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AP_GPS: fixed GPS time in HIL 

account for 10 year difference in epoch between unix time and GPS time
This commit is contained in:
Andrew Tridgell 2014-09-04 06:37:42 +10:00
parent effccacf46
commit cd50fe82b6
1 changed files with 3 additions and 2 deletions
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5
libraries/AP_GPS/AP_GPS.cpp
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@ -393,8 +393,9 @@ AP_GPS::setHIL(uint8_t instance, GPS_Status _status, uint64_t time_epoch_ms,
istate.num_sats = _num_sats;
istate.have_vertical_velocity = _have_vertical_velocity;
istate.last_gps_time_ms = tnow;
istate.time_week = time_epoch_ms / (86400*7*(uint64_t)1000);
istate.time_week_ms = time_epoch_ms - istate.time_week*(86400*7*(uint64_t)1000);
uint64_t gps_time_ms = time_epoch_ms - (17000ULL*86400ULL + 52*10*7000ULL*86400ULL - 15000ULL);
istate.time_week = gps_time_ms / (86400*7*(uint64_t)1000);
istate.time_week_ms = gps_time_ms - istate.time_week*(86400*7*(uint64_t)1000);
timing[instance].last_message_time_ms = tnow;
timing[instance].last_fix_time_ms = tnow;
_type[instance].set(GPS_TYPE_HIL);