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MAVLink: send time of GPS fix accurately 

when we send a GPS_RAW message, set the usec field to the time we got
the fix from the GPS, not the current time. This makes it possible for
aerial photo processing to be more accurate, as the usec field with
more accurately reflect the planes position/time pair
This commit is contained in:
Andrew Tridgell 2012-05-23 17:29:52 +10:00
parent 66544a5db2
commit d9457ecc38
2 changed files with 4 additions and 4 deletions
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4
ArduCopter/GCS_Mavlink.pde
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@ -309,7 +309,7 @@ static void NOINLINE send_gps_raw(mavlink_channel_t chan)
mavlink_msg_gps_raw_int_send( mavlink_msg_gps_raw_int_send(
chan, chan,
micros(), g_gps->last_fix_time*(uint64_t)1000,
fix, fix,
g_gps->latitude, // in 1E7 degrees g_gps->latitude, // in 1E7 degrees
g_gps->longitude, // in 1E7 degrees g_gps->longitude, // in 1E7 degrees
@ -323,7 +323,7 @@ static void NOINLINE send_gps_raw(mavlink_channel_t chan)
#else // MAVLINK10 #else // MAVLINK10
mavlink_msg_gps_raw_send( mavlink_msg_gps_raw_send(
chan, chan,
micros(), g_gps->last_fix_time*(uint64_t)1000,
g_gps->status(), g_gps->status(),
g_gps->latitude / 1.0e7, g_gps->latitude / 1.0e7,
g_gps->longitude / 1.0e7, g_gps->longitude / 1.0e7,

4
ArduPlane/GCS_Mavlink.pde
View File

@ -345,7 +345,7 @@ static void NOINLINE send_gps_raw(mavlink_channel_t chan)
mavlink_msg_gps_raw_int_send( mavlink_msg_gps_raw_int_send(
chan, chan,
micros(), g_gps->last_fix_time*(uint64_t)1000,
fix, fix,
g_gps->latitude, // in 1E7 degrees g_gps->latitude, // in 1E7 degrees
g_gps->longitude, // in 1E7 degrees g_gps->longitude, // in 1E7 degrees
@ -359,7 +359,7 @@ static void NOINLINE send_gps_raw(mavlink_channel_t chan)
#else // MAVLINK10 #else // MAVLINK10
mavlink_msg_gps_raw_send( mavlink_msg_gps_raw_send(
chan, chan,
micros(), g_gps->last_fix_time*(uint64_t)1000,
g_gps->status(), g_gps->status(),
g_gps->latitude / 1.0e7, g_gps->latitude / 1.0e7,
g_gps->longitude / 1.0e7, g_gps->longitude / 1.0e7,