Allow ImuWatcher to ignore pico timestamps
We observed an issue with pico timestamps during a match; for what we
are doing, we don't need them.
Change-Id: I552be858adf3ab512766a54554f578e843d8699a
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
diff --git a/frc971/imu_reader/imu_watcher.h b/frc971/imu_reader/imu_watcher.h
index 8867266..fe1f77d 100644
--- a/frc971/imu_reader/imu_watcher.h
+++ b/frc971/imu_reader/imu_watcher.h
@@ -20,6 +20,16 @@
// Expected frequency of messages from the pico-based IMU.
static constexpr std::chrono::microseconds kNominalDt{500};
+ enum class TimestampSource {
+ // Use the pico's timestamp to provide timestamps to the callbacks.
+ kPico,
+ // Use pi-based timestamps--this can result in a clock that has marginally
+ // more jitter relative to the sample times than the pico's clock, but
+ // is less likely to encounter major issues when there is some sort of issue
+ // with the pico <-> pi interface.
+ kPi,
+ };
+
// The callback specified by the user will take:
// sample_time_pico: The pico-based timestamp corresponding to the measurement
// time. This will be offset by roughly pico_offset_error from the pi's
@@ -40,7 +50,8 @@
std::function<void(
aos::monotonic_clock::time_point, aos::monotonic_clock::time_point,
std::optional<Eigen::Vector2d>, Eigen::Vector3d, Eigen::Vector3d)>
- callback);
+ callback,
+ TimestampSource timestamp_source = TimestampSource::kPico);
const zeroing::ImuZeroer &zeroer() const { return zeroer_; }