Timestamp units
OpenKAI stores host timestamps and elapsed durations in nanoseconds. getTns() uses CLOCK_MONOTONIC; timestamps are not Unix time and exclude system suspend. Use nsec2sec<T>() and sec2nsec() at interfaces that use seconds.
Point-cloud and IMU capture timestamps also use nanoseconds. Sensor clock origins are preserved: Orbbec timestamps are multiplied by NSEC_USEC on input, while Livox timestamps already use nanoseconds. Pair sensor streams only when they share a capture clock. Geometry expiry against getTns() requires timestamps on the host monotonic clock; set expiry to zero for unaligned device clocks.
Configuration migrated from microseconds must multiply the previous value by 1000. Shipped configurations have been updated, including these renamed keys:
| Nanosecond key | Default |
|---|---|
tConfidenceTimeoutNs | 0 for navigation; 1000000000 for SLAM |
tMapUpdateNs | 200000000 |
tIMUpairToleranceNs | 5000000 |
tCmdTimeoutNs | 1000000000 |
The existing keys dTexpire, dTexpireCell, dTexpirePCL, tOutBtn, tOutTargetNotFound, tIntCheckAlarm, tIntReadStatus, and tIntSendCMD now contain nanoseconds. _PCsend.tInt and _JSONbase.ieSendHB also use nanoseconds. ArduPilot heartbeat/message configuration intervals, ieSendSec, and tOutSec continue to use seconds. SDK exposure settings, Modbus timeouts, and MAVLink wire fields keep the units required by their external APIs.
GLIM timestamp status fields use the Ns suffix and decimal strings to preserve 64-bit values in JavaScript. frameIntervalMs, processingMs, and workMs remain milliseconds for display. The GLIM submap protocol is version 3 (GLM3) and the geometry protocol is version 6 (W3D6); update backend and browser assets together.