CLOCK_MONOTONIC, &ts);
# if defined(CONFIG_MUORB_APPS_SYNC_TIMESTAMP)
hrt_abstime temp_abstime = ts_to_abstime(&ts);
int apps_time_offset = fc_sensor_get_time_offset();
if (apps_time_offset < 0) {
hrt_abstime temp_offset = -apps_time_offset;
if (temp_offset >= temp_abstime) {
temp_abstime = 0;
} else {
temp_abstime -= temp_offset;
}
} else {
temp_abstime += (hrt_abstime) apps_time_offset;
}
ts.tv_sec = temp_abstime / 1000000;
ts.tv_nsec = (temp_abstime % 1000000) * 1000;
# endif // defined(CONFIG_MUORB_APPS_SYNC_TIMESTAMP)
return ts_to_abstime(&ts);
#endif // defined(ENABLE_LOCKSTEP_SCHEDULER)
}
@@ -476,8 +453,21 @@ int px4_clock_gettime(clockid_t clk_id, struct timespec *tp)
}
#endif // defined(ENABLE_LOCKSTEP_SCHEDULER)
return system_clock_gettime(clk_id, tp);
int rv = system_clock_gettime(clk_id, tp);
# if defined(CONFIG_MUORB_APPS_SYNC_TIMESTAMP)
// On VOXL use DSP clock as reference for MONOTONIC
if (clk_id == CLOCK_MONOTONIC) {
hrt_abstime temp_abstime = fc_sensor_get_dsp_timestamp_us();
tp->tv_sec = temp_abstime / 1000000;
tp->tv_nsec = (temp_abstime % 1000000) * 1000;
}
# endif // defined(CONFIG_MUORB_APPS_SYNC_TIMESTAMP)
return rv;
}
#if defined(ENABLE_LOCKSTEP_SCHEDULER)