Copter: use AP_RTC

Co-authored-by: patrickelectric@gmail.com

Copter: AP_GPS now sets the system time directly

Copter: use AP_RTC for mission delays

Copter: Remove ap_t bits counter (Patrick José Pereira)

Change bits in ap_t to bool and add a static assert

ArduCopter/ArduCopter.cpp

@@ -473,9 +473,6 @@ void Copter::update_GPS(void)
     }
 
     if (gps_updated) {
-        // set system time if necessary
-        set_system_time_from_GPS();
-
 #if CAMERA == ENABLED
         camera.update();
 #endif

ArduCopter/Copter.h

@@ -323,7 +323,7 @@ private:
             uint8_t initialised             : 1; // 13      // true once the init_ardupilot function has completed.  Extended status to GCS is not sent until this completes
             uint8_t land_complete_maybe     : 1; // 14      // true if we may have landed (less strict version of land_complete)
             uint8_t throttle_zero           : 1; // 15      // true if the throttle stick is at zero, debounced, determines if pilot intends shut-down when not using motor interlock
-            uint8_t system_time_set         : 1; // 16      // true if the system time has been set from the GPS
+            uint8_t system_time_set_unused  : 1; // 16      // true if the system time has been set from the GPS
             uint8_t gps_glitching           : 1; // 17      // true if GPS glitching is affecting navigation accuracy
             uint8_t using_interlock         : 1; // 20      // aux switch motor interlock function is in use
             uint8_t motor_emergency_stop    : 1; // 21      // motor estop switch, shuts off motors when enabled
@@ -340,6 +340,8 @@ private:
 
     ap_t ap;
 
+    static_assert(sizeof(uint32_t) == sizeof(ap), "ap_t must be uint32_t");
+
     // This is the state of the flight control system
     // There are multiple states defined such as STABILIZE, ACRO,
     control_mode_t control_mode;
@@ -376,7 +378,7 @@ private:
 
     // intertial nav alt when we armed
     float arming_altitude_m;
-    
+
     // board specific config
     AP_BoardConfig BoardConfig;
 
@@ -622,7 +624,7 @@ private:
 
     // set when we are upgrading parameters from 3.4
     bool upgrading_frame_params;
-    
+
     static const AP_Scheduler::Task scheduler_tasks[];
     static const AP_Param::Info var_info[];
     static const struct LogStructure log_structure[];
@@ -709,7 +711,6 @@ private:
     bool set_home_to_current_location(bool lock);
     bool set_home(const Location& loc, bool lock);
     bool far_from_EKF_origin(const Location& loc);
-    void set_system_time_from_GPS();
 
     // compassmot.cpp
     MAV_RESULT mavlink_compassmot(mavlink_channel_t chan);

ArduCopter/commands.cpp

@@ -124,26 +124,3 @@ bool Copter::far_from_EKF_origin(const Location& loc)
     // close enough to origin
     return false;
 }
-
-// checks if we should update ahrs/RTL home position from GPS
-void Copter::set_system_time_from_GPS()
-{
-    // exit immediately if system time already set
-    if (ap.system_time_set) {
-        return;
-    }
-
-    // if we have a 3d lock and valid location
-    if (gps.status() >= AP_GPS::GPS_OK_FIX_3D) {
-        // set system clock for log timestamps
-        uint64_t gps_timestamp = gps.time_epoch_usec();
-                
-        hal.util->set_system_clock(gps_timestamp);
-                
-        // update signing timestamp
-        GCS_MAVLINK::update_signing_timestamp(gps_timestamp);
-
-        ap.system_time_set = true;
-        Log_Write_Event(DATA_SYSTEM_TIME_SET);
-    }
-}

ArduCopter/defines.h

@@ -334,7 +334,7 @@ enum LoggingParameters {
 
 // DATA - event logging
 #define DATA_AP_STATE                       7
-#define DATA_SYSTEM_TIME_SET                8
+// 8 was DATA_SYSTEM_TIME_SET
 #define DATA_INIT_SIMPLE_BEARING            9
 #define DATA_ARMED                          10
 #define DATA_DISARMED                       11

ArduCopter/mode_auto.cpp

@@ -1310,7 +1310,7 @@ void Copter::ModeAuto::do_nav_delay(const AP_Mission::Mission_Command& cmd)
         nav_delay_time_max = cmd.content.nav_delay.seconds * 1000; // convert seconds to milliseconds
     } else {
         // absolute delay to utc time
-        nav_delay_time_max = hal.util->get_time_utc(cmd.content.nav_delay.hour_utc, cmd.content.nav_delay.min_utc, cmd.content.nav_delay.sec_utc, 0);
+        nav_delay_time_max = AP::rtc().get_time_utc(cmd.content.nav_delay.hour_utc, cmd.content.nav_delay.min_utc, cmd.content.nav_delay.sec_utc, 0);
     }
     gcs().send_text(MAV_SEVERITY_INFO, "Delaying %u sec",(unsigned int)(nav_delay_time_max/1000));
 }