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-rw-r--r--src/drivers/frsky_telemetry/frsky_data.c4
-rw-r--r--src/drivers/gps/ashtech.cpp4
-rw-r--r--src/drivers/gps/mtk.cpp4
-rw-r--r--src/drivers/gps/ubx.cpp8
-rw-r--r--src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp2
-rw-r--r--src/modules/mavlink/mavlink_receiver.cpp8
-rw-r--r--src/modules/position_estimator_inav/position_estimator_inav_main.c10
-rw-r--r--src/modules/sdlog2/sdlog2.c6
-rw-r--r--src/modules/uORB/topics/vehicle_global_position.h2
-rw-r--r--src/modules/uORB/topics/vehicle_gps_position.h2
-rw-r--r--src/modules/uavcan/sensors/gnss.cpp2
11 files changed, 26 insertions, 26 deletions
diff --git a/src/drivers/frsky_telemetry/frsky_data.c b/src/drivers/frsky_telemetry/frsky_data.c
index dd9b90fb3..890fada16 100644
--- a/src/drivers/frsky_telemetry/frsky_data.c
+++ b/src/drivers/frsky_telemetry/frsky_data.c
@@ -223,7 +223,7 @@ void frsky_send_frame2(int uart)
char lat_ns = 0, lon_ew = 0;
int sec = 0;
if (global_pos.timestamp != 0 && hrt_absolute_time() < global_pos.timestamp + 20000) {
- time_t time_gps = global_pos.time_gps_usec / 1000000;
+ time_t time_gps = global_pos.time_utc_usec / 1000000ULL;
struct tm *tm_gps = gmtime(&time_gps);
course = (global_pos.yaw + M_PI_F) / M_PI_F * 180.0f;
@@ -274,7 +274,7 @@ void frsky_send_frame3(int uart)
orb_copy(ORB_ID(vehicle_global_position), global_position_sub, &global_pos);
/* send formatted frame */
- time_t time_gps = global_pos.time_gps_usec / 1000000;
+ time_t time_gps = global_pos.time_utc_usec / 1000000ULL;
struct tm *tm_gps = gmtime(&time_gps);
uint16_t hour_min = (tm_gps->tm_min << 8) | (tm_gps->tm_hour & 0xff);
frsky_send_data(uart, FRSKY_ID_GPS_DAY_MONTH, tm_gps->tm_mday);
diff --git a/src/drivers/gps/ashtech.cpp b/src/drivers/gps/ashtech.cpp
index f1c5ca549..99dbe5984 100644
--- a/src/drivers/gps/ashtech.cpp
+++ b/src/drivers/gps/ashtech.cpp
@@ -112,8 +112,8 @@ int ASHTECH::handle_message(int len)
warn("failed setting clock");
}
- _gps_position->time_gps_usec = static_cast<uint64_t>(epoch) * 1000000ULL;
- _gps_position->time_gps_usec += usecs;
+ _gps_position->time_utc_usec = static_cast<uint64_t>(epoch) * 1000000ULL;
+ _gps_position->time_utc_usec += usecs;
_gps_position->timestamp_time = hrt_absolute_time();
}
diff --git a/src/drivers/gps/mtk.cpp b/src/drivers/gps/mtk.cpp
index c4f4f7bec..d808b59a9 100644
--- a/src/drivers/gps/mtk.cpp
+++ b/src/drivers/gps/mtk.cpp
@@ -282,8 +282,8 @@ MTK::handle_message(gps_mtk_packet_t &packet)
timeinfo_conversion_temp -= timeinfo.tm_sec * 1e3;
time_t epoch = mktime(&timeinfo);
- _gps_position->time_gps_usec = epoch * 1e6; //TODO: test this
- _gps_position->time_gps_usec += timeinfo_conversion_temp * 1e3;
+ _gps_position->time_utc_usec = epoch * 1e6; //TODO: test this
+ _gps_position->time_utc_usec += timeinfo_conversion_temp * 1e3;
_gps_position->timestamp_position = _gps_position->timestamp_time = hrt_absolute_time();
// Position and velocity update always at the same time
diff --git a/src/drivers/gps/ubx.cpp b/src/drivers/gps/ubx.cpp
index c67965487..6b4e1630b 100644
--- a/src/drivers/gps/ubx.cpp
+++ b/src/drivers/gps/ubx.cpp
@@ -759,8 +759,8 @@ UBX::payload_rx_done(void)
warn("failed setting clock");
}
- _gps_position->time_gps_usec = static_cast<uint64_t>(epoch) * 1000000ULL;
- _gps_position->time_gps_usec += _buf.payload_rx_nav_timeutc.nano / 1000;
+ _gps_position->time_utc_usec = static_cast<uint64_t>(epoch) * 1000000ULL;
+ _gps_position->time_utc_usec += _buf.payload_rx_nav_timeutc.nano / 1000;
