Note: SW Release Applicability: This tutorial is applicable to modules in both NVIDIA DriveWorks and NVIDIA DRIVE Software releases.

The Radar sensor provides several timestamp options depending on sensor type. These options can be toggled using the output-timestamp sensor parameter, and works by modifying the dwRadarScan.hostTimestamp returned when reading a packet. The following table summarizes the timestamp options available for each supported radar sensor. The default option is host.

Note: this parameter does not modify raw data. For more information, see Sensor Timestamping.

Protocol	Device		output-timestamp parameter	dwRadarScan.hostTimestamp	dwRadarScan.sensorTimestamp	Notes
radar.socket	Continental ARS430 RDI		host	DW host	Sensor internal	Sensor timestamp is the internal counter/clock.
		time-smoothing=true	smoothed	DW host	Sensor internal	Supersedes time-smoothing=true.
		useSensorTime=true	raw	Sensor	Sensor	Sensor internal/PTP depending on `ptp` flag.
radar.socket	Continental ARS430	time-smoothing=true	host	DW host	Sensor internal
			smoothed	DW host	Sensor internal
		useSensorTime=true	raw	Sensor internal	Sensor internal
radar.can	Continental ARS430 CAN	time-smoothing=true	host	DW host	Sensor internal
			smoothed	DW host	Sensor internal
radar.socket	Delphi		host	DW host	Sensor internal
radar.virtual		time-offset	host	DW host	Sensor
		time-smoothing=true	smoothed	DW host	Sensor internal	Available if supported by vendor above.
			raw	Sensor	Sensor	Available if supported by vendor above.

PTP timestamps

Continental ARS430 RDI radars also support an additional flag enabling PTP sensor time instead of the internal counter. For example, to decode and set hostTimestamp in PTP domain, one would use the parameters output-timestamp=raw,ptp=true when reading radar scans.