PPS Sync with 3DM-GX5-25

[pauldeee]

Hi there,

Recently I've been looking into syncing my lidar and IMU via a PPS signal. However, all this is relatively new to me. Let's assume I am a complete beginner with this and I have the following:

1. 3DM-GX5-25 with a craft cable.
2. A lidar which can output a PPS signal.

Assuming my lidar outputs a PPS pulse at somepoint during its scan (for example, at the beginning or at the end of the scan) can someone shed some light on how I might be able to use the PPS from the lidar to sync the IMU?

Thanks!

[mjseppa]

Older versions support it, but it seems they have for some reason removed the use_device_timestamp parameter and havent seen another way to enable it other than using older driver.
On GX5 you need to supply the seconds to the IMU as it only gets subseconds from the PPS. On GNSS units just setting the use_device_timestamp is enough.

LORD-MicroStrain/microstrain_inertial_driver_common@4dbbbe0

There is something like this https://github.com/LORD-MicroStrain/microstrain_inertial_driver_common/blob/80378f949792743bdc15de1c549e7ff28d00004e/src/publishers.cpp#L1840

But does not seem to be used as headers are overwritten with this https://github.com/LORD-MicroStrain/microstrain_inertial_driver_common/blob/80378f949792743bdc15de1c549e7ff28d00004e/src/publishers.cpp#L1850