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mavlink: timesync: readd timesync_status uORB to report Mavlink timesync

This commit is contained in:
TSC21 2020-03-09 13:23:38 +00:00 committed by Nuno Marques
parent 250b6b24ab
commit 2568d9ae20
6 changed files with 17 additions and 15 deletions
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2
msg/templates/urtps/RtpsTopics.cpp.em
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@ -169,10 +169,10 @@ bool RtpsTopics::getMsg(const uint8_t topic_ID, eprosima::fastcdr::Cdr &scdr)
// apply timestamp offset // apply timestamp offset
_timesync->addOffset(msg.timestamp()); _timesync->addOffset(msg.timestamp());
msg.serialize(scdr); msg.serialize(scdr);
ret = true;
@[ if topic == 'Timesync' or topic == 'timesync']@ @[ if topic == 'Timesync' or topic == 'timesync']@
} }
@[ end if]@ @[ end if]@
ret = true;
_@(topic)_sub.unlockMsg(); _@(topic)_sub.unlockMsg();
} }
break; break;

15
msg/timesync.msg
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@ -1,10 +1,5 @@
uint64 timestamp # time since system start (microseconds) uint64 timestamp # time since system start (microseconds)
uint8 sys_id # id of the origin system uint8 sys_id # id of the origin system
uint8 seq # timesync msg sequence uint8 seq # timesync msg sequence
int64 tc1 # time sync timestamp 1 int64 tc1 # time sync timestamp 1
int64 ts1 # time sync timestamp 2 int64 ts1 # time sync timestamp 2
uint64 remote_timestamp # remote system timestamp (microseconds)
int64 observed_offset # raw time offset directly observed from this timesync packet (microseconds)
int64 estimated_offset # smoothed time offset between companion system and PX4 (microseconds)
uint32 round_trip_time # round trip time of this timesync packet (microseconds)

5
msg/timesync_status.msg Normal file
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@ -0,0 +1,5 @@
uint64 timestamp # time since system start (microseconds)
uint64 remote_timestamp # remote system timestamp (microseconds)
int64 observed_offset # raw time offset directly observed from this timesync packet (microseconds)
int64 estimated_offset # smoothed time offset between companion system and PX4 (microseconds)
uint32 round_trip_time # round trip time of this timesync packet (microseconds)

2
msg/tools/uorb_rtps_message_ids.yaml
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@ -291,6 +291,8 @@ rtps:
id: 129 id: 129
- msg: vehicle_trajectory_bezier - msg: vehicle_trajectory_bezier
id: 130 id: 130
- msg: timesync_status
id: 131
########## multi topics: begin ########## ########## multi topics: begin ##########
- msg: actuator_controls_0 - msg: actuator_controls_0
id: 150 id: 150

4
src/modules/mavlink/mavlink_timesync.cpp
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@ -138,7 +138,7 @@ MavlinkTimesync::handle_message(const mavlink_message_t *msg)
} }
// Publish status message // Publish status message
timesync_s tsync_status{}; timesync_status_s tsync_status{};
tsync_status.timestamp = hrt_absolute_time(); tsync_status.timestamp = hrt_absolute_time();
tsync_status.remote_timestamp = tsync.tc1 / 1000ULL; tsync_status.remote_timestamp = tsync.tc1 / 1000ULL;
@ -146,7 +146,7 @@ MavlinkTimesync::handle_message(const mavlink_message_t *msg)
tsync_status.estimated_offset = (int64_t)_time_offset; tsync_status.estimated_offset = (int64_t)_time_offset;
tsync_status.round_trip_time = rtt_us; tsync_status.round_trip_time = rtt_us;
_timesync_pub.publish(tsync_status); _timesync_status_pub.publish(tsync_status);
} }
break; break;

4
src/modules/mavlink/mavlink_timesync.h
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@ -43,7 +43,7 @@
#include "mavlink_bridge_header.h" #include "mavlink_bridge_header.h"
#include <uORB/PublicationMulti.hpp> #include <uORB/PublicationMulti.hpp>
#include <uORB/topics/timesync.h> #include <uORB/topics/timesync_status.h>
#include <drivers/drv_hrt.h> #include <drivers/drv_hrt.h>
@ -132,7 +132,7 @@ protected:
*/ */
void reset_filter(); void reset_filter();
uORB::PublicationMulti<timesync_s> _timesync_pub{ORB_ID(timesync)}; uORB::PublicationMulti<timesync_status_s> _timesync_status_pub{ORB_ID(timesync_status)};
uint32_t _sequence{0}; uint32_t _sequence{0};