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SITL: get_wall_time_us() to use a monotonic clock on non-Windows systems

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Alexander Maryanovsky 2020-02-18 15:42:25 +02:00 committed by Andrew Tridgell
parent 0d5a0f392c
commit d73043fc2f
2 changed files with 4 additions and 4 deletions
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6
libraries/SITL/SIM_Aircraft.cpp
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@ -447,9 +447,9 @@ uint64_t Aircraft::get_wall_time_us() const
tPrev = now; tPrev = now;
return last_ret_us; return last_ret_us;
#else #else
struct timeval tp; struct timespec ts;
gettimeofday(&tp, nullptr); clock_gettime(CLOCK_MONOTONIC, &ts);
return static_cast<uint64_t>(tp.tv_sec * 1.0e6 + tp.tv_usec); return uint64_t(ts.tv_sec * 1000000ULL + ts.tv_nsec / 1000ULL);
#endif #endif
} }

2
libraries/SITL/SIM_Aircraft.h
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@ -248,7 +248,7 @@ protected:
/* add noise based on throttle level (from 0..1) */ /* add noise based on throttle level (from 0..1) */
void add_noise(float throttle); void add_noise(float throttle);
/* return wall clock time in microseconds since 1970 */ /* return a monotonic wall clock time in microseconds */
uint64_t get_wall_time_us(void) const; uint64_t get_wall_time_us(void) const;
// update attitude and relative position // update attitude and relative position