Introducing precision time protocol to public_regulated_data_types

The public regulated data types already include a basic time synchronization protocol that is similar in its construction to IEEE 1588, except that the communication is strictly one-directional, from the time sync master to slaves. This comes with certain trade-offs: the algorithm scales better but the worst-case jitter bound is substantially higher. If higher precision is desired, IEEE 1588 should be implemented as-is.

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Where can I find the paper of Olson latency recovery algorithm?

Here: olson_sensor_synchronization.pdf (202.7 KB)

A basic implementation is available in the legacy PyUAVCAN v0 library: