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AP_GPS: use jitter correction on GPS_INPUT data

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this allows for more accurate timing when using GPS_INPUT for indoor
positioning systems
This commit is contained in:
Andrew Tridgell 2019-09-13 18:50:18 +10:00
parent 192b275837
commit 9eb6c1be64
2 changed files with 16 additions and 0 deletions
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14
libraries/AP_GPS/AP_GPS_MAV.cpp
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@ -109,6 +109,20 @@ void AP_GPS_MAV::handle_msg(const mavlink_message_t &msg)
state.have_gps_yaw = true;
}
if (packet.fix_type >= 3 && packet.time_week > 0) {
/*
use the millisecond timestamp from the GPS_INPUT
packet into jitter correction to get a local
timestamp corrected for transport jitter
*/
if (first_week == 0) {
first_week = packet.time_week;
}
uint32_t timestamp_ms = (packet.time_week - first_week) * AP_MSEC_PER_WEEK + packet.time_week_ms;
uint32_t corrected_ms = jitter.correct_offboard_timestamp_msec(timestamp_ms, AP_HAL::millis());
state.uart_timestamp_ms = corrected_ms;
}
state.num_sats = packet.satellites_visible;
state.last_gps_time_ms = AP_HAL::millis();
_new_data = true;

2
libraries/AP_GPS/AP_GPS_MAV.h
View File

@ -39,4 +39,6 @@ public:
private:
bool _new_data;
uint32_t first_week;
JitterCorrection jitter{2000};
};