Merge remote-tracking branch 'upstream/master' into fp-time

messaging/__init__.py

@@ -24,13 +24,6 @@
 NO_TRAVERSAL_LIMIT = 2**64-1
 AVG_FREQ_HISTORY = 100
 
-# sec_since_boot is faster, but allow to run standalone too
-try:
-  from common.realtime import sec_since_boot
-except ImportError:
-  sec_since_boot = time.time
-  print("Warning, using python time.time() instead of faster sec_since_boot")
-
 context = Context()
 
 
@@ -50,7 +43,7 @@ def log_from_bytes(dat: bytes) -> capnp.lib.capnp._DynamicStructReader:
 
 def new_message(service: Optional[str] = None, size: Optional[int] = None) -> capnp.lib.capnp._DynamicStructBuilder:
   dat = log.Event.new_message()
-  dat.logMonoTime = int(sec_since_boot() * 1e9)
+  dat.logMonoTime = int(time.monotonic() * 1e9)
   dat.valid = True
   if service is not None:
     if size is None:
@@ -213,7 +206,7 @@ def update(self, timeout: int = 1000) -> None:
     # non-blocking receive for non-polled sockets
     for s in self.non_polled_services:
       msgs.append(recv_one_or_none(self.sock[s]))
-    self.update_msgs(sec_since_boot(), msgs)
+    self.update_msgs(time.monotonic(), msgs)
 
   def update_msgs(self, cur_time: float, msgs: List[capnp.lib.capnp._DynamicStructReader]) -> None:
     self.frame += 1

services.py

@@ -25,7 +25,7 @@ def __init__(self, port: int, should_log: bool, frequency: float, decimation: Op
   "gyroscope2": (True, 100., 100),
   "accelerometer": (True, 104., 104),
   "accelerometer2": (True, 100., 100),
-  "magnetometer": (True, 100., 100),
+  "magnetometer": (True, 25., 25),
   "lightSensor": (True, 100., 100),
   "temperatureSensor": (True, 100., 100),
   "gpsNMEA": (True, 9.),