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AP_Periph: don't send a zero timestamp marked as UTC time

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this fixes a problem with bad SYSTEM_TIME when using an AP_Periph
GPS. Many thanks to Phillip Kocmoud for reporting
This commit is contained in:
Andrew Tridgell 2020-04-29 09:35:32 +10:00
parent ce68e0fbb5
commit 01e77d6f5b
1 changed files with 10 additions and 2 deletions
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12
Tools/AP_Periph/can.cpp
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@ -1245,7 +1245,11 @@ void AP_Periph_FW::can_gps_update(void)
pkt.timestamp.usec = AP_HAL::micros64();
pkt.gnss_timestamp.usec = gps.time_epoch_usec();
pkt.gnss_time_standard = UAVCAN_EQUIPMENT_GNSS_FIX_GNSS_TIME_STANDARD_UTC;
if (pkt.gnss_timestamp.usec == 0) {
pkt.gnss_time_standard = UAVCAN_EQUIPMENT_GNSS_FIX_GNSS_TIME_STANDARD_NONE;
} else {
pkt.gnss_time_standard = UAVCAN_EQUIPMENT_GNSS_FIX_GNSS_TIME_STANDARD_UTC;
}
pkt.longitude_deg_1e8 = uint64_t(loc.lng) * 10ULL;
pkt.latitude_deg_1e8 = uint64_t(loc.lat) * 10ULL;
pkt.height_ellipsoid_mm = loc.alt * 10;
@ -1324,7 +1328,11 @@ void AP_Periph_FW::can_gps_update(void)
pkt.timestamp.usec = AP_HAL::micros64();
pkt.gnss_timestamp.usec = gps.time_epoch_usec();
pkt.gnss_time_standard = UAVCAN_EQUIPMENT_GNSS_FIX2_GNSS_TIME_STANDARD_UTC;
if (pkt.gnss_timestamp.usec == 0) {
pkt.gnss_time_standard = UAVCAN_EQUIPMENT_GNSS_FIX_GNSS_TIME_STANDARD_NONE;
} else {
pkt.gnss_time_standard = UAVCAN_EQUIPMENT_GNSS_FIX_GNSS_TIME_STANDARD_UTC;
}
pkt.longitude_deg_1e8 = uint64_t(loc.lng) * 10ULL;
pkt.latitude_deg_1e8 = uint64_t(loc.lat) * 10ULL;
pkt.height_ellipsoid_mm = loc.alt * 10;