}
_gps_position->timestamp_time = hrt_absolute_time();
@@ -831,8 +831,8 @@ UBX::payload_rx_done(void)
warn("failed setting clock");
}
- _gps_position->time_gps_usec = static_cast<uint64_t>(epoch) * 1000000ULL;
- _gps_position->time_gps_usec += _buf.payload_rx_nav_timeutc.nano / 1000;
+ _gps_position->time_utc_usec = static_cast<uint64_t>(epoch) * 1000000ULL;
+ _gps_position->time_utc_usec += _buf.payload_rx_nav_timeutc.nano / 1000;
}
_gps_position->timestamp_time = hrt_absolute_time();
diff --git a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
index e7805daa9..c41777968 100644
--- a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
+++ b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
@@ -1470,7 +1470,7 @@ FixedwingEstimator::task_main()
map_projection_reproject(&_pos_ref, _local_pos.x, _local_pos.y, &est_lat, &est_lon);
_global_pos.lat = est_lat;
_global_pos.lon = est_lon;
- _global_pos.time_gps_usec = _gps.time_gps_usec;
+ _global_pos.time_utc_usec = _gps.time_utc_usec;
_global_pos.eph = _gps.eph;
_global_pos.epv = _gps.epv;
}
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index 6f5adb5fe..f109ceaf1 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -359,7 +359,7 @@ MavlinkReceiver::handle_message_optical_flow_rad(mavlink_message_t *msg)
/* optical flow */
mavlink_optical_flow_rad_t flow;
mavlink_msg_optical_flow_rad_decode(msg, &flow);
-
+
enum Rotation flow_rot;
param_get(param_find("SENS_FLOW_ROT"),&flow_rot);
@@ -380,8 +380,8 @@ MavlinkReceiver::handle_message_optical_flow_rad(mavlink_message_t *msg)
f.gyro_temperature = flow.temperature;
/* rotate measurements according to parameter */
- float zeroval = 0.0f;
- rotate_3f(flow_rot, f.pixel_flow_x_integral, f.pixel_flow_y_integral, zeroval);
+ float zeroval = 0.0f;
+ rotate_3f(flow_rot, f.pixel_flow_x_integral, f.pixel_flow_y_integral, zeroval);
if (_flow_pub < 0) {
_flow_pub = orb_advertise(ORB_ID(optical_flow), &f);
@@ -1137,7 +1137,7 @@ MavlinkReceiver::handle_message_hil_gps(mavlink_message_t *msg)
memset(&hil_gps, 0, sizeof(hil_gps));
hil_gps.timestamp_time = timestamp;
- hil_gps.time_gps_usec = gps.time_usec;
+ hil_gps.time_utc_usec = gps.time_usec;
hil_gps.timestamp_position = timestamp;
hil_gps.lat = gps.lat;
diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.c b/src/modules/position_estimator_inav/position_estimator_inav_main.c
index 1962151fa..2f972fc9f 100644
--- a/src/modules/position_estimator_inav/position_estimator_inav_main.c
+++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c
@@ -282,13 +282,13 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
};
float w_gps_xy = 1.0f;
float w_gps_z = 1.0f;
-
+
float corr_vision[3][2] = {
{ 0.0f, 0.0f }, // N (pos, vel)
{ 0.0f, 0.0f }, // E (pos, vel)
{ 0.0f, 0.0f }, // D (pos, vel)
};
-
+
float corr_sonar = 0.0f;
float corr_sonar_filtered = 0.0f;
@@ -650,13 +650,13 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
x_est[1] = vision.vx;
y_est[0] = vision.y;
y_est[1] = vision.vy;
- /* only reset the z estimate if the z weight parameter is not zero */
+ /* only reset the z estimate if the z weight parameter is not zero */
if (params.w_z_vision_p > MIN_VALID_W)
{
z_est[0] = vision.z;
z_est[1] = vision.vz;
}
-
+
vision_valid = true;
last_vision_x = vision.x;
@@ -1166,7 +1166,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
if (local_pos.xy_global && local_pos.z_global) {
/* publish global position */
global_pos.timestamp = t;
- global_pos.time_gps_usec = gps.time_gps_usec;
+ global_pos.time_utc_usec = gps.time_utc_usec;
