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[WIP]: GPS clock set time updates

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- remove drivers/gps set clock callback
 - drivers/gps try to set sensor_gps timestamp_sample as closely as possible
 - move mavlink timesync to new lib/timesync library
 - sensors/vehicle_gps_position consume all sensor_gps sources and determine time GPS utc time offset using lib/timesync
 - once time offset is stable update system clock if sufficiently different
This commit is contained in:
Daniel Agar
2022-01-28 13:48:35 -05:00
parent 0104b84289
commit 3df000f77b
39 changed files with 599 additions and 428 deletions
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platforms/common/include/px4_platform_common/px4_work_queue/WorkQueueManager.hpp
+2 -2
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@@ -72,9 +72,9 @@ static constexpr wq_config_t INS1{"wq:INS1", 6000, -15};
static constexpr wq_config_t INS2{"wq:INS2", 6000, -16};
static constexpr wq_config_t INS3{"wq:INS3", 6000, -17};
static constexpr wq_config_t hp_default{"wq:hp_default", 1900, -18};
static constexpr wq_config_t hp_default{"wq:hp_default", 1900, -19};
static constexpr wq_config_t uavcan{"wq:uavcan", 3624, -19};
static constexpr wq_config_t uavcan{"wq:uavcan", 3624, -20};
static constexpr wq_config_t ttyS0{"wq:ttyS0", 1632, -21};
static constexpr wq_config_t ttyS1{"wq:ttyS1", 1632, -22};
platforms/common/include/px4_platform_common/tasks.h
+3 -3
View File
@@ -101,11 +101,11 @@ typedef struct {
#endif
// PX4 work queue starting high priority
#define PX4_WQ_HP_BASE (SCHED_PRIORITY_MAX - 15)
#define PX4_WQ_HP_BASE (SCHED_PRIORITY_MAX - 19)
// Fast drivers - they need to run as quickly as possible to minimize control
// latency.
#define SCHED_PRIORITY_FAST_DRIVER (SCHED_PRIORITY_MAX - 0)
#define SCHED_PRIORITY_FAST_DRIVER (PX4_WQ_HP_BASE + 1)
// Actuator outputs should run as soon as the rate controller publishes
// the actuator controls topic
@@ -136,7 +136,7 @@ typedef struct {
// Slow drivers should run at a rate where they do not impact the overall
// system execution
#define SCHED_PRIORITY_SLOW_DRIVER (PX4_WQ_HP_BASE - 35)
#define SCHED_PRIORITY_SLOW_DRIVER (PX4_WQ_HP_BASE - 18)
// The navigation system needs to execute regularly but has no realtime needs
#define SCHED_PRIORITY_NAVIGATION (SCHED_PRIORITY_DEFAULT + 5)