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GPS driver: Set RTC from Ashtech receivers as well

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Lorenz Meier
2015-01-04 10:45:00 +01:00
parent 50a00bee8e
commit f48abafbc9
1 changed files with 15 additions and 2 deletions
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src/drivers/gps/ashtech.cpp
+15 -2
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@@ -99,8 +99,21 @@ int ASHTECH::handle_message(int len)
timeinfo.tm_sec = int(ashtech_sec);
time_t epoch = mktime(&timeinfo);
_gps_position->time_gps_usec = (uint64_t)epoch * 1000000; //TODO: test this
_gps_position->time_gps_usec += (uint64_t)((ashtech_sec - int(ashtech_sec)) * 1e6);
uint64_t usecs = static_cast<uint64_t>((ashtech_sec - static_cast<uint64_t>(ashtech_sec))) * 1e6;
// 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 = usecs * 1000;
if (clock_settime(CLOCK_REALTIME, &ts)) {
warn("failed setting clock");
}
_gps_position->time_gps_usec = static_cast<uint64_t>(epoch) * 1000000ULL;
_gps_position->time_gps_usec += usecs;
_gps_position->timestamp_time = hrt_absolute_time();
}