add timestamp field to uORB msgs; sync timestamp whenever possible

msg/actuator_armed.msg

@@ -1,3 +1,4 @@
+uint64 timestamp	# time since system start (microseconds)
 
 uint32 armed_time_ms	# Arming timestamp
 bool armed		# Set to true if system is armed

msg/actuator_controls.msg

@@ -1,3 +1,4 @@
+uint64 timestamp			# time since system start (microseconds)
 uint8 NUM_ACTUATOR_CONTROLS = 8
 uint8 NUM_ACTUATOR_CONTROL_GROUPS = 4
 uint8 INDEX_ROLL = 0
@@ -15,4 +16,3 @@ float32[8] control
 
 # TOPICS actuator_controls actuator_controls_0 actuator_controls_1 actuator_controls_2 actuator_controls_3
 # TOPICS actuator_controls_virtual_fw actuator_controls_virtual_mc
-

msg/actuator_direct.msg

@@ -1,3 +1,4 @@
+uint64 timestamp			# time since system start (microseconds)
 uint8 NUM_ACTUATORS_DIRECT = 16
 uint32 nvalues				# number of valid values
 float32[16] values			# actuator values, from -1 to 1

msg/actuator_outputs.msg

@@ -1,3 +1,4 @@
+uint64 timestamp		# time since system start (microseconds)
 uint8 NUM_ACTUATOR_OUTPUTS		= 16
 uint8 NUM_ACTUATOR_OUTPUT_GROUPS	= 4	# for sanity checking
 uint32 noutputs				# valid outputs

msg/adc_report.msg

@@ -1,2 +1,3 @@
+uint64 timestamp		# time since system start (microseconds)
 int16[12] channel_id		# ADC channel IDs, negative for non-existent
 float32[12] channel_value	# ADC channel value in volt, valid if channel ID is positive

msg/airspeed.msg

@@ -1,3 +1,4 @@
+uint64 timestamp		# time since system start (microseconds)
 
 float32 indicated_airspeed_m_s		# indicated airspeed in m/s
 

msg/att_pos_mocap.msg

@@ -1,3 +1,4 @@
+uint64 timestamp		# time since system start (microseconds)
 uint32 id			# ID of the estimator, commonly the component ID of the incoming message
 
 uint64 timestamp_received	# timestamp when the estimate was received

msg/battery_status.msg

@@ -1,3 +1,4 @@
+uint64 timestamp		# time since system start (microseconds)
 float32 voltage_v		# Battery voltage in volts, 0 if unknown
 float32 voltage_filtered_v	# Battery voltage in volts, filtered, 0 if unknown
 float32 current_a		# Battery current in amperes, -1 if unknown

msg/camera_capture.msg

@@ -1,3 +1,4 @@
+uint64 timestamp		# time since system start (microseconds)
 uint64 timestamp_utc		# Capture time in UTC / GPS time
 uint32 seq					# Image sequence number
 float64 lat					# Latitude in degrees (WGS84)

msg/camera_trigger.msg

@@ -1,3 +1,4 @@
+uint64 timestamp	# time since system start (microseconds)
 uint64 timestamp_utc # UTC timestamp
 
 uint32 seq		# Image sequence number

msg/collision_report.msg

@@ -1,3 +1,4 @@
+uint64 timestamp		# time since system start (microseconds)
 uint8 src
 uint32 id
 uint8 action

msg/commander_state.msg

@@ -1,4 +1,6 @@
 # Main state, i.e. what user wants. Controlled by RC or from ground station via telemetry link.
+uint64 timestamp			# time since system start (microseconds)
+
 uint8 MAIN_STATE_MANUAL = 0
 uint8 MAIN_STATE_ALTCTL = 1
 uint8 MAIN_STATE_POSCTL = 2
@@ -15,5 +17,4 @@ uint8 MAIN_STATE_AUTO_FOLLOW_TARGET = 12
 uint8 MAIN_STATE_AUTO_PRECLAND = 13
 uint8 MAIN_STATE_MAX = 14
 
