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Mavlink set last sent timestamp to space out initial publication

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- remove QURT defines no longer required
This commit is contained in:
Daniel Agar
2018-06-09 13:38:44 +02:00
committed by Lorenz Meier
parent 98465171aa
commit a99f75dde2
16 changed files with 75 additions and 133 deletions
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src/modules/mavlink/mavlink_timesync.h
+21 -19
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@@ -50,7 +50,9 @@
#include <math.h>
#include <float.h>
#define PX4_EPOCH_SECS 1234567890ULL
using namespace time_literals;
static constexpr time_t PX4_EPOCH_SECS = 1234567890ULL;
// Filter gains
//
@@ -62,10 +64,10 @@
// tighter estimation of the skew (derivative), but will negatively affect how fast the
// filter reacts to clock skewing (e.g cause by temperature changes to the oscillator).
// Larger values will cause large-amplitude oscillations.
#define ALPHA_GAIN_INITIAL 0.05
#define BETA_GAIN_INITIAL 0.05
#define ALPHA_GAIN_FINAL 0.003
#define BETA_GAIN_FINAL 0.003
static constexpr double ALPHA_GAIN_INITIAL = 0.05;
static constexpr double BETA_GAIN_INITIAL = 0.05;
static constexpr double ALPHA_GAIN_FINAL = 0.003;
static constexpr double BETA_GAIN_FINAL = 0.003;
// Filter gain scheduling
//
@@ -73,7 +75,7 @@
// exhanged timesync packets is less than CONVERGENCE_WINDOW. A lower value will
// allow the timesync to converge faster, but with potentially less accurate initial
// offset and skew estimates.
#define CONVERGENCE_WINDOW 500
static constexpr uint32_t CONVERGENCE_WINDOW = 500;
// Outlier rejection and filter reset
//
@@ -85,10 +87,10 @@
// of such events in a row will reset the filter. This usually happens only due to a time jump
// on the remote system.
// TODO : automatically determine these using ping statistics?
#define MAX_RTT_SAMPLE 10000ULL // 10ms
#define MAX_DEVIATION_SAMPLE 100000ULL // 100ms
#define MAX_CONSECUTIVE_HIGH_RTT 5
#define MAX_CONSECUTIVE_HIGH_DEVIATION 5
static constexpr uint64_t MAX_RTT_SAMPLE = 10_ms;
static constexpr uint64_t MAX_DEVIATION_SAMPLE = 100_ms;
static constexpr uint32_t MAX_CONSECUTIVE_HIGH_RTT = 5;
static constexpr uint32_t MAX_CONSECUTIVE_HIGH_DEVIATION = 5;
class Mavlink;
@@ -130,21 +132,21 @@ protected:
*/
void reset_filter();
orb_advert_t _timesync_status_pub;
orb_advert_t _timesync_status_pub{nullptr};
uint32_t _sequence;
uint32_t _sequence{0};
// Timesync statistics
double _time_offset;
double _time_skew;
double _time_offset{0};
double _time_skew{0};
// Filter parameters
double _filter_alpha;
double _filter_beta;
double _filter_alpha{ALPHA_GAIN_INITIAL};
double _filter_beta{BETA_GAIN_INITIAL};
// Outlier rejection and filter reset
uint32_t _high_deviation_count;
uint32_t _high_rtt_count;
uint32_t _high_deviation_count{0};
uint32_t _high_rtt_count{0};
Mavlink *_mavlink;
Mavlink *const _mavlink;
};