19749270208

Committed 27 Nov 2025 10:42PM UTC coverage: 48.21% (-0.01%) from 48.224%

Build # 19749270208

Build Type

push

github

Committed by

web-flow

Commit Message

Merge pull request #2719 from OwenCochell/cmake-pathfix

CMake custom command fails in certain build configurations

Run Details

17631 of 36571 relevant lines covered (48.21%)

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12.73

/src/mavsdk/core/timesync.cpp

#include "timesync.h"
#include "log.h"
#include "mavlink_address.h"
#include "system_impl.h"

// Partially based on: https://github.com/mavlink/mavros/blob/master/mavros/src/plugins/sys_time.cpp

namespace mavsdk {

Timesync::Timesync(SystemImpl& parent) : _system_impl(parent) {}

Timesync::~Timesync()
{
    _system_impl.unregister_all_mavlink_message_handlers(this);
}

void Timesync::enable()
{
    _is_enabled = true;
    _system_impl.register_mavlink_message_handler(
        MAVLINK_MSG_ID_TIMESYNC,
        [this](const mavlink_message_t& message) { process_timesync(message); },
        this);
}

void Timesync::do_work()
{
    if (!_is_enabled) {
        return;
    }

    if (_system_impl.get_time().elapsed_since_s(_last_time) >= TIMESYNC_SEND_INTERVAL_S) {
        if (_system_impl.is_connected()) {
            uint64_t now_ns = std::chrono::duration_cast<std::chrono::nanoseconds>(
                                  _system_impl.get_autopilot_time().now().time_since_epoch())
                                  .count();
            send_timesync(0, now_ns);
        } else {
            _autopilot_timesync_acquired = false;
        }
        _last_time = _system_impl.get_time().steady_time();
    }
}

void Timesync::process_timesync(const mavlink_message_t& message)
{
    mavlink_timesync_t timesync{};

    mavlink_msg_timesync_decode(&message, &timesync);

    int64_t now_ns = std::chrono::duration_cast<std::chrono::nanoseconds>(
                         _system_impl.get_autopilot_time().now().time_since_epoch())
                         .count();

    if (timesync.tc1 == 0 && _autopilot_timesync_acquired) {
        // Send synced time to remote system
        send_timesync(now_ns, timesync.ts1);
    } else if (timesync.tc1 > 0) {
        // Time offset between this system and the remote system is calculated assuming RTT for
        // the timesync packet is roughly equal both ways.
        set_timesync_offset((timesync.tc1 * 2 - (timesync.ts1 + now_ns)) / 2, timesync.ts1);
    }
}

void Timesync::send_timesync(uint64_t tc1, uint64_t ts1)
{
    _system_impl.queue_message([&](MavlinkAddress mavlink_address, uint8_t channel) {
        mavlink_message_t message;
        mavlink_msg_timesync_pack_chan(
            mavlink_address.system_id,
            mavlink_address.component_id,
            channel,
            &message,
            static_cast<int64_t>(tc1),
            static_cast<int64_t>(ts1),
            0,
            0);
        return message;
    });
}

void Timesync::set_timesync_offset(int64_t offset_ns, uint64_t start_transfer_local_time_ns)
{
    uint64_t now_ns = std::chrono::duration_cast<std::chrono::nanoseconds>(
                          _system_impl.get_autopilot_time().now().time_since_epoch())
                          .count();

    // Calculate the round trip time (RTT) it took the timesync packet to bounce back to us from
    // remote system
    uint64_t rtt_ns = now_ns - start_transfer_local_time_ns;

    if (rtt_ns < MAX_RTT_SAMPLE_MS * 1000000ULL) { // Only use samples with low RTT

        // Save time offset for other components to use
        _system_impl.get_autopilot_time().shift_time_by(std::chrono::nanoseconds(offset_ns));
        _autopilot_timesync_acquired = true;

        // Reset high RTT count after filter update
        _high_rtt_count = 0;
    } else {
        // Increment counter if round trip time is too high for accurate timesync
        _high_rtt_count++;

        if (_high_rtt_count > MAX_CONS_HIGH_RTT) {
            // Issue a warning to the user if the RTT is constantly high
            LogWarn() << "RTT too high for timesync: " << static_cast<double>(rtt_ns) / 1000000.0
                      << " ms.";

