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Add option to disable timesync and pass on timestamp #661
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Blacklist |
No, that won't work.
https://github.com/mavlink/mavros/blob/master/mavros/src/lib/uas_timesync.cpp#L47
It'll just pass on ros::Time::now, which we don't want. We need to add a OR conditional to the above line for this pass-through mode.
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I pushed a preliminary changeset here : https://github.com/mavlink/mavros/tree/uasys-upstreaming |
I think keeping it as PR little better. |
@mhkabir i merged to upstream, but w/o much testing. Can you test? |
This skips time sync when we are in simulation. keep an eye on issue mavlink#661 on mavlink/mavros because that is where they are working on adding a fix for this issue.
@mhkabir is this working ok to you now? |
This skips time sync when we are in simulation. keep an eye on issue mavlink#661 on mavlink/mavros because that is where they are working on adding a fix for this issue.
For many situations where autopilot stack is running on same board (e.g Snapdragon Flight, Raspberry Pi with Navio), the time-stamp of MAVLink messages does not need to be synchronised, since the time bases are the same.
@vooon What'd be the best way to implement (with a configurable parameter), this "passthrough" mode for timesync? We just want to copy the timestamp from the mavlink messages with proper units.
FYI @rkintada @Seanmatthews
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