The state machine needs to know whether a new master has just been
selected in order to choose between the slave and uncalibrated states.
Signed-off-by: Richard Cochran <richardcochran@gmail.com>
We already have a grand master state. Adding this event will simplify the
overall logic, since it will avoid the silly requirement to set the
qualification timeout to zero when entering the grand master state.
Signed-off-by: Richard Cochran <richardcochran@gmail.com>
If the path delay comes out negative, then something is amiss. In this
case, we just print a warning and ignore the path delay estimate.
Signed-off-by: Richard Cochran <richardcochran@gmail.com>
If software time stamping is to be used, then the servo will want to
have appropriate filtering.
Signed-off-by: Richard Cochran <richardcochran@gmail.com>
This is really just a first attempt using a hard coded length. Probably
it will be necessary to let the length be configurable and/or adaptable.
Signed-off-by: Richard Cochran <richardcochran@gmail.com>
Since the master implementation is still lacking, we will just keep
the slave-only flag hard coded for now.
Signed-off-by: Richard Cochran <richardcochran@gmail.com>
Richard Cochran