# Time sync not working / wrong mavros timestamp? **URL:** \ **Category:** PX4 Autopilot\ **Created:** [January 4, 2018, 10:43am UTC](https://discuss.px4.io/t/time-sync-not-working-wrong-mavros-timestamp/5309 "2018-01-04T10:43:26Z")\ **Posts on this page:** 3\ **Page:** 1
**Author:** ![MarLi](https://discuss.px4.io/letter_avatar_proxy/v4/letter/m/57b2e6/32.png) [@MarLi](https://discuss.px4.io/u/MarLi)\ **Post date:** [January 4, 2018, 10:43am UTC](https://discuss.px4.io/t/time-sync-not-working-wrong-mavros-timestamp/5309/1 "2018-01-04T10:43:27Z")
Time sync not working / Latency to high? Hi, I’ve got some troubles sending mocap data to the FCU. I’m using a PixRacer with the latest stable Firmware-Build and the following parameters, to enable the vision fusion in the LPE: > SYS\_MC\_EST\_GROUP, 1 > LPE\_FUSION, 148 > ATT\_EXT\_HDG\_M, 2 The mocap data is streamed to the FCU via mavros by an development computer. However I continously get a mocap timeout followed by a new mocap position init: > [INFO] [1515059074.509043320]: FCU: [lpe] mocap position init: 2.91, 0.67, 0.00 m > [INFO] [1515059074.511829727]: FCU: [lpe] mocap timeout > [INFO] [1515059074.515107459]: FCU: [lpe] mocap position init: 2.45, 1.69, 0.00 m > [INFO] [1515059074.672871313]: FCU: [lpe] mocap position init: 1.78, -2.37, 0.00 m > [INFO] [1515059074.682006186]: FCU: [lpe] mocap timeout Consequenty the local\_position does not follow the mocap data and I also can’t see the streamed mocap data in the log files. I checked that the time synchronization is enabled, but I’m not sure whether it is working correctly. I also tried different baudrates and reducing the mocap streaming rate to 7 Hz (defautl 25 Hz), but without success. Could anyone provide some help for this issue? 🙂 Below you can find the mavros log, an extract from the /diagnostic and the /mavros/time\_reference topics. Thanks a lot in advance! **mavros log** > mli@ubuntu:~$ roslaunch mavros px4.launch fcu\_url:=/dev/ttyACM0:921600 gcs\_url:=udp://@127.0.0.1 > … logging to /home/mli/.ros/log/38bc6fd4-f137-11e7-84f0-000c290399b7/roslaunch-ubuntu-19760.log > Checking log directory for disk usage. This may take awhile. > Press Ctrl-C to interrupt > Done checking log file disk usage. Usage is \<1GB. > started roslaunch server [http://ubuntu:42379/](http://ubuntu:42379/) > SUMMARY > CLEAR PARAMETERS > > - /mavros/ > PARAMETERS > > - /mavros/cmd/use\_comp\_id\_system\_control: False > - /mavros/conn/heartbeat\_rate: 5.0 > - /mavros/conn/system\_time\_rate: 5.0 > - /mavros/conn/timeout: 10.0 > - /mavros/conn/timesync\_rate: 5.0 > - /mavros/distance\_sensor/hrlv\_ez4\_pub/field\_of\_view: 0.0 > - /mavros/distance\_sensor/hrlv\_ez4\_pub/frame\_id: hrlv\_ez4\_sonar > - /mavros/distance\_sensor/hrlv\_ez4\_pub/id: 0 > - /mavros/distance\_sensor/hrlv\_ez4\_pub/orientation: ROLL\_180 > - /mavros/distance\_sensor/hrlv\_ez4\_pub/send\_tf: True > - /mavros/distance\_sensor/hrlv\_ez4\_pub/sensor\_position/x: 0.0 > - /mavros/distance\_sensor/hrlv\_ez4\_pub/sensor\_position/y: 0.0 > - /mavros/distance\_sensor/hrlv\_ez4\_pub/sensor\_position/z: -0.1 > - /mavros/distance\_sensor/laser\_1\_sub/id: 3 > - /mavros/distance\_sensor/laser\_1\_sub/orientation: ROLL\_180 > - /mavros/distance\_sensor/laser\_1\_sub/subscriber: True > - /mavros/distance\_sensor/lidarlite\_pub/field\_of\_view: 0.0 > - /mavros/distance\_sensor/lidarlite\_pub/frame\_id: