CMakeLists.txt

@@ -103,6 +103,7 @@ if(TGT_BSP)
         OR TGT_BSP MATCHES "arm/beagleboneblack" OR TGT_BSP MATCHES "arm/egse" 
         OR TGT_BSP MATCHES "arm/te0720-1cfa"
     )
+        find_library(${LIB_GPS} gps)
         set(FSFW_CONFIG_PATH "linux/fsfwconfig")
         if(NOT BUILD_Q7S_SIMPLE_MODE)
             set(EIVE_ADD_LINUX_FILES TRUE)
@@ -310,8 +311,8 @@ target_link_libraries(${OBSW_NAME} PRIVATE
 
 if(TGT_BSP MATCHES "arm/q7s")
     target_link_libraries(${LIB_EIVE_MISSION} PUBLIC
-        ${LIB_ARCSEC}
         ${LIB_GPS}
+        ${LIB_ARCSEC}
     )
 endif()
 
@@ -407,6 +408,5 @@ add_custom_command(
    COMMENT ${POST_BUILD_COMMENT}
 )
 
-
 include (${CMAKE_SCRIPT_PATH}/BuildType.cmake)
 set_build_type()

bsp_q7s/boardtest/Q7STestTask.cpp

@@ -246,7 +246,7 @@ void Q7STestTask::testGpsDaemon() {
     sif::warning << "Q7STestTask: Reading GPS data failed" << std::endl;
   }
   sif::info << "-- Q7STestTask: GPS shared memory read test --" << std::endl;
-  time_t timeRaw = gps->fix.time.tv_sec;
+  time_t timeRaw = gps->fix.time;
   std::tm* time = gmtime(&timeRaw);
   sif::info << "Time: " << std::put_time(time, "%c %Z") << std::endl;
   sif::info << "Visible satellites: " << gps->satellites_visible << std::endl;
@@ -254,7 +254,7 @@ void Q7STestTask::testGpsDaemon() {
   sif::info << "Fix (0:Not Seen|1:No Fix|2:2D|3:3D): " << gps->fix.mode << std::endl;
   sif::info << "Latitude: " << gps->fix.latitude << std::endl;
   sif::info << "Longitude: " << gps->fix.longitude << std::endl;
-  sif::info << "Altitude(MSL): " << gps->fix.altMSL << std::endl;
+  sif::info << "Altitude(MSL): " << gps->fix.altitude << std::endl;
   sif::info << "Speed(m/s): " << gps->fix.speed << std::endl;
 }
 

linux/devices/GPSHyperionLinuxController.cpp

@@ -18,7 +18,6 @@ GPSHyperionLinuxController::GPSHyperionLinuxController(object_id_t objectId, obj
                                                        bool debugHyperionGps)
     : ExtendedControllerBase(objectId, objects::NO_OBJECT),
       gpsSet(this),
-      myGpsmm(GPSD_SHARED_MEMORY, nullptr),
       debugHyperionGps(debugHyperionGps) {
   timeUpdateCd.resetTimer();
 }
@@ -107,14 +106,17 @@ ReturnValue_t GPSHyperionLinuxController::handleCommandMessage(CommandMessage *m
 
 #ifdef FSFW_OSAL_LINUX
 void GPSHyperionLinuxController::readGpsDataFromGpsd() {
+  gpsmm myGpsmm(GPSD_SHARED_MEMORY, nullptr);
   // The data from the device will generally be read all at once. Therefore, we
   // can set all field here
   if (not myGpsmm.is_open()) {
     if(gpsNotOpenSwitch) {
       // Opening failed
   #if FSFW_VERBOSE_LEVEL >= 1
-      sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Opening GPSMM failed" << std::endl;
+      sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Opening GPSMM failed | " <<
+          "Error " << errno << " | " << gps_errstr(errno) << std::endl;
   #endif
+
       gpsNotOpenSwitch = false;
     }
     return;
@@ -189,10 +191,12 @@ void GPSHyperionLinuxController::readGpsDataFromGpsd() {
     gpsSet.speed.setValid(false);
   }
 
-  gpsSet.unixSeconds.value = gps->fix.time.tv_sec;
+  gpsSet.unixSeconds.value = gps->fix.time;
   timeval time = {};
   time.tv_sec = gpsSet.unixSeconds.value;
-  time.tv_usec = gps->fix.time.tv_nsec / 1000;
+  double fractionalPart = gpsSet.unixSeconds.value - gps->fix.time;
+  time.tv_usec = fractionalPart * 1000 * 1000;
+  //time.tv_usec = gps->fix.time.tv_nsec / 1000;
   std::time_t t = std::time(nullptr);
   if (time.tv_sec == t) {
     timeIsConstantCounter++;
@@ -231,7 +235,7 @@ void GPSHyperionLinuxController::readGpsDataFromGpsd() {
   gpsSet.seconds = timeOfDay.second;
   if (debugHyperionGps) {
     sif::info << "-- Hyperion GPS Data --" << std::endl;
-    time_t timeRaw = gps->fix.time.tv_sec;
+    time_t timeRaw = gps->fix.time;
     std::tm *time = gmtime(&timeRaw);
     std::cout << "Time: " << std::put_time(time, "%c %Z") << std::endl;
     std::cout << "Visible satellites: " << gps->satellites_visible << std::endl;
@@ -239,7 +243,7 @@ void GPSHyperionLinuxController::readGpsDataFromGpsd() {
     std::cout << "Fix (0:Not Seen|1:No Fix|2:2D|3:3D): " << gps->fix.mode << std::endl;
     std::cout << "Latitude: " << gps->fix.latitude << std::endl;
     std::cout << "Longitude: " << gps->fix.longitude << std::endl;
-    std::cout << "Altitude(MSL): " << gps->fix.altMSL << std::endl;
+    std::cout << "Altitude(MSL): " << gps->fix.altitude << std::endl;
     std::cout << "Speed(m/s): " << gps->fix.speed << std::endl;
     std::time_t t = std::time(nullptr);
     std::tm tm = *std::gmtime(&t);

linux/devices/GPSHyperionLinuxController.h

@@ -52,7 +52,6 @@ class GPSHyperionLinuxController : public ExtendedControllerBase {
   Countdown maxTimeToReachFix = Countdown(MAX_SECONDS_TO_REACH_FIX * 1000);
   bool modeCommanded = true;
   bool timeInit = true;
-  gpsmm myGpsmm;
   bool gpsNotOpenSwitch = true;
   bool gpsReadFailedSwitch = true;
   bool debugHyperionGps = false;