![]() ![]() The protocol has been implemented in C by PX4 and QGroundControl. A system that is streaming (multiple) PING messages should not start detecting dropped packets until after the first responses have been received (to ensure that dropped packets are not just "late"). A system that is sending a single PING can use a timeout to detect a dropped packet.The system calculates the latency from the current system time and the time in the response PING for the matching sequence number.The matching ids inform the system that it is the intended recipient. Receives a PING message with target_system and target_component matching its address.Īny non-zero target system/component indicates a response message.target_system and target_component are set to the ids of the pinging system from the incoming ping message header.The original timestamp and sequence number from the receive PING are sent back in the response.All ping ed systems should respond with another PING message where: The message may be received by multiple systems. The message header automatically includes the sender system.target_system and target_component: 0 (indicates a PING request).This should be iterated for every PING message sent and overflow back to zero. seq: Current PING sequence number (n, n+1.The ping ing system initially populates a PING message with: Ping SequenceĪ simplified sequence diagram is given below: The message is sent with a timestamp and a sequence number that are returned by recipients, and can hence be used to determine the round-trip time. The PING protocol is implemented with just the PING message. The PING Protocol enables a system to measure system latencies on any connection: serial port, radio modem, UDP etc. ![]()
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