This repository was archived by the owner on Feb 8, 2023. It is now read-only.
Dashing: Periodically resynchronize time.#34
Merged
Conversation
We are currently using the device timestamps to determine the "local" time that should be attached to the reading. This works for a while, but since the crystal on the IMU and the crystal on the local machine are separate, they eventually drift apart. Fix this by periodically resynchronizing between the local time and the device time. There will always be some difference between them, but with the algorithm implemented here we know that that difference will be <= 1000/imu_rate (and usually will be a lot less). Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
clalancette
changed the title
Collaborator
Author
|
Thanks for merging! |
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to subscribe to this conversation on GitHub.
Already have an account?
Sign in.
2 participants
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
We are currently using the device timestamps to determine the
"local" time that should be attached to the reading. This
works for a while, but since the crystal on the IMU and the
crystal on the local machine are separate, they eventually
drift apart. Fix this by periodically resynchronizing between
the local time and the device time. There will always be
some difference between them, but with the algorithm implemented
here we know that that difference will be <= 1000/imu_rate (and
usually will be a lot less).
This should supersede #30 and fix #25
Signed-off-by: Chris Lalancette clalancette@openrobotics.org