Advanced Time Synchronisation #1042
Merged
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
vooon
reviewed
May 31, 2018
mavros/src/plugins/sys_time.cpp
Outdated
| nh.param("time/timesync_alpha_initial", filter_alpha_initial, 0.05f); | ||
| nh.param("time/timesync_beta_initial", filter_beta_initial, 0.05f); | ||
| nh.param("time/timesync_alpha_final", filter_alpha_final, 0.003f); | ||
| nh.param("time/timesync_alpha_final", filter_beta_final, 0.003f); |
There was a problem hiding this comment.
Fixed, but IMHO cog seems too overkill.
mavros/src/plugins/sys_time.cpp
Outdated
| ROS_WARN_NAMED("time", "TM : RTT too high for timesync: %0.2f ms", rtt_ns / 1000000.0); | ||
| // Reset counter to rate-limit warnings | ||
| high_rtt_count = 0; | ||
| } |
There was a problem hiding this comment.
ROS already have THROTTLEd logger. setting not needed.
There was a problem hiding this comment.
Should've made comment clearer. The intention is to not just rate-limit, but rather to inform the user when the RTT is high n times in a row. This would point to an issue with the system which needs to be fixed by the user.
mavros_msgs/msg/TimesyncStatus.msg
Outdated
| uint64 remote_timestamp # remote system timestamp (nanoseconds) | ||
| int64 observed_offset # raw time offset directly observed from this timesync packet (nanoseconds) | ||
| int64 estimated_offset # smoothed time offset between companion system and Mavros (nanoseconds) | ||
| float32 round_trip_time # round trip time of this timesync packet (milliseconds) |
There was a problem hiding this comment.
Perhaps good idea to add _ns/_ms suffixes.
mhkabir
force-pushed
the
pr-advanced-timesync
branch
from
4f4d284
to
f95707c
Compare
|
Good to go! |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Mavros version of PX4/PX4-Autopilot#9365.
Tested in SITL. Pending test on vehicle, but everything should be working correctly already.