fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-30 06:13:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

GlobalTimeSyncMaster

Browse Source
This commit is contained in:
Pavel Kirienko
2014-03-24 20:39:59 +04:00
parent 6b43e55dc6
commit 0b33dbe173
4 changed files with 359 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files
libuavcan/test/clock.hpp
+5 -3
View File
@@ -62,6 +62,8 @@ public:
class SystemClockDriver : public uavcan::ISystemClock
{
public:
uavcan::UtcDuration utc_adjustment;
uavcan::MonotonicTime getMonotonic() const
{
struct timespec ts;
@@ -83,12 +85,12 @@ public:
assert(0);
return uavcan::UtcTime();
}
return uavcan::UtcTime::fromUSec(uint64_t(tv.tv_sec) * 1000000UL + tv.tv_usec);
return uavcan::UtcTime::fromUSec(uint64_t(tv.tv_sec) * 1000000UL + tv.tv_usec) + utc_adjustment;
}
void adjustUtc(uavcan::UtcDuration)
void adjustUtc(uavcan::UtcDuration adjustment)
{
assert(0);
utc_adjustment += adjustment;
}
};