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Merge pull request #1575 from mhkabir/master

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Missing zero in timesync
This commit is contained in:
Lorenz Meier
2015-01-04 18:17:58 +01:00
parent bccc37cfb9 3df73cde3e
commit d805d6aaf8
2 changed files with 16 additions and 11 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+14 -11
View File
@@ -947,14 +947,18 @@ MavlinkReceiver::handle_message_system_time(mavlink_message_t *msg)
clock_gettime(CLOCK_REALTIME, &tv);
// date -d @1234567890: Sat Feb 14 02:31:30 MSK 2009
bool onb_unix_valid = tv.tv_sec > 1234567890ULL;
bool ofb_unix_valid = time.time_unix_usec > 1234567890ULL * 1000ULL;
bool onb_unix_valid = tv.tv_sec > PX4_EPOCH_SECS;
bool ofb_unix_valid = time.time_unix_usec > PX4_EPOCH_SECS * 1000ULL;
if (!onb_unix_valid && ofb_unix_valid) {
tv.tv_sec = time.time_unix_usec / 1000000ULL;
tv.tv_nsec = (time.time_unix_usec % 1000000ULL) * 1000ULL;
clock_settime(CLOCK_REALTIME, &tv);
warnx("[timesync] synced..");
if(clock_settime(CLOCK_REALTIME, &tv)) {
warn("failed setting clock");
}
else {
warnx("[timesync] UTC time synced.");
}
}
}
@@ -965,7 +969,7 @@ MavlinkReceiver::handle_message_timesync(mavlink_message_t *msg)
mavlink_timesync_t tsync;
mavlink_msg_timesync_decode(msg, &tsync);
uint64_t now_ns = hrt_absolute_time() * 1000 ;
uint64_t now_ns = hrt_absolute_time() * 1000LL ;
if (tsync.tc1 == 0) {
@@ -980,13 +984,12 @@ MavlinkReceiver::handle_message_timesync(mavlink_message_t *msg)
} else if (tsync.tc1 > 0) {
int64_t offset_ns = (9*_time_offset + (tsync.ts1 + now_ns - tsync.tc1*2)/2 )/10; // average offset
int64_t offset_ns = (tsync.ts1 + now_ns - tsync.tc1*2)/2 ;
int64_t dt = _time_offset - offset_ns;
if (dt > 10000000 || dt < -1000000) { // 10 millisecond skew
_time_offset = (tsync.ts1 + now_ns - tsync.tc1*2)/2;
warnx("[timesync] Resetting.");
if (dt > 10000000LL || dt < -10000000LL) { // 10 millisecond skew
_time_offset = offset_ns;
warnx("[timesync] Hard setting offset.");
} else {
smooth_time_offset(offset_ns);
}
@@ -1469,7 +1472,7 @@ uint64_t MavlinkReceiver::to_hrt(uint64_t usec)
void MavlinkReceiver::smooth_time_offset(uint64_t offset_ns)
{
/* alpha = 0.75 fixed for now. The closer alpha is to 1.0,
/* alpha = 0.6 fixed for now. The closer alpha is to 1.0,
* the faster the moving average updates in response to
* new offset samples.
*/
src/modules/mavlink/mavlink_receiver.h
+2
View File
@@ -75,6 +75,8 @@
#include "mavlink_ftp.h"
#define PX4_EPOCH_SECS 1234567890ULL
class Mavlink;
class MavlinkReceiver