PPS capture driver (not PPS clock synchronization) #18849
Merged
Commits on Dec 16, 2021
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boards/fmu-v5x: allocating PPS pin
- start pps_capture before pwm_out
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PPS capture: Add a param to enable / disable PPS capture module. This…
… is important, since it takes over an FMU pin which can no longer be used for actuator output.
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Set rtc_edge_time also in capture_callback
When using an FMU channel as PPS capture GPIO, the rtc_edge_time is now set as well. The delay between actual capture and callback is compensated with the elapsed time of the rtc clock.
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Fix camera trigger via MAVLink when camera capture feedback is enabled
- camera_trigger module always publishes the camera_trigger msg (independent of the camera feedback) - Use camera_trigger msg and set the feedback flag - Subscribing modules determine if the message is relevant based on the feedback message
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Fix PPS based UTC timestamp in camera trigger and capture messages
The existing implementation has about 100ms difference to a reference clock. With the changes this error less than 25us. - Use sensor_gps messages with hrt timestamps as RTC reference and not the system realtime clock. The PPS interrupt can then be aligned with the GPS clock system. - Keep fallback based on system RTC when no PPS pulse was captured
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