lidarlite\_laser > - /mavros/distance\_sensor/lidarlite\_pub/id: 1 > - /mavros/distance\_sensor/lidarlite\_pub/orientation: ROLL\_180 > - /mavros/distance\_sensor/lidarlite\_pub/send\_tf: True > - /mavros/distance\_sensor/lidarlite\_pub/sensor\_position/x: 0.0 > - /mavros/distance\_sensor/lidarlite\_pub/sensor\_position/y: 0.0 > - /mavros/distance\_sensor/lidarlite\_pub/sensor\_position/z: -0.1 > - /mavros/distance\_sensor/sonar\_1\_sub/id: 2 > - /mavros/distance\_sensor/sonar\_1\_sub/orientation: ROLL\_180 > - /mavros/distance\_sensor/sonar\_1\_sub/subscriber: True > - /mavros/fcu\_url: /dev/ttyACM0:921600 > - /mavros/gcs\_url: udp://@127.0.0.1 > - /mavros/global\_position/frame\_id: fcu > - /mavros/global\_position/rot\_covariance: 99999.0 > - /mavros/global\_position/tf/child\_frame\_id: fcu\_utm > - /mavros/global\_position/tf/frame\_id: local\_origin > - /mavros/global\_position/tf/send: False > - /mavros/image/frame\_id: px4flow > - /mavros/imu/angular\_velocity\_stdev: 0.000349065850399 > - /mavros/imu/frame\_id: fcu > - /mavros/imu/linear\_acceleration\_stdev: 0.0003 > - /mavros/imu/magnetic\_stdev: 0.0 > - /mavros/imu/orientation\_stdev: 1.0 > - /mavros/local\_position/frame\_id: fcu > - /mavros/local\_position/tf/child\_frame\_id: fcu > - /mavros/local\_position/tf/frame\_id: local\_origin > - /mavros/local\_position/tf/send: False > - /mavros/local\_position/tf/send\_fcu: False > - /mavros/mission/pull\_after\_gcs: True > - /mavros/mocap/use\_pose: True > - /mavros/mocap/use\_tf: False > - /mavros/plugin\_blacklist: [‘safety\_area’, '… > - /mavros/plugin\_whitelist: > - /mavros/px4flow/frame\_id: px4flow > - /mavros/px4flow/ranger\_fov: 0.0 > - /mavros/px4flow/ranger\_max\_range: 5.0 > - /mavros/px4flow/ranger\_min\_range: 0.3 > - /mavros/safety\_area/p1/x: 1.0 > - /mavros/safety\_area/p1/y: 1.0 > - /mavros/safety\_area/p1/z: 1.0 > - /mavros/safety\_area/p2/x: -1.0 > - /mavros/safety\_area/p2/y: -1.0 > - /mavros/safety\_area/p2/z: -1.0 > - /mavros/setpoint\_accel/send\_force: False > - /mavros/setpoint\_attitude/reverse\_throttle: False > - /mavros/setpoint\_attitude/tf/child\_frame\_id: attitude > - /mavros/setpoint\_attitude/tf/frame\_id: local\_origin > - /mavros/setpoint\_attitude/tf/listen: False > - /mavros/setpoint\_attitude/tf/rate\_limit: 10.0 > - /mavros/setpoint\_position/tf/child\_frame\_id: setpoint > - /mavros/setpoint\_position/tf/frame\_id: local\_origin > - /mavros/setpoint\_position/tf/listen: False > - /mavros/setpoint\_position/tf/rate\_limit: 50.0 > - /mavros/startup\_px4\_usb\_quirk: True > - /mavros/sys/disable\_diag: False > - /mavros/sys/min\_voltage: 10.0 > - /mavros/target\_component\_id: 1 > - /mavros/target\_system\_id: 1 > - /mavros/tdr\_radio/low\_rssi: 40 > - /mavros/time/time\_ref\_source: fcu > - /mavros/time/timesync\_avg\_alpha: 0.6 > - /mavros/time/timesync\_mode: MAVLINK > - /mavros/vibration/frame\_id: vibration > - /mavros/vision\_pose/tf/child\_frame\_id: vision > - /mavros/vision\_pose/tf/frame\_id: local\_origin > - /mavros/vision\_pose/tf/listen: False > - /mavros/vision\_pose/tf/rate\_limit: 10.0 > - /mavros/vision\_speed/listen\_twist: False > - /rosdistro: kinetic > - /rosversion: 1.12.7 > NODES > / > mavros (mavros/mavros\_node) > auto-starting new master > process[master]: started with pid [19771] > ROS\_MASTER\_URI=[http://localhost:11311](http://localhost:11311) > setting /run\_id to 