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mavlink: set system clock from SYSTEM_TIME #24807

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Merged
merged 2 commits into from
May 13, 2025
Merged

mavlink: set system clock from SYSTEM_TIME #24807

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cccd556
mavlink: set system clock from SYSTEM_TIME message if behind by more …
dakejahl May 6, 2025
3bab5e0
change hrt_abstime to time_t (uint64_t to uint32_t). Updated INFO mes…
dakejahl May 12, 2025
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13 changes: 8 additions & 5 deletions src/modules/mavlink/mavlink_timesync.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -86,11 +86,14 @@ MavlinkTimesync::handle_message(const mavlink_message_t *msg)
timespec tv = {};
px4_clock_gettime(CLOCK_REALTIME, &tv);

// date -d @1234567890: Sat Feb 14 02:31:30 MSK 2009
bool onb_unix_valid = (unsigned long long)tv.tv_sec > PX4_EPOCH_SECS;
bool ofb_unix_valid = time.time_unix_usec > PX4_EPOCH_SECS * 1000000ULL;

if (!onb_unix_valid && ofb_unix_valid) {
// Set the system time if we are lagging behind by more than a minute
time_t seconds_behind = 60;
time_t local_time = tv.tv_sec;
time_t remote_time = time.time_unix_usec / 1000000;
bool update = (remote_time > PX4_EPOCH_SECS) && (remote_time > local_time + seconds_behind);

if (update) {
PX4_INFO("Setting system clock from SYSTEM_TIME sent by %d/%d", msg->sysid, msg->compid);
tv.tv_sec = time.time_unix_usec / 1000000ULL;
tv.tv_nsec = (time.time_unix_usec % 1000000ULL) * 1000ULL;

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