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AP_GPS: change _last_itow to _last_itow_ms

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bugobliterator 2022-02-02 12:51:03 +05:30 committed by Andrew Tridgell
parent d3d3c826f7
commit 244b8ed358
5 changed files with 10 additions and 10 deletions
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6
libraries/AP_GPS/AP_GPS.cpp
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@ -519,7 +519,7 @@ uint64_t AP_GPS::time_epoch_usec(uint8_t instance) const
uint64_t fix_time_ms;
// add in the time since the last fix message
if (istate.last_corrected_gps_time_us != 0) {
fix_time_ms = time_epoch_convert(istate.time_week, drivers[instance]->get_last_itow());
fix_time_ms = time_epoch_convert(istate.time_week, drivers[instance]->get_last_itow_ms());
return (fix_time_ms*1000ULL) + (AP_HAL::micros64() - istate.last_corrected_gps_time_us);
} else {
fix_time_ms = time_epoch_convert(istate.time_week, istate.time_week_ms);
@ -536,7 +536,7 @@ uint64_t AP_GPS::last_message_epoch_usec(uint8_t instance) const
if (istate.time_week == 0) {
return 0;
}
return time_epoch_convert(istate.time_week, drivers[instance]->get_last_itow()) * 1000ULL;
return time_epoch_convert(istate.time_week, drivers[instance]->get_last_itow_ms()) * 1000ULL;
}
/*
@ -2020,7 +2020,7 @@ uint32_t AP_GPS::get_itow(uint8_t instance) const
if (instance >= GPS_MAX_RECEIVERS || drivers[instance] == nullptr) {
return 0;
}
return drivers[instance]->get_last_itow();
return drivers[instance]->get_last_itow_ms();
}
bool AP_GPS::get_error_codes(uint8_t instance, uint32_t &error_codes) const

2
libraries/AP_GPS/AP_GPS_MAV.cpp
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@ -124,7 +124,7 @@ void AP_GPS_MAV::handle_msg(const mavlink_message_t &msg)
state.last_corrected_gps_time_us = (corrected_ms * 1000ULL);
state.corrected_timestamp_updated = true;
if (state.last_corrected_gps_time_us) {
_last_itow = state.time_week_ms;
_last_itow_ms = state.time_week_ms;
}
if (have_yaw) {
state.gps_yaw_time_ms = corrected_ms;

2
libraries/AP_GPS/AP_GPS_UAVCAN.cpp
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@ -880,7 +880,7 @@ bool AP_GPS_UAVCAN::read(void)
// If we were able to get a valid last_corrected_gps_time_us
// we have had a valid GPS message time, from which we calculate
// the time of week.
_last_itow = interim_state.time_week_ms;
_last_itow_ms = interim_state.time_week_ms;
}
return true;
}

4
libraries/AP_GPS/GPS_Backend.cpp
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@ -235,8 +235,8 @@ void AP_GPS_Backend::set_uart_timestamp(uint16_t nbytes)
void AP_GPS_Backend::check_new_itow(uint32_t itow, uint32_t msg_length)
{
if (itow != _last_itow) {
_last_itow = itow;
if (itow != _last_itow_ms) {
_last_itow_ms = itow;
/*
we need to calculate a pseudo-itow, which copes with the

6
libraries/AP_GPS/GPS_Backend.h
View File

@ -94,8 +94,8 @@ public:
virtual bool get_error_codes(uint32_t &error_codes) const { return false; }
// return iTOW of last message, or zero if not supported
uint32_t get_last_itow(void) const {
return (_pseudo_itow_delta_ms == 0)?(_last_itow):((_pseudo_itow/1000ULL) + _pseudo_itow_delta_ms);
uint32_t get_last_itow_ms(void) const {
return (_pseudo_itow_delta_ms == 0)?(_last_itow_ms):((_pseudo_itow/1000ULL) + _pseudo_itow_delta_ms);
}
enum DriverOptions : int16_t {
@ -112,7 +112,7 @@ protected:
uint64_t _last_pps_time_us;
JitterCorrection jitter_correction;
uint32_t _last_itow;
uint32_t _last_itow_ms;
// common utility functions
int32_t swap_int32(int32_t v) const;