mavros::std_plugins::SystemTimePlugin Class Reference

System time plugin. More...

Inheritance diagram for mavros::std_plugins::SystemTimePlugin:

Public Types
using	TSM = UAS::timesync_mode
Public Types inherited from mavros::plugin::PluginBase
using	ConstPtr = boost::shared_ptr< PluginBase const >
using	HandlerCb = mavconn::MAVConnInterface::ReceivedCb
	generic message handler callback More...
using	HandlerInfo = std::tuple< mavlink::msgid_t, const char *, size_t, HandlerCb >
	Tuple: MSG ID, MSG NAME, message type into hash_code, message handler callback. More...
using	Ptr = boost::shared_ptr< PluginBase >
using	Subscriptions = std::vector< HandlerInfo >
	Subscriptions vector. More...

Public Member Functions
Subscriptions	get_subscriptions () override
	Return vector of MAVLink message subscriptions (handlers) More...
void	initialize (UAS &uas_) override
	Plugin initializer. More...
	SystemTimePlugin ()
Public Member Functions inherited from mavros::plugin::PluginBase
virtual	~PluginBase ()

Private Member Functions
void	add_sample (int64_t offset_ns)
void	add_timesync_observation (int64_t offset_ns, uint64_t local_time_ns, uint64_t remote_time_ns)
uint64_t	get_monotonic_now (void)
void	handle_system_time (const mavlink::mavlink_message_t *msg, mavlink::common::msg::SYSTEM_TIME &mtime)
void	handle_timesync (const mavlink::mavlink_message_t *msg, mavlink::common::msg::TIMESYNC &tsync)
void	reset_filter ()
void	send_timesync_msg (uint64_t tc1, uint64_t ts1)
bool	sync_converged ()
void	sys_time_cb (const ros::TimerEvent &event)
void	timesync_cb (const ros::TimerEvent &event)

Private Attributes
int	convergence_window
TimeSyncStatus	dt_diag
double	filter_alpha
float	filter_alpha_final
float	filter_alpha_initial
double	filter_beta
float	filter_beta_final
float	filter_beta_initial
int	high_deviation_count
int	high_rtt_count
int	max_cons_high_deviation
int	max_cons_high_rtt
int	max_deviation_sample
int	max_rtt_sample
ros::NodeHandle	nh
uint32_t	sequence
ros::Timer	sys_time_timer
double	time_offset
ros::Publisher	time_ref_pub
std::string	time_ref_source
double	time_skew
ros::Publisher	timesync_status_pub
ros::Timer	timesync_timer

Additional Inherited Members
Protected Member Functions inherited from mavros::plugin::PluginBase
virtual void	capabilities_cb (UAS::MAV_CAP capabilities)
virtual void	connection_cb (bool connected)
void	enable_capabilities_cb ()
void	enable_connection_cb ()
template<class _C >
HandlerInfo	make_handler (const mavlink::msgid_t id, void(_C::*fn)(const mavlink::mavlink_message_t *msg, const mavconn::Framing framing))
template<class _C , class _T >
HandlerInfo	make_handler (void(_C::*fn)(const mavlink::mavlink_message_t *, _T &))
	PluginBase ()
	Plugin constructor Should not do anything before initialize() More...
Protected Attributes inherited from mavros::plugin::PluginBase
UAS *	m_uas

Detailed Description

System time plugin.

Definition at line 137 of file sys_time.cpp.

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

• sys_time.cpp