38bc6fd4-f137-11e7-84f0-000c290399b7 > process[rosout-1]: started with pid [19784] > started core service [/rosout] > process[mavros-2]: started with pid [19797] > [INFO] [1515060514.137583076]: FCU URL: /dev/ttyACM0:921600 > [WARN] [1515060514.138111338]: init: message from ASLUAV, MSG-ID 201 ignored! Table has different entry. > [WARN] [1515060514.138328962]: init: message from autoquad, MSG-ID 150 ignored! Table has different entry. > [WARN] [1515060514.138390605]: init: message from autoquad, MSG-ID 152 ignored! Table has different entry. > [WARN] [1515060514.138556828]: init: message from matrixpilot, MSG-ID 150 ignored! Table has different entry. > [WARN] [1515060514.138625931]: init: message from matrixpilot, MSG-ID 151 ignored! Table has different entry. > [WARN] [1515060514.138681072]: init: message from matrixpilot, MSG-ID 152 ignored! Table has different entry. > [WARN] [1515060514.138728859]: init: message from matrixpilot, MSG-ID 153 ignored! Table has different entry. > [WARN] [1515060514.138776074]: init: message from matrixpilot, MSG-ID 155 ignored! Table has different entry. > [WARN] [1515060514.138822915]: init: message from matrixpilot, MSG-ID 156 ignored! Table has different entry. > [WARN] [1515060514.138870230]: init: message from matrixpilot, MSG-ID 157 ignored! Table has different entry. > [WARN] [1515060514.138918424]: init: message from matrixpilot, MSG-ID 158 ignored! Table has different entry. > [WARN] [1515060514.138978449]: init: message from matrixpilot, MSG-ID 170 ignored! Table has different entry. > [WARN] [1515060514.139032650]: init: message from matrixpilot, MSG-ID 171 ignored! Table has different entry. > [WARN] [1515060514.139079525]: init: message from matrixpilot, MSG-ID 172 ignored! Table has different entry. > [WARN] [1515060514.139126672]: init: message from matrixpilot, MSG-ID 173 ignored! Table has different entry. > [WARN] [1515060514.139173020]: init: message from matrixpilot, MSG-ID 174 ignored! Table has different entry. > [WARN] [1515060514.139230863]: init: message from matrixpilot, MSG-ID 175 ignored! Table has different entry. > [WARN] [1515060514.139281451]: init: message from matrixpilot, MSG-ID 176 ignored! Table has different entry. > [WARN] [1515060514.139332346]: init: message from matrixpilot, MSG-ID 177 ignored! Table has different entry. > [WARN] [1515060514.139382034]: init: message from matrixpilot, MSG-ID 178 ignored! Table has different entry. > [WARN] [1515060514.139431838]: init: message from matrixpilot, MSG-ID 179 ignored! Table has different entry. > [WARN] [1515060514.139500666]: init: message from matrixpilot, MSG-ID 180 ignored! Table has different entry. > [WARN] [1515060514.139551906]: init: message from matrixpilot, MSG-ID 181 ignored! Table has different entry. > [WARN] [1515060514.139601635]: init: message from matrixpilot, MSG-ID 182 ignored! Table has different entry. > [WARN] [1515060514.139651360]: init: message from matrixpilot, MSG-ID 183 ignored! Table has different entry. > [WARN] [1515060514.139703422]: init: message from matrixpilot, MSG-ID 184 ignored! Table has different entry. > [WARN] [1515060514.139753945]: init: message from matrixpilot, MSG-ID 185 ignored! Table has different entry. > [WARN] [1515060514.139803954]: init: message from matrixpilot, MSG-ID 186 ignored! Table has different entry. > [WARN] [1515060514.139950709]: init: message from paparazzi, MSG-ID 