feat(tools): add DroneCAN sensor latency calibration scripts#26946
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feat(tools): add DroneCAN sensor latency calibration scripts#26946
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Cross-correlation scripts to measure CAN transport delay from flight logs. Compares CAN sensor signals against the FC's directly-connected IMU to estimate the total pipeline latency. - range_sensor_latency.py: cross-correlates range rate with IMU-derived vertical velocity - flow_sensor_latency.py: cross-correlates flow sensor gyro with FC gyro
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AlexKlimaj
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Apr 1, 2026
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Summary
Tools/dronecan_calibration/range_sensor_latency.py— estimates range sensor CAN pipeline delay by cross-correlating range rate with IMU-derived vertical velocityTools/dronecan_calibration/flow_sensor_latency.py— estimates optical flow CAN pipeline delay by cross-correlating the flow sensor's onboard gyro with the FC's gyro