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dds: clean up timesync

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This commit is contained in:
Alexander Lerach
2025-05-21 18:46:22 +02:00
parent 31ab3f0ac9
commit 134ee7b640
3 changed files with 10 additions and 21 deletions
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src/lib/timesync/Timesync.cpp
+2 -2
View File
@@ -66,7 +66,7 @@ void Timesync::update(const uint64_t now_us, const int64_t remote_timestamp_ns,
// We reset the filter if we received 5 consecutive samples which violate our present estimate.
// This is most likely due to a time jump on the offboard system.
if (_high_deviation_count > MAX_CONSECUTIVE_HIGH_DEVIATION) {
PX4_WARN("time jump detected. Resetting time synchroniser.");
PX4_DEBUG("time jump detected. Resetting time synchroniser.");
// Reset the filter
reset_filter();
}
@@ -104,7 +104,7 @@ void Timesync::update(const uint64_t now_us, const int64_t remote_timestamp_ns,
_high_rtt_count++;
if (_high_rtt_count == MAX_CONSECUTIVE_HIGH_RTT) {
PX4_WARN("RTT too high for timesync: %llu ms", rtt_us / 1000ULL);
PX4_DEBUG("RTT too high for timesync: %llu ms", rtt_us / 1000ULL);
}
}
src/lib/timesync/Timesync.hpp
+1 -1
View File
@@ -78,7 +78,7 @@ static constexpr uint32_t CONVERGENCE_WINDOW = 500;
// Outlier rejection and filter reset
//
// Samples with round-trip time higher than MAX_RTT_SAMPLE are not used to update the filter.
// More than MAX_CONSECUTIVE_HIGH_RTT number of such events in a row will throw a warning
// More than MAX_CONSECUTIVE_HIGH_RTT number of such events in a row will throw a debug message
// but not reset the filter.
// Samples whose calculated clock offset is more than MAX_DEVIATION_SAMPLE off from the current
// estimate are not used to update the filter. More than MAX_CONSECUTIVE_HIGH_DEVIATION number
src/modules/uxrce_dds_client/uxrce_dds_client.cpp
+7 -18
View File
@@ -54,29 +54,19 @@ static constexpr uint8_t TIMESYNC_MAX_TIMEOUTS = 10;
using namespace time_literals;
static void on_time(uxrSession *session, int64_t current_time, int64_t received_timestamp, int64_t transmit_timestamp,
int64_t originate_timestamp, void *args)
static void on_time(uxrSession *session, int64_t current_time, int64_t client_transmit_timestamp,
int64_t agent_receive_timestamp, int64_t originate_timestamp, void *args)
{
// latest round trip time (RTT)
int64_t rtt = current_time - originate_timestamp;
// HRT to AGENT
int64_t offset_1 = (received_timestamp - originate_timestamp) - (rtt / 2);
int64_t offset_2 = (transmit_timestamp - current_time) - (rtt / 2);
session->time_offset = (offset_1 + offset_2) / 2;
if (args) {
Timesync *timesync = static_cast<Timesync *>(args);
timesync->update(current_time / 1000, transmit_timestamp, originate_timestamp);
timesync->update(current_time / 1000, agent_receive_timestamp, originate_timestamp);
session->time_offset = -timesync->offset() * 1000; // us -> ns
}
}
static void on_time_no_sync(uxrSession *session, int64_t current_time, int64_t received_timestamp,
int64_t transmit_timestamp,
int64_t originate_timestamp, void *args)
static void on_time_no_sync(uxrSession *session, int64_t current_time, int64_t client_transmit_timestamp,
int64_t agent_receive_timestamp, int64_t originate_timestamp, void *args)
{
session->time_offset = 0;
}
@@ -693,7 +683,6 @@ void UxrceddsClient::run()
if (_synchronize_timestamps && hrt_elapsed_time(&last_sync_session) > 1_s) {
if (uxr_sync_session(&session, 10) && _timesync.sync_converged()) {
//PX4_INFO("synchronized with time offset %-5" PRId64 "ns", session.time_offset);
last_sync_session = hrt_absolute_time();
if (_param_uxrce_dds_syncc.get() > 0) {
@@ -702,10 +691,10 @@ void UxrceddsClient::run()
}
if (!_timesync_converged && _timesync.sync_converged()) {
PX4_INFO("time sync converged");
PX4_DEBUG("time sync converged");
} else if (_timesync_converged && !_timesync.sync_converged()) {
PX4_WARN("time sync no longer converged");
PX4_DEBUG("time sync no longer converged");
}
_timesync_converged = _timesync.sync_converged();