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AP_GPS: fix PX4 GPS driver leap seconds

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Francisco Ferreira 2017-01-21 20:26:28 +00:00
parent 591bb32496
commit d472fbde0c
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GPG Key ID: F63C20A6773E787E
1 changed files with 5 additions and 8 deletions
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13
libraries/AP_GPS/AP_GPS_PX4.cpp
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@ -42,11 +42,6 @@ AP_GPS_PX4::~AP_GPS_PX4()
orb_unsubscribe(_gps_sub); orb_unsubscribe(_gps_sub);
} }
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 // update internal state if new GPS information is available
bool bool
AP_GPS_PX4::read(void) AP_GPS_PX4::read(void)
@ -72,10 +67,12 @@ AP_GPS_PX4::read(void)
// convert epoch timestamp back to gps epoch - evil hack until we get the genuine // convert epoch timestamp back to gps epoch - evil hack until we get the genuine
// raw week information (or APM switches to Posix epoch ;-) ) // raw week information (or APM switches to Posix epoch ;-) )
const uint64_t posix_offset = 3657ULL * 24 * 3600 * 1000 - GPS_LEAPSECONDS_MILLIS;
const uint64_t ms_per_week = 7ULL * 24 * 3600 * 1000;
uint64_t epoch_ms = _gps_pos.time_utc_usec/1000; uint64_t epoch_ms = _gps_pos.time_utc_usec/1000;
uint64_t gps_ms = epoch_ms - DELTA_POSIX_GPS_EPOCH + LEAP_MS_GPS_2016; uint64_t gps_ms = epoch_ms - posix_offset;
state.time_week = (uint16_t)(gps_ms / MS_PER_WEEK); state.time_week = (uint16_t)(gps_ms / ms_per_week);
state.time_week_ms = (uint32_t)(gps_ms - (state.time_week)*MS_PER_WEEK); state.time_week_ms = (uint32_t)(gps_ms - (state.time_week) * ms_per_week);
if (_gps_pos.time_utc_usec == 0) { if (_gps_pos.time_utc_usec == 0) {
// This is a work-around for https://github.com/PX4/Firmware/issues/1474 // This is a work-around for https://github.com/PX4/Firmware/issues/1474