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mavlink: don't send wrong time

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This prevents the autopilot from sending an invalid unix timestamp.
Usually, if no time is set yet by a GPS, the date is somehow set
to 2000-01-01, therefore we can ignore anything earlier than 2001.
This commit is contained in:
Julian Oes
2018-02-23 16:14:02 +01:00
parent df7364d2e2
commit 3917eb2d00
1 changed files with 7 additions and 2 deletions
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src/modules/mavlink/mavlink_messages.cpp
+7 -2
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@@ -1225,9 +1225,14 @@ protected:
msg.time_boot_ms = hrt_absolute_time() / 1000; msg.time_boot_ms = hrt_absolute_time() / 1000;
msg.time_unix_usec = (uint64_t)tv.tv_sec * 1000000 + tv.tv_nsec / 1000; msg.time_unix_usec = (uint64_t)tv.tv_sec * 1000000 + tv.tv_nsec / 1000;
mavlink_msg_system_time_send_struct(_mavlink->get_channel(), &msg); // If the time is before 2001-01-01, it's probably the default 2000
// and we don't need to bother sending it because it's definitely wrong.
if (msg.time_unix_usec > 978307200000000) {
mavlink_msg_system_time_send_struct(_mavlink->get_channel(), &msg);
return true;
}
return true; return false;
} }
}; };