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GlobalTimeSync message update

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Pavel Kirienko
2014-03-20 20:41:47 +04:00
parent de64f2aef3
commit 9c02ce2e05
1 changed files with 9 additions and 6 deletions
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dsdl/uavcan/protocol/0.GlobalTimeSync.uavcan
+9 -6
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@@ -1,11 +1,14 @@
#
# Time synchronization; publish frequency 0.5 Hz.
# Global time synchronization.
# Should be UTC time, not GPS time nor local time.
# Any node that publishes a timestamped data must use this time reference.
# Multiple nodes can provide the time synchronization concurrently.
# Any node that publishes timestamped data must use this time reference.
# This message is not intended for unicast transfers.
#
uint16 PUBLICATION_PERIOD_MS = 2000
uint16 MAX_PUBLICATION_PERIOD_MS = 2000
uint16 DEFAULT_PUBLICATION_PERIOD_MS = 1000
uint16 PUBLISHER_TIMEOUT_MS = 10000
uavcan.Timestamp timestamp # Must be known
float16 timestamp_variance # Units of the timestamp ^2
# UTC time in microseconds when the PREVIOUS GlobalTimeSync message was transmitted.
# If this message is the first one, this field must be zero.
uint64 prev_utc_usec