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New timesync interface import. Not working yet.

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This commit is contained in:
M.H.Kabir
2014-12-15 14:23:27 +05:30
parent dfc368ad46
commit e1bdc4a0fb
5 changed files with 598 additions and 505 deletions
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src/modules/mavlink/mavlink_receiver.h
+14
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@@ -124,12 +124,24 @@ private:
void handle_message_manual_control(mavlink_message_t *msg);
void handle_message_heartbeat(mavlink_message_t *msg);
void handle_message_request_data_stream(mavlink_message_t *msg);
void handle_message_system_time(mavlink_message_t *msg);
void handle_message_timesync(mavlink_message_t *msg);
void handle_message_hil_sensor(mavlink_message_t *msg);
void handle_message_hil_gps(mavlink_message_t *msg);
void handle_message_hil_state_quaternion(mavlink_message_t *msg);
void *receive_thread(void *arg);
/**
* Convert remote nsec timestamp to local hrt time (usec)
*/
uint64_t to_hrt(uint64_t nsec);
/**
* Exponential moving average filter to smooth time offset
*/
void average_time_offset(uint64_t offset_ns);
mavlink_status_t status;
struct vehicle_local_position_s hil_local_pos;
struct vehicle_control_mode_s _control_mode;
@@ -164,6 +176,8 @@ private:
bool _hil_local_proj_inited;
float _hil_local_alt0;
struct map_projection_reference_s _hil_local_proj_ref;
double _time_offset_avg_alpha;
uint64_t _time_offset;
/* do not allow copying this class */
MavlinkReceiver(const MavlinkReceiver&);