ardupilot/libraries/AP_RTC/JitterCorrection.h

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/*
timestamp jitter correction class
*/
#pragma once
class JitterCorrection {
public:
// constructor
JitterCorrection(uint16_t max_lag_ms=500, uint16_t convergence_loops=100);
// correct an offboard timestamp to a jitter-free local
// timestamp. See JitterCorrection.cpp for details
uint64_t correct_offboard_timestamp_usec(uint64_t offboard_usec, uint64_t local_usec);
// correct an offboard timestamp to a jitter-free local
// timestamp. See JitterCorrection.cpp for details
uint32_t correct_offboard_timestamp_msec(uint32_t offboard_ms, uint32_t local_ms);
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private:
const uint16_t max_lag_ms;
const uint16_t convergence_loops;
int64_t link_offset_usec;
int64_t min_sample_us;
bool initialised;
uint16_t min_sample_counter;
};