renaming of gps time to UTC time

src/drivers/frsky_telemetry/frsky_data.c

@@ -223,7 +223,7 @@ void frsky_send_frame2(int uart)
 	char lat_ns = 0, lon_ew = 0;
 	int sec = 0;
 	if (global_pos.timestamp != 0 && hrt_absolute_time() < global_pos.timestamp + 20000) {
-		time_t time_gps = global_pos.time_gps_usec / 1000000;
+		time_t time_gps = global_pos.time_utc_usec / 1000000ULL;
 		struct tm *tm_gps = gmtime(&time_gps);
 
 		course = (global_pos.yaw + M_PI_F) / M_PI_F * 180.0f;
@@ -274,7 +274,7 @@ void frsky_send_frame3(int uart)
 	orb_copy(ORB_ID(vehicle_global_position), global_position_sub, &global_pos);
 
 	/* send formatted frame */
-	time_t time_gps = global_pos.time_gps_usec / 1000000;
+	time_t time_gps = global_pos.time_utc_usec / 1000000ULL;
 	struct tm *tm_gps = gmtime(&time_gps);
 	uint16_t hour_min = (tm_gps->tm_min << 8) | (tm_gps->tm_hour & 0xff);
 	frsky_send_data(uart, FRSKY_ID_GPS_DAY_MONTH, tm_gps->tm_mday);

src/drivers/gps/ashtech.cpp

@@ -112,8 +112,8 @@ int ASHTECH::handle_message(int len)
 			warn("failed setting clock");
 		}
 
-		_gps_position->time_gps_usec = static_cast<uint64_t>(epoch) * 1000000ULL;
-		_gps_position->time_gps_usec += usecs;
+		_gps_position->time_utc_usec = static_cast<uint64_t>(epoch) * 1000000ULL;
+		_gps_position->time_utc_usec += usecs;
 		_gps_position->timestamp_time = hrt_absolute_time();
 	}
 

src/drivers/gps/mtk.cpp

@@ -282,8 +282,8 @@ MTK::handle_message(gps_mtk_packet_t &packet)
 	timeinfo_conversion_temp -= timeinfo.tm_sec * 1e3;
 	time_t epoch = mktime(&timeinfo);
 
-	_gps_position->time_gps_usec = epoch * 1e6; //TODO: test this
-	_gps_position->time_gps_usec += timeinfo_conversion_temp * 1e3;
+	_gps_position->time_utc_usec = epoch * 1e6; //TODO: test this
+	_gps_position->time_utc_usec += timeinfo_conversion_temp * 1e3;
 	_gps_position->timestamp_position = _gps_position->timestamp_time = hrt_absolute_time();
 
 	// Position and velocity update always at the same time

src/drivers/gps/ubx.cpp

@@ -759,8 +759,8 @@ UBX::payload_rx_done(void)
 				warn("failed setting clock");
 			}
 
-			_gps_position->time_gps_usec = static_cast<uint64_t>(epoch) * 1000000ULL;
-			_gps_position->time_gps_usec += _buf.payload_rx_nav_timeutc.nano / 1000;
+			_gps_position->time_utc_usec = static_cast<uint64_t>(epoch) * 1000000ULL;
+			_gps_position->time_utc_usec += _buf.payload_rx_nav_timeutc.nano / 1000;
 		}
 
 		_gps_position->timestamp_time		= hrt_absolute_time();
@@ -831,8 +831,8 @@ UBX::payload_rx_done(void)
 				warn("failed setting clock");
 			}
 
-			_gps_position->time_gps_usec = static_cast<uint64_t>(epoch) * 1000000ULL;
-			_gps_position->time_gps_usec += _buf.payload_rx_nav_timeutc.nano / 1000;
+			_gps_position->time_utc_usec = static_cast<uint64_t>(epoch) * 1000000ULL;
+			_gps_position->time_utc_usec += _buf.payload_rx_nav_timeutc.nano / 1000;
 		}
 
 		_gps_position->timestamp_time = hrt_absolute_time();

src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp

@@ -1470,7 +1470,7 @@ FixedwingEstimator::task_main()
 							map_projection_reproject(&_pos_ref, _local_pos.x, _local_pos.y, &est_lat, &est_lon);
 							_global_pos.lat = est_lat;
 							_global_pos.lon = est_lon;
-							_global_pos.time_gps_usec = _gps.time_gps_usec;
+							_global_pos.time_utc_usec = _gps.time_utc_usec;
 							_global_pos.eph = _gps.eph;
 							_global_pos.epv = _gps.epv;
 						}

src/modules/mavlink/mavlink_receiver.cpp

@@ -359,7 +359,7 @@ MavlinkReceiver::handle_message_optical_flow_rad(mavlink_message_t *msg)
 	/* optical flow */
 	mavlink_optical_flow_rad_t flow;
 	mavlink_msg_optical_flow_rad_decode(msg, &flow);
-	
+
 	enum Rotation flow_rot;
 	param_get(param_find("SENS_FLOW_ROT"),&flow_rot);
 
@@ -380,8 +380,8 @@ MavlinkReceiver::handle_message_optical_flow_rad(mavlink_message_t *msg)
 	f.gyro_temperature = flow.temperature;
 
