AP_GPS: add support for getting PPS timestamp directly

CubePilot · Dec 28, 2023 · 4cd4399 · 4cd4399
1 parent fcfbbb6
commit 4cd4399
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Showing 3 changed files with 14 additions and 0 deletions.
diff --git a/libraries/AP_GPS/AP_GPS.cpp b/libraries/AP_GPS/AP_GPS.cpp
@@ -613,6 +613,13 @@ uint64_t AP_GPS::last_message_epoch_usec(uint8_t instance) const
     return istate_time_to_epoch_ms(istate.time_week, drivers[instance]->get_last_itow_ms()) * 1000ULL;
 }
 
+uint64_t AP_GPS::last_pps_time_usec(uint8_t instance) const
+{
+    if (drivers[instance] == nullptr) {
+        return 0;
+    }
+    return  drivers[instance]->get_last_pps_time_us();
+}
 /*
   send some more initialisation string bytes if there is room in the
   UART transmit buffer

diff --git a/libraries/AP_GPS/AP_GPS.h b/libraries/AP_GPS/AP_GPS.h
@@ -523,6 +523,11 @@ class AP_GPS
         return last_corrected_gps_time_usec(primary_instance);
     }
 
+    uint64_t last_pps_time_usec(uint8_t instance) const;
+    uint64_t last_pps_time_usec() const {
+        return last_pps_time_usec(primary_instance);
+    }
+
     // convert GPS week and millis to unix epoch in ms
     static uint64_t istate_time_to_epoch_ms(uint16_t gps_week, uint32_t gps_ms);
 

diff --git a/libraries/AP_GPS/GPS_Backend.h b/libraries/AP_GPS/GPS_Backend.h
@@ -105,6 +105,8 @@ class AP_GPS_Backend
         return gps.option_set(option);
     }
 
+    uint64_t get_last_pps_time_us() const { return _last_pps_time_us; }
+
 protected:
     AP_HAL::UARTDriver *port;           ///< UART we are attached to
     AP_GPS &gps;                        ///< access to frontend (for parameters)