MavlinkTimesync Class Reference

#include <mavlink_timesync.h>

Collaboration diagram for MavlinkTimesync:

Public Member Functions
	MavlinkTimesync (Mavlink *mavlink)
	~MavlinkTimesync ()=default
void	handle_message (const mavlink_message_t *msg)
uint64_t	sync_stamp (uint64_t usec)
	Convert remote timestamp to local hrt time (usec) Use synchronised time if available, monotonic boot time otherwise. More...

Protected Member Functions
void	add_sample (int64_t offset_us)
	Online exponential filter to smooth time offset. More...
bool	sync_converged ()
	Return true if the timesync algorithm converged to a good estimate, return false otherwise. More...
void	reset_filter ()
	Reset the exponential filter and its states. More...

Protected Attributes
uORB::PublicationMulti< timesync_status_s >	_timesync_status_pub {ORB_ID(timesync_status)}
uint32_t	_sequence {0}
double	_time_offset {0}
double	_time_skew {0}
double	_filter_alpha {ALPHA_GAIN_INITIAL}
double	_filter_beta {BETA_GAIN_INITIAL}
uint32_t	_high_deviation_count {0}
uint32_t	_high_rtt_count {0}
Mavlink *const	_mavlink

Private Member Functions
	MavlinkTimesync (MavlinkTimesync &)
MavlinkTimesync &	operator= (const MavlinkTimesync &)

Detailed Description

Definition at line 97 of file mavlink_timesync.h.

Constructor & Destructor Documentation

MavlinkTimesync() [1/2]

MavlinkTimesync::MavlinkTimesync ( Mavlink *  mavlink )

explicit

Definition at line 46 of file mavlink_timesync.cpp.

~MavlinkTimesync()

MavlinkTimesync::~MavlinkTimesync ( )

default

MavlinkTimesync() [2/2]

MavlinkTimesync::MavlinkTimesync ( MavlinkTimesync &  )

private

Member Function Documentation

add_sample()

void MavlinkTimesync::add_sample ( int64_t  offset_us )

protected

Online exponential filter to smooth time offset.

Definition at line 203 of file mavlink_timesync.cpp.

References _filter_alpha, _filter_beta, _sequence, _time_offset, and _time_skew.

Referenced by handle_message().

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handle_message()

void MavlinkTimesync::handle_message

(

const mavlink_message_t *

msg

)

Definition at line 52 of file mavlink_timesync.cpp.

References _filter_alpha, _filter_beta, _high_deviation_count, _high_rtt_count, _mavlink, _sequence, _time_offset, _timesync_status_pub, add_sample(), ALPHA_GAIN_FINAL, ALPHA_GAIN_INITIAL, BETA_GAIN_FINAL, BETA_GAIN_INITIAL, CONVERGENCE_WINDOW, Mavlink::get_channel(), hrt_absolute_time(), MAX_CONSECUTIVE_HIGH_DEVIATION, MAX_CONSECUTIVE_HIGH_RTT, MAX_DEVIATION_SAMPLE, MAX_RTT_SAMPLE, uORB::PublicationMulti< T >::publish(), PX4_EPOCH_SECS, reset_filter(), sync_converged(), and timesync_status_s::timestamp.

Referenced by MavlinkReceiver::Run().

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operator=()

MavlinkTimesync& MavlinkTimesync::operator= ( const MavlinkTimesync &  )

private

reset_filter()

void MavlinkTimesync::reset_filter ( )

protected

Reset the exponential filter and its states.

Definition at line 226 of file mavlink_timesync.cpp.

References _filter_alpha, _filter_beta, _high_deviation_count, _high_rtt_count, _sequence, _time_offset, _time_skew, ALPHA_GAIN_INITIAL, and BETA_GAIN_INITIAL.

Referenced by handle_message().

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sync_converged()

bool MavlinkTimesync::sync_converged ( )

protected

Return true if the timesync algorithm converged to a good estimate, return false otherwise.

Definition at line 197 of file mavlink_timesync.cpp.

References _sequence, and CONVERGENCE_WINDOW.

Referenced by handle_message(), and sync_stamp().

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sync_stamp()

uint64_t MavlinkTimesync::sync_stamp

(

uint64_t

usec

)

Convert remote timestamp to local hrt time (usec) Use synchronised time if available, monotonic boot time otherwise.

Definition at line 185 of file mavlink_timesync.cpp.

References _time_offset, hrt_absolute_time(), and sync_converged().

Referenced by MavlinkReceiver::handle_message_att_pos_mocap(), MavlinkReceiver::handle_message_landing_target(), MavlinkReceiver::handle_message_odometry(), and MavlinkReceiver::handle_message_vision_position_estimate().

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Member Data Documentation

_filter_alpha

double MavlinkTimesync::_filter_alpha {ALPHA_GAIN_INITIAL}

protected

Definition at line 144 of file mavlink_timesync.h.

Referenced by add_sample(), handle_message(), and reset_filter().

_filter_beta

double MavlinkTimesync::_filter_beta {BETA_GAIN_INITIAL}

protected

Definition at line 145 of file mavlink_timesync.h.

Referenced by add_sample(), handle_message(), and reset_filter().

_high_deviation_count

uint32_t MavlinkTimesync::_high_deviation_count {0}

protected

Definition at line 148 of file mavlink_timesync.h.

Referenced by handle_message(), and reset_filter().

_high_rtt_count

uint32_t MavlinkTimesync::_high_rtt_count {0}

protected

Definition at line 149 of file mavlink_timesync.h.

Referenced by handle_message(), and reset_filter().

_mavlink

Mavlink* const MavlinkTimesync::_mavlink

protected

Definition at line 151 of file mavlink_timesync.h.

Referenced by handle_message().

_sequence

uint32_t MavlinkTimesync::_sequence {0}

protected

Definition at line 137 of file mavlink_timesync.h.

Referenced by add_sample(), handle_message(), reset_filter(), and sync_converged().

_time_offset

double MavlinkTimesync::_time_offset {0}

protected

Definition at line 140 of file mavlink_timesync.h.

Referenced by add_sample(), handle_message(), reset_filter(), and sync_stamp().

_time_skew

double MavlinkTimesync::_time_skew {0}

protected

Definition at line 141 of file mavlink_timesync.h.

Referenced by add_sample(), and reset_filter().

_timesync_status_pub

uORB::PublicationMulti<timesync_status_s> MavlinkTimesync::_timesync_status_pub {ORB_ID(timesync_status)}

protected

Definition at line 135 of file mavlink_timesync.h.

Referenced by handle_message().

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The documentation for this class was generated from the following files:

• src/modules/mavlink/mavlink_timesync.h
• src/modules/mavlink/mavlink_timesync.cpp