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AP_GPS: set _last_itow alongside state.last_corrected_gps_time_us

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bugobliterator 2022-02-02 10:01:29 +05:30 committed by Andrew Tridgell
parent e77bb74f9b
commit d3d3c826f7
3 changed files with 14 additions and 7 deletions
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3
libraries/AP_GPS/AP_GPS_MAV.cpp
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@ -123,6 +123,9 @@ void AP_GPS_MAV::handle_msg(const mavlink_message_t &msg)
uint32_t corrected_ms = jitter.correct_offboard_timestamp_msec(timestamp_ms, now_ms); uint32_t corrected_ms = jitter.correct_offboard_timestamp_msec(timestamp_ms, now_ms);
state.last_corrected_gps_time_us = (corrected_ms * 1000ULL); state.last_corrected_gps_time_us = (corrected_ms * 1000ULL);
state.corrected_timestamp_updated = true; state.corrected_timestamp_updated = true;
if (state.last_corrected_gps_time_us) {
_last_itow = state.time_week_ms;
}
if (have_yaw) { if (have_yaw) {
state.gps_yaw_time_ms = corrected_ms; state.gps_yaw_time_ms = corrected_ms;
} }

7
libraries/AP_GPS/AP_GPS_UAVCAN.cpp
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@ -876,7 +876,12 @@ bool AP_GPS_UAVCAN::read(void)
interim_state.speed_accuracy = MIN(interim_state.speed_accuracy, 1000.0); interim_state.speed_accuracy = MIN(interim_state.speed_accuracy, 1000.0);
state = interim_state; state = interim_state;
if (interim_state.last_corrected_gps_time_us) {
// If we were able to get a valid last_corrected_gps_time_us
// we have had a valid GPS message time, from which we calculate
// the time of week.
_last_itow = interim_state.time_week_ms;
}
return true; return true;
} }
if (!seen_message) { if (!seen_message) {

11
libraries/AP_GPS/GPS_Backend.h
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@ -95,7 +95,7 @@ public:
// return iTOW of last message, or zero if not supported // return iTOW of last message, or zero if not supported
uint32_t get_last_itow(void) const { uint32_t get_last_itow(void) const {
return (_pseudo_itow_delta_ms == 0)?(_last_itow*1000ULL):((_pseudo_itow/1000ULL) + _pseudo_itow_delta_ms); return (_pseudo_itow_delta_ms == 0)?(_last_itow):((_pseudo_itow/1000ULL) + _pseudo_itow_delta_ms);
} }
enum DriverOptions : int16_t { enum DriverOptions : int16_t {
@ -110,6 +110,10 @@ protected:
AP_GPS &gps; ///< access to frontend (for parameters) AP_GPS &gps; ///< access to frontend (for parameters)
AP_GPS::GPS_State &state; ///< public state for this instance AP_GPS::GPS_State &state; ///< public state for this instance
uint64_t _last_pps_time_us;
JitterCorrection jitter_correction;
uint32_t _last_itow;
// common utility functions // common utility functions
int32_t swap_int32(int32_t v) const; int32_t swap_int32(int32_t v) const;
int16_t swap_int16(int16_t v) const; int16_t swap_int16(int16_t v) const;
@ -161,13 +165,8 @@ protected:
void log_data(const uint8_t *data, uint16_t length); void log_data(const uint8_t *data, uint16_t length);
#endif #endif
protected:
uint64_t _last_pps_time_us;
JitterCorrection jitter_correction;
private: private:
// itow from previous message // itow from previous message
uint32_t _last_itow;
uint64_t _pseudo_itow; uint64_t _pseudo_itow;
int32_t _pseudo_itow_delta_ms; int32_t _pseudo_itow_delta_ms;
uint32_t _last_ms; uint32_t _last_ms;