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RCOutput_Bebop: use CLOCK_MONOTONIC instead of CLOCK_REALTIME

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CLOCK_MONOTONIC is not affected by discontinuous jumps in the system time.
This commit is contained in:
Jean-Baptiste Dubois 2015-07-15 12:08:44 +02:00
parent 35dd7322d2
commit 9e5d13c1de
1 changed files with 6 additions and 3 deletions
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9
libraries/AP_HAL_Linux/RCOutput_Bebop.cpp
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@ -269,6 +269,7 @@ void LinuxRCOutput_Bebop::init(void* dummy)
int ret=0;
struct sched_param param = { .sched_priority = RCOUT_BEBOP_RTPRIO };
pthread_attr_t attr;
pthread_condattr_t cond_attr;
_i2c_sem = hal.i2c1->get_semaphore();
if (_i2c_sem == NULL) {
@ -285,8 +286,10 @@ void LinuxRCOutput_Bebop::init(void* dummy)
pthread_mutex_lock(&_mutex);
ret = pthread_cond_init(&_cond, NULL);
pthread_condattr_init(&cond_attr);
pthread_condattr_setclock(&cond_attr, CLOCK_MONOTONIC);
ret = pthread_cond_init(&_cond, &cond_attr);
pthread_condattr_destroy(&cond_attr);
if (ret != 0) {
perror("RCout_Bebop: failed to init cond\n");
goto exit;
@ -390,7 +393,7 @@ void LinuxRCOutput_Bebop::_run_rcout()
while (true) {
pthread_mutex_lock(&_mutex);
ret = clock_gettime(CLOCK_REALTIME, &ts);
ret = clock_gettime(CLOCK_MONOTONIC, &ts);
if (ret != 0)
hal.console->println_P("RCOutput_Bebop: bad checksum in obs data");