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Control TimeReference source #1859

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Control TimeReference source #1859

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417c08e
Merge branch 'fix-mavlink-header-stamp' into ros2
Apr 30, 2023
6ff8926
control time reference source
Apr 30, 2023
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28 changes: 20 additions & 8 deletions mavros/src/plugins/sys_time.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -345,15 +345,27 @@ class SystemTimePlugin : public plugin::Plugin
if (fcu_time_valid) {
// continious publish for ntpd
auto time_unix = sensor_msgs::msg::TimeReference();
rclcpp::Time time_ref(
mtime.time_unix_usec / 1000000, // t_sec
(mtime.time_unix_usec % 1000000) * 1000); // t_nsec

time_unix.header.stamp = node->now();
time_unix.time_ref = time_ref;
time_unix.source = time_ref_source;
if (time_ref_source == "epoc")
{
// time_unix_usec: us
rclcpp::Time time_ref(
mtime.time_unix_usec / 1000000, // t_sec
(mtime.time_unix_usec % 1000000) * 1000); // t_nsec
time_unix.time_ref = time_ref;
}
else
{
// time_unix_usec: ms
rclcpp::Time time_ref(
mtime.time_boot_ms / 1000, // t_sec
(mtime.time_boot_ms % 1000) * 1000000); // t_nsec
time_unix.time_ref = time_ref;
}
time_unix.header.stamp = node->now();
time_unix.header.frame_id = "";
time_unix.source = time_ref_source;

time_ref_pub->publish(time_unix);
time_ref_pub->publish(time_unix);
} else {
RCLCPP_WARN_THROTTLE(get_logger(), *get_clock(), 60000, "TM: Wrong FCU time.");
}
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