I’m interested in improving the timestamping of MAVLINK log messages using the time reported by onboard GPS. I’m in need of very high timing accuracy and precision.
Each SensorGps log message correlates a time from the GPS, “time_utc_usec” with the system time “timestamp”. I’m wondering if I can, in my post-flight analysis, use that correlation of UTC time to drone timestamp to turn drone timestamps on other log messages (ex messages recording orientation information) into GPS-reported UTC times.
What is the approximate latency between the GPS reporting a UTC time and PX4 generating the onboard timestamp that gets written into the log message? Does PX4 correct for this latency in some way?