mirror of https://github.com/ArduPilot/ardupilot
24 lines
590 B
C
24 lines
590 B
C
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/*
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timestamp jitter correction class
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*/
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#pragma once
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class JitterCorrection {
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public:
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// constructor
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JitterCorrection(uint16_t max_lag_ms=500, uint16_t convergence_loops=100);
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// correct an offboard timestamp to a jitter-free local
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// timestamp. See JitterCorrection.cpp for details
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uint64_t correct_offboard_timestamp_usec(uint64_t offboard_usec, uint64_t local_usec);
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private:
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const uint16_t max_lag_ms;
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const uint16_t convergence_loops;
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int64_t link_offset_usec;
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int64_t min_sample_us;
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bool initialised;
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uint16_t min_sample_counter;
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};
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