forked from Archive/PX4-Autopilot
Merge pull request #1599 from PX4/mtk_time
GPS driver: Add missing wall clock setup for MTK GPS modules
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commit
6ed2f77ca5
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@ -264,7 +264,7 @@ MTK::handle_message(gps_mtk_packet_t &packet)
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_gps_position->satellites_used = packet.satellites;
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/* convert time and date information to unix timestamp */
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struct tm timeinfo; //TODO: test this conversion
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struct tm timeinfo;
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uint32_t timeinfo_conversion_temp;
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timeinfo.tm_mday = packet.date * 1e-4;
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@ -280,8 +280,24 @@ MTK::handle_message(gps_mtk_packet_t &packet)
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timeinfo_conversion_temp -= timeinfo.tm_sec * 1e3;
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time_t epoch = mktime(&timeinfo);
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_gps_position->time_utc_usec = epoch * 1e6; //TODO: test this
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_gps_position->time_utc_usec += timeinfo_conversion_temp * 1e3;
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if (epoch > GPS_EPOCH_SECS) {
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// FMUv2+ boards have a hardware RTC, but GPS helps us to configure it
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// and control its drift. Since we rely on the HRT for our monotonic
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// clock, updating it from time to time is safe.
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timespec ts;
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ts.tv_sec = epoch;
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ts.tv_nsec = timeinfo_conversion_temp * 1000000ULL;
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if (clock_settime(CLOCK_REALTIME, &ts)) {
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warn("failed setting clock");
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}
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_gps_position->time_utc_usec = static_cast<uint64_t>(epoch) * 1000000ULL;
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_gps_position->time_utc_usec += timeinfo_conversion_temp * 1000ULL;
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} else {
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_gps_position->time_utc_usec = 0;
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}
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_gps_position->timestamp_position = _gps_position->timestamp_time = hrt_absolute_time();
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// Position and velocity update always at the same time
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