Merge branch 'master' into sd_full

3 files changed, 47 insertions, 29 deletions

diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index 93a297285..97108270c 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -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.");
+		}
 	}
 
 }
@@ -965,7 +969,7 @@ MavlinkReceiver::handle_message_timesync(mavlink_message_t *msg)
 	mavlink_timesync_t tsync;
 	mavlink_msg_timesync_decode(msg, &tsync);
 
-	uint64_t now_ns = hrt_absolute_time() * 1000 ;
+	uint64_t now_ns = hrt_absolute_time() * 1000LL ;
 
 	if (tsync.tc1 == 0) {
 
@@ -980,13 +984,12 @@ MavlinkReceiver::handle_message_timesync(mavlink_message_t *msg)
 
 	} else if (tsync.tc1 > 0) {
 
-		int64_t offset_ns = (9*_time_offset + (tsync.ts1 + now_ns - tsync.tc1*2)/2 )/10; // average offset
+		int64_t offset_ns = (tsync.ts1 + now_ns - tsync.tc1*2)/2 ; 
 		int64_t dt = _time_offset - offset_ns;
 
-		if (dt > 10000000 || dt < -1000000) { // 10 millisecond skew 
-			_time_offset = (tsync.ts1 + now_ns - tsync.tc1*2)/2; 
-			warnx("[timesync] Resetting.");
-
+		if (dt > 10000000LL || dt < -10000000LL) { // 10 millisecond skew 
+			_time_offset = offset_ns;
+			warnx("[timesync] Hard setting offset.");
 		} else {
 			smooth_time_offset(offset_ns);
 		}
@@ -1469,7 +1472,7 @@ uint64_t MavlinkReceiver::to_hrt(uint64_t usec)
 
 void MavlinkReceiver::smooth_time_offset(uint64_t offset_ns)
 {
-	/* alpha = 0.75 fixed for now. The closer alpha is to 1.0,
+	/* alpha = 0.6 fixed for now. The closer alpha is to 1.0,
          * the faster the moving average updates in response to
 	 * new offset samples.
 	 */
diff --git a/src/modules/mavlink/mavlink_receiver.h b/src/modules/mavlink/mavlink_receiver.h
index a677e75cd..4afc9b372 100644
--- a/src/modules/mavlink/mavlink_receiver.h
+++ b/src/modules/mavlink/mavlink_receiver.h
@@ -75,6 +75,8 @@
 
 #include "mavlink_ftp.h"
 
+#define PX4_EPOCH_SECS 1234567890ULL
+
 class Mavlink;
 
 class MavlinkReceiver
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c
index 22b178310..963149779 100644
--- a/src/modules/sdlog2/sdlog2.c
+++ b/src/modules/sdlog2/sdlog2.c
@@ -59,6 +59,7 @@
 #include <unistd.h>
 #include <drivers/drv_hrt.h>
 #include <math.h>
+#include <time.h>
 
 #include <drivers/drv_range_finder.h>
 
@@ -105,6 +106,8 @@
 #include "sdlog2_format.h"
 #include "sdlog2_messages.h"
 
+#define PX4_EPOCH_SECS 1234567890ULL
+
 /**
  * Logging rate.
  *
@@ -350,13 +353,16 @@ int create_log_dir()
 	uint16_t dir_number = 1; // start with dir sess001
 	int mkdir_ret;
 
-	if (log_name_timestamp && gps_time != 0) {
-		/* use GPS date for log dir naming: e.g. /fs/microsd/2014-01-19 */
-		time_t gps_time_sec = gps_time / 1000000;
-		struct tm t;
-		gmtime_r(&gps_time_sec, &t);
+	struct timespec ts;
+	clock_gettime(CLOCK_REALTIME, &ts);
+	/* use RTC time for log file naming, e.g. /fs/microsd/2014-01-19/19_37_52.bin */
+	time_t utc_time_sec = ts.tv_sec + (ts.tv_nsec / 1e9);
+	struct tm tt;
+	struct tm *ttp = gmtime_r(&utc_time_sec, &tt);
+
+	if (log_name_timestamp && ttp && (utc_time_sec > PX4_EPOCH_SECS)) {
 		int n = snprintf(log_dir, sizeof(log_dir), "%s/", log_root);
-		strftime(log_dir + n, sizeof(log_dir) - n, "%Y-%m-%d", &t);
+		strftime(log_dir + n, sizeof(log_dir) - n, "%Y-%m-%d", &tt);
 		mkdir_ret = mkdir(log_dir, S_IRWXU | S_IRWXG | S_IRWXO);
 
 		if (mkdir_ret == OK) {
@@ -406,12 +412,16 @@ int open_log_file()
 	char log_file_name[32] = "";
 	char log_file_path[64] = "";
 
-	if (log_name_timestamp && gps_time != 0) {
-		/* use GPS time for log file naming, e.g. /fs/microsd/2014-01-19/19_37_52.bin */
-		time_t gps_time_sec = gps_time / 1000000;
-		struct tm t;
-		gmtime_r(&gps_time_sec, &t);
-		strftime(log_file_name, sizeof(log_file_name), "%H_%M_%S.bin", &t);
+	struct timespec ts;
+	clock_gettime(CLOCK_REALTIME, &ts);
+	/* use RTC time for log file naming, e.g. /fs/microsd/2014-01-19/19_37_52.bin */
+	time_t utc_time_sec = ts.tv_sec + (ts.tv_nsec / 1e9);
+	struct tm tt;
+	struct tm *ttp = gmtime_r(&utc_time_sec, &tt);
+
+	/* start logging if we have a valid time and the time is not in the past */
+	if (log_name_timestamp && ttp && (utc_time_sec > PX4_EPOCH_SECS)) {
+		strftime(log_file_name, sizeof(log_file_name), "%H_%M_%S.bin", &tt);
 		snprintf(log_file_path, sizeof(log_file_path), "%s/%s", log_dir, log_file_name);
 
 	} else {
@@ -455,12 +465,15 @@ int open_perf_file(const char* str)
 	char log_file_name[32] = "";
 	char log_file_path[64] = "";
 
-	if (log_name_timestamp && gps_time != 0) {
-		/* use GPS time for log file naming, e.g. /fs/microsd/2014-01-19/19_37_52.bin */
-		time_t gps_time_sec = gps_time / 1000000;
-		struct tm t;
-		gmtime_r(&gps_time_sec, &t);
-		strftime(log_file_name, sizeof(log_file_name), "perf%H_%M_%S.txt", &t);
+	struct timespec ts;
+	clock_gettime(CLOCK_REALTIME, &ts);
+	/* use RTC time for log file naming, e.g. /fs/microsd/2014-01-19/19_37_52.bin */
+	time_t utc_time_sec = ts.tv_sec + (ts.tv_nsec / 1e9);
+	struct tm tt;
+	struct tm *ttp = gmtime_r(&utc_time_sec, &tt);
+
+	if (log_name_timestamp && ttp && (utc_time_sec > PX4_EPOCH_SECS)) {
+		strftime(log_file_name, sizeof(log_file_name), "perf%H_%M_%S.txt", &tt);
 		snprintf(log_file_path, sizeof(log_file_path), "%s/%s_%s", log_dir, str, log_file_name);
 
 	} else {