double est_lat, est_lon;
map_projection_reproject(&ref, local_pos.x, local_pos.y, &est_lat, &est_lon);
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c
index 2daf73bf9..2ce3d0097 100644
--- a/src/modules/sdlog2/sdlog2.c
+++ b/src/modules/sdlog2/sdlog2.c
@@ -1128,7 +1128,7 @@ int sdlog2_thread_main(int argc, char *argv[])
/* check GPS topic to get GPS time */
if (log_name_timestamp) {
if (!orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf_gps_pos)) {
- gps_time = buf_gps_pos.time_gps_usec;
+ gps_time = buf_gps_pos.time_utc_usec;
}
}
@@ -1156,7 +1156,7 @@ int sdlog2_thread_main(int argc, char *argv[])
bool gps_pos_updated = copy_if_updated(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf_gps_pos);
if (gps_pos_updated && log_name_timestamp) {
- gps_time = buf_gps_pos.time_gps_usec;
+ gps_time = buf_gps_pos.time_utc_usec;
}
if (!logging_enabled) {
@@ -1186,7 +1186,7 @@ int sdlog2_thread_main(int argc, char *argv[])
if (gps_pos_updated) {
log_msg.msg_type = LOG_GPS_MSG;
- log_msg.body.log_GPS.gps_time = buf_gps_pos.time_gps_usec;
+ log_msg.body.log_GPS.gps_time = buf_gps_pos.time_utc_usec;
log_msg.body.log_GPS.fix_type = buf_gps_pos.fix_type;
log_msg.body.log_GPS.eph = buf_gps_pos.eph;
log_msg.body.log_GPS.epv = buf_gps_pos.epv;
diff --git a/src/modules/uORB/topics/vehicle_global_position.h b/src/modules/uORB/topics/vehicle_global_position.h
index c3bb3b893..bc7046690 100644
--- a/src/modules/uORB/topics/vehicle_global_position.h
+++ b/src/modules/uORB/topics/vehicle_global_position.h
@@ -62,7 +62,7 @@
*/
struct vehicle_global_position_s {
uint64_t timestamp; /**< Time of this estimate, in microseconds since system start */
- uint64_t time_gps_usec; /**< GPS timestamp in microseconds */
+ uint64_t time_utc_usec; /**< GPS UTC timestamp in microseconds */
double lat; /**< Latitude in degrees */
double lon; /**< Longitude in degrees */
float alt; /**< Altitude AMSL in meters */
diff --git a/src/modules/uORB/topics/vehicle_gps_position.h b/src/modules/uORB/topics/vehicle_gps_position.h
index 7888a50f4..102914bbb 100644
--- a/src/modules/uORB/topics/vehicle_gps_position.h
+++ b/src/modules/uORB/topics/vehicle_gps_position.h
@@ -79,7 +79,7 @@ struct vehicle_gps_position_s {
bool vel_ned_valid; /**< Flag to indicate if NED speed is valid */
uint64_t timestamp_time; /**< Timestamp for time information */
- uint64_t time_gps_usec; /**< Timestamp (microseconds in GPS format), this is the timestamp which comes from the gps module. It might be unavailable right after cold start, indicated by a value of 0 */
+ uint64_t time_utc_usec; /**< Timestamp (microseconds, UTC), this is the timestamp which comes from the gps module. It might be unavailable right after cold start, indicated by a value of 0 */
uint8_t satellites_used; /**< Number of satellites used */
};
diff --git a/src/modules/uavcan/sensors/gnss.cpp b/src/modules/uavcan/sensors/gnss.cpp
index a375db37f..571a6f1cd 100644
--- a/src/modules/uavcan/sensors/gnss.cpp
+++ b/src/modules/uavcan/sensors/gnss.cpp
@@ -159,7 +159,7 @@ void UavcanGnssBridge::gnss_fix_sub_cb(const uavcan::ReceivedDataStructure<uavca
report.vel_ned_valid = true;
report.timestamp_time = report.timestamp_position;
- report.time_gps_usec = uavcan::UtcTime(msg.gnss_timestamp).toUSec(); // Convert to microseconds
+ report.time_utc_usec = uavcan::UtcTime(msg.gnss_timestamp).toUSec(); // Convert to microseconds
report.satellites_used = msg.sats_used;
generated by cgit v1.2.3 (git 2.39.1) at 2024-07-06 17:45:36 +0000