            // Reset counter
            _high_rtt_count = 0;
        }
    }
}

} // namespace mavsdk

1	#include "timesync.h"
2	#include "log.h"
3	#include "mavlink_address.h"
4	#include "system_impl.h"
5
6	// Partially based on: https://github.com/mavlink/mavros/blob/master/mavros/src/plugins/sys_time.cpp
7
8	namespace mavsdk {
9
10	Timesync::Timesync(SystemImpl& parent) : _system_impl(parent) {}	138✔
11
12	Timesync::~Timesync()	138✔
13	{
14	_system_impl.unregister_all_mavlink_message_handlers(this);	138✔
15	}	138✔
16
17	void Timesync::enable()	×
18	{
19	_is_enabled = true;	×
20	_system_impl.register_mavlink_message_handler(	×
21	MAVLINK_MSG_ID_TIMESYNC,
22	[this](const mavlink_message_t& message) { process_timesync(message); },	×
23	this);
24	}	×
25
26	void Timesync::do_work()	18,134✔
27	{
28	if (!_is_enabled) {	18,134✔
29	return;	18,134✔
30	}
31
32	if (_system_impl.get_time().elapsed_since_s(_last_time) >= TIMESYNC_SEND_INTERVAL_S) {	×
33	if (_system_impl.is_connected()) {	×
34	uint64_t now_ns = std::chrono::duration_cast<std::chrono::nanoseconds>(	×
35	_system_impl.get_autopilot_time().now().time_since_epoch())	×
36	.count();	×
37	send_timesync(0, now_ns);	×
38	} else {
39	_autopilot_timesync_acquired = false;	×
40	}
41	_last_time = _system_impl.get_time().steady_time();	×
42	}
43	}
44
45	void Timesync::process_timesync(const mavlink_message_t& message)	×
46	{
47	mavlink_timesync_t timesync{};	×
48
49	mavlink_msg_timesync_decode(&message, &timesync);	×
50
51	int64_t now_ns = std::chrono::duration_cast<std::chrono::nanoseconds>(	×
52	_system_impl.get_autopilot_time().now().time_since_epoch())	×
53	.count();	×
54
55	if (timesync.tc1 == 0 && _autopilot_timesync_acquired) {	×
56	// Send synced time to remote system
57	send_timesync(now_ns, timesync.ts1);	×
58	} else if (timesync.tc1 > 0) {	×
59	// Time offset between this system and the remote system is calculated assuming RTT for
60	// the timesync packet is roughly equal both ways.
61	set_timesync_offset((timesync.tc1 * 2 - (timesync.ts1 + now_ns)) / 2, timesync.ts1);	×
62	}
63	}	×
64
65	void Timesync::send_timesync(uint64_t tc1, uint64_t ts1)	×
66	{
67	_system_impl.queue_message([&](MavlinkAddress mavlink_address, uint8_t channel) {	×
68	mavlink_message_t message;
69	mavlink_msg_timesync_pack_chan(	×
70	mavlink_address.system_id,	×
71	mavlink_address.component_id,	×
72	channel,
73	&message,
74	static_cast<int64_t>(tc1),	×
75	static_cast<int64_t>(ts1),	×
76	0,
77	0);
78	return message;	×
79	});
80	}	×
81
82	void Timesync::set_timesync_offset(int64_t offset_ns, uint64_t start_transfer_local_time_ns)	×
83	{
84	uint64_t now_ns = std::chrono::duration_cast<std::chrono::nanoseconds>(	×
85	_system_impl.get_autopilot_time().now().time_since_epoch())	×
86	.count();	×
87
88	// Calculate the round trip time (RTT) it took the timesync packet to bounce back to us from
89	// remote system
90	uint64_t rtt_ns = now_ns - start_transfer_local_time_ns;	×
91
92	if (rtt_ns < MAX_RTT_SAMPLE_MS * 1000000ULL) { // Only use samples with low RTT	×
93
94	// Save time offset for other components to use
95	_system_impl.get_autopilot_time().shift_time_by(std::chrono::nanoseconds(offset_ns));	×
96	_autopilot_timesync_acquired = true;	×
97
98	// Reset high RTT count after filter update
99	_high_rtt_count = 0;	×
100	} else {
101	// Increment counter if round trip time is too high for accurate timesync
102	_high_rtt_count++;	×
103
104	if (_high_rtt_count > MAX_CONS_HIGH_RTT) {	×
105	// Issue a warning to the user if the RTT is constantly high
106	LogWarn() << "RTT too high for timesync: " << static_cast<double>(rtt_ns) / 1000000.0	×
107	<< " ms.";	×
108
109	// Reset counter
110	_high_rtt_count = 0;	×
111	}
112	}
113	}	×
114
115	} // namespace mavsdk

mavlink / MAVSDK / 19749270208

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