mavlink: timesync: readd timesync_status uORB to report Mavlink timesync

PX4 · Mar 9, 2020 · a61b7fe · a61b7fe
1 parent fef82f8
commit a61b7fe
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Showing 6 changed files with 17 additions and 15 deletions.
diff --git a/msg/templates/urtps/RtpsTopics.cpp.em b/msg/templates/urtps/RtpsTopics.cpp.em
@@ -169,10 +169,10 @@ bool RtpsTopics::getMsg(const uint8_t topic_ID, eprosima::fastcdr::Cdr &scdr)
                 // apply timestamp offset
                 _timesync->addOffset(msg.timestamp());
                 msg.serialize(scdr);
+                ret = true;
 @[    if topic == 'Timesync' or topic == 'timesync']@
                 }
 @[    end if]@
-                ret = true;
                 _@(topic)_sub.unlockMsg();
             }
         break;

diff --git a/msg/timesync.msg b/msg/timesync.msg
@@ -1,10 +1,5 @@
-uint64 timestamp		# time since system start (microseconds)
-uint8 sys_id                    # id of the origin system
-uint8 seq                       # timesync msg sequence
-int64 tc1                       # time sync timestamp 1
-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)
+uint64 timestamp	       # time since system start (microseconds)
+uint8 sys_id                  # id of the origin system
+uint8 seq		       # timesync msg sequence
+int64 tc1		       # time sync timestamp 1
+int64 ts1		       # time sync timestamp 2
diff --git a/msg/timesync_status.msg b/msg/timesync_status.msg
@@ -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)
diff --git a/msg/tools/uorb_rtps_message_ids.yaml b/msg/tools/uorb_rtps_message_ids.yaml
@@ -291,6 +291,8 @@ rtps:
     id: 129
   - msg: vehicle_trajectory_bezier
     id: 130
+  - msg: timesync_status
+    id: 131
   ########## multi topics: begin ##########
   - msg: actuator_controls_0
     id: 150

diff --git a/src/modules/mavlink/mavlink_timesync.cpp b/src/modules/mavlink/mavlink_timesync.cpp
@@ -138,15 +138,15 @@ MavlinkTimesync::handle_message(const mavlink_message_t *msg)
 				}
 
 				// Publish status message
-				timesync_s tsync_status{};
+				timesync_status_s tsync_status{};
 
 				tsync_status.timestamp = hrt_absolute_time();
 				tsync_status.remote_timestamp = tsync.tc1 / 1000ULL;
 				tsync_status.observed_offset = offset_us;
 				tsync_status.estimated_offset = (int64_t)_time_offset;
 				tsync_status.round_trip_time = rtt_us;
 
-				_timesync_pub.publish(tsync_status);
+				_timesync_status_pub.publish(tsync_status);
 			}
 
 			break;

diff --git a/src/modules/mavlink/mavlink_timesync.h b/src/modules/mavlink/mavlink_timesync.h
@@ -43,7 +43,7 @@
 #include "mavlink_bridge_header.h"
 
 #include <uORB/PublicationMulti.hpp>
-#include <uORB/topics/timesync.h>
+#include <uORB/topics/timesync_status.h>
 
 #include <drivers/drv_hrt.h>
 
@@ -132,7 +132,7 @@ class MavlinkTimesync
 	 */
 	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};