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AP_GPS_PX4: fixed GPS epoch calculations

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This commit is contained in:
Holger Steinhaus 2016-06-09 17:31:26 +02:00 committed by Andrew Tridgell
parent 5ccd3dfec8
commit cc4fafc3e4
1 changed files with 7 additions and 7 deletions
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14
libraries/AP_GPS/AP_GPS_PX4.cpp
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@ -39,9 +39,9 @@ AP_GPS_PX4::AP_GPS_PX4(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UARTDriv
}
#define MS_PER_WEEK 7*24*3600*1000LL
#define DELTA_POSIX_GPS_EPOCH 315964800LL*1000LL
#define LEAP_MS_GPS_2014 16*1000LL
const uint64_t MS_PER_WEEK = ((uint64_t)7)*24*3600*1000;
const uint64_t DELTA_POSIX_GPS_EPOCH = ((uint64_t)3657)*24*3600*1000;
const uint64_t LEAP_MS_GPS_2016 = ((uint64_t)17)*1000;
// update internal state if new GPS information is available
bool
@ -68,10 +68,10 @@ AP_GPS_PX4::read(void)
// convert epoch timestamp back to gps epoch - evil hack until we get the genuine
// raw week information (or APM switches to Posix epoch ;-) )
uint64_t epoch_ms = uint64_t(_gps_pos.time_utc_usec/1000.+.5);
uint64_t gps_ms = epoch_ms - DELTA_POSIX_GPS_EPOCH + LEAP_MS_GPS_2014;
state.time_week = uint16_t(gps_ms / uint64_t(MS_PER_WEEK));
state.time_week_ms = uint32_t(gps_ms - uint64_t(state.time_week)*MS_PER_WEEK);
uint64_t epoch_ms = _gps_pos.time_utc_usec/1000;
uint64_t gps_ms = epoch_ms - DELTA_POSIX_GPS_EPOCH + LEAP_MS_GPS_2016;
state.time_week = (uint16_t)(gps_ms / MS_PER_WEEK);
state.time_week_ms = (uint32_t)(gps_ms - (state.time_week)*MS_PER_WEEK);
if (_gps_pos.time_utc_usec == 0) {
// This is a work-around for https://github.com/PX4/Firmware/issues/1474