diff options
Diffstat (limited to 'src/modules/mavlink/mavlink_receiver.cpp')
-rw-r--r-- | src/modules/mavlink/mavlink_receiver.cpp | 24 |
1 files changed, 20 insertions, 4 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(); } |