The PPS time message contains the value of the sender's local time in microseconds at the moment a pulse is detected on the PPS input. This is to be used for synchronisation of sensor data sampled with a local timestamp (e.g. IMU or wheeltick messages) where GNSS time is unknown to the sender., , The local time used to timestamp the PPS pulse must be generated by the same clock which is used to timestamp the IMU/wheel sensor data and should follow the same roll-over rules (i.e. it should roll over to zero after 604800 seconds). A separate MSG_PPS_TIME message should be sent for each source of sensor data which uses local timestamping. The sender ID for each of these MSG_PPS_TIME messages should match the sender ID of the respective sensor data.
{
"copyright": [
"Copyright (C) 2019-2021 Swift Navigation Inc.",
"Contact: https://support.swiftnav.com",
"",
"This source is subject to the license found in the file 'LICENSE' which must",
"be distributed together with this source. All other rights reserved.",
"",
"THIS CODE AND INFORMATION IS PROVIDED 'AS IS' WITHOUT WARRANTY OF ANY KIND,",
"EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED",
"WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE."
],
"$schema": "http://json-schema.org/draft-06/schema#",
"$id": "#MsgPpsTime",
"title":"MsgPpsTime",
"description":"The PPS time message contains the value of the sender's local time in microseconds at the moment a pulse is detected on the PPS input. This is to be used for synchronisation of sensor data sampled with a local timestamp (e.g. IMU or wheeltick messages) where GNSS time is unknown to the sender.,\n,\nThe local time used to timestamp the PPS pulse must be generated by the same clock which is used to timestamp the IMU/wheel sensor data and should follow the same roll-over rules (i.e. it should roll over to zero after 604800 seconds). A separate MSG_PPS_TIME message should be sent for each source of sensor data which uses local timestamping. The sender ID for each of these MSG_PPS_TIME messages should match the sender ID of the respective sensor data.\n",
"type": "object",
"properties": {
"time": {"type": "integer"},
"flags": {"type": "integer"}
},
"required": [
"time",
"flags"
]
}