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AP_GPS: fixed NMEA time reporting

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basic NMEA does not have an itow, so we need to use time_week_ms

this caused us to always display the time as the start of the GPS week
on NMEA
This commit is contained in:
Andrew Tridgell 2022-11-24 08:44:47 +11:00
parent 26fbd38f2e
commit 6c9cbe1a58
4 changed files with 16 additions and 3 deletions
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1
libraries/AP_GPS/AP_GPS_MAV.cpp
View File

@ -125,6 +125,7 @@ void AP_GPS_MAV::handle_msg(const mavlink_message_t &msg)
state.corrected_timestamp_updated = true;
if (state.last_corrected_gps_time_us) {
_last_itow_ms = state.time_week_ms;
_have_itow = true;
}
if (have_yaw) {
state.gps_yaw_time_ms = corrected_ms;

1
libraries/AP_GPS/AP_GPS_UAVCAN.cpp
View File

@ -767,6 +767,7 @@ bool AP_GPS_UAVCAN::read(void)
// we have had a valid GPS message time, from which we calculate
// the time of week.
_last_itow_ms = interim_state.time_week_ms;
_have_itow = true;
}
return true;
}

12
libraries/AP_GPS/GPS_Backend.cpp
View File

@ -109,6 +109,17 @@ void AP_GPS_Backend::make_gps_time(uint32_t bcd_date, uint32_t bcd_milliseconds)
state.time_week_ms += msec;
}
/*
get the last time of week in ms
*/
uint32_t AP_GPS_Backend::get_last_itow_ms(void) const
{
if (!_have_itow) {
return state.time_week_ms;
}
return (_pseudo_itow_delta_ms == 0)?(_last_itow_ms):((_pseudo_itow/1000ULL) + _pseudo_itow_delta_ms);
}
/*
fill in 3D velocity for a GPS that doesn't give vertical velocity numbers
*/
@ -237,6 +248,7 @@ void AP_GPS_Backend::check_new_itow(uint32_t itow, uint32_t msg_length)
{
if (itow != _last_itow_ms) {
_last_itow_ms = itow;
_have_itow = true;
/*
we need to calculate a pseudo-itow, which copes with the

5
libraries/AP_GPS/GPS_Backend.h
View File

@ -91,9 +91,7 @@ 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_ms(void) const {
return (_pseudo_itow_delta_ms == 0)?(_last_itow_ms):((_pseudo_itow/1000ULL) + _pseudo_itow_delta_ms);
}
uint32_t get_last_itow_ms(void) const;
// check if an option is set
bool option_set(const AP_GPS::DriverOptions option) const {
@ -108,6 +106,7 @@ protected:
uint64_t _last_pps_time_us;
JitterCorrection jitter_correction;
uint32_t _last_itow_ms;
bool _have_itow;
// common utility functions
int32_t swap_int32(int32_t v) const;