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GPS driver: UBX time handling for all protocol revisions

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This commit is contained in:
Lorenz Meier
2015-01-04 10:44:40 +01:00
parent 96a8003826
commit 50a00bee8e
1 changed files with 11 additions and 10 deletions
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21
src/drivers/gps/ubx.cpp
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@@ -748,17 +748,19 @@ UBX::payload_rx_done(void)
timeinfo.tm_sec = _buf.payload_rx_nav_pvt.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+ 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 = _buf.payload_rx_nav_pvt.nano;
clock_settime(CLOCK_REALTIME, &ts);
#endif
if (clock_settime(CLOCK_REALTIME, &ts)) {
warn("failed setting clock");
}
_gps_position->time_gps_usec = (uint64_t)epoch * 1000000; //TODO: test this
_gps_position->time_gps_usec += (uint64_t)(_buf.payload_rx_nav_pvt.nano * 1e-3f);
_gps_position->time_gps_usec = static_cast<uint64_t>(epoch) * 1000000ULL;
_gps_position->time_gps_usec += _buf.payload_rx_nav_timeutc.nano / 1000;
}
_gps_position->timestamp_time = hrt_absolute_time();
@@ -818,11 +820,10 @@ UBX::payload_rx_done(void)
timeinfo.tm_sec = _buf.payload_rx_nav_timeutc.sec;
time_t epoch = mktime(&timeinfo);
// FMUv2+ have a hardware RTC, but GPS helps us to configure it
// 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.
// TODO generalize this by moving into gps.cpp?
timespec ts;
ts.tv_sec = epoch;
ts.tv_nsec = _buf.payload_rx_nav_timeutc.nano;
@@ -830,7 +831,7 @@ UBX::payload_rx_done(void)
warn("failed setting clock");
}
_gps_position->time_gps_usec = ((uint64_t)epoch) * 1000000ULL;
_gps_position->time_gps_usec = static_cast<uint64_t>(epoch) * 1000000ULL;
_gps_position->time_gps_usec += _buf.payload_rx_nav_timeutc.nano / 1000;
}