180 ignored! Table has different entry. > [WARN] [1515060514.140149562]: init: message from paparazzi, MSG-ID 181 ignored! Table has different entry. > [WARN] [1515060514.140202235]: init: message from paparazzi, MSG-ID 182 ignored! Table has different entry. > [WARN] [1515060514.140252504]: init: message from paparazzi, MSG-ID 183 ignored! Table has different entry. > [WARN] [1515060514.140302779]: init: message from paparazzi, MSG-ID 184 ignored! Table has different entry. > [WARN] [1515060514.140445887]: init: message from slugs, MSG-ID 170 ignored! Table has different entry. > [WARN] [1515060514.140524791]: init: message from slugs, MSG-ID 172 ignored! Table has different entry. > [WARN] [1515060514.140575561]: init: message from slugs, MSG-ID 173 ignored! Table has different entry. > [WARN] [1515060514.140625022]: init: message from slugs, MSG-ID 176 ignored! Table has different entry. > [WARN] [1515060514.140674572]: init: message from slugs, MSG-ID 177 ignored! Table has different entry. > [WARN] [1515060514.140724535]: init: message from slugs, MSG-ID 179 ignored! Table has different entry. > [WARN] [1515060514.140774132]: init: message from slugs, MSG-ID 180 ignored! Table has different entry. > [WARN] [1515060514.140823759]: init: message from slugs, MSG-ID 181 ignored! Table has different entry. > [WARN] [1515060514.140872999]: init: message from slugs, MSG-ID 184 ignored! Table has different entry. > [WARN] [1515060514.140923087]: init: message from slugs, MSG-ID 185 ignored! Table has different entry. > [WARN] [1515060514.140991893]: init: message from slugs, MSG-ID 186 ignored! Table has different entry. > [WARN] [1515060514.141046869]: init: message from slugs, MSG-ID 188 ignored! Table has different entry. > [WARN] [1515060514.141098282]: init: message from slugs, MSG-ID 191 ignored! Table has different entry. > [WARN] [1515060514.141148328]: init: message from slugs, MSG-ID 192 ignored! Table has different entry. > [WARN] [1515060514.141197794]: init: message from slugs, MSG-ID 193 ignored! Table has different entry. > [WARN] [1515060514.141247302]: init: message from slugs, MSG-ID 194 ignored! Table has different entry. > [INFO] [1515060514.141590007]: serial0: device: /dev/ttyACM0 @ 921600 bps > [INFO] [1515060514.142690823]: GCS URL: udp://@127.0.0.1 > [INFO] [1515060514.142985986]: udp1: Bind address: 0.0.0.0:14555 > [INFO] [1515060514.143099289]: udp1: Remote address: 127.0.0.1:14550 > [INFO] [1515060514.203479923]: Plugin 3dr\_radio loaded > [INFO] [1515060514.205509131]: Plugin 3dr\_radio initialized > [INFO] [1515060514.205655208]: Plugin actuator\_control loaded > [INFO] [1515060514.208995651]: Plugin actuator\_control initialized > [INFO] [1515060514.248129625]: Plugin adsb loaded > [INFO] [1515060514.253982152]: Plugin adsb initialized > [INFO] [1515060514.254153737]: Plugin altitude loaded > [INFO] [1515060514.255394912]: Plugin altitude initialized > [INFO] [1515060514.255513671]: Plugin cam\_imu\_sync loaded > [INFO] [1515060514.256209062]: Plugin cam\_imu\_sync initialized > [INFO] [1515060514.256355830]: Plugin command loaded > [INFO] [1515060514.261853010]: Plugin command initialized > [INFO] [1515060514.261949586]: Plugin distance\_sensor blacklisted > [INFO] [1515060514.262096794]: Plugin ftp loaded > [INFO] [1515060514.278561847]: Plugin ftp initialized > [INFO] [1515060514.278717288]: Plugin