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AP_RTC: allow time to shift forward when disarmed

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This commit is contained in:
Peter Barker 2023-03-08 09:29:55 +11:00 committed by Andrew Tridgell
parent 229d544c35
commit 0a00f637af
1 changed files with 50 additions and 3 deletions
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47
libraries/AP_RTC/AP_RTC.cpp
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@ -9,6 +9,12 @@
#include <GCS_MAVLink/GCS.h> #include <GCS_MAVLink/GCS.h>
#include <AP_Common/time.h> #include <AP_Common/time.h>
#define DEBUG_RTC_SHIFT 0
#if DEBUG_RTC_SHIFT
#include <AP_Logger/AP_Logger.h>
#endif
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
AP_RTC::AP_RTC() AP_RTC::AP_RTC()
@ -47,10 +53,20 @@ void AP_RTC::set_utc_usec(uint64_t time_utc_usec, source_type type)
{ {
const uint64_t oldest_acceptable_date_us = 1640995200ULL*1000*1000; // 2022-01-01 0:00 const uint64_t oldest_acceptable_date_us = 1640995200ULL*1000*1000; // 2022-01-01 0:00
// only allow time to be moved forward from the same sourcetype
// while the vehicle is disarmed:
if (hal.util->get_soft_armed()) {
if (type >= rtc_source_type) { if (type >= rtc_source_type) {
// e.g. system-time message when we've been set by the GPS // e.g. system-time message when we've been set by the GPS
return; return;
} }
} else {
// vehicle is disarmed; accept (e.g.) GPS time source updates
if (type > rtc_source_type) {
// e.g. system-time message when we've been set by the GPS
return;
}
}
// check it's from an allowed sources: // check it's from an allowed sources:
if (!(allowed_types & (1<<type))) { if (!(allowed_types & (1<<type))) {
@ -70,6 +86,11 @@ void AP_RTC::set_utc_usec(uint64_t time_utc_usec, source_type type)
} }
WITH_SEMAPHORE(rsem); WITH_SEMAPHORE(rsem);
#if DEBUG_RTC_SHIFT
uint64_t old_utc = 0;
UNUSED_RESULT(get_utc_usec(old_utc));
#endif
rtc_shift = tmp; rtc_shift = tmp;
// update hardware clock: // update hardware clock:
@ -83,6 +104,32 @@ void AP_RTC::set_utc_usec(uint64_t time_utc_usec, source_type type)
// update signing timestamp // update signing timestamp
GCS_MAVLINK::update_signing_timestamp(time_utc_usec); GCS_MAVLINK::update_signing_timestamp(time_utc_usec);
#endif #endif
#if DEBUG_RTC_SHIFT
uint64_t new_utc = 0;
UNUSED_RESULT(get_utc_usec(new_utc));
if (old_utc != new_utc) {
if (AP::logger().should_log(0xFFFF)){
// log to AP_Logger
// @LoggerMessage: RTC
// @Description: Information about RTC clock resets
// @Field: TimeUS: Time since system startup
// @Field: old: old time
// @Field: new: new time
// @Field: in: new argument time
AP::logger().WriteStreaming(
"RTC",
"TimeUS,old_utc,new_utc",
"sss",
"FFF",
"QQQ",
AP_HAL::micros64(),
old_utc,
new_utc
);
}
}
#endif
} }
bool AP_RTC::get_utc_usec(uint64_t &usec) const bool AP_RTC::get_utc_usec(uint64_t &usec) const