diff options
-rw-r--r-- | src/modules/mavlink/mavlink_receiver.cpp | 24 | ||||
-rw-r--r-- | src/modules/mavlink/mavlink_receiver.h | 7 | ||||
-rw-r--r-- | src/modules/sdlog2/sdlog2.c | 12 | ||||
-rw-r--r-- | src/modules/sdlog2/sdlog2_messages.h | 7 | ||||
-rw-r--r-- | src/modules/uORB/objects_common.cpp | 4 | ||||
-rw-r--r-- | src/modules/uORB/topics/time_offset.h | 67 |
6 files changed, 115 insertions, 6 deletions
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index 3f9f7e139..faede15cb 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -121,6 +121,7 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) : _rc_pub(-1), _manual_pub(-1), _land_detector_pub(-1), + _time_offset_pub(-1), _control_mode_sub(orb_subscribe(ORB_ID(vehicle_control_mode))), _hil_frames(0), _old_timestamp(0), @@ -729,8 +730,8 @@ MavlinkReceiver::handle_message_vision_position_estimate(mavlink_message_t *msg) // Use the component ID to identify the vision sensor vision_position.id = msg->compid; - vision_position.timestamp_boot = to_hrt(pos.usec); // Synced time - vision_position.timestamp_computer = pos.usec; + vision_position.timestamp_boot = hrt_absolute_time(); // Monotonic time + vision_position.timestamp_computer = sync_stamp(pos.usec); // Synced time vision_position.x = pos.x; vision_position.y = pos.y; vision_position.z = pos.z; @@ -1013,6 +1014,9 @@ MavlinkReceiver::handle_message_timesync(mavlink_message_t *msg) mavlink_timesync_t tsync; mavlink_msg_timesync_decode(msg, &tsync); + struct time_offset_s tsync_offset; + memset(&tsync_offset, 0, sizeof(tsync_offset)); + uint64_t now_ns = hrt_absolute_time() * 1000LL ; if (tsync.tc1 == 0) { @@ -1039,6 +1043,15 @@ MavlinkReceiver::handle_message_timesync(mavlink_message_t *msg) } } + tsync_offset.offset_ns = _time_offset ; + + if (_time_offset_pub < 0) { + _time_offset_pub = orb_advertise(ORB_ID(time_offset), &tsync_offset); + + } else { + orb_publish(ORB_ID(time_offset), _time_offset_pub, &tsync_offset); + } + } void @@ -1522,9 +1535,12 @@ void MavlinkReceiver::print_status() } -uint64_t MavlinkReceiver::to_hrt(uint64_t usec) +uint64_t MavlinkReceiver::sync_stamp(uint64_t usec) { - return usec - (_time_offset / 1000) ; + if(_time_offset > 0) + return usec - (_time_offset / 1000) ; + else + return hrt_absolute_time(); } diff --git a/src/modules/mavlink/mavlink_receiver.h b/src/modules/mavlink/mavlink_receiver.h index ffacb59a6..2b6174f8f 100644 --- a/src/modules/mavlink/mavlink_receiver.h +++ b/src/modules/mavlink/mavlink_receiver.h @@ -73,6 +73,7 @@ #include <uORB/topics/airspeed.h> #include <uORB/topics/battery_status.h> #include <uORB/topics/vehicle_force_setpoint.h> +#include <uORB/topics/time_offset.h> #include "mavlink_ftp.h" @@ -138,9 +139,10 @@ private: void *receive_thread(void *arg); /** - * Convert remote nsec timestamp to local hrt time (usec) + * Convert remote timestamp to local hrt time (usec) + * Use timesync if available, monotonic boot time otherwise */ - uint64_t to_hrt(uint64_t nsec); + uint64_t sync_stamp(uint64_t usec); /** * Exponential moving average filter to smooth time offset */ @@ -177,6 +179,7 @@ private: orb_advert_t _rc_pub; orb_advert_t _manual_pub; orb_advert_t _land_detector_pub; + orb_advert_t _time_offset_pub; int _control_mode_sub; int _hil_frames; uint64_t _old_timestamp; diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index 0bfd356a1..2ec733627 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -99,6 +99,7 @@ #include <uORB/topics/wind_estimate.h> #include <uORB/topics/encoders.h> #include <uORB/topics/vtol_vehicle_status.h> +#include <uORB/topics/time_offset.h> #include <systemlib/systemlib.h> #include <systemlib/param/param.h> @@ -1027,6 +1028,7 @@ int sdlog2_thread_main(int argc, char *argv[]) struct wind_estimate_s