# Time Sync Helper

## Purpose

Shared timestamp validation and alignment utilities for frame, IMU, telemetry, FDR, and replay data.

## Responsibilities

- Monotonic timestamp checks.
- Frame-to-IMU window selection.
- Clock-domain conversion metadata.
- Replay ordering validation.
- Gap and jitter metrics.

## Non-Responsibilities

- No VIO state estimation.
- No MAVLink parsing beyond normalized timestamp fields.
- No recovery policy; callers decide whether to degrade or reject.

## Consumers

| Component | Usage |
|-----------|-------|
| Camera ingest/calibration | Frame ordering and timestamp metadata |
| VIO adapter | IMU/frame synchronization |
| MAVLink/GCS integration | Telemetry timestamp normalization |
| FDR/observability | Segment ordering |
| Validation harness | Fixture validation |