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The existing implementation has about 100ms difference to a reference clock. With the changes this error less than 25us. - Use sensor_gps messages with hrt timestamps as RTC reference and not the system realtime clock. The PPS interrupt can then be aligned with the GPS clock system. - Keep fallback based on system RTC when no PPS pulse was captured
2 lines
155 B
Plaintext
2 lines
155 B
Plaintext
uint64 timestamp # time since system start (microseconds) at PPS capture event
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uint64 rtc_timestamp # Corrected GPS UTC timestamp at PPS capture event |