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timesync: extend timesync_status message with protocol source field and enum

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TSC21
2021-07-12 10:09:51 +02:00
committed by Nuno Marques
parent a930edf34b
commit a324e5465a
2 changed files with 10 additions and 4 deletions
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msg/timesync_status.msg
+9 -4
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@@ -1,5 +1,10 @@
uint64 timestamp # time since system start (microseconds) uint64 timestamp # time since system start (microseconds)
uint8 SOURCE_PROTOCOL_MAVLINK = 0
uint8 SOURCE_PROTOCOL_RTPS = 1
uint8 source_protocol # timesync source. Source can be MAVLink or the microRTPS bridge
uint64 remote_timestamp # remote system timestamp (microseconds) uint64 remote_timestamp # remote system timestamp (microseconds)
int64 observed_offset # raw time offset directly observed from this timesync packet (microseconds) int64 observed_offset # raw time offset directly observed from this timesync packet (microseconds)
int64 estimated_offset # smoothed time offset between companion system and PX4 (microseconds) int64 estimated_offset # smoothed time offset between companion system and PX4 (microseconds)
uint32 round_trip_time # round trip time of this timesync packet (microseconds) uint32 round_trip_time # round trip time of this timesync packet (microseconds)
src/modules/mavlink/mavlink_timesync.cpp
+1
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@@ -141,6 +141,7 @@ MavlinkTimesync::handle_message(const mavlink_message_t *msg)
timesync_status_s tsync_status{}; timesync_status_s tsync_status{};
tsync_status.timestamp = hrt_absolute_time(); tsync_status.timestamp = hrt_absolute_time();
tsync_status.source_protocol = timesync_status_s::SOURCE_PROTOCOL_MAVLINK;
tsync_status.remote_timestamp = tsync.tc1 / 1000ULL; tsync_status.remote_timestamp = tsync.tc1 / 1000ULL;
tsync_status.observed_offset = offset_us; tsync_status.observed_offset = offset_us;
tsync_status.estimated_offset = (int64_t)_time_offset; tsync_status.estimated_offset = (int64_t)_time_offset;