From 9e1502e54a0792e465e87f0aabb17d2d2c8ad3ab Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Wed, 8 Apr 2015 08:24:39 +0900
Subject: [PATCH] SITL: add wait_sim_seconds and get_sim_time

---
 Tools/autotest/common.py | 12 ++++++++++++
 1 file changed, 12 insertions(+)

diff --git a/Tools/autotest/common.py b/Tools/autotest/common.py
index 821a71e3ed..927781fafe 100644
--- a/Tools/autotest/common.py
+++ b/Tools/autotest/common.py
@@ -55,6 +55,18 @@ def wait_seconds(seconds_to_wait):
     while tstart + seconds_to_wait > tnow:
         tnow = time.time()
 
+def wait_sim_seconds(mav, seconds_to_wait):
+    m = mav.recv_match(type='SYSTEM_TIME', blocking=True)
+    tstart = m.time_boot_ms / 1000;
+    tnow = tstart
+    while tstart + seconds_to_wait > tnow:
+        m = mav.recv_match(type='SYSTEM_TIME', blocking=True)
+        tnow = m.time_boot_ms / 1000;
+
+def get_sim_time(mav):
+    m = mav.recv_match(type='SYSTEM_TIME', blocking=True)
+    return m.time_boot_ms / 1000;
+
 def wait_altitude(mav, alt_min, alt_max, timeout=30):
     climb_rate = 0
     previous_alt = 0