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https://github.com/ArduPilot/ardupilot
synced 2025-01-08 17:08:28 -04:00
Rover: added MAVLink SYSTEM_TIME message
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parent
92bf4b9c89
commit
7a9048f225
@ -246,6 +246,14 @@ static void NOINLINE send_gps_raw(mavlink_channel_t chan)
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g_gps->num_sats);
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}
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static void NOINLINE send_system_time(mavlink_channel_t chan)
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{
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mavlink_msg_system_time_send(
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chan,
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g_gps->time_epoch_usec(),
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hal.scheduler->millis());
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}
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#if HIL_MODE != HIL_MODE_DISABLED
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static void NOINLINE send_servo_out(mavlink_channel_t chan)
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@ -509,6 +517,11 @@ static bool mavlink_try_send_message(mavlink_channel_t chan, enum ap_message id,
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send_gps_raw(chan);
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break;
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case MSG_SYSTEM_TIME:
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CHECK_PAYLOAD_SIZE(SYSTEM_TIME);
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send_system_time(chan);
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break;
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case MSG_SERVO_OUT:
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#if HIL_MODE != HIL_MODE_DISABLED
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CHECK_PAYLOAD_SIZE(RC_CHANNELS_SCALED);
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@ -951,6 +964,7 @@ GCS_MAVLINK::data_stream_send(void)
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send_message(MSG_AHRS);
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send_message(MSG_HWSTATUS);
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send_message(MSG_RANGEFINDER);
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send_message(MSG_SYSTEM_TIME);
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}
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}
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@ -228,6 +228,7 @@ static void Log_Write_Cmd(uint8_t num, const struct Location *wp)
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struct PACKED log_Camera {
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LOG_PACKET_HEADER;
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uint32_t gps_time;
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uint16_t gps_week;
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int32_t latitude;
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int32_t longitude;
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int16_t roll;
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@ -241,7 +242,8 @@ static void Log_Write_Camera()
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#if CAMERA == ENABLED
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struct log_Camera pkt = {
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LOG_PACKET_HEADER_INIT(LOG_CAMERA_MSG),
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gps_time : g_gps->time,
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gps_time : g_gps->time_week_ms,
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gps_week : g_gps->time_week,
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latitude : current_loc.lat,
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longitude : current_loc.lng,
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roll : (int16_t)ahrs.roll_sensor,
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@ -458,7 +460,7 @@ static const struct LogStructure log_structure[] PROGMEM = {
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{ LOG_CMD_MSG, sizeof(log_Cmd),
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"CMD", "BBBBBeLL", "CTot,CNum,CId,COpt,Prm1,Alt,Lat,Lng" },
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{ LOG_CAMERA_MSG, sizeof(log_Camera),
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"CAM", "ILLccC", "GPSTime,Lat,Lng,Roll,Pitch,Yaw" },
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"CAM", "IHLLeccC", "GPSTime,GPSWeek,Lat,Lng,Alt,Roll,Pitch,Yaw" },
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{ LOG_STARTUP_MSG, sizeof(log_Startup),
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"STRT", "BB", "SType,CTot" },
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{ LOG_CTUN_MSG, sizeof(log_Control_Tuning),
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@ -101,6 +101,7 @@ enum ap_message {
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MSG_RAW_IMU1,
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MSG_RAW_IMU3,
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MSG_GPS_RAW,
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MSG_SYSTEM_TIME,
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MSG_SERVO_OUT,
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MSG_NEXT_WAYPOINT,
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MSG_NEXT_PARAM,
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