yemai/bizhang_-obav
1
0
Fork 0
mirror of https://gitee.com/xiaohuolufeihua/bizhang_-obav.git synced 2026-05-22 01:12:31 +00:00
Code Issues Packages Projects Releases Wiki Activity

Merge branch 'master' into sdlog2_rtc

Browse Source
This commit is contained in:
Lorenz Meier
2015-01-04 18:54:01 +01:00
parent 1cc92c0361 552ff80969
commit d904a3ca82
3 changed files with 20 additions and 17 deletions
Download Patch File Download Diff File Expand all files Collapse all files

25
src/modules/mavlink/mavlink_receiver.cpp
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.
*/

2
src/modules/mavlink/mavlink_receiver.h
View File

@@ -75,6 +75,8 @@
#include "mavlink_ftp.h"
#define PX4_EPOCH_SECS 1234567890ULL
class Mavlink;
class MavlinkReceiver

10
src/systemcmds/nshterm/nshterm.c
View File

@@ -66,20 +66,18 @@ nshterm_main(int argc, char *argv[])
int fd = -1;
int armed_fd = orb_subscribe(ORB_ID(actuator_armed));
struct actuator_armed_s armed;
/* we assume the system does not provide arming status feedback */
bool armed_updated = false;
/* try the first 30 seconds or if arming system is ready */
while ((retries < 300) || armed_updated) {
/* try to bring up the console - stop doing so if the system gets armed */
while (true) {
/* abort if an arming topic is published and system is armed */
bool updated = false;
if (orb_check(armed_fd, &updated)) {
orb_check(armed_fd, &updated)
if (updated) {
/* the system is now providing arming status feedback.
* instead of timing out, we resort to abort bringing
* up the terminal.
*/
armed_updated = true;
orb_copy(ORB_ID(actuator_armed), armed_fd, &armed);
if (armed.armed) {