global\_position loaded > [INFO] [1515060514.288072110]: Plugin global\_position initialized > [INFO] [1515060514.288244079]: Plugin hil\_actuator\_controls loaded > [INFO] [1515060514.289027474]: Plugin hil\_actuator\_controls initialized > [INFO] [1515060514.289152471]: Plugin hil\_controls loaded > [INFO] [1515060514.289887203]: Plugin hil\_controls initialized > [INFO] [1515060514.290025273]: Plugin home\_position loaded > [INFO] [1515060514.294243303]: Plugin home\_position initialized > [INFO] [1515060514.294437708]: Plugin imu\_pub loaded > [INFO] [1515060514.311480416]: Plugin imu\_pub initialized > [INFO] [1515060514.312278901]: Plugin local\_position loaded > [INFO] [1515060514.323890319]: Plugin local\_position initialized > [INFO] [1515060514.324070368]: Plugin manual\_control loaded > [INFO] [1515060514.324908339]: Plugin manual\_control initialized > [INFO] [1515060514.325042488]: Plugin mocap\_fake\_gps loaded > [INFO] [1515060514.328096807]: Plugin mocap\_fake\_gps initialized > [INFO] [1515060514.328230755]: Plugin mocap\_pose\_estimate loaded > [INFO] [1515060514.334178458]: Plugin mocap\_pose\_estimate initialized > [INFO] [1515060514.334360411]: Plugin param loaded > [INFO] [1515060514.337049388]: Plugin param initialized > [INFO] [1515060514.337190172]: Plugin px4flow loaded > [INFO] [1515060514.352760815]: Plugin px4flow initialized > [INFO] [1515060514.352940874]: Plugin rc\_io loaded > [INFO] [1515060514.357303428]: Plugin rc\_io initialized > [INFO] [1515060514.357387337]: Plugin safety\_area blacklisted > [INFO] [1515060514.357754870]: Plugin setpoint\_accel loaded > [INFO] [1515060514.361956613]: Plugin setpoint\_accel initialized > [INFO] [1515060514.362146335]: Plugin setpoint\_attitude loaded > [INFO] [1515060514.385981524]: Plugin setpoint\_attitude initialized > [INFO] [1515060514.386172231]: Plugin setpoint\_position loaded > [INFO] [1515060514.395836622]: Plugin setpoint\_position initialized > [INFO] [1515060514.396022871]: Plugin setpoint\_raw loaded > [INFO] [1515060514.418047576]: Plugin setpoint\_raw initialized > [INFO] [1515060514.418516847]: Plugin setpoint\_velocity loaded > [INFO] [1515060514.427273308]: Plugin setpoint\_velocity initialized > [INFO] [1515060514.427474270]: Plugin sys\_status loaded > [INFO] [1515060514.436032668]: Plugin sys\_status initialized > [INFO] [1515060514.436198174]: Plugin sys\_time loaded > [INFO] [1515060514.441096270]: TM: Timesync mode: MAVLINK > [INFO] [1515060514.442118829]: Plugin sys\_time initialized > [INFO] [1515060514.442297362]: Plugin vfr\_hud loaded > [INFO] [1515060514.444420359]: Plugin vfr\_hud initialized > [INFO] [1515060514.444513339]: Plugin vibration blacklisted > [INFO] [1515060514.444752050]: Plugin vision\_pose\_estimate loaded > [INFO] [1515060514.463384378]: Plugin vision\_pose\_estimate initialized > [INFO] [1515060514.463548366]: Plugin vision\_speed\_estimate loaded > [INFO] [1515060514.470250019]: Plugin vision\_speed\_estimate initialized > [INFO] [1515060514.470534525]: Plugin waypoint loaded > [INFO] [1515060514.474849906]: Plugin waypoint initialized > [INFO] [1515060514.474995009]: Autostarting mavlink via USB on PX4 > [INFO] [1515060514.475195699]: Built-in SIMD instructions: SSE, SSE2 > [INFO] [1515060514.475548713]: Built-in MAVLink package version: 2017.8.8 > [INFO] [1515060514.475671417]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad