From 09571315435a227b39b3658033eeaa185a3c908e Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 11 Oct 2021 16:08:40 +1100
Subject: [PATCH] SITL: use AP_HAL::micros() for get_wall_time_us

---
 libraries/SITL/SIM_Aircraft.cpp | 5 ++++-
 libraries/SITL/SIM_GPS.cpp      | 2 ++
 2 files changed, 6 insertions(+), 1 deletion(-)

diff --git a/libraries/SITL/SIM_Aircraft.cpp b/libraries/SITL/SIM_Aircraft.cpp
index d99a39a14d..bcc95e8587 100644
--- a/libraries/SITL/SIM_Aircraft.cpp
+++ b/libraries/SITL/SIM_Aircraft.cpp
@@ -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
 }
 
diff --git a/libraries/SITL/SIM_GPS.cpp b/libraries/SITL/SIM_GPS.cpp
index 4a2479e153..9790ef49ec 100644
--- a/libraries/SITL/SIM_GPS.cpp
+++ b/libraries/SITL/SIM_GPS.cpp
@@ -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>