On Fri, Mar 06, 2015 at 06:11:25PM +0100, Miroslav Lichvar wrote:
> The trouble is the raw mode is not a filter that can be easily
> plugged in, it has a different input than servos. It's a fundamentally
> different approach in how are the timestamps handled. In the raw mode
> we use only the last four timestamps, in filtered mode we use the last
> two timestamps and a long term average of delays from past sets of
> four timestamps.
We can really rework clock.c to make it cleaner to implement this sort
of thing. We don't have to store t1-4 in the struct clock at all.
Why not abstract the offset estimator:
+-------------+
t1 --| |
t2 --| offset |
t3 --| |-- offset
t4 --| estimator |
smoothed delay --| |
+-------------+
There has got to be a nicer way to arrange the code to make this
work. Once we add a "balanced mode" that works better in some
situations, people will want other balanced mode algorithms.
Thanks,
Richard
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