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Send the SyncOut fire time to time_reference #92

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Send the SyncOut fire time to time_reference #92

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9 changes: 9 additions & 0 deletions nodes/mtnode.py
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Original file line number Diff line number Diff line change
Expand Up @@ -139,6 +139,7 @@ def reset_vars(self):
self.imu_msg.angular_velocity_covariance = (-1., )*9
self.imu_msg.linear_acceleration_covariance = (-1., )*9
self.pub_imu = False
self.pub_syncout_timeref = False
self.raw_gps_msg = NavSatFix()
self.pub_raw_gps = False
self.pos_gps_msg = NavSatFix()
Expand Down Expand Up @@ -406,6 +407,9 @@ def fill_from_Stat(status):
self.pos_gps_msg.status.status = NavSatStatus.STATUS_NO_FIX
self.pos_gps_msg.status.service = 0

if status & 0x400000:
self.pub_syncout_timeref = True

def fill_from_Sample(ts):
'''Catch 'Sample' MTData blocks.'''
self.h.seq = ts
Expand Down Expand Up @@ -447,6 +451,11 @@ def fill_from_Timestamp(o):
publish_time_ref(sample_time_coarse, 0, 'sample time coarse')
except KeyError:
pass

if self.pub_syncout_timeref:
secs = self.h.stamp.secs
nsecs = self.h.stamp.nsecs
publish_time_ref(secs, nsecs, "Syncout fire")
# TODO find what to do with other kind of information
pass

Expand Down