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AP_GPS: use AP_RTC

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set the system time from a GPS if we have a 3D fix or better
This commit is contained in:
Peter Barker 2018-04-10 14:48:30 +10:00 committed by Andrew Tridgell
parent 721feaf40f
commit 5b41db5120
2 changed files with 6 additions and 1 deletions
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5
libraries/AP_GPS/AP_GPS.cpp
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@ -671,6 +671,11 @@ void AP_GPS::update_instance(uint8_t instance)
!AP::ahrs().have_ekf_logging()) {
DataFlash_Class::instance()->Log_Write_GPS(instance);
}
if (state[instance].status >= GPS_OK_FIX_3D) {
const uint64_t now = time_epoch_usec(instance);
AP::rtc().set_utc_usec(now, AP_RTC::SOURCE_GPS);
}
}
/*

2
libraries/AP_GPS/AP_GPS.h
View File

@ -22,6 +22,7 @@
#include <AP_Vehicle/AP_Vehicle.h>
#include "GPS_detect_state.h"
#include <AP_SerialManager/AP_SerialManager.h>
#include <AP_RTC/AP_RTC.h>
/**
maximum number of GPS instances available on this platform. If more
@ -556,7 +557,6 @@ private:
GPS_AUTO_CONFIG_DISABLE = 0,
GPS_AUTO_CONFIG_ENABLE = 1
};
};
namespace AP {