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Grab UTC time from GPS

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tstellanova 2013-08-28 08:49:21 -07:00
parent 007f4d79cb
commit f2f66432d7
1 changed files with 17 additions and 7 deletions
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24
src/drivers/gps/ubx.cpp
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@ -42,13 +42,14 @@
*
* @see http://www.u-blox.com/images/downloads/Product_Docs/u-blox6_ReceiverDescriptionProtocolSpec_%28GPS.G6-SW-10018%29.pdf
*/
#include <unistd.h>
#include <stdio.h>
#include <poll.h>
#include <math.h>
#include <string.h>
#include <assert.h>
#include <math.h>
#include <poll.h>
#include <stdio.h>
#include <string.h>
#include <time.h>
#include <unistd.h>
#include <systemlib/err.h>
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_gps_position.h>
@ -452,7 +453,16 @@ UBX::handle_message()
timeinfo.tm_min = packet->min;
timeinfo.tm_sec = packet->sec;
time_t epoch = mktime(&timeinfo);
#ifndef CONFIG_RTC
//Since we lack a hardware RTC, set the system time clock based on GPS UTC
//TODO generalize this by moving into gps.cpp?
timespec ts;
ts.tv_sec = epoch;
ts.tv_nsec = packet->time_nanoseconds;
clock_settime(CLOCK_REALTIME,&ts);
#endif
_gps_position->time_gps_usec = (uint64_t)epoch * 1000000; //TODO: test this
_gps_position->time_gps_usec += (uint64_t)(packet->time_nanoseconds * 1e-3f);
_gps_position->timestamp_time = hrt_absolute_time();