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SamuelDudley/TIME_SYNC_NTP.xml

Created March 29, 2017 23:20
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Proposed message definition for new ArduPilot TIMESYNC message
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TIME_SYNC_NTP.xml
<!-- Round trip time synchronization message -->
<message id="TBD" name="TIME_SYNC_NTP">
<description>Time synchronization message based on NTP implementation</description>
<field name="target_system" type="uint8_t">System ID</field>
<field name="target_component" type="uint8_t">Component ID</field>
<field type="uint64_t" name="t1_usec">Time sync timestamp 1 (microseconds)</field>
<field type="uint64_t" name="t2_usec">Time sync timestamp 2 (microseconds)</field>
<field type="uint64_t" name="t3_usec">Time sync timestamp 3 (microseconds)</field>
<field type="uint64_t" name="t4_usec">Time sync timestamp 4 (microseconds)</field>
<field type="uint8_t" name="mode">0: Basic symmetric mode (default), 1: Interleaved symmetric mode</field>
</message>
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SamuelDudley commented Mar 29, 2017 •
edited
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useful info: https://www.eecis.udel.edu/~mills/onwire.html
offset = [(T2 - T1) + (T3 - T4)] / 2
delay = (T4 - T1) - (T3 - T2)


Basic Symmetric Mode


Interleaved Symmetric Mode

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