-
 uint8 main_state		    	# main state machine

msg/cpuload.msg

@@ -1,2 +1,3 @@
+uint64 timestamp		# time since system start (microseconds)
 float32 load                    # processor load from 0 to 1
 float32 ram_usage		# RAM usage from 0 to 1

msg/debug_key_value.msg

@@ -1,3 +1,3 @@
-uint32 timestamp_ms		# in milliseconds since system start
+uint64 timestamp		# time since system start (microseconds)
 char[10] key			# max. 10 characters as key / name
 float32 value			# the value to send as debug output

msg/debug_value.msg

@@ -1,3 +1,3 @@
-uint32 timestamp_ms     # in milliseconds since system start
+uint64 timestamp	# time since system start (microseconds)
 int8 ind                # index of debug variable
 float32 value           # the value to send as debug output

msg/debug_vect.msg

@@ -1,4 +1,4 @@
-uint64 timestamp_us     # in microseconds since system start
+uint64 timestamp	# time since system start (microseconds)
 char[10] name           # max. 10 characters as key / name
 float32 x               # x value
 float32 y               # y value

msg/differential_pressure.msg

@@ -1,3 +1,4 @@
+uint64 timestamp				# time since system start (microseconds)
 uint64 error_count				# Number of errors detected by driver
 float32 differential_pressure_raw_pa		# Raw differential pressure reading (may be negative)
 float32 differential_pressure_filtered_pa	# Low pass filtered differential pressure reading

msg/distance_sensor.msg

@@ -1,5 +1,6 @@
 # DISTANCE_SENSOR message data
 
+uint64 timestamp		# time since system start (microseconds)
 
 float32 min_distance		# Minimum distance the sensor can measure (in m)
 float32 max_distance		# Maximum distance the sensor can measure (in m)

msg/ekf2_innovations.msg

@@ -1,3 +1,4 @@
+uint64 timestamp		# time since system start (microseconds)
 float32[6] vel_pos_innov  # velocity and position innovations
 float32[3] mag_innov 	# earth magnetic field innovations
 float32 heading_innov 	# heading innovation

msg/ekf2_timestamps.msg

@@ -1,9 +1,10 @@
 # this message contains the (relative) timestamps of the sensor inputs used by
 # ekf2. It can be used for reproducible replay.
 
-# the timestamp field (auto-generated) is the ekf2 reference time and matches
-# the timestamp of the sensor_combined topic.
+# the timestamp field is the ekf2 reference time and matches the timestamp of
+# the sensor_combined topic.
 
+uint64 timestamp		# time since system start (microseconds)
 
 int16 RELATIVE_TIMESTAMP_INVALID = 32767 # (0x7fff) If one of the relative timestamps
                                          # is set to this value, it means the associated sensor values did not update
@@ -22,4 +23,3 @@ int16 vision_attitude_timestamp_rel
 int16 vision_position_timestamp_rel
 
 # Note: this is a high-rate logged topic, so it needs to be as small as possible
-

msg/ekf_gps_position.msg

@@ -1,4 +1,5 @@
 # EKF blended position in WGS84 coordinates.
+uint64 timestamp		# time since system start (microseconds)
 int32 lat			# Latitude in 1E-7 degrees
 int32 lon			# Longitude in 1E-7 degrees
 int32 alt			# Altitude in 1E-3 meters above MSL, (millimetres)

msg/esc_report.msg

@@ -1,3 +1,4 @@
+uint64 timestamp		# time since system start (microseconds)
 uint8 esc_vendor					# Vendor of current ESC
 uint32 esc_errorcount					# Number of reported errors by ESC - if supported
 int32 esc_rpm						# Motor RPM, negative for reverse rotation [RPM] - if supported

msg/esc_status.msg

@@ -1,3 +1,4 @@
+uint64 timestamp		# time since system start (microseconds)
 uint8 CONNECTED_ESC_MAX = 8				# The number of ESCs supported. Current (Q2/2013) we support 8 ESCs
 
 uint8 ESC_VENDOR_GENERIC = 0				# generic ESC

msg/estimator_status.msg

@@ -1,3 +1,4 @@
+uint64 timestamp		# time since system start (microseconds)
 float32[24] states		# Internal filter states
 uint8 n_states		# Number of states effectively used
 

msg/follow_target.msg

@@ -1,3 +1,4 @@
+uint64 timestamp		# time since system start (microseconds)
 float64 lat			# target position (deg * 1e7)
 float64 lon			# target position (deg * 1e7) 
 float32 alt			# target position

msg/fw_pos_ctrl_status.msg

@@ -1,3 +1,4 @@
+uint64 timestamp		# time since system start (microseconds)
 float32 nav_roll
 float32 nav_pitch
 float32 nav_bearing

msg/geofence_result.msg

@@ -1,3 +1,4 @@
+uint64 timestamp			    # time since system start (microseconds)
 uint8 GF_ACTION_NONE = 0                    # no action on geofence violation
 uint8 GF_ACTION_WARN = 1                    # critical mavlink message
 uint8 GF_ACTION_LOITER = 2                  # switch to AUTO|LOITER

msg/gps_dump.msg

@@ -1,6 +1,8 @@
 # This message is used to dump the raw gps communication to the log.
 # Set the parameter GPS_DUMP_COMM to 1 to use this.
 