matrixpilot paparazzi slugs standard uAvionix ualberta > [INFO] [1515060514.475780592]: MAVROS started. MY ID 1.240, TARGET ID 1.1 > [INFO] [1515060514.486760742]: IMU: High resolution IMU detected! > [INFO] [1515060514.486924819]: IMU: Attitude quaternion IMU detected! > [WARN] [1515060514.644309560]: TM: Clock skew detected (-1515060332.877885342 s). Hard syncing clocks. > [INFO] [1515060514.949281264]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot > [INFO] [1515060514.980282653]: IMU: High resolution IMU detected! > [INFO] [1515060514.980357316]: IMU: Attitude quaternion IMU detected! > [INFO] [1515060515.952754645]: VER: 1.1: Capabilities 0x000000000000e4ef > [INFO] [1515060515.952848134]: VER: 1.1: Flight software: 010702ff (000000008027C0B4) > [INFO] [1515060515.953015691]: VER: 1.1: Middleware software: 010702ff (000000008027C0B4) > [INFO] [1515060515.953176385]: VER: 1.1: OS software: 071600ff (0000000000000000) > [INFO] [1515060515.953675492]: VER: 1.1: Board hardware: 00000012 > [INFO] [1515060515.953963726]: VER: 1.1: VID/PID: 26ac:0012 > [INFO] [1515060515.954067313]: VER: 1.1: UID: 3335511435303335 > [WARN] [1515060515.954240314]: CMD: Unexpected command 520, result 0 > [INFO] [1515060524.951065222]: HP: requesting home position > [INFO] [1515060525.572785586]: udp1: Remote address: 127.0.0.1:14550 > [INFO] [1515060525.577585769]: FCU: data link #0 lost > [INFO] [1515060525.580241904]: FCU: [lpe] mocap position init: -0.31, 1.93, -0.00 m > [INFO] [1515060525.585596669]: FCU: [lpe] mocap timeout > [INFO] [1515060525.593355437]: FCU: [lpe] mocap position init: 2.74, 1.18, 0.00 m > [INFO] [1515060525.598346005]: FCU: [lpe] mocap timeout > [INFO] [1515060525.602314034]: FCU: data link #0 regained > [INFO] [1515060525.709789664]: FCU: [lpe] mocap position init: -1.85, 2.34, -0.00 m > [INFO] [1515060525.718416808]: FCU: [lpe] mocap timeout > [INFO] [1515060525.966304336]: VER: 1.1: Capabilities 0x000000000000e4ef > [INFO] [1515060525.966417403]: VER: 1.1: Flight software: 010702ff (000000008027C0B4) > [INFO] [1515060525.966973394]: VER: 1.1: Middleware software: 010702ff (000000008027C0B4) > [INFO] [1515060525.967132678]: VER: 1.1: OS software: 071600ff (0000000000000000) > [INFO] [1515060525.967254596]: VER: 1.1: Board hardware: 00000012 > [INFO] [1515060525.967474561]: VER: 1.1: VID/PID: 26ac:0012 > [INFO] [1515060525.967593248]: VER: 1.1: UID: 3335511435303335 > [WARN] [1515060525.968939301]: CMD: Unexpected command 520, result 0 > [INFO] [1515060526.119682012]: WP: seems GCS requesting mission > [INFO] [1515060526.119771418]: WP: sheduling pull after GCS is done > [INFO] [1515060526.551316120]: FCU: [lpe] mocap position init: -2.56, 1.56, -0.00 m > [INFO] [1515060526.562863812]: FCU: [lpe] mocap timeout > [INFO] [1515060527.391986151]: FCU: [lpe] mocap position init: -2.94, 0.51, -0.00 m > [INFO] [1515060527.398962812]: FCU: [lpe] mocap timeout > [INFO] [1515060528.231636665]: FCU: [lpe] mocap position init: -2.91, -0.60, -0.00 m > [INFO] [1515060528.245285121]: FCU: [lpe] mocap timeout > [INFO] [1515060529.063284710]: FCU: [lpe] mocap position init: -2.51, -1.59, -0.00 m > [INFO] [1515060529.075468188]: FCU: [lpe] mocap timeout > [INFO] [1515060529.913966376]: FCU: [lpe] mocap position init: -1.80, -2.39, -0.00 m > [INFO] [1515060529.921949212]: FCU: [lpe] mocap timeout **/diagnostics** > ## header: seq: 13 stamp: secs: 