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gps_position: convert uint64 timestamp_time -> int32 timestamp_time_relative

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We need to make this timestamp relative to the main timestamp. Necessary
for replay, and saves some space.
This commit is contained in:
Beat Küng
2016-06-20 22:14:16 +02:00
committed by Lorenz Meier
parent e2a7145379
commit f8e9a19889
5 changed files with 5 additions and 6 deletions
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2
msg/vehicle_gps_position.msg
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@@ -25,7 +25,7 @@ float32 vel_d_m_s # GPS Down velocity, (metres/sec)
float32 cog_rad # Course over ground (NOT heading, but direction of movement), -PI..PI, (radians) float32 cog_rad # Course over ground (NOT heading, but direction of movement), -PI..PI, (radians)
bool vel_ned_valid # True if NED velocity is valid bool vel_ned_valid # True if NED velocity is valid
uint64 timestamp_time # Time of the UTC timestamp since system start, (microseconds) int32 timestamp_time_relative # timestamp + timestamp_time_relative = Time of the UTC timestamp since system start, (microseconds)
uint64 time_utc_usec # Timestamp (microseconds, UTC), this is the timestamp which comes from the gps module. It might be unavailable right after cold start, indicated by a value of 0 uint64 time_utc_usec # Timestamp (microseconds, UTC), this is the timestamp which comes from the gps module. It might be unavailable right after cold start, indicated by a value of 0
uint8 satellites_used # Number of satellites used uint8 satellites_used # Number of satellites used

2
src/drivers/gps/devices

Submodule src/drivers/gps/devices updated: 682fca425e...a5e3e263aa

3
src/drivers/gps/gps.cpp
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@@ -752,10 +752,9 @@ GPS::task_main()
* no valid position lock * no valid position lock
*/ */
_report_gps_pos.timestamp_time = hrt_absolute_time();
/* reset the timestamp for data, because we have no data yet */ /* reset the timestamp for data, because we have no data yet */
_report_gps_pos.timestamp = 0; _report_gps_pos.timestamp = 0;
_report_gps_pos.timestamp_time_relative = 0;
/* set a massive variance */ /* set a massive variance */
_report_gps_pos.eph = 10000.0f; _report_gps_pos.eph = 10000.0f;

2
src/modules/mavlink/mavlink_receiver.cpp
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@@ -1781,7 +1781,7 @@ MavlinkReceiver::handle_message_hil_gps(mavlink_message_t *msg)
struct vehicle_gps_position_s hil_gps; struct vehicle_gps_position_s hil_gps;
memset(&hil_gps, 0, sizeof(hil_gps)); memset(&hil_gps, 0, sizeof(hil_gps));
hil_gps.timestamp_time = timestamp; hil_gps.timestamp_time_relative = 0;
hil_gps.time_utc_usec = gps.time_usec; hil_gps.time_utc_usec = gps.time_usec;
hil_gps.timestamp = timestamp; hil_gps.timestamp = timestamp;

2
src/platforms/posix/drivers/gpssim/gpssim.cpp
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@@ -339,7 +339,7 @@ GPSSIM::task_main()
//Make sure to clear any stale data in case driver is reset //Make sure to clear any stale data in case driver is reset
memset(&_report_gps_pos, 0, sizeof(_report_gps_pos)); memset(&_report_gps_pos, 0, sizeof(_report_gps_pos));
_report_gps_pos.timestamp = hrt_absolute_time(); _report_gps_pos.timestamp = hrt_absolute_time();
_report_gps_pos.timestamp_time = hrt_absolute_time(); _report_gps_pos.timestamp_time_relative = 0;
if (!(m_pub_blocked)) { if (!(m_pub_blocked)) {
if (_report_gps_pos_pub != nullptr) { if (_report_gps_pos_pub != nullptr) {