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unl-nimbus-lab / pymavswarm

Python library used to safely control drone swarms and drone fleets with MAVLink
https://pymavswarm.readthedocs.io
GNU General Public License v3.0
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Record State Message Timestamp #72

Closed evan-palmer closed 2 years ago

evan-palmer commented 2 years ago

Is your feature request related to a problem? Please describe. There is currently no timestamp associated with the time that a state message was created and sent. This prevents integrating state estimation and safety verification.

Describe the solution you'd like Record the timestamp provided by the GPS message to use for state estimation.

Describe alternatives you've considered It may also be possible to explore recording the timestamp saved within the message signature.

evan-palmer commented 2 years ago

It may also be worth exploring the SYSTEM_TIME message

evan-palmer commented 2 years ago

Rather than implementing this via a SYSTEM_TIME message or using the time since boot, it would be better to implement a time synchronization. Furthermore, because the goal behind recording the message timestamp is to perform a time-sync this should be targeted. This issue will be closed in favor of a more precise specification.