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Rover: use AP_RTC

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Rover: AP_GPS now sets the system time directly
This commit is contained in:
Peter Barker 2018-03-09 13:14:05 -03:00 committed by Andrew Tridgell
parent 5b41db5120
commit 9b269b1b56
3 changed files with 0 additions and 28 deletions
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2
APMrover2/APMrover2.cpp
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@ -306,8 +306,6 @@ void Rover::update_GPS(void)
if (gps.last_message_time_ms() != last_gps_msg_ms) {
last_gps_msg_ms = gps.last_message_time_ms();
// set system time if necessary
set_system_time_from_GPS();
#if CAMERA == ENABLED
camera.update();
#endif

4
APMrover2/Rover.h
View File

@ -317,9 +317,6 @@ private:
// The home location used for RTL. The location is set when we first get stable GPS lock
const struct Location &home;
// true if the system time has been set from the GPS
bool system_time_set;
// true if the compass's initial location has been set
bool compass_init_location;
@ -427,7 +424,6 @@ private:
void update_home_from_EKF();
bool set_home_to_current_location(bool lock);
bool set_home(const Location& loc, bool lock);
void set_system_time_from_GPS();
void update_home();
// compat.cpp

22
APMrover2/commands.cpp
View File

@ -86,28 +86,6 @@ bool Rover::set_home(const Location& loc, bool lock)
return true;
}
// checks if we should update ahrs/RTL home position from GPS
void Rover::set_system_time_from_GPS()
{
// exit immediately if system time already set
if (system_time_set) {
return;
}
// if we have a 3d lock and valid location
if (gps.status() >= AP_GPS::GPS_OK_FIX_3D) {
// set system clock for log timestamps
const uint64_t gps_timestamp = gps.time_epoch_usec();
hal.util->set_system_clock(gps_timestamp);
// update signing timestamp
GCS_MAVLINK::update_signing_timestamp(gps_timestamp);
system_time_set = true;
}
}
/*
update home location from GPS
this is called as long as we have 3D lock and the arming switch is