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GCS_MAVLink: add TIMESYNC message handler

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This commit is contained in:
fnoop 2017-03-16 23:43:29 +00:00 committed by Randy Mackay
parent ec5bbbd2d0
commit fdc310fe97
2 changed files with 27 additions and 0 deletions
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2
libraries/GCS_MAVLink/GCS.h
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@ -246,6 +246,8 @@ protected:
void handle_gps_inject(const mavlink_message_t *msg, AP_GPS &gps);
void handle_timesync(mavlink_message_t *msg);
void handle_common_message(mavlink_message_t *msg);
void handle_log_message(mavlink_message_t *msg, DataFlash_Class &dataflash);
void handle_setup_signing(const mavlink_message_t *msg);

25
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -761,6 +761,31 @@ void GCS_MAVLINK::handle_radio_status(mavlink_message_t *msg, DataFlash_Class &d
}
}
/*
return a timesync request
Sends back ts1 as received, and tc1 is the local timestamp in usec
*/
void GCS_MAVLINK::handle_timesync(mavlink_message_t *msg)
{
// Timestamp to return is usec since boot
uint64_t now = AP_HAL::micros64();
// Decode incoming timesync message
mavlink_timesync_t tsync;
mavlink_msg_timesync_decode(msg, &tsync);
// Create new timestruct to return
mavlink_timesync_t rsync;
rsync.ts1 = tsync.ts1;
rsync.tc1 = now;
// Return a timesync message with updated tc1 field
mavlink_msg_timesync_send(
chan,
rsync.tc1,
rsync.ts1
);
}
/*
handle an incoming mission item