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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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src/modules/mavlink/mavlink_timesync.cpp
+2 -2
View File
@@ -138,7 +138,7 @@ MavlinkTimesync::handle_message(const mavlink_message_t *msg)
}
// Publish status message
timesync_status_s tsync_status{};
timesync_s tsync_status{};
tsync_status.timestamp = hrt_absolute_time();
tsync_status.remote_timestamp = tsync.tc1 / 1000ULL;
@@ -146,7 +146,7 @@ MavlinkTimesync::handle_message(const mavlink_message_t *msg)
tsync_status.estimated_offset = (int64_t)_time_offset;
tsync_status.round_trip_time = rtt_us;
_timesync_status_pub.publish(tsync_status);
_timesync_pub.publish(tsync_status);
}
break;
src/modules/mavlink/mavlink_timesync.h
+2 -2
View File
@@ -43,7 +43,7 @@
#include "mavlink_bridge_header.h"
#include <uORB/PublicationMulti.hpp>
#include <uORB/topics/timesync_status.h>
#include <uORB/topics/timesync.h>
#include <drivers/drv_hrt.h>
@@ -132,7 +132,7 @@ protected:
*/
void reset_filter();
uORB::PublicationMulti<timesync_status_s> _timesync_status_pub{ORB_ID(timesync_status)};
uORB::PublicationMulti<timesync_s> _timesync_pub{ORB_ID(timesync)};
uint32_t _sequence{0};