fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-22 10:53:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

Time synchronization message update: 1. field prev_utc_usec renamed to a more human-readable name; 2. UTC is no longer required, but rather recommended

Browse Source
This commit is contained in:
Pavel Kirienko
2015-03-18 23:32:58 +03:00
parent 7946ddd5bc
commit 62dd626025
4 changed files with 22 additions and 19 deletions
Download Patch File Download Diff File Expand all files Collapse all files
libuavcan/src/protocol/uc_global_time_sync_master.cpp
+3 -2
View File
@@ -56,11 +56,12 @@ int GlobalTimeSyncMaster::IfaceMaster::publish(TransferID tid, MonotonicTime cur
const bool long_period = since_prev_pub.toMSec() >= protocol::GlobalTimeSync::MAX_PUBLICATION_PERIOD_MS;
protocol::GlobalTimeSync msg;
msg.prev_utc_usec = long_period ? 0 : prev_tx_utc_.toUSec();
msg.previous_transmission_timestamp_usec = long_period ? 0 : prev_tx_utc_.toUSec();
prev_tx_utc_ = UtcTime();
UAVCAN_TRACE("GlobalTimeSyncMaster", "Publishing %llu iface=%i tid=%i",
static_cast<unsigned long long>(msg.prev_utc_usec), int(iface_index_), int(tid.get()));
static_cast<unsigned long long>(msg.previous_transmission_timestamp_usec),
int(iface_index_), int(tid.get()));
return pub_.broadcast(msg, tid);
}