+uint64 timestamp		# time since system start (microseconds)
+
 uint8 len			# length of data, MSB bit set = message to the gps device,
 				# clear = message from the device
 uint8[79] data			# data to write to the log

msg/gps_inject_data.msg

@@ -1,3 +1,4 @@
+uint64 timestamp		# time since system start (microseconds)
 uint8 len			# length of data
 uint8 flags         		# LSB: 1=fragmented
 uint8[182] data		# data to write to GPS device (RTCM message)

msg/home_position.msg

@@ -1,5 +1,7 @@
 # GPS home position in WGS84 coordinates.
 
+uint64 timestamp		# time since system start (microseconds)
+
 float64 lat				# Latitude in degrees
 float64 lon				# Longitude in degrees
 float32 alt				# Altitude in meters (AMSL)

msg/input_rc.msg

@@ -1,3 +1,5 @@
+uint64 timestamp			# time since system start (microseconds)
+
 uint8 RC_INPUT_SOURCE_UNKNOWN = 0
 uint8 RC_INPUT_SOURCE_PX4FMU_PPM = 1
 uint8 RC_INPUT_SOURCE_PX4IO_PPM = 2

msg/iridiumsbd_status.msg

@@ -1,3 +1,4 @@
+uint64 timestamp				# time since system start (microseconds)
 uint64 last_heartbeat				# timestamp of the last successful sbd session
 uint16 tx_buf_write_index			# current size of the tx buffer
 uint16 rx_buf_read_index			# the rx buffer is parsed up to that index
@@ -11,4 +12,4 @@ bool ring_pending                   # indicates if a ring call is pending
 bool tx_buf_write_pending           # indicates if a tx buffer write is pending
 bool tx_session_pending             # indicates if a tx session is pending
 bool rx_read_pending                # indicates if a rx read is pending
-bool rx_session_pending             # indicates if a rx session is pending
+bool rx_session_pending             # indicates if a rx session is pending

msg/irlock_report.msg

@@ -1,5 +1,7 @@
 # IRLOCK_REPORT message data
 
+uint64 timestamp		# time since system start (microseconds)
+
 uint16 signature
 
 # When looking along the optical axis of the camera, x points right, y points down, and z points along the optical axis.

msg/landing_target_innovations.msg

@@ -1,3 +1,4 @@
+uint64 timestamp		# time since system start (microseconds)
 # Innovation of landing target position estimator
 float32 innov_x
 float32 innov_y

msg/landing_target_pose.msg

@@ -1,5 +1,7 @@
 # Relative position of precision land target in navigation (body fixed, north aligned, NED) and inertial (world fixed, north aligned, NED) frames
 
+uint64 timestamp		# time since system start (microseconds)
+
 bool is_static			# Flag indicating whether the landing target is static or moving with respect to the ground
 
 bool rel_pos_valid		# Flag showing whether relative position is valid

msg/led_control.msg

@@ -1,6 +1,8 @@
 # LED control: control a single or multiple LED's.
 # These are the externally visible LED's, not the board LED's
 
+uint64 timestamp		# time since system start (microseconds)
+
 # colors
 uint8 COLOR_OFF = 0 # this is only used in the drivers
 uint8 COLOR_RED = 1

msg/log_message.msg

@@ -1,5 +1,6 @@
 # A logging message, output with PX4_{WARN,ERR,INFO}
 
+uint64 timestamp		# time since system start (microseconds)
+
 uint8 severity # log level (same as in the linux kernel, starting with 0)
 uint8[127] text
-

msg/manual_control_setpoint.msg

@@ -1,3 +1,4 @@
+uint64 timestamp		# time since system start (microseconds)
 
 uint8 SWITCH_POS_NONE = 0		# switch is not mapped
 uint8 SWITCH_POS_ON = 1			# switch activated (value = 1)

msg/mavlink_log.msg

@@ -1,3 +1,4 @@
+uint64 timestamp		# time since system start (microseconds)
 
 uint8[50] text
 uint8 severity # log level (same as in the linux kernel, starting with 0)