1515060353 nsecs: 746046303 frame\_id: ‘’ status: > > ``` > level: 0 > name: mavros: FCU connection > message: connected > hardware_id: /dev/ttyACM0:921600 > values: > - > key: Received packets: > value: 1401 > - > key: Dropped packets: > value: 0 > - > key: Buffer overruns: > value: 0 > - > key: Parse errors: > value: 0 > - > key: Rx sequence number: > value: 72 > - > key: Tx sequence number: > value: 123 > - > key: Rx total bytes: > value: 59142 > - > key: Tx total bytes: > value: 2723 > - > key: Rx speed: > value: 18520.000000 > - > key: Tx speed: > value: 848.000000 > > ``` > > - > ## level: 2 name: mavros: GPS message: No satellites hardware\_id: /dev/ttyACM0:921600 values: > > ``` > key: Satellites visible > value: 0 > > ``` > > - key: Fix type > value: 0 > - key: EPH (m) > value: Unknown > - key: EPV (m) > value: Unknown > > - > ## level: 0 name: mavros: Heartbeat message: Normal hardware\_id: /dev/ttyACM0:921600 values: > > ``` > key: Heartbeats since startup > value: 5 > > ``` > > - key: Frequency (Hz) > value: 0.988538 > - key: Vehicle type > value: Quadrotor > - key: Autopilot type > value: PX4 Autopilot > - key: Mode > value: MANUAL > - key: System status > value: Standby > > - > ## level: 0 name: mavros: System message: Normal hardware\_id: /dev/ttyACM0:921600 values: > > ``` > key: Sensor present > value: 0x00000000 > > ``` > > - key: Sensor enabled > value: 0x00000000 > - key: Sensor helth > value: 0x00000000 > - key: CPU Load (%) > value: 49.9 > - key: Drop rate (%) > value: 0.0 > - key: Errors comm > value: 0 > - key: Errors count #1 > value: 0 > - key: Errors count #2 > value: 0 > - key: Errors count #3 > value: 0 > - key: Errors count #4 > value: 0 > > - > ## level: 0 name: mavros: Battery message: Normal hardware\_id: /dev/ttyACM0:921600 values: > > ``` > key: Voltage > value: 65.54 > > ``` > > - key: Current > value: -0.0 > - key: Remaining > value: -1.0 > > - > ## level: 0 name: mavros: Time Sync message: Normal hardware\_id: /dev/ttyACM0:921600 values: > > ``` > key: Timesyncs since startup > value: 24 > > ``` > > - key: Frequency (Hz) > value: 4.965071 > - key: Last dt (ms) > value: 0.176547 > - key: Mean dt (ms) > value: 0.008759 > - key: Last system time (s) > value: 20.827369000 > - key: Time offset (s) > value: 1515060332.883697748 > > * * * **/time\_reference** > header: > seq: 19 > stamp: > secs: 1515060365 > nsecs: 316023025 > frame\_id: ‘’ > time\_ref: > secs: 1515060460 > nsecs: 501000000 > source: fcu ---
**Author:** ![MarLi](https://discuss.px4.io/letter_avatar_proxy/v4/letter/m/57b2e6/32.png) [@MarLi](https://discuss.px4.io/u/MarLi)\ **Post date:** [January 4, 2018, 2:04pm UTC](https://discuss.px4.io/t/time-sync-not-working-wrong-mavros-timestamp/5309/2 "2018-01-04T14:04:55Z")
Ok, found the soluation by myself. The timestamp in the header of the mocap data published by ros was incorrect. Setting the timestamp to ros::time::now() solved the problem. ---
**Author:** ![chrisb](https://discuss.px4.io/letter_avatar_proxy/v4/letter/c/b38774/32.png) [@chrisb](https://discuss.px4.io/u/chrisb)\ **Post date:** [July 16, 2020, 8:17am UTC](https://discuss.px4.io/t/time-sync-not-working-wrong-mavros-timestamp/5309/3 "2020-07-16T08:17:43Z")
Hello MarLi, If I’m not mistaking, using ros::time::now() probably only covers the issue but does not solve it. I’m facing an issue in which the PX4 IMU timestamps are not correctly synced.