Jeremy Leibs wrote: > > Our present configuration is made up of 1 machine syncing to an external > server over the wireless link and acting as a local server for the robot. > The remaining 3 machines then sync to this local server.
If the four robot machines are in a similar environment, and you are operating as a time island, I would either make one of those the master server, or, with a suitably recent (I believe it may need to be a development version) peer them and set them all to orphan mode. Then synchronize the other machines to the robot. You made need to have an initialisation step to set the master machine to approximately the right absolute time - that tends to imply using a master, rather than orphan mode. > > Operating under "stable" conditions, this configuration seems to work well > and eventually converges to our sub-millisecond criteria. However, we have > 2 large problems. > > 1) When the operating conditions suddenly change, the system diverges > dramatically, and sometimes becomes unstable/divergent. In particular, a Please see much recent discussion on this. A lot of people believe that a standard implementation of ntpd is not appropriate for such an environment. It needs an environment free of start up transients and in which perturbations are consistent with random clock wander, rather than sudden temperature changes. _______________________________________________ questions mailing list [email protected] https://lists.ntp.org/mailman/listinfo/questions
