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microRTPS: add timesync for the agent side

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TSC21
2020-03-04 17:43:39 +00:00
committed by Nuno Marques
parent 152427ecdc
commit 170835f3f8
11 changed files with 331 additions and 7 deletions
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msg/timesync.msg
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uint64 timestamp # time since system start (microseconds)
uint8 seq # timesync msg sequence
int64 tc1 # time sync timestamp 1
int64 ts1 # time sync timestamp 2
uint64 remote_timestamp # remote system timestamp (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)
uint32 round_trip_time # round trip time of this timesync packet (microseconds)