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MAVLink time sync: Better output handling

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Lorenz Meier
2017-07-29 16:12:41 +02:00
parent f0e8ebb2ac
commit af451ce638
1 changed files with 6 additions and 5 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+6 -5
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@@ -1796,10 +1796,7 @@ MavlinkReceiver::handle_message_system_time(mavlink_message_t *msg)
tv.tv_nsec = (time.time_unix_usec % 1000000ULL) * 1000ULL;
if (px4_clock_settime(CLOCK_REALTIME, &tv)) {
warn("failed setting clock");
} else {
warnx("[timesync] UTC time synced.");
PX4_ERR("failed setting clock");
}
}
@@ -1833,7 +1830,11 @@ MavlinkReceiver::handle_message_timesync(mavlink_message_t *msg)
if (dt > 10000000LL || dt < -10000000LL) { // 10 millisecond skew
_time_offset = offset_ns;
warnx("[timesync] Hard setting offset.");
// Provide a warning only if not syncing initially
if (_time_offset != 0) {
PX4_ERR("[timesync] Hard setting offset.");
}
} else {
smooth_time_offset(offset_ns);