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AP_GPS: ensure we have full timestamp before setting RTC clock

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thanks to Martin Sollie for this bug report
This commit is contained in:
Andrew Tridgell 2019-07-31 13:17:06 +10:00
parent 10e8e8e9cc
commit be9c98db12
1 changed files with 4 additions and 2 deletions
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6
libraries/AP_GPS/AP_GPS.cpp
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@ -367,7 +367,7 @@ uint64_t AP_GPS::time_epoch_convert(uint16_t gps_week, uint32_t gps_ms)
uint64_t AP_GPS::time_epoch_usec(uint8_t instance) const
{
const GPS_State &istate = state[instance];
if (istate.last_gps_time_ms == 0) {
if (istate.last_gps_time_ms == 0 || istate.time_week == 0) {
return 0;
}
uint64_t fix_time_ms = time_epoch_convert(istate.time_week, istate.time_week_ms);
@ -672,7 +672,9 @@ void AP_GPS::update_instance(uint8_t instance)
if (state[instance].status >= GPS_OK_FIX_3D) {
const uint64_t now = time_epoch_usec(instance);
AP::rtc().set_utc_usec(now, AP_RTC::SOURCE_GPS);
if (now != 0) {
AP::rtc().set_utc_usec(now, AP_RTC::SOURCE_GPS);
}
}
}