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px4-firmware
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Add suffixes, constant

This commit is contained in:
M.H.Kabir 2015-01-04 21:29:05 +05:30
parent 9fdbdee03e
commit c47e8c2268
2 changed files with 12 additions and 6 deletions
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16
src/modules/mavlink/mavlink_receiver.cpp
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@ -947,14 +947,18 @@ MavlinkReceiver::handle_message_system_time(mavlink_message_t *msg)
clock_gettime(CLOCK_REALTIME, &tv);
// date -d @1234567890: Sat Feb 14 02:31:30 MSK 2009
bool onb_unix_valid = tv.tv_sec > 1234567890ULL;
bool ofb_unix_valid = time.time_unix_usec > 1234567890ULL * 1000ULL;
bool onb_unix_valid = tv.tv_sec > PX4_EPOCH_SECS;
bool ofb_unix_valid = time.time_unix_usec > PX4_EPOCH_SECS * 1000ULL;
if (!onb_unix_valid && ofb_unix_valid) {
tv.tv_sec = time.time_unix_usec / 1000000ULL;
tv.tv_nsec = (time.time_unix_usec % 1000000ULL) * 1000ULL;
clock_settime(CLOCK_REALTIME, &tv);
warnx("[timesync] synced..");
if(clock_settime(CLOCK_REALTIME, &tv)) {
warn("failed setting clock");
}
else {
warnx("[timesync] UTC time synced.");
}
}
}
@ -983,9 +987,9 @@ MavlinkReceiver::handle_message_timesync(mavlink_message_t *msg)
int64_t offset_ns = (9*_time_offset + (tsync.ts1 + now_ns - tsync.tc1*2)/2 )/10; // average offset
int64_t dt = _time_offset - offset_ns;
if (dt > 10000000 || dt < -10000000) { // 10 millisecond skew
if (dt > 10000000LL || dt < -10000000LL) { // 10 millisecond skew
_time_offset = (tsync.ts1 + now_ns - tsync.tc1*2)/2;
warnx("[timesync] Resetting.");
warnx("[timesync] Resetting offset sync.");
} else {
smooth_time_offset(offset_ns);

2
src/modules/mavlink/mavlink_receiver.h
View File

@ -75,6 +75,8 @@
#include "mavlink_ftp.h"
#define PX4_EPOCH_SECS 1234567890ULL
class Mavlink;
class MavlinkReceiver