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Copter: added MAVLink SYSTEM_TIME message

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This commit is contained in:
Andrew Tridgell 2013-10-23 22:15:21 +11:00
parent 3289041428
commit 92bf4b9c89
4 changed files with 21 additions and 4 deletions
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4
ArduCopter/ArduCopter.pde
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@ -1263,12 +1263,12 @@ static void update_GPS(void)
g_gps->update(); g_gps->update();
if (g_gps->new_data && last_gps_time != g_gps->time && g_gps->status() >= GPS::GPS_OK_FIX_2D) { if (g_gps->new_data && last_gps_time != g_gps->last_fix_time && g_gps->status() >= GPS::GPS_OK_FIX_2D) {
// clear new data flag // clear new data flag
g_gps->new_data = false; g_gps->new_data = false;
// save GPS time so we don't get duplicate reads // save GPS time so we don't get duplicate reads
last_gps_time = g_gps->time; last_gps_time = g_gps->last_fix_time;
// log location if we have at least a 2D fix // log location if we have at least a 2D fix
if (g.log_bitmask & MASK_LOG_GPS && motors.armed()) { if (g.log_bitmask & MASK_LOG_GPS && motors.armed()) {

14
ArduCopter/GCS_Mavlink.pde
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@ -307,6 +307,14 @@ static void NOINLINE send_gps_raw(mavlink_channel_t chan)
} }
static void NOINLINE send_system_time(mavlink_channel_t chan)
{
mavlink_msg_system_time_send(
chan,
g_gps->time_epoch_usec(),
hal.scheduler->millis());
}
#if HIL_MODE != HIL_MODE_DISABLED #if HIL_MODE != HIL_MODE_DISABLED
static void NOINLINE send_servo_out(mavlink_channel_t chan) static void NOINLINE send_servo_out(mavlink_channel_t chan)
{ {
@ -561,6 +569,11 @@ static bool mavlink_try_send_message(mavlink_channel_t chan, enum ap_message id,
send_gps_raw(chan); send_gps_raw(chan);
break; break;
case MSG_SYSTEM_TIME:
CHECK_PAYLOAD_SIZE(SYSTEM_TIME);
send_system_time(chan);
break;
case MSG_SERVO_OUT: case MSG_SERVO_OUT:
#if HIL_MODE != HIL_MODE_DISABLED #if HIL_MODE != HIL_MODE_DISABLED
CHECK_PAYLOAD_SIZE(RC_CHANNELS_SCALED); CHECK_PAYLOAD_SIZE(RC_CHANNELS_SCALED);
@ -1048,6 +1061,7 @@ GCS_MAVLINK::data_stream_send(void)
if (stream_trigger(STREAM_EXTRA3)) { if (stream_trigger(STREAM_EXTRA3)) {
send_message(MSG_AHRS); send_message(MSG_AHRS);
send_message(MSG_HWSTATUS); send_message(MSG_HWSTATUS);
send_message(MSG_SYSTEM_TIME);
} }
} }

6
ArduCopter/Log.pde
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@ -715,6 +715,7 @@ static void Log_Write_PID(uint8_t pid_id, int32_t error, int32_t p, int32_t i, i
struct PACKED log_Camera { struct PACKED log_Camera {
LOG_PACKET_HEADER; LOG_PACKET_HEADER;
uint32_t gps_time; uint32_t gps_time;
uint16_t gps_week;
int32_t latitude; int32_t latitude;
int32_t longitude; int32_t longitude;
int32_t altitude; int32_t altitude;
@ -729,7 +730,8 @@ static void Log_Write_Camera()
#if CAMERA == ENABLED #if CAMERA == ENABLED
struct log_Camera pkt = { struct log_Camera pkt = {
LOG_PACKET_HEADER_INIT(LOG_CAMERA_MSG), LOG_PACKET_HEADER_INIT(LOG_CAMERA_MSG),
gps_time : g_gps->time, gps_time : g_gps->time_week_ms,
gps_week : g_gps->time_week,
latitude : current_loc.lat, latitude : current_loc.lat,
longitude : current_loc.lng, longitude : current_loc.lng,
altitude : current_loc.alt, altitude : current_loc.alt,
@ -818,7 +820,7 @@ static const struct LogStructure log_structure[] PROGMEM = {
{ LOG_PID_MSG, sizeof(log_PID), { LOG_PID_MSG, sizeof(log_PID),
"PID", "Biiiiif", "Id,Error,P,I,D,Out,Gain" }, "PID", "Biiiiif", "Id,Error,P,I,D,Out,Gain" },
{ LOG_CAMERA_MSG, sizeof(log_Camera), { LOG_CAMERA_MSG, sizeof(log_Camera),
"CAM", "ILLeccC", "GPSTime,Lat,Lng,Alt,Roll,Pitch,Yaw" }, "CAM", "IHLLeccC", "GPSTime,GPSWeek,Lat,Lng,Alt,Roll,Pitch,Yaw" },
{ LOG_ERROR_MSG, sizeof(log_Error), { LOG_ERROR_MSG, sizeof(log_Error),
"ERR", "BB", "Subsys,ECode" }, "ERR", "BB", "Subsys,ECode" },
}; };

1
ArduCopter/defines.h
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@ -259,6 +259,7 @@ enum ap_message {
MSG_RAW_IMU2, MSG_RAW_IMU2,
MSG_RAW_IMU3, MSG_RAW_IMU3,
MSG_GPS_RAW, MSG_GPS_RAW,
MSG_SYSTEM_TIME,
MSG_SERVO_OUT, MSG_SERVO_OUT,
MSG_NEXT_WAYPOINT, MSG_NEXT_WAYPOINT,
MSG_NEXT_PARAM, MSG_NEXT_PARAM,