 	/* rotate measurements according to parameter */
-	float zeroval = 0.0f; 
-	rotate_3f(flow_rot, f.pixel_flow_x_integral, f.pixel_flow_y_integral, zeroval); 
+	float zeroval = 0.0f;
+	rotate_3f(flow_rot, f.pixel_flow_x_integral, f.pixel_flow_y_integral, zeroval);
 
 	if (_flow_pub < 0) {
 		_flow_pub = orb_advertise(ORB_ID(optical_flow), &f);
@@ -1137,7 +1137,7 @@ MavlinkReceiver::handle_message_hil_gps(mavlink_message_t *msg)
 	memset(&hil_gps, 0, sizeof(hil_gps));
 
 	hil_gps.timestamp_time = timestamp;
-	hil_gps.time_gps_usec = gps.time_usec;
+	hil_gps.time_utc_usec = gps.time_usec;
 
 	hil_gps.timestamp_position = timestamp;
 	hil_gps.lat = gps.lat;

src/modules/position_estimator_inav/position_estimator_inav_main.c

@@ -282,13 +282,13 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 	};
 	float w_gps_xy = 1.0f;
 	float w_gps_z = 1.0f;
-	
+
 	float corr_vision[3][2] = {
 		{ 0.0f, 0.0f },		// N (pos, vel)
 		{ 0.0f, 0.0f },		// E (pos, vel)
 		{ 0.0f, 0.0f },		// D (pos, vel)
 	};
-	
+
 	float corr_sonar = 0.0f;
 	float corr_sonar_filtered = 0.0f;
 
@@ -650,13 +650,13 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 						x_est[1] = vision.vx;
 						y_est[0] = vision.y;
 						y_est[1] = vision.vy;
-						/* only reset the z estimate if the z weight parameter is not zero */ 
+						/* only reset the z estimate if the z weight parameter is not zero */
 						if (params.w_z_vision_p > MIN_VALID_W)
 						{
 							z_est[0] = vision.z;
 							z_est[1] = vision.vz;
 						}
-						
+
 						vision_valid = true;
 
 						last_vision_x = vision.x;
@@ -1166,7 +1166,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 			if (local_pos.xy_global && local_pos.z_global) {
 				/* publish global position */
 				global_pos.timestamp = t;
-				global_pos.time_gps_usec = gps.time_gps_usec;
+				global_pos.time_utc_usec = gps.time_utc_usec;
 
 				double est_lat, est_lon;
 				map_projection_reproject(&ref, local_pos.x, local_pos.y, &est_lat, &est_lon);

src/modules/sdlog2/sdlog2.c

@@ -1128,7 +1128,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 		/* check GPS topic to get GPS time */
 		if (log_name_timestamp) {
 			if (!orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf_gps_pos)) {
-				gps_time = buf_gps_pos.time_gps_usec;
+				gps_time = buf_gps_pos.time_utc_usec;
 			}
 		}
 
@@ -1156,7 +1156,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 		bool gps_pos_updated = copy_if_updated(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf_gps_pos);
 
 		if (gps_pos_updated && log_name_timestamp) {
-			gps_time = buf_gps_pos.time_gps_usec;
+			gps_time = buf_gps_pos.time_utc_usec;
 		}
 
 		if (!logging_enabled) {
@@ -1186,7 +1186,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 		if (gps_pos_updated) {
 
 			log_msg.msg_type = LOG_GPS_MSG;
-			log_msg.body.log_GPS.gps_time = buf_gps_pos.time_gps_usec;
+			log_msg.body.log_GPS.gps_time = buf_gps_pos.time_utc_usec;
 			log_msg.body.log_GPS.fix_type = buf_gps_pos.fix_type;
 			log_msg.body.log_GPS.eph = buf_gps_pos.eph;
 			log_msg.body.log_GPS.epv = buf_gps_pos.epv;

src/modules/uORB/topics/vehicle_global_position.h

@@ -62,7 +62,7 @@
  */
 struct vehicle_global_position_s {
 	uint64_t timestamp;		/**< Time of this estimate, in microseconds since system start		*/
-	uint64_t time_gps_usec;		/**< GPS timestamp in microseconds					   */
+	uint64_t time_utc_usec;		/**< GPS UTC timestamp in microseconds					   */
 	double lat;			/**< Latitude in degrees							 	   */
 	double lon;			/**< Longitude in degrees							 	   */
 	float alt;			/**< Altitude AMSL in meters						 	   */

src/modules/uORB/topics/vehicle_gps_position.h

@@ -79,7 +79,7 @@ struct vehicle_gps_position_s {
 	bool vel_ned_valid;				/**< Flag to indicate if NED speed is valid */
 
 	uint64_t timestamp_time;			/**< Timestamp for time information */
-	uint64_t time_gps_usec;				/**< Timestamp (microseconds in GPS format), this is the timestamp which comes from the gps module. It might be unavailable right after cold start, indicated by a value of 0 */
+	uint64_t time_utc_usec;				/**< Timestamp (microseconds, UTC), this is the timestamp which comes from the gps module. It might be unavailable right after cold start, indicated by a value of 0 */
 
 	uint8_t satellites_used;			/**< Number of satellites used */
 };

src/modules/uavcan/sensors/gnss.cpp

@@ -159,7 +159,7 @@ void UavcanGnssBridge::gnss_fix_sub_cb(const uavcan::ReceivedDataStructure<uavca
 	report.vel_ned_valid = true;
 
 	report.timestamp_time = report.timestamp_position;
-	report.time_gps_usec = uavcan::UtcTime(msg.gnss_timestamp).toUSec();	// Convert to microseconds
+	report.time_utc_usec = uavcan::UtcTime(msg.gnss_timestamp).toUSec();	// Convert to microseconds
 
 	report.satellites_used = msg.sats_used;