wind_estimate; struct encoders_s encoders; struct vtol_vehicle_status_s vtol_status; + struct time_offset_s time_offset; } buf; memset(&buf, 0, sizeof(buf)); @@ -1071,6 +1073,7 @@ int sdlog2_thread_main(int argc, char *argv[]) struct log_TECS_s log_TECS; struct log_WIND_s log_WIND; struct log_ENCD_s log_ENCD; + struct log_TSYN_s log_TSYN; } body; } log_msg = { LOG_PACKET_HEADER_INIT(0) @@ -1111,6 +1114,7 @@ int sdlog2_thread_main(int argc, char *argv[]) int servorail_status_sub; int wind_sub; int encoders_sub; + int tsync_sub; } subs; subs.cmd_sub = orb_subscribe(ORB_ID(vehicle_command)); @@ -1142,6 +1146,7 @@ int sdlog2_thread_main(int argc, char *argv[]) subs.system_power_sub = orb_subscribe(ORB_ID(system_power)); subs.servorail_status_sub = orb_subscribe(ORB_ID(servorail_status)); subs.wind_sub = orb_subscribe(ORB_ID(wind_estimate)); + subs.tsync_sub = orb_subscribe(ORB_ID(time_offset)); /* we need to rate-limit wind, as we do not need the full update rate */ orb_set_interval(subs.wind_sub, 90); @@ -1821,6 +1826,13 @@ int sdlog2_thread_main(int argc, char *argv[]) LOGBUFFER_WRITE_AND_COUNT(ENCD); } + /* --- TIMESYNC OFFSET --- */ + if (copy_if_updated(ORB_ID(time_offset), subs.tsync_sub, &buf.time_offset)) { + log_msg.msg_type = LOG_TSYN_MSG; + log_msg.body.log_TSYN.time_offset = buf.time_offset.offset_ns; + LOGBUFFER_WRITE_AND_COUNT(TSYN); + } + /* signal the other thread new data, but not yet unlock */ if (logbuffer_count(&lb) > MIN_BYTES_TO_WRITE) { /* only request write if several packets can be written at once */ diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h index a1fe2c95d..598f12a53 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -449,6 +449,12 @@ struct log_VTOL_s { float airspeed_tot; }; +/* --- TIMESYNC - TIME SYNCHRONISATION OFFSET */ +#define LOG_TSYN_MSG 43 +struct log_TSYN_s { + uint64_t time_offset; +}; + /********** SYSTEM MESSAGES, ID > 0x80 **********/ /* --- TIME - TIME STAMP --- */ @@ -517,6 +523,7 @@ static const struct log_format_s log_formats[] = { LOG_FORMAT(TECS, "fffffffffffffB", "ASP,AF,FSP,F,FF,AsSP,AsF,AsDSP,AsD,TERSP,TER,EDRSP,EDR,M"), LOG_FORMAT(WIND, "ffff", "X,Y,CovX,CovY"), LOG_FORMAT(ENCD, "qfqf", "cnt0,vel0,cnt1,vel1"), + LOG_FORMAT(TSYN, "Q", "TimeOffset"), /* system-level messages, ID >= 0x80 */ /* FMT: don't write format of format message, it's useless */ diff --git a/src/modules/uORB/objects_common.cpp b/src/modules/uORB/objects_common.cpp index dbed29774..75977ffd1 100644 --- a/src/modules/uORB/objects_common.cpp +++ b/src/modules/uORB/objects_common.cpp @@ -250,3 +250,7 @@ ORB_DEFINE(wind_estimate, struct wind_estimate_s); #include "topics/rc_parameter_map.h" ORB_DEFINE(rc_parameter_map, struct rc_parameter_map_s); + +#include "topics/time_offset.h" +ORB_DEFINE(time_offset, struct time_offset_s); + diff --git a/src/modules/uORB/topics/time_offset.h b/src/modules/uORB/topics/time_offset.h new file mode 100644 index 000000000..99e526c76 --- /dev/null +++ b/src/modules/uORB/topics/time_offset.h @@ -0,0 +1,67 @@ +/**************************************************************************** + * + * Copyright (c) 2015 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file time_offset.h + * Time synchronisation offset + */ + +#ifndef TOPIC_TIME_OFFSET_H_ +#define TOPIC_TIME_OFFSET_H_ + +#include <stdint.h> +#include <stdbool.h> +#include "../uORB.h" + +/** + * @addtogroup topics + * @{ + */ + +/** + * Timesync offset for synchronisation with companion computer, GCS, etc. + */ +struct time_offset_s { + + uint64_t offset_ns; /**< time offset between companion system and PX4, in nanoseconds */ + +}; + +/** + * @} + */ + +/* register this as object request broker structure */ +ORB_DECLARE(time_offset); + +#endif /* TOPIC_TIME_OFFSET_H_ */ |