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| author | M.H.Kabir <mhkabir98@gmail.com> | 2015-01-04 21:29:05 +0530 |
|---|---|---|
| committer | M.H.Kabir <mhkabir98@gmail.com> | 2015-01-04 21:29:05 +0530 |
| commit | c47e8c22688ad3ac358c71337ef8cb0feeeba409 (patch) | |
| tree | 12d65880431a684396a4ac2f54b6f66cd0899485 /src | |
| parent | 9fdbdee03ea1eaf6b15059c7a7c16574df8d6cbf (diff) | |
| download | px4-firmware-c47e8c22688ad3ac358c71337ef8cb0feeeba409.tar.gz px4-firmware-c47e8c22688ad3ac358c71337ef8cb0feeeba409.tar.bz2 px4-firmware-c47e8c22688ad3ac358c71337ef8cb0feeeba409.zip | |
Add suffixes, constant
Diffstat (limited to 'src')
| -rw-r--r-- | src/modules/mavlink/mavlink_receiver.cpp | 16 | ||||
| -rw-r--r-- | src/modules/mavlink/mavlink_receiver.h | 2 |
2 files changed, 12 insertions, 6 deletions
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index 9b3274431..d84b70e46 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."); + } } } @@ -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); 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 |