fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-15 18:21:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

QuRT and POSIX changes - part 5

Browse Source 
Last part of the main QuRT related changes

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
2015-04-24 01:39:25 -07:00
parent 187f13cd70
commit a1332e699c
10 changed files with 42 additions and 19 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mavlink/mavlink_messages.cpp
+5 -2
View File
@@ -39,6 +39,7 @@
* @author Anton Babushkin <anton.babushkin@me.com>
*/
#include <px4_time.h>
#include <stdio.h>
#include <commander/px4_custom_mode.h>
@@ -354,6 +355,7 @@ protected:
}
}
#ifndef __PX4_QURT
void send(const hrt_abstime t)
{
if (!mavlink_logbuffer_is_empty(_mavlink->get_logbuffer())) {
@@ -391,7 +393,7 @@ protected:
char log_file_path[64] = "";
timespec ts;
clock_gettime(CLOCK_REALTIME, &ts);
px4_clock_gettime(CLOCK_REALTIME, &ts);
/* use GPS time for log file naming, e.g. /fs/microsd/2014-01-19/19_37_52.bin */
time_t gps_time_sec = ts.tv_sec + (ts.tv_nsec / 1e9);
struct tm tt;
@@ -410,6 +412,7 @@ protected:
}
}
}
#endif
};
class MavlinkStreamCommandLong : public MavlinkStream
@@ -975,7 +978,7 @@ protected:
mavlink_system_time_t msg;
timespec tv;
clock_gettime(CLOCK_REALTIME, &tv);
px4_clock_gettime(CLOCK_REALTIME, &tv);
msg.time_boot_ms = hrt_absolute_time() / 1000;
msg.time_unix_usec = (uint64_t)tv.tv_sec * 1000000 + tv.tv_nsec / 1000;