Mavlink / TFLite / Camera server timestamps

[Plingaas02]

Hi ModalAI team,

We are working on high-speed mapping. We are currently looking at matching timestamps, but there seems to be a lot of different implementations in the source code. Can you confirm which clock these timestamps are in, and if any of them are synced?

voxl-camera-server, timestamp for image capture at exposure start, or at image published to pipe?
voxl-tflite-server, we use the image metadata to overwrite the ai_detection_t timestamp.
voxl-mavlink-server, we need to match odometry to image exposure time, this is our biggest confusion atm.

And in general, which function should we be using to get the current time on the voxl?
apps_time_monotonic_ns()?

Best regards,
Peter