px4-firmware/msg/PpsCapture.msg

uint64 timestamp			  # time since system start (microseconds) at PPS capture event
uint64 rtc_timestamp		# Corrected GPS UTC timestamp at PPS capture event
uint8  pps_rate_exceeded_counter # Increments when PPS dt < 50ms
Fix PPS based UTC timestamp in camera trigger and capture messages The existing implementation has about 100ms difference to a reference clock. With the changes this error less than 25us. - Use sensor_gps messages with hrt timestamps as RTC reference and not the system realtime clock. The PPS interrupt can then be aligned with the GPS clock system. - Keep fallback based on system RTC when no PPS pulse was captured 2021-11-11 06:05:03 -04:00			`uint64 timestamp # time since system start (microseconds) at PPS capture event`
Remove PPS GPIO interrupt when the rate is higher than 20Hz If the PPS GPIO is exposed to a signal with high frequency changes, a lot of interrupts are scheduled and the handling of these calls can worst-case starve flight critical processes leading to a loss of control. Since PPS is not flight critical, we now give up the PPS functionality and stop the interrupts to prevent the starvation of other processes. 2022-04-22 06:59:06 -03:00			`uint64 rtc_timestamp # Corrected GPS UTC timestamp at PPS capture event`
			`uint8 pps_rate_exceeded_counter # Increments when PPS dt < 50ms`