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mavlink: timesync: readd timesync_status uORB to report Mavlink timesync

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This commit is contained in:
TSC21
2020-03-10 12:15:18 +00:00
committed by Nuno Marques
parent 250b6b24ab
commit 2568d9ae20
6 changed files with 17 additions and 15 deletions
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msg/templates/urtps/RtpsTopics.cpp.em
+1 -1
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@@ -169,10 +169,10 @@ bool RtpsTopics::getMsg(const uint8_t topic_ID, eprosima::fastcdr::Cdr &scdr)
// apply timestamp offset
_timesync->addOffset(msg.timestamp());
msg.serialize(scdr);
ret = true;
@[ if topic == 'Timesync' or topic == 'timesync']@
}
@[ end if]@
ret = true;
_@(topic)_sub.unlockMsg();
}
break;
msg/timesync.msg
+5 -10
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@@ -1,10 +1,5 @@
uint64 timestamp # time since system start (microseconds)
uint8 sys_id # id of the origin system
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)
uint64 timestamp # time since system start (microseconds)
uint8 sys_id # id of the origin system
uint8 seq # timesync msg sequence
int64 tc1 # time sync timestamp 1
int64 ts1 # time sync timestamp 2
msg/timesync_status.msg
+5
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@@ -0,0 +1,5 @@
uint64 timestamp # time since system start (microseconds)
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)
msg/tools/uorb_rtps_message_ids.yaml
+2
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@@ -291,6 +291,8 @@ rtps:
id: 129
- msg: vehicle_trajectory_bezier
id: 130
- msg: timesync_status
id: 131
########## multi topics: begin ##########
- msg: actuator_controls_0
id: 150