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MavLinkNode/mavlinknode.cpp

@@ -942,7 +942,19 @@ void MavLinkNode::StatusParse(mavlink_message_t msg)
     vehicle.sysid = msg.sysid;
     vehicle.compid = msg.compid;
 
-    //qDebug() <<  LocationTime.date() << LocationTime.time();
+/*
+    if(LocationTime)
+    {
+
+        gpsTimer.ms = LocationTime->msec();
+
+        qDebug() <<  LocationTime->hour() << LocationTime->minute() << LocationTime->msec();
+    }
+    */
+
+
+    gpsTimer.ms =  QDateTime::currentDateTime().currentMSecsSinceEpoch() % 1000;
+
 
     switch (msg.msgid) {
          case MAVLINK_MSG_ID_AUTOPILOT_VERSION: {
@@ -1128,6 +1140,47 @@ void MavLinkNode::StatusParse(mavlink_message_t msg)
 
             emit signal_ins1(vehicle.ins1);
 
+            uint64_t time = ((uint64_t)vehicle.ins1.time)% 1000000;
+            uint64_t date = ((uint64_t)vehicle.ins1.time)/ 1000000;
+
+            //qDebug() << "date" << date;
+
+            uint16_t year = date / 10000;
+            uint8_t  mon  = (date % 10000)/100;
+            uint8_t  day  = date  % 100;
+
+            uint8_t hour = time / 10000;
+
+            if(hour >= 24){
+                hour -= 24;
+            }
+
+            uint8_t min  = (time % 10000)/100;
+            uint8_t sec  = time  % 100;
+
+            gpsTimer.year = year;
+            gpsTimer.mon  = mon;
+            gpsTimer.day  = day;
+
+            gpsTimer.hour = hour;
+            gpsTimer.min  = min;
+            gpsTimer.sec  = sec;
+
+            /*
+            if(vehicle.ins1.satellites_visible >= 7)
+            {
+                if(!LocationTime)
+                {
+                    LocationTime = new QTime();
+                    LocationTime->setHMS(hour,min,sec);
+                    LocationTime->start();
+                }
+            }
+            */
+
+
+
+
          }break;
          case MAVLINK_MSG_ID_INS2: {
             mavlink_msg_ins2_decode(&msg,&vehicle.ins2);
@@ -1172,43 +1225,6 @@ void MavLinkNode::StatusParse(mavlink_message_t msg)
 
             emit signal_ins2(vehicle.ins2);
 
-
-            uint64_t time = ((uint64_t)vehicle.ins2.time)% 1000000;
-            uint64_t date = ((uint64_t)vehicle.ins2.time)/ 1000000;
-
-
-
-            uint16_t year = date / 10000;
-            uint8_t  mon  = (date % 10000)/100;
-            uint8_t  day  = date  % 100;
-
-
-
-            uint8_t hour = time / 10000;
-
-            if(hour >= 24){
-                hour -= 24;
-            }
-
-            uint8_t min  = (time % 10000)/100;
-            uint8_t sec  = time  % 100;
-
-            gpsTimer.year = year;
-            gpsTimer.mon  = mon;
-            gpsTimer.day  = day;
-
-            gpsTimer.hour = hour;
-            gpsTimer.min  = min;
-            gpsTimer.sec  = sec;
-
-
-            LocationTime.addYears(year);
-            LocationTime.addMonths(mon);
-            LocationTime.addDays(day);
-            //LocationTime.setTime(QTime(hour,min,sec));
-
-
-
          }break;
          case MAVLINK_MSG_ID_GPS_RAW_INT: {
             mavlink_msg_gps_raw_int_decode(&msg,&vehicle.gps_raw_int);

MavLinkNode/mavlinknode.h

@@ -22,7 +22,7 @@
 #include "ThreadTemplet.h"
 
 #include "ParsePack.h"
-
+#include "QTime"
 
 #ifdef QtMavlinkNode
 #include <mavlinknodeglobal.h>
@@ -267,7 +267,7 @@ protected:
 
     QDateTime startuptime;
 
-    QDateTime LocationTime;
+    QTime *LocationTime;
 
 
     QTimer *gdt_timer = nullptr;