From 8cbe26c6f60b2584226c7528aa583991147b1e4d Mon Sep 17 00:00:00 2001
From: Julian Oes <julian@oes.ch>
Date: Thu, 15 Nov 2018 11:36:33 +0100
Subject: [PATCH] platforms: fix linking issues for NuttX build

---
 boards/px4/fmu-v2/src/init.c | 1 +
 src/include/visibility.h     | 4 ++++
 src/platforms/px4_time.h     | 9 ++++++++-
 3 files changed, 13 insertions(+), 1 deletion(-)

diff --git a/boards/px4/fmu-v2/src/init.c b/boards/px4/fmu-v2/src/init.c
index b4b6044ee5..4ddf6bf384 100644
--- a/boards/px4/fmu-v2/src/init.c
+++ b/boards/px4/fmu-v2/src/init.c
@@ -47,6 +47,7 @@
 
 #include <px4_config.h>
 #include <px4_tasks.h>
+#include <px4_time.h>
 
 #include <stdbool.h>
 #include <stdio.h>
diff --git a/src/include/visibility.h b/src/include/visibility.h
index eb00def9eb..b5044e216f 100644
--- a/src/include/visibility.h
+++ b/src/include/visibility.h
@@ -101,8 +101,12 @@
 // like uavcan and we don't need to fake time on the real system.
 #include <unistd.h>
 #include <time.h>
+
 #define system_usleep usleep
 #define system_sleep sleep
 
+#define system_clock_gettime clock_gettime
+#define system_clock_settime clock_settime
+
 #pragma GCC poison getenv setenv putenv
 #endif /* __PX4_NUTTX */
diff --git a/src/platforms/px4_time.h b/src/platforms/px4_time.h
index 9745ffbb9a..f4ab83acf9 100644
--- a/src/platforms/px4_time.h
+++ b/src/platforms/px4_time.h
@@ -21,7 +21,7 @@ __EXPORT unsigned int sleep(unsigned int sec);
 
 __END_DECLS
 
-#else
+#elif defined(__PX4_POSIX)
 
 __BEGIN_DECLS
 __EXPORT int px4_clock_gettime(clockid_t clk_id, struct timespec *tp);
@@ -34,4 +34,11 @@ __EXPORT int px4_pthread_cond_timedwait(pthread_cond_t *cond,
 					const struct timespec *abstime);
 __END_DECLS
 
+#elif defined(__PX4_NUTTX)
+
+#define px4_clock_gettime system_clock_gettime
+#define px4_clock_settime system_clock_settime
+#define px4_usleep system_usleep
+#define px4_sleep system_sleep
+
 #endif