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AD_DDS: Use time-since-boot for topic timestamps under SITL #31403

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AD_DDS: Use time-since-boot for topic timestamps under SITL #31403

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5 changes: 5 additions & 0 deletions libraries/AP_DDS/AP_DDS_Client.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -198,9 +198,14 @@ AP_DDS_Client::~AP_DDS_Client()
void AP_DDS_Client::update_topic(builtin_interfaces_msg_Time& msg)
{
uint64_t utc_usec;
//SITL needs to use time-since-boot in order to stay in timesync with Gazebo
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
utc_usec = AP_HAL::micros64();
#else
if (!AP::rtc().get_utc_usec(utc_usec)) {
utc_usec = AP_HAL::micros64();
}
#endif
msg.sec = utc_usec / 1000000ULL;
msg.nanosec = (utc_usec % 1000000ULL) * 1000UL;

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