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Oleksandr Bezdieniezhnykh
72a9df6b57
Keep VIO package and native bridge paths backend-neutral so BASALT remains an implementation choice rather than a component boundary. Co-authored-by: Cursor <cursoragent@cursor.com>
809 B
809 B
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 |