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SITL: use AP_HAL::micros() for get_wall_time_us

This commit is contained in:
Peter Barker 2021-10-11 16:08:40 +11:00 committed by Peter Barker
parent 3cf7091525
commit 0957131543
2 changed files with 6 additions and 1 deletions
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5
libraries/SITL/SIM_Aircraft.cpp
View File

@ -536,6 +536,7 @@ float Aircraft::rangefinder_range() const
}
// potentially replace this with a call to AP_HAL::Util::get_hw_rtc
uint64_t Aircraft::get_wall_time_us() const
{
#if defined(__CYGWIN__) || defined(__CYGWIN64__)
@ -549,10 +550,12 @@ uint64_t Aircraft::get_wall_time_us() const
last_ret_us += (uint64_t)((now - tPrev)*1000UL);
tPrev = now;
return last_ret_us;
#else
#elif CONFIG_HAL_BOARD == HAL_BOARD_SITL
struct timespec ts;
clock_gettime(CLOCK_MONOTONIC, &ts);
return uint64_t(ts.tv_sec * 1000000ULL + ts.tv_nsec / 1000ULL);
#else
return AP_HAL::micros64();
#endif
}

2
libraries/SITL/SIM_GPS.cpp
View File

@ -10,6 +10,8 @@
#if HAL_SIM_GPS_ENABLED
#include <time.h>
#include <AP_BoardConfig/AP_BoardConfig.h>
#include <AP_HAL/AP_HAL.h>
#include <SITL/SITL.h>