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Avoid septentrio setting wrong time (#23920)

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This commit is contained in:
Alexander Lerach
2024-11-11 13:03:13 +01:00
committed by GitHub
parent 079b756f1b
commit 3e3151c047
2 changed files with 26 additions and 22 deletions
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src/drivers/gnss/septentrio/septentrio.cpp
+25 -22
View File
@@ -1154,34 +1154,36 @@ int SeptentrioDriver::process_message()
_message_gps_state.time_utc_usec = 0;
#ifndef __PX4_QURT // NOTE: Functionality isn't available on Snapdragon yet.
struct tm timeinfo;
time_t epoch;
if (_time_synced) {
struct tm timeinfo;
time_t epoch;
// Convert to unix timestamp
memset(&timeinfo, 0, sizeof(timeinfo));
// Convert to unix timestamp
memset(&timeinfo, 0, sizeof(timeinfo));
timeinfo.tm_year = 1980 - 1900;
timeinfo.tm_mon = 0;
timeinfo.tm_mday = 6 + header.wnc * 7;
timeinfo.tm_hour = 0;
timeinfo.tm_min = 0;
timeinfo.tm_sec = header.tow / 1000;
timeinfo.tm_year = 1980 - 1900;
timeinfo.tm_mon = 0;
timeinfo.tm_mday = 6 + header.wnc * 7;
timeinfo.tm_hour = 0;
timeinfo.tm_min = 0;
timeinfo.tm_sec = header.tow / 1000;
epoch = mktime(&timeinfo);
epoch = mktime(&timeinfo);
if (epoch > k_gps_epoch_secs) {
// FMUv2+ boards have a hardware RTC, but GPS helps us to configure it
// and control its drift. Since we rely on the HRT for our monotonic
// clock, updating it from time to time is safe.
if (epoch > k_gps_epoch_secs) {
// FMUv2+ boards have a hardware RTC, but GPS helps us to configure it
// and control its drift. Since we rely on the HRT for our monotonic
// clock, updating it from time to time is safe.
timespec ts;
memset(&ts, 0, sizeof(ts));
ts.tv_sec = epoch;
ts.tv_nsec = (header.tow % 1000) * 1000 * 1000;
set_clock(ts);
timespec ts;
memset(&ts, 0, sizeof(ts));
ts.tv_sec = epoch;
ts.tv_nsec = (header.tow % 1000) * 1000 * 1000;
set_clock(ts);
_message_gps_state.time_utc_usec = static_cast<uint64_t>(epoch) * 1000000ULL;
_message_gps_state.time_utc_usec += (header.tow % 1000) * 1000;
_message_gps_state.time_utc_usec = static_cast<uint64_t>(epoch) * 1000000ULL;
_message_gps_state.time_utc_usec += (header.tow % 1000) * 1000;
}
}
#endif
@@ -1199,6 +1201,7 @@ int SeptentrioDriver::process_message()
if (_sbf_decoder.parse(&receiver_status) == PX4_OK) {
_message_gps_state.rtcm_msg_used = receiver_status.rx_state_diff_corr_in ? sensor_gps_s::RTCM_MSG_USED_USED : sensor_gps_s::RTCM_MSG_USED_NOT_USED;
_time_synced = receiver_status.rx_state_wn_set && receiver_status.rx_state_tow_set;
}
break;
src/drivers/gnss/septentrio/septentrio.h
+1
View File
@@ -712,6 +712,7 @@ private:
uint8_t _selected_rtcm_instance {0}; ///< uORB instance that is being used for RTCM corrections
uint8_t _spoofing_state {0}; ///< Receiver spoofing state
uint8_t _jamming_state {0}; ///< Receiver jamming state
bool _time_synced {false}; ///< Receiver time in sync with GPS time
const Instance _instance {Instance::Main}; ///< The receiver that this instance of the driver controls
uint32_t _chosen_baud_rate {0}; ///< The baud rate requested by the user
static px4::atomic<SeptentrioDriver *> _secondary_instance;