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AP_Periph: send epoch time for both message and GNSS timestamp

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bugobliterator 2022-01-18 16:21:00 +05:30 committed by Andrew Tridgell
parent 49b767b24e
commit 9469817e03
2 changed files with 9 additions and 3 deletions
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1
Tools/AP_Periph/AP_Periph.h
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@ -247,6 +247,7 @@ public:
uint32_t last_gps_update_ms;
uint32_t last_baro_update_ms;
uint32_t last_airspeed_update_ms;
bool saw_gps_lock_once;
static AP_Periph_FW *_singleton;

11
Tools/AP_Periph/can.cpp
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@ -1859,9 +1859,14 @@ void AP_Periph_FW::can_gps_update(void)
uavcan_equipment_gnss_Fix2 pkt {};
const Location &loc = gps.location();
const Vector3f &vel = gps.velocity();
pkt.timestamp.usec = AP_HAL::native_micros64();
pkt.gnss_timestamp.usec = gps.time_epoch_usec();
if (gps.status() < AP_GPS::GPS_OK_FIX_2D && !saw_gps_lock_once) {
pkt.timestamp.usec = AP_HAL::micros64();
pkt.gnss_timestamp.usec = 0;
} else {
saw_gps_lock_once = true;
pkt.timestamp.usec = gps.time_epoch_usec();
pkt.gnss_timestamp.usec = gps.last_message_epoch_usec();
}
if (pkt.gnss_timestamp.usec == 0) {
pkt.gnss_time_standard = UAVCAN_EQUIPMENT_GNSS_FIX_GNSS_TIME_STANDARD_NONE;
} else {