diff options
Diffstat (limited to 'src/drivers/gps/ubx.cpp')
-rw-r--r-- | src/drivers/gps/ubx.cpp | 22 |
1 files changed, 16 insertions, 6 deletions
diff --git a/src/drivers/gps/ubx.cpp b/src/drivers/gps/ubx.cpp index b579db715..ba5d14cc4 100644 --- a/src/drivers/gps/ubx.cpp +++ b/src/drivers/gps/ubx.cpp @@ -42,13 +42,14 @@ * * @see http://www.u-blox.com/images/downloads/Product_Docs/u-blox6_ReceiverDescriptionProtocolSpec_%28GPS.G6-SW-10018%29.pdf */ - -#include <unistd.h> -#include <stdio.h> -#include <poll.h> +#include <assert.h> #include <math.h> +#include <poll.h> +#include <stdio.h> #include <string.h> -#include <assert.h> +#include <time.h> +#include <unistd.h> + #include <systemlib/err.h> #include <uORB/uORB.h> #include <uORB/topics/vehicle_gps_position.h> @@ -452,7 +453,16 @@ UBX::handle_message() timeinfo.tm_min = packet->min; timeinfo.tm_sec = packet->sec; time_t epoch = mktime(&timeinfo); - + +#ifndef CONFIG_RTC + //Since we lack a hardware RTC, set the system time clock based on GPS UTC + //TODO generalize this by moving into gps.cpp? + timespec ts; + ts.tv_sec = epoch; + ts.tv_nsec = packet->time_nanoseconds; + clock_settime(CLOCK_REALTIME,&ts); +#endif + _gps_position->time_gps_usec = (uint64_t)epoch * 1000000; //TODO: test this _gps_position->time_gps_usec += (uint64_t)(packet->time_nanoseconds * 1e-3f); _gps_position->timestamp_time = hrt_absolute_time(); |