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Merge pull request #2897 from PX4/master_uavcan_time_base 

Update uavcan_main.cpp
This commit is contained in:
David Sidrane 2015-09-23 05:58:35 -10:00
parent 7f7fb7c0e3 8eaf213edd
commit f5d399c9bd
1 changed files with 3 additions and 2 deletions
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5
src/modules/uavcan/uavcan_main.cpp
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@ -766,9 +766,10 @@ int UavcanNode::run()
/* When we have a system wide notion of time update (i.e the transition from the initial
* System RTC setting to the GPS) we would call uavcan_stm32::clock::setUtc() when that
* happens, but for now we use adjustUtc with a correction of 0
* happens, but for now we use adjustUtc with a correction of the hrt so that the
* time bases are the same
*/
uavcan_stm32::clock::adjustUtc(uavcan::UtcDuration::fromUSec(0));
uavcan_stm32::clock::adjustUtc(uavcan::UtcDuration::fromUSec(hrt_absolute_time()));
_master_timer.setCallback(TimerCallback(this, &UavcanNode::handle_time_sync));
_master_timer.startPeriodic(uavcan::MonotonicDuration::fromMSec(1000));