diff --git a/src/lib/timesync/Timesync.hpp b/src/lib/timesync/Timesync.hpp
index b17766b09a..ff6dcc1668 100644
--- a/src/lib/timesync/Timesync.hpp
+++ b/src/lib/timesync/Timesync.hpp
@@ -106,13 +106,6 @@ public:
 
 	int64_t offset() const { return (int64_t)_time_offset; }
 
-private:
-
-	/**
-	 * Online exponential filter to smooth time offset
-	 */
-	void add_sample(int64_t offset_us);
-
 	/**
 	 * Return true if the timesync algorithm converged to a good estimate,
 	 * return false otherwise
@@ -124,6 +117,13 @@ private:
 	 */
 	void reset_filter();
 
+
+private:
+
+	/**
+	 * Online exponential filter to smooth time offset
+	 */
+	void add_sample(int64_t offset_us);
 	uORB::PublicationMulti<timesync_status_s>  _timesync_status_pub{ORB_ID(timesync_status)};
 
 	uint32_t _sequence{0};
diff --git a/src/modules/uxrce_dds_client/uxrce_dds_client.cpp b/src/modules/uxrce_dds_client/uxrce_dds_client.cpp
index be575fb6db..43a391de11 100644
--- a/src/modules/uxrce_dds_client/uxrce_dds_client.cpp
+++ b/src/modules/uxrce_dds_client/uxrce_dds_client.cpp
@@ -441,7 +441,7 @@ void UxrceddsClient::run()
 
 		// Spin until sync with the Agent
 		while (_synchronize_timestamps) {
-			if (uxr_sync_session(&session, 1000)) {
+			if (uxr_sync_session(&session, 1000) && _timesync.sync_converged()) {
 				PX4_INFO("synchronized with time offset %-5" PRId64 "us", session.time_offset / 1000);
 
 				if (_param_uxrce_dds_syncc.get() > 0) {
@@ -505,7 +505,7 @@ void UxrceddsClient::run()
 
 			// time sync session
 			if (_synchronize_timestamps && hrt_elapsed_time(&last_sync_session) > 1_s) {
-				if (uxr_sync_session(&session, 100)) {
+				if (uxr_sync_session(&session, 100) && _timesync.sync_converged()) {
 					//PX4_INFO("synchronized with time offset %-5" PRId64 "ns", session.time_offset);
 					last_sync_session = hrt_absolute_time();
 
@@ -563,6 +563,7 @@ void UxrceddsClient::run()
 		_last_payload_tx_rate = 0;
 		_last_payload_tx_rate = 0;
 		_subs->reset();
+		_timesync.reset_filter();
 	}
 }