Sub: use AP_RTC

Sub: AP_GPS now sets the system time directly

Sub: use AP_RTC for delays in missions

ArduSub/ArduSub.cpp

@@ -309,9 +309,6 @@ void Sub::update_GPS(void)
     }
 
     if (gps_updated) {
-        // set system time if necessary
-        set_system_time_from_GPS();
-
 #if CAMERA == ENABLED
         camera.update();
 #endif

ArduSub/Sub.h

@@ -234,7 +234,6 @@ private:
             uint8_t compass_mot         : 1; // true if we are currently performing compassmot calibration
             uint8_t motor_test          : 1; // true if we are currently performing the motors test
             uint8_t initialised         : 1; // true once the init_ardupilot function has completed.  Extended status to GCS is not sent until this completes
-            uint8_t system_time_set     : 1; // true if the system time has been set from the GPS
             uint8_t gps_base_pos_set    : 1; // true when the gps base position has been set (used for RTK gps only)
             uint8_t at_bottom           : 1; // true if we are at the bottom
             uint8_t at_surface          : 1; // true if we are at the surface
@@ -519,7 +518,6 @@ private:
     bool set_home_to_current_location(bool lock);
     bool set_home(const Location& loc, bool lock);
     bool far_from_EKF_origin(const Location& loc);
-    void set_system_time_from_GPS();
     void exit_mission();
     bool verify_loiter_unlimited();
     bool verify_loiter_time();

ArduSub/commands.cpp

@@ -112,26 +112,3 @@ bool Sub::far_from_EKF_origin(const Location& loc)
     // close enough to origin
     return false;
 }
-
-// checks if we should update ahrs/RTL home position from GPS
-void Sub::set_system_time_from_GPS()
-{
-    // exit immediately if system time already set
-    if (ap.system_time_set) {
-        return;
-    }
-
-    // if we have a 3d lock and valid location
-    if (gps.status() >= AP_GPS::GPS_OK_FIX_3D) {
-        uint64_t gps_timestamp = gps.time_epoch_usec();
-
-        // set system clock for log timestamps
-        hal.util->set_system_clock(gps_timestamp);
-
-        // update signing timestamp
-        GCS_MAVLINK::update_signing_timestamp(gps_timestamp);
-
-        ap.system_time_set = true;
-        Log_Write_Event(DATA_SYSTEM_TIME_SET);
-    }
-}

ArduSub/commands_logic.cpp

@@ -1,5 +1,7 @@
 #include "Sub.h"
 
+#include <AP_RTC/AP_RTC.h>
+
 static enum AutoSurfaceState auto_surface_state = AUTO_SURFACE_STATE_GO_TO_LOCATION;
 
 // start_command - this function will be called when the ap_mission lib wishes to start a new command
@@ -526,7 +528,7 @@ void Sub::do_nav_delay(const AP_Mission::Mission_Command& cmd)
         nav_delay_time_max = cmd.content.nav_delay.seconds * 1000; // convert seconds to milliseconds
     } else {
         // absolute delay to utc time
-        nav_delay_time_max = hal.util->get_time_utc(cmd.content.nav_delay.hour_utc, cmd.content.nav_delay.min_utc, cmd.content.nav_delay.sec_utc, 0);
+        nav_delay_time_max = AP::rtc().get_time_utc(cmd.content.nav_delay.hour_utc, cmd.content.nav_delay.min_utc, cmd.content.nav_delay.sec_utc, 0);
     }
     gcs().send_text(MAV_SEVERITY_INFO, "Delaying %u sec",(unsigned int)(nav_delay_time_max/1000));
 }

ArduSub/defines.h

@@ -140,7 +140,7 @@ enum LoggingParameters {
 
 // DATA - event logging
 #define DATA_AP_STATE                       7
-#define DATA_SYSTEM_TIME_SET                8
+// 8 was DATA_SYSTEM_TIME_SET
 #define DATA_ARMED                          10
 #define DATA_DISARMED                       11
 #define DATA_LOST_GPS                       19