msg/mission.msg

@@ -1,4 +1,5 @@
+uint64 timestamp		# time since system start (microseconds)
 uint8 dataman_id	# default 0, there are two offboard storage places in the dataman: 0 or 1
 
 uint16 count		# count of the missions stored in the dataman
-int32 current_seq	# default -1, start at the one changed latest
+int32 current_seq	# default -1, start at the one changed latest

msg/mission_result.msg

@@ -1,3 +1,4 @@
+uint64 timestamp		# time since system start (microseconds)
 uint8 MISSION_EXECUTION_MODE_NORMAL = 0	# Execute the mission according to the planned items
 uint8 MISSION_EXECUTION_MODE_REVERSE = 1	# Execute the mission in reverse order, ignoring commands and converting all waypoints to normal ones
 uint8 MISSION_EXECUTION_MODE_FAST_FORWARD = 2	# Execute the mission as fast as possible, for example converting loiter waypoints to normal ones

msg/mount_orientation.msg

@@ -1 +1,2 @@
+uint64 timestamp		# time since system start (microseconds)
 float32[3] attitude_euler_angle	    # Attitude/direction of the mount as euler angles in rad

msg/multirotor_motor_limits.msg

@@ -1,3 +1,4 @@
+uint64 timestamp		# time since system start (microseconds)
 uint16 saturation_status	# Integer bit mask indicating which axes in the control mixer are saturated
 
 # 0 - True if the saturation status is valid

msg/obstacle_distance.msg

@@ -1,4 +1,5 @@
 # Obstacle distances in front of the sensor.
+uint64 timestamp		# time since system start (microseconds)
 
 uint8 sensor_type # Type from MAV_DISTANCE_SENSOR enum.
 uint8 MAV_DISTANCE_SENSOR_LASER = 0

msg/offboard_control_mode.msg

@@ -1,5 +1,7 @@
 # Off-board control mode
 
+uint64 timestamp		# time since system start (microseconds)
+
 bool ignore_thrust
 bool ignore_attitude
 bool ignore_bodyrate

msg/optical_flow.msg

@@ -1,6 +1,8 @@
 # Optical flow in XYZ body frame in SI units.
 # @see http://en.wikipedia.org/wiki/International_System_of_Units
 
+uint64 timestamp		# time since system start (microseconds)
+
 uint8 sensor_id			# id of the sensor emitting the flow value
 float32 pixel_flow_x_integral	# accumulated optical flow in radians where a positive value is produced by a RH rotation about the X body axis
 float32 pixel_flow_y_integral	# accumulated optical flow in radians where a positive value is produced by a RH rotation about the Y body axis
@@ -16,4 +18,4 @@ uint8 quality	# Average of quality of accumulated frames, 0: bad quality, 255: m
 
 float32 max_flow_rate # Magnitude of maximum angular which the optical flow sensor can measure reliably
 float32 min_ground_distance # Minimum distance from ground at which the optical flow sensor operates reliably
-float32 max_ground_distance # Maximum distance from ground at which the optical flow sensor operates reliably
+float32 max_ground_distance # Maximum distance from ground at which the optical flow sensor operates reliably

msg/parameter_update.msg

@@ -1,3 +1,5 @@
 # This message is used to notify the system about one or more parameter changes
 
+uint64 timestamp		# time since system start (microseconds)
+
 uint32 instance       # Instance count - constantly incrementing

msg/ping.msg

@@ -1,3 +1,4 @@
+uint64 timestamp			# time since system start (microseconds)
 uint64 ping_time			# Timestamp of the ping packet
 uint32 ping_sequence		# Sequence number of the ping packet
 uint32 dropped_packets		# Number of dropped ping packets

msg/position_setpoint.msg

@@ -1,5 +1,7 @@
 # this file is only used in the position_setpoint triple as a dependency
 
+uint64 timestamp	# time since system start (microseconds)
+
 uint8 SETPOINT_TYPE_POSITION=0	# position setpoint
 uint8 SETPOINT_TYPE_VELOCITY=1	# velocity setpoint
 uint8 SETPOINT_TYPE_LOITER=2	# loiter setpoint

msg/position_setpoint_triplet.msg

@@ -1,6 +1,8 @@
 # Global position setpoint triplet in WGS84 coordinates.
 # This are the three next waypoints (or just the next two or one).
 
+uint64 timestamp		# time since system start (microseconds)
+
 px4/position_setpoint previous
 px4/position_setpoint current